KR20210119082A - Vehicle stability control method and apparatus - Google Patents

Abstract

The present invention relates to a vehicle posture control method, for improving a vehicle pitching phenomenon which occurs when a shift error occurs by using a vehicle height adjustment mechanism mounted on a wheel, and an apparatus thereof. According to the vehicle posture control method and the apparatus thereof introduced in the present invention, when it is determined that actual shifting is entered by a release operation of a clutch pedal, an expected pitch behavior of a vehicle is calculated. In addition, the vehicle is pitched in the direction to offset the expected pitch behavior through an operation of an actuator for height adjustment of front and rear wheels. The vehicle posture control method of the present invention comprises: an expected pitch behavior calculation step; and a pitch behavior control step.

Description

A vehicle posture control method and device {VEHICLE STABILITY CONTROL METHOD AND APPARATUS}

The present invention relates to a vehicle posture control method and apparatus for improving a vehicle pitching phenomenon that occurs when a shift error occurs by using a vehicle height adjustment mechanism mounted on a wheel.

In the case of a vehicle equipped with a manual transmission, a shift is performed by operating a shift lever and a clutch pedal according to the driver's will to shift during the driving process of the vehicle.

However, if the release timing of removing the foot from the clutch pedal and the engine RPM are not properly matched during the shifting process, the vehicle may rattle or shake and shake in the pitching direction.

As a result, unstable behavior is caused in the vehicle, which increases driving instability, and causes discomfort to passengers.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-1998-0057161 A

The present invention has been devised to solve the above-described problems, and an object of the present invention is to provide a vehicle posture control method and apparatus for improving a vehicle pitching phenomenon that occurs when a shift error occurs by using a vehicle height adjustment mechanism mounted on a wheel.

The configuration of the present invention for achieving the above object is a method for controlling the posture of the vehicle by bumping and rebounding the vehicle through an actuator for height adjustment installed on each wheel to be operable up and down, wherein the controller performs a release operation of the clutch pedal an expected pitch behavior calculating step of calculating an expected pitch behavior of the vehicle when it is determined that the actual shifting is entered; and a pitch behavior control step in which the controller pitches the vehicle in a direction to offset the expected pitch behavior through the operation of an actuator for adjusting the height of the front and rear wheels.

The predicted pitch behavior may be an expected pitch angle calculated based on a vehicle speed, an engine RPM, target shift stage information, and a clutch pedal stroke change rate.

In the step of calculating the expected pitch behavior, it may be determined whether the shift according to the current driving condition of the vehicle is an abnormal shift situation based on the shift map.

The pitch behavior control step may include: calculating a target pitch angle required to offset the expected pitch behavior; calculating an actuator control amount for height adjustment of front and rear wheels for realizing the target pitch angle; and independently operating the actuators for height adjustment of the front and rear wheels according to the actuator control amount to perform bump and rebound operations.

In the pitch behavior control step, the actuators of the front wheels and the actuators of the rear wheels may be operated in opposite directions to perform bump and rebound operations according to the expected pitch behavior of the vehicle.

The present invention provides an actuator for height adjustment that is installed to be operable up and down on each wheel to bump and rebound the vehicle; an expected pitch behavior calculator configured to calculate an expected pitch behavior of the vehicle when it is determined that the actual shifting is entered by the release operation of the clutch pedal; and a pitch behavior controller configured to pitch the vehicle in a direction to offset the expected pitch behavior through the operation of an actuator for adjusting the height of the front and rear wheels.

The pitch behavior control unit may include: a target pitch angle calculator configured to calculate a target pitch angle required to offset the expected pitch behavior; a control amount calculation unit for calculating an actuator control amount for height adjustment of front and rear wheels for realizing the target pitch angle; and a control amount output unit for independently operating the actuators for adjusting the height of the front and rear wheels according to the control amount of the actuator to perform bump and rebound operation.

Through the above-described problem solving means, the present invention eliminates the rattling or sloshing phenomenon of the vehicle that may occur due to an abnormal shift situation, thereby enabling a stable movement of the vehicle, improving driving and driving stability, and providing a comfortable riding experience. There is an effect that can be implemented.

Furthermore, by minimizing the vehicle's behavior during the shift of the vehicle, the vehicle's stable posture is secured and the tire's even traction is secured, thereby improving acceleration and braking performance and turning stability to improve R&H (Ride & Handling) performance. It has the effect of making

1 is a system configuration diagram of a vehicle posture control device according to the present invention.
2 is a view for explaining the operating principle of controlling the posture of the vehicle according to the present invention.
3 is a graph showing a comparison of vehicle pitch behavior according to whether or not a control logic according to the present invention is applied.
4 is a view showing the overall control flow of the vehicle posture control method according to the present invention.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings as follows.

1 is a system configuration diagram of a vehicle posture control device according to the present invention, comprising actuators for height adjustment (10a, 10b, 10c, 10d), an expected pitch behavior calculation unit 21 and a pitch behavior control unit 22 becomes this

Referring to the drawings, the actuators 10a, 10b, 10c, and 10d for height adjustment are installed to be operable up and down on each wheel and serve to bump and rebound the vehicle.

For example, the vehicle height adjustment system applicable to the present invention is an actuator (10a, 10b, 10c, 10d) capable of generating up-and-down motions at each corner of the suspension, and generates bumps and rebounds to generate a rattling and sloshing phenomenon due to shifting. It has an operating speed that is fast enough to reduce and eliminate

These actuators for height adjustment (10a, 10b, 10c, 10d) are mounted on an unsprung such as a lower arm that is connected to a tire at the lower part, and the upper part is fixed to a sprung mass such as a vehicle body to move the vehicle from the ground. It is configured to be able to ascend and descend.

As the suspension mechanism performs kinematic behavior due to such rising and falling operations, it creates the vehicle's pitching characteristics according to bumps and rebounds.

The expected pitch behavior calculating unit 21 calculates the predicted pitch behavior of the vehicle when determining that the actual shifting is entered by the release operation of the clutch pedal in the shifting process of the vehicle.

For reference, the present invention is applicable to a vehicle equipped with a manual transmission, and the clutch is engaged when a release operation is performed to remove the foot from the clutch pedal, and the clutch is released when the clutch pedal is operated.

Accordingly, at the time of entering the actual shift, the clutch starts to engage as the clutch is released by pressing the clutch pedal for shifting, and the foot is gradually removed from the clutch pedal while the current gear is positioned at the target shift stage. It may be the time when engine power starts to be transmitted to the stage.

This may be detected through the stroke of the clutch actuator, the displacement of the clutch pedal sensor, the engine speed or the change rate of the engine torque.

In addition, the predicted pitch behavior may be an expected pitch angle of the vehicle calculated based on the vehicle speed, the engine RPM, the target shift stage information, and a release change rate of the clutch pedal.

For example, when the clutch is engaged at a high vehicle speed compared to the target shift stage, a pitching phenomenon of the vehicle occurs, and the faster the clutch engagement speed is, the larger the pitch angle becomes.

Accordingly, in the present invention, the expected pitch angle of the vehicle from the point in time when the clutch is engaged is calculated based on the above conditions.

Next, the pitch behavior control unit 22 controls the vehicle to be pitched in a direction that offsets the expected pitch behavior through the operation of the actuators 10a, 10b, 10c, and 10d for height adjustment of the front and rear wheels.

For example, the pitch behavior control unit 22 can control by applying a command necessary for the operation of the actuators 10a, 10b, 10c, and 10d for height adjustment, and the actuators 10a, 10b, 10c, The up and down operation of 10d) can be controlled independently.

The pitch behavior control unit 22 includes a target pitch angle calculation unit 23 , a control amount calculation unit 24 , and a control amount output unit 25 .

Referring to the drawings, the target pitch angle calculation unit 23 calculates a target pitch angle required to offset the expected pitch behavior.

For example, when the predicted pitch angle is calculated by the predicted pitch behavior calculating unit 21, the calculated predicted pitch angle is converted into a frequency form and secured, and a target pitch angle that offsets the expected pitch angle is secured and calculated in a frequency form. .

The control amount calculating unit 24 calculates a control amount of the actuators 10a, 10b, 10c, and 10d for height adjustment of the front and rear wheels for realizing the target pitch angle.

In the control amount output unit 25, the actuators 10a, 10b, 10c, and 10d for height adjustment of the front and rear wheels are independently operated in accordance with the control amounts of the actuators 10a, 10b, 10c, and 10d to operate bump and rebound.

For example, by independently calculating the control amounts of the left and right front wheel height adjustment actuators 10a, 10b and the left and right rear wheel height adjustment actuators 10c, 10d, each actuator 10a, 10b, 10c, 10d can be operated independently. be able to

That is, when the user takes his or her foot off the clutch pedal and enters the actual shift during the shifting process of the vehicle, an expected pitch angle that can be generated in the vehicle is calculated, and a target pitch angle capable of offsetting this is calculated.

Accordingly, the pitching movement based on the target pitch angle is realized through the operation of the actuators 10a, 10b, 10c, and 10d installed on the left and right front wheels and the rear wheels, thereby suppressing the pitching phenomenon of the vehicle according to the expected pitch angle.

Accordingly, by greatly reducing the rattling or sloshing phenomenon of the vehicle occurring during the shifting process, a stable movement of the vehicle is possible, improving driving and driving stability, and realizing a comfortable ride.

Furthermore, by minimizing the vehicle's behavior when shifting the vehicle, the vehicle's stable posture is secured and the tire's even traction is secured, thereby improving acceleration and braking performance and turning stability to improve R&H (Ride & Handling) performance. will make it

Meanwhile, according to FIGS. 1 and 4 , in the vehicle posture control method of the present invention, the controller 20 calculates the expected pitch behavior of the vehicle when it is determined that the actual shifting is entered by the release operation of the clutch pedal. ; The controller 20, a pitch behavior control step of pitching the vehicle in a direction to offset the expected pitch behavior through the operation of the actuators 10a, 10b, 10c, and 10d for height adjustment of the front and rear wheels; .

For reference, the controller 20 may be configured to include the predicted pitch behavior calculator 21 and the pitch behavior controller 22 described above, or the predicted pitch behavior calculator 21 and the pitch behavior controller 22 ) functions can be integrated to form a configuration.

That is, the controller 20 according to the exemplary embodiment of the present invention has a non-volatile memory (not shown) configured to store data regarding an algorithm configured to control the operation of various components of the vehicle or software instructions for reproducing the algorithm. ) and a processor (not shown) configured to perform operations described below using data stored in the corresponding memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip integrated with each other. A processor may take the form of one or more processors.

In addition, in the step of calculating the expected pitch behavior, it may be determined whether the shift according to the current driving condition of the vehicle is an abnormal shift situation based on the shift performance curve.

For example, the shift performance curve represents the driving torque relative to the vehicle speed for each gear stage. Based on the shift performance curve, when an abnormal shift situation is determined, such as when shifting is performed at a vehicle speed higher than the target shift stage, the expected pitch angle can be controlled to produce Here, the shift performance curve may be stored in the controller 20 .

In addition, in the pitch behavior control step, as a preferred example of control for canceling the expected pitch behavior, the actuators 10a and 10b of the front wheels and the actuators 10c and 10d of the rear wheels are operated in opposite directions according to the expected pitch behavior of the vehicle. Activate to enable bump and rebound operation.

FIG. 2 is a view for explaining the operating principle of controlling the posture of a vehicle according to the present invention, and FIG. 3 is a graph showing a comparison of vehicle pitch behavior according to whether or not the control logic according to the present invention is applied.

Referring to the drawings, when the actual shifting of the vehicle is entered, when the pitching shake to the front of the vehicle is expected according to the calculated expected pitch angle, the front wheel height adjustment actuators 10a and 10b are rebounded to operate the pitching forward. will reduce vibration. At this time, the actuators 10c and 10d of the rear wheels perform a bump operation to lower the rear height of the vehicle.

Conversely, when pitching shake to the rear of the vehicle is expected according to the calculated expected pitch angle, the rear wheel height adjustment actuators 10c and 10d are rebounded to reduce the pitching shake to the rear. At this time, the actuators 10a and 10b of the front wheels perform a bump operation to lower the front height of the vehicle.

That is, the vehicle speed, shift stage information, and clutch pedal stroke signal are received in real time, and when an abnormal shift occurs based on the shift performance curve, the expected pitch angle at which the vehicle can vibrate forward and backward is calculated, and the target pitch angle that can be offset is calculated. Calculate.

Accordingly, the control amounts (bump and rebound stroke) of the front and rear wheel actuators 10a, 10b, 10c, and 10d capable of realizing the target pitch angle are calculated, respectively, and each actuator 10a, 10b, 10c, 10d according to the calculated control amount. ), by independently controlling the operation of the vehicle, it is possible to eliminate the shake in the pitching direction of the vehicle.

On the other hand, referring to FIGS. 1 and 4 , a method for reducing a pitching phenomenon occurring during abnormal shift of a vehicle will be described in detail. By receiving the available signals in real time, it is determined whether to enter the actual shift (S10).

Then, it is determined whether the current shift operation is an abnormal shift situation in which shifting is performed at a vehicle speed higher than the target shift stage based on the shift performance curve.

As a result of the determination of S10, when it is determined that the actual shift is entered in an abnormal shift situation, the vehicle speed, engine RPM, target shift stage information, and clutch pedal stroke signals received by the controller 20 are used to generate front and rear shaking of the vehicle. A possible predicted pitch angle is calculated (S20).

Next, a target pitch angle capable of offsetting the expected pitch angle is calculated ( S30 ).

Thereafter, control amounts (bump and rebound stroke) of the front and rear wheel actuators 10a, 10b, 10c, and 10d capable of realizing the target pitch angle are respectively calculated (S40).

Accordingly, by independently controlling the operation of each actuator 10a, 10b, 10c, 10d according to the calculated control amount, the predicted pitch angle is offset (S50).

That is, when the pitching shake to the front of the vehicle is expected, the front wheel height adjustment actuators 10a and 10b are rebounded, and the rear wheel height adjustment actuators 10c and 10d are bump operated, so that the pitching shake toward the front of the vehicle is operated. will remove

As described above, the present invention eliminates the rattling or sloshing phenomenon of the vehicle that may occur due to an abnormal shift situation, thereby enabling a stable movement of the vehicle, improving driving and driving stability, and realizing a comfortable ride.

Furthermore, by minimizing the vehicle's behavior when shifting the vehicle, the vehicle's stable posture is secured and the tire's even traction is secured, thereby improving acceleration and braking performance and turning stability to improve R&H (Ride & Handling) performance. will make it

On the other hand, although the present invention has been described in detail only with respect to the above specific examples, it is obvious to those skilled in the art that various modifications and variations are possible within the scope of the technical spirit of the present invention, and it is natural that such variations and modifications belong to the appended claims. .

10a, 10b, 10c, 10d : Actuator for height adjustment of front and rear wheels
20: controller
21: Expected pitch behavior calculation unit
22: pitch behavior control unit
23: target pitch angle calculation unit
24: control amount calculation unit
25: control amount output unit

Claims (7)

A method of controlling the posture of the vehicle by bumping and rebounding the vehicle through an actuator for height adjustment installed on each wheel so as to be operable up and down,
an expected pitch behavior calculation step of calculating, by the controller, an expected pitch behavior of the vehicle when it is determined that the actual shifting is entered by the release operation of the clutch pedal;
A vehicle posture control method comprising a; a controller, a pitch behavior control step of pitching the vehicle in a direction to offset the expected pitch behavior through the operation of an actuator for adjusting the height of the front and rear wheels. The method according to claim 1,
The expected pitch behavior is an expected pitch angle calculated based on vehicle speed, engine RPM, target shift stage information, and a clutch pedal stroke change rate. The method according to claim 1,
In the calculating the expected pitch behavior, it is determined whether the shift according to the current driving condition of the vehicle is an abnormal shift situation based on the shift map. The method according to claim 1,
The pitch behavior control step is,
calculating a target pitch angle required to offset the expected pitch behavior;
calculating an actuator control amount for height adjustment of front and rear wheels for realizing the target pitch angle;
and independently operating an actuator for adjusting the height of the front and rear wheels according to the control amount of the actuator to perform bump and rebound operation. The method according to claim 1,
In the pitch behavior control step,
A vehicle posture control method, characterized in that the front wheel actuator and the rear wheel actuator are operated in opposite directions according to the expected pitch behavior of the vehicle to perform bump and rebound operations. an actuator for height adjustment that is installed on each wheel to be operable up and down to bump and rebound the vehicle;
an expected pitch behavior calculator configured to calculate an expected pitch behavior of the vehicle when it is determined that the actual shifting is entered by the release operation of the clutch pedal;
A vehicle posture control device comprising a; a pitch behavior control unit for pitching the vehicle in a direction to offset the expected pitch behavior through the operation of an actuator for adjusting the height of the front and rear wheels. 7. The method of claim 6,
The pitch behavior control unit,
a target pitch angle calculation unit for calculating a target pitch angle required to offset the expected pitch behavior;
a control amount calculation unit for calculating an actuator control amount for height adjustment of front and rear wheels for realizing the target pitch angle;
and a control amount output unit for independently operating the actuators for adjusting the vehicle height of the front and rear wheels according to the control amount of the actuator to perform bump and rebound operation.

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