KR20230085251A - Vehicle and control method of vehicle - Google Patents

Abstract

According to an embodiment of the present invention, a vehicle comprises: a steering angle sensor detecting a steering angle of a steering apparatus; an object sensor detecting an object around the vehicle and acquiring data on the object; a first wheel motor arranged to rotate a left driving wheel; a second wheel motor arranged to rotate a right driving wheel; and a control unit electrically connected to the steering angle sensor, the object sensor, the first wheel motor, and the second wheel motor. The control unit calculates the minimum rotation radius of the vehicle based on the fact that the steering angle is the maximum, calculates a required rotation radius of the vehicle based on the data on the object, determines whether to notify on the torque vectoring control for reducing the minimum rotation radius based on the result of comparing the required rotation radius with the minimum rotation radius, and control the first wheel motor and the second wheel motor so that torques of the opposite directions to each other can be applied to the left driving wheel and the right driving wheel based on an execution command of the torque vectoring control. Therefore, energy consumption by a vehicle can be reduced.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROL METHOD OF VEHICLE}

The disclosed invention relates to a vehicle capable of reducing a minimum turning radius when turning and a method for controlling the vehicle.

In general, when a vehicle turns, a turning radius is limited by various mechanical limitations of the vehicle. When turning with the maximum steering angle, the radius of the outermost circle among the concentric circles drawn by each wheel is called the minimum turning radius of the vehicle. However, there may occur a case in which a turning radius smaller than the minimum turning radius of the vehicle is required while the vehicle is in operation. For example, when making a U-turn or turning on a narrow road, the vehicle may have to repeat forward and backward several times to escape from the road. In this case, the driver may experience difficulty in driving the vehicle, and there is a possibility of an accident.

There are various techniques for reducing the minimum turning radius of the vehicle when turning the vehicle. For example, a Variable Rack Stroke (VRS) system for varying a stroke of a rack that transmits rotation of a steering device to wheels may be applied to a vehicle. However, in order to apply the VRS system to a vehicle, since a separate device must be mounted, manufacturing costs of the vehicle increase and there is a problem in that design limitations exist according to the relationship with other parts.

The disclosed invention provides a vehicle and a method for controlling the vehicle capable of reducing a minimum turning radius of the vehicle when turning in a narrow space by using torque vectoring control of wheel motors.

A vehicle according to an embodiment includes a steering angle sensor for detecting a steering angle of a steering device; an object sensor that detects an object around the vehicle and obtains data about the object; a first wheel motor provided to rotate the left drive wheel; a second wheel motor provided to rotate the right driving wheel; and a controller electrically connected to the steering angle sensor, the object sensor, the first wheel motor, and the second wheel motor, wherein the controller calculates a minimum turning radius of the vehicle based on the maximum steering angle. and calculating a required turning radius of the vehicle based on the data on the object, and determining whether torque vectoring control for reducing the minimum turning radius is notified based on a comparison result between the required turning radius and the minimum turning radius. and control the first wheel motor and the second wheel motor so that torques in opposite directions are applied to the left driving wheel and the right driving wheel based on the execution command of the torque vectoring control.

The controller may control a display to display a guide message notifying that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius.

The controller may control the audio device to output a guide voice notifying that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius.

The control unit may receive the execution command of the torque vectoring control from an input device that obtains a user input.

The control unit may execute the torque vectoring control based on that the vehicle speed is lower than a predetermined threshold speed.

The control unit may execute the torque vectoring control based on that the steering angle is greater than a predetermined threshold angle.

The control unit may execute the torque vectoring control based on an opening degree of the accelerator pedal being smaller than a predetermined threshold opening degree.

The controller may process data about the object to determine a road width, road curvature, and vehicle position, and determine the required turning radius based on the road width, road curvature, and vehicle position.

The control unit controls the first wheel motor to adjust the first torque applied to the left driving wheel based on the steering angle detected after determining the torque vectoring control, and the second torque applied to the right driving wheel. It is possible to control the second wheel motor so that is adjusted.

The control unit determines a gain corresponding to the steering angle, a wheel tread that is a distance between the left driving wheel and the right driving wheel, and a dynamic radius of a tire mounted on each of the left driving wheel and the right driving wheel. It is possible to determine the first torque and the second torque based on a correlation expression having as a factor.

A vehicle control method according to an embodiment includes calculating a minimum turning radius of the vehicle based on a maximum steering angle; calculating a required turning radius of the vehicle based on data about objects around the vehicle obtained by the object sensor; determine whether or not to notify torque vectoring control for reducing the minimum turning radius based on a comparison result between the required turning radius and the minimum turning radius; and controlling the first wheel motor and the second wheel motor so that torques in opposite directions are applied to the left driving wheel and the right driving wheel based on the torque vectoring control execution command.

Determining whether to notify about the torque vectoring control may include controlling a display to display a guide message notifying that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius. there is.

Determining whether or not to notify about the torque vectoring control may include controlling an audio device to output a guide voice notifying that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius. can

A vehicle control method according to an embodiment may include receiving an execution command of the torque vectoring control from an input device that obtains a user input.

Controlling the first wheel motor and the second wheel motor may be performed based on a vehicle speed lower than a predetermined threshold speed.

Controlling the first wheel motor and the second wheel motor may be performed based on the steering angle being greater than a predetermined threshold angle.

Controlling the first wheel motor and the second wheel motor may be performed based on an opening degree of the accelerator pedal being smaller than a predetermined threshold opening degree.

Calculating the required turning radius of the vehicle includes processing data about the object to determine road width, road curvature and vehicle position; and determining the required turning radius based on the road width, the curvature of the road, and the location of the vehicle.

Controlling the first wheel motor and the second wheel motor controls the first wheel motor so that the first torque applied to the left driving wheel is adjusted based on the steering angle detected after the torque vectoring control is determined. and controlling the second wheel motor so that the second torque applied to the right driving wheel is adjusted.

Controlling the first wheel motor and the second wheel motor includes a gain corresponding to the steering angle, a wheel tread that is a distance between the left driving wheel and the right driving wheel, and the left driving wheel and the right driving wheel. Determining the first torque and the second torque based on a correlation equation having a dynamic radius of each tire mounted thereon as a factor; may include.

The disclosed vehicle and vehicle control method can reduce the minimum turning radius of the vehicle when turning in a narrow space by using torque vectoring control of wheel motors. Since the vehicle can escape from a narrow space without repeatedly moving forward and backward, the driver's convenience can be improved and accidents can be prevented. In addition, energy consumed by the vehicle may also be reduced.

1 is a diagram illustrating a minimum turning radius and a required turning radius when a vehicle makes a U-turn.
2 is a diagram illustrating a minimum turning radius and a required turning radius when a vehicle turns on a narrow road.
3 illustrates an example in which a minimum turning radius is reduced by performing torque vectoring control of a wheel motor by a vehicle according to an exemplary embodiment.
4 is a block diagram of components of a vehicle according to an exemplary embodiment.
5 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention belongs is omitted.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case of being directly connected but also the case of being indirectly connected, and indirect connection includes being connected through a wireless communication network. do.

In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In addition, terms such as "~ unit", "~ group", "~ block", "~ member", and "~ module" may mean a unit that processes at least one function or operation. For example, the terms may mean at least one hardware such as a field-programmable gate array (FPGA) / application specific integrated circuit (ASIC), at least one software stored in a memory, or at least one process processed by a processor. there is.

The codes attached to each step are used to identify each step, and these codes do not indicate the order of each step, and each step is performed in a different order from the specified order unless a specific order is clearly stated in the context. It can be.

Hereinafter, an embodiment of a vehicle and a control method thereof according to an aspect will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a minimum turning radius and a required turning radius when a vehicle makes a U-turn. 2 is a diagram illustrating a minimum turning radius and a required turning radius when a vehicle turns on a narrow road. 3 illustrates an example in which a minimum turning radius is reduced by performing torque vectoring control of a wheel motor by a vehicle according to an exemplary embodiment.

1 and 2, when the vehicle 1 turns left, the left front wheel LF and the right front wheel RF of the vehicle 1 are turned leftward by the steering device 130 . In this case, the bending angle (a) of the left front wheel (LF) is greater than the bending angle (b) of the right front wheel (RF), and the extension line perpendicular to the rotational axis of the left front wheel (LF) and the rotational axis of the right front wheel (RF) One extension line intersects the vehicle 1 at its center of rotation O1 or O2. An extension line connecting the left rear wheel LR and the right rear wheel RR also passes through the rotation center O1 or O2 of the vehicle. Accordingly, when the vehicle 1 turns, the left front wheel LF, the right front wheel RF, the left rear wheel LR, and the right rear wheel RR draw concentric circles in which the rotation centers O1 or O2 coincide.

Concentric circles drawn by the left front wheel LF, the right front wheel RF, the left rear wheel LR, and the right rear wheel RR, respectively, when the vehicle 1 turns with the steering angle of the steering device 130 maximized. The radius of the outermost circle is called the minimum turning radius of the vehicle. From a mechanical point of view, since the maximum steering angle of the steering device 130 is limited, there is also a limit on the minimum turning radius of the vehicle 1 that can be implemented only by the operation of the steering device 130.

For example, as shown in FIG. 1 , when the vehicle 1 makes a U-turn to the left without any control other than the operation of the steering device 130, the vehicle 1 may turn along the first trajectory T1. there is. However, the first minimum turning radius R1 of the vehicle 1 turning along the first trajectory T1 is greater than the first distance D1 from the first turning center O1 of the vehicle 1 to the edge of the road. In this case, the vehicle 1 may leave the road and collide with an object outside the road (eg, a curb, a person or another vehicle).

In order for the vehicle 1 to safely make a U-turn on a narrow road, the vehicle 1 must turn along the second trajectory T2. That is, for a safe U-turn of the vehicle 1 on the road, the vehicle 1 must turn along the second trajectory T2 having the first required turning radius R2. The first required turning radius R2 may be smaller than the second distance D2 from the second turning center O2 of the vehicle 1 to the edge of the road. Accordingly, the vehicle 1 turning along the second trajectory T2 can make a U-turn at once without leaving the road.

In order for the vehicle 1 to turn along the second trajectory T2 having the first required turning radius R2, additional control is required to reduce the minimum turning radius of the vehicle 1 in addition to the operation of the steering device 130. It is required. The disclosed vehicle 1 may reduce the minimum turning radius of the vehicle 1 by performing torque vectoring control of the wheel motor 110 .

In addition, as shown in FIG. 2 , when the vehicle 1 turns to the left without any control other than the operation of the steering device 130, the vehicle 1 has a third trajectory (with a third rotational center O3). You can turn along T3). However, since the third minimum turning radius R3 of the vehicle 1 turning along the third trajectory T3 is greater than the width of the road and the curvature of the third trajectory T3 is smaller than the curvature of the road, the vehicle 1 ), the vehicle 1 may leave the road and collide with an object (eg, a curb, a person or another vehicle) outside the road.

In order for the vehicle 1 to safely turn on a road with a narrow width and a large curvature, the vehicle 1 has a fourth trajectory T4 having a fourth rotation center O4 and a second required turning radius R4. you have to turn around The second required turning radius R4 may be smaller than the width of the road, and the curvature of the fourth trajectory T4 may be the same as that of the road. Accordingly, the vehicle 1 turning along the fourth trajectory T4 can turn at once without leaving the road.

In order for the vehicle 1 to turn along the fourth trajectory T4 having the second required turning radius R4, additional control is required to reduce the minimum turning radius of the vehicle 1 in addition to the operation of the steering device 130. It is required. The disclosed vehicle 1 may reduce the minimum turning radius of the vehicle 1 by performing torque vectoring control of the wheel motor 110 .

Referring to FIG. 3 , the vehicle 1 may perform torque vectoring control to reduce the minimum turning radius based on a comparison result between the required turning radius and the minimum turning radius. The vehicle 1 includes a first wheel motor 111 and a right driving wheel RR that rotate the left driving wheel LR so that torques in opposite directions are applied to the left driving wheel LR and the right driving wheel RR. It is possible to control the second wheel motor (RR) that rotates. As such, control of the wheel motors 110 (111, 112) for adjusting the torque applied to the left driving wheel LR and the right driving wheel RR may be defined as torque vectoring control.

For example, as shown in FIG. 1 , when the vehicle 1 turns left, the first required turning radius R2 required for safe turning of the vehicle 1 is equal to the first minimum turning radius R1 of the vehicle 1 Based on the smaller one, the vehicle 1 controls the first wheel motor 111 to apply reverse (-) torque to the left drive wheel LR, and applies positive (+) torque to the right drive wheel RR. The second wheel motor 112 may be controlled to apply. This causes the right driving wheel RR to rotate more than the left driving wheel LR. Accordingly, the vehicle 1 can turn along the second trajectory T2 having the first required turning radius R2.

The vehicle 1 may calculate the minimum turning radius of the vehicle 1 based on the maximum steering angle of the steering device 130 . Also, the vehicle 1 may calculate a required turning radius of the vehicle 1 based on data about objects around the vehicle acquired by the object sensor 120 . The vehicle 1 can process data about the object to determine the road width, road curvature and the location of the vehicle. The vehicle 1 can determine the required turning radius based on the road width, road curvature and vehicle position. The vehicle 1 may determine to perform torque vectoring control to reduce the minimum turning radius based on the fact that the required turning radius is smaller than the minimum turning radius.

4 is a block diagram of components of a vehicle according to an exemplary embodiment.

Referring to FIG. 4 , a vehicle 1 according to an embodiment includes a wheel motor 110, an object sensor 120, a steering device 130, a steering angle sensor 140, a speed sensor 150, an accelerator opening sensor ( 160), a display 170, an audio device 180, an input device 190, and a controller 200. The control unit 200 is electrically connected to components of the vehicle 1 and may control electronic devices of the vehicle 1 .

Various devices provided in the vehicle 1 may communicate with each other through the vehicle communication network NT. For example, electronic devices of the vehicle 1 may be connected through a controller area network (CAN) communication line. In addition to CAN, Ethernet, Media Oriented Systems Transport (MOST), Flexray, and/or LIN (Local Interconnect Network, LIN) may also be used.

The controller 200 may include a memory 220 for programs, instructions and/or applications related to the operation of the vehicle 1 and a processor 210 that executes programs stored in the memory 220 . The memory 220 and the processor 210 may be integrated on a single chip. Also, the memory 220 and the processor 210 may be provided in physically separated locations. In addition, each of the memory 220 and the processor 210 may be provided in plurality.

The memory 220 may include nonvolatile memory devices such as cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. can In addition, the memory 220 may include a volatile memory device such as random access memory (RAM), and may include a storage medium such as a hard disk drive (HDD) and a CD-ROM. The type of memory 220 is not limited to the illustrated one.

The wheel motor 110 may generate torque and transmit the torque to the drive wheels of the vehicle 1 to perform acceleration or deceleration. The driving wheel may be exemplified by a left rear wheel (LR) and a right rear wheel (RR). The first wheel motor 111 may apply torque to the left driving wheel LR, and the second wheel motor 112 may apply torque to the right driving wheel RR. It is not limited to the example, and the left front wheel (LF) and the right front wheel (LR) may be drive wheels, and the left front wheel (LF), the right front wheel (LR), the left rear wheel (LR), and the right rear wheel (RR) are all driven. Could be a wheel. Wheel motors may be provided to apply torque to each of the left front wheel LF, the right front wheel LR, the left rear wheel LR, and the right rear wheel RR.

The wheel motor 110 may receive power from a battery (not shown) provided in the vehicle 1 . The wheel motor 110 may provide regenerative energy to a battery (not shown), and the battery (not shown) may be charged accordingly.

The object sensor 120 may include a camera 121 and a radar 122 . The camera 121 may be provided to photograph the surroundings of the vehicle 1 . The camera 121 may be provided at the front, rear, side and/or corner of the vehicle 1 . The camera 121 may acquire image data about objects such as other vehicles, pedestrians, cyclists, lanes, road structures, and road signs. The camera 121 may include a plurality of lenses and an image sensor.

The radar 122 may be provided to emit radio waves to the surroundings of the vehicle 1 and receive reflected radio waves reflected from objects around the vehicle 1 . The radar 122 may be provided at the front, rear, side and/or corner of the vehicle 1 . The radar 122 may acquire radar data about objects around the vehicle 1 . The controller 200 may detect the relative position, relative speed, and distance of objects (eg, other vehicles, pedestrians, cyclists, etc.) located around the vehicle 1 using the radar data.

In addition, the object sensor 120 may include various sensors (eg, ultrasonic sensors) capable of detecting objects around the vehicle 1 .

The vehicle 1 may calculate a required turning radius of the vehicle 1 based on data about objects around the vehicle acquired by the object sensor 120 . The required turning radius of the vehicle 1 may be defined as a turning radius for the vehicle 1 to turn safely without leaving the road. The vehicle 1 can process data about the object to determine the road width, road curvature and the location of the vehicle. The vehicle 1 can determine the required turning radius based on the road width, road curvature and vehicle position.

The steering device 130 may change the driving direction of the vehicle 1 . The steering device 130 may adjust the steering angle in response to rotation of the steering wheel. The steering device 130 transmits the rotational force of the steering wheel to the left front wheel LF and the right front wheel RF of the vehicle 1, and accordingly the left front wheel LF and the right front wheel RF are bent to the left or right can The steering device 130 may be provided as an electronic steering device.

The steering angle sensor 140 may detect the steering angle of the steering device 130 . The control unit 200 may execute torque vectoring control based on a steering angle greater than a predetermined threshold angle. This is because when the steering angle becomes smaller than the critical angle, it can be determined that the turning intention of the vehicle 1 is removed. The controller 200 may cancel execution of the torque vectoring control based on the fact that the steering angle is less than or equal to the critical angle.

The speed sensor 150 may detect the speed of the vehicle 1 . The speed sensor 150 may detect the rotation speed of each wheel LF, RF, LR, and RR. The speed sensor 150 may include an acceleration sensor that detects lateral acceleration and longitudinal acceleration of the vehicle 1 . The control unit 200 may execute torque vectoring control based on the fact that the vehicle speed is lower than a predetermined threshold speed. This is because when the vehicle speed is higher than the critical speed, the risk of an accident increases when the vehicle 1 turns and torque vectoring control may not be normally performed. The control unit 200 may cancel the execution of the torque vectoring control based on the fact that the vehicle speed is greater than or equal to the threshold speed.

The accelerator opening degree sensor 160 may detect the opening degree of the accelerator pedal. The opening degree of the accelerator pedal is proportional to the force the driver presses on the accelerator pedal. When the opening degree of the accelerator pedal increases, the torque generated by the wheel motor 110 increases and the vehicle speed increases. The controller 200 may execute torque vectoring control based on the fact that the opening degree of the accelerator pedal is less than a predetermined threshold opening degree. The controller 200 may cancel the execution of the torque vectoring control based on the fact that the opening degree of the accelerator pedal is greater than or equal to the threshold opening degree.

In addition, various sensors may be provided in the vehicle 1 . For example, the vehicle 1 may include a yaw rate sensor that detects a change in angular velocity and a gyro sensor that detects an inclination of the vehicle.

The display 170 may display various information related to the operation of the vehicle 1 . The display 170 may be provided in various locations inside the vehicle. For example, the display 170 may be provided in a cluster and a head unit. The controller 200 may control the display 170 to display a guide message indicating that torque vectoring control is necessary based on the fact that the required turning radius of the vehicle 1 is smaller than the minimum turning radius. User convenience may be improved by notifying the user that torque vectoring control is necessary.

The display 170 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display ), a 3D display, a transparent display, and/or a head-up display (HUD). Also, the display 170 may include a touch screen capable of obtaining user input.

The audio device 180 may output various sounds related to the operation of the vehicle 1 . The audio device 180 may be implemented as a speaker and may be provided in various locations inside the vehicle 1 . The controller 200 may control the audio device 180 to output a guide voice notifying that torque vectoring control is necessary based on the fact that the required turning radius of the vehicle 1 is smaller than the minimum turning radius.

The input device 190 may obtain user input. The input device 190 may be provided in various locations inside the vehicle 1 . For example, the input device 190 may be provided on a steering wheel, a door and/or a center fascia. The input device 190 may be provided with various devices such as a physical button, a knob, a touch pad, a touch screen, a stick-type control device, or a track ball. The control unit 200 may execute torque vectoring control based on a torque vectoring control execution command input through the input device 190 . User convenience and driving safety can be improved by allowing the user to select whether or not to execute the torque vectoring control.

However, the present invention is not limited thereto, and the control unit 200 may automatically generate an execution command for torque vectoring control based on a comparison result between the required turning radius and the minimum turning radius. The control unit 200 controls the first wheel motor 111 and the second wheel motor 112 so that torques in opposite directions are applied to the left driving wheel LR and the right driving wheel RR based on the torque vectoring control execution command. ) can be controlled.

The control unit 200 controls the first wheel motor 111 so that the first torque applied to the left driving wheel LR is adjusted based on the steering angle detected after determining the torque vectoring control, and the right driving wheel RR The second wheel motor 112 may be controlled so that the second torque applied to is adjusted. While the vehicle 1 is turning, the steering device 130 may be manipulated by the user, and the steering angle may be changed. Accordingly, in order to maintain the minimum turning radius of the vehicle 1 at a required turning radius, torque applied to the driving wheels LR and RR needs to be adjusted according to a change in steering angle.

The control unit 200 includes a gain corresponding to the steering angle, a wheel tread that is the distance between the left driving wheel LR and the right driving wheel RR, and mounted on the left driving wheel LR and the right driving wheel RR, respectively. The first torque and the second torque may be determined based on a correlation equation having a dynamic radius of the tire as a factor. The dynamic radius of the tire may be calculated by various known methods.

In other words, the first torque and the second torque applied to the left drive wheel LR and the right drive wheel RR, respectively, may be determined by Equation 1 below.

[Equation 1]

First torque (Tq1) = -(steering angle * gain / 2) / (wheel tread / 2) * tire radius

Second torque (Tq2) = (steering angle * gain / 2) / (wheel tread / 2) * tire radius

Signs of the first torque Tq1 and the second torque Tq2 may change according to the turning direction of the vehicle 1 .

The vehicle 1 may further include other components in addition to the components described above. Also, some of the aforementioned components may be omitted from the vehicle 1 .

5 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment.

Referring to FIG. 5 , the control unit 200 of the vehicle 1 may determine whether the steering angle of the steering device 130 is maximum based on data transmitted from the steering angle sensor 140 (501). The controller 200 may calculate the minimum turning radius of the vehicle 1 based on the maximum steering angle of the steering device 130 .

The controller 200 may calculate a required turning radius of the vehicle 1 based on data about objects around the vehicle acquired by the object sensor 120 (502). The required turning radius of the vehicle 1 may be defined as a turning radius for the vehicle 1 to turn safely without leaving the road. The vehicle 1 can process data about the object to determine the road width, road curvature and the location of the vehicle. The vehicle 1 can determine the required turning radius based on the road width, road curvature and vehicle position.

The controller 200 may compare the minimum turning radius of the vehicle 1 with the required turning radius (503). The controller 200 may determine whether or not to notify torque vectoring control for reducing the minimum turning radius based on a comparison result between the required turning radius and the minimum turning radius. Based on the fact that the required turning radius is smaller than the minimum turning radius, the control unit 200 may determine that torque vectoring control is required to reduce the minimum turning radius, and determine the need for torque vectoring control to notify. The controller 200 may control the display 170 to display a guide message indicating that torque vectoring control is necessary. Also, the controller 200 may control the audio device 180 to output a guide voice indicating that torque vectoring control is necessary.

The control unit 200 may receive an execution command for torque vectoring control through the input device 190 (505). User convenience and driving safety can be improved by allowing the user to select whether or not to execute the torque vectoring control. However, the present invention is not limited thereto, and the control unit 200 may automatically generate an execution command for torque vectoring control based on a comparison result between the required turning radius and the minimum turning radius.

The control unit 200 may enter the torque vectoring control step based on the fact that the vehicle speed is lower than a predetermined threshold speed (506). Also, the control unit 200 may enter a torque vectoring control step based on a steering angle greater than a predetermined threshold angle (507).

If the vehicle speed is higher than the threshold speed, the risk of an accident when turning the vehicle 1 increases and the torque vectoring control may not be normally performed, so it is preferable that the torque vectoring control is executed when the vehicle speed is lower than the predetermined threshold speed. . The controller 200 may cancel the execution of the torque vectoring control based on the fact that the vehicle speed is greater than or equal to the threshold speed (506, 509).

Although not shown in FIG. 5 , the control unit 200 may enter the torque vectoring control step based on the fact that the opening degree of the accelerator pedal is less than a predetermined threshold opening degree. The controller 200 may cancel the execution of the torque vectoring control based on the fact that the opening degree of the accelerator pedal is greater than or equal to the threshold opening degree. Since the opening degree of the accelerator pedal affects the vehicle speed, the condition of the opening degree of the accelerator pedal for executing the torque vectoring control may be included in the vehicle speed condition.

Since the turning intention of the vehicle 1 can be determined to be removed when the steering angle is smaller than the threshold angle, it is preferable that the torque vectoring control is executed when the steering angle is larger than the predetermined threshold angle. The control unit 200 may cancel the execution of the torque vectoring control based on the fact that the steering angle is less than or equal to the critical angle (507, 509).

In other words, when the vehicle speed is lower than the predetermined threshold speed and the steering angle is greater than the predetermined threshold angle after receiving the execution command of the torque vectoring control, the control unit 200 controls the left driving wheel LR and the right driving wheel RR The first wheel motor 111 and the second wheel motor 112 may be controlled so that torques in opposite directions are applied to (508).

The control unit 200 controls the first wheel motor 111 so that the first torque applied to the left driving wheel LR is adjusted based on the steering angle detected after determining the torque vectoring control, and the right driving wheel RR The second wheel motor 112 may be controlled so that the second torque applied to is adjusted. Specifically, the control unit 200 determines the gain corresponding to the steering angle, the wheel tread, which is the distance between the left driving wheel LR and the right driving wheel RR, and the left driving wheel LR and the right driving wheel RR. The first torque and the second torque may be determined based on a correlation equation having a dynamic radius of each tire mounted thereon as a factor.

As described above, the disclosed vehicle and vehicle control method can reduce the minimum turning radius of the vehicle when turning in a narrow space by using torque vectoring control of wheel motors. Since the vehicle can escape from a narrow space without repeatedly moving forward and backward, the driver's convenience can be improved and accidents can be prevented. In addition, energy consumed by the vehicle may also be reduced.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program codes, and when executed by a processor, create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media in which instructions that can be decoded by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.

As above, the disclosed embodiments have been described with reference to the accompanying drawings. Those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a form different from the disclosed embodiments without changing the technical spirit or essential characteristics of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
110: wheel motor
120: object sensor
130: steering device
140: steering angle sensor
150: speed sensor
160: accelerator opening degree sensor
170: display
180: audio device
190: input device
200: control unit

Claims (20)

a steering angle sensor that detects a steering angle of the steering device;
an object sensor that detects an object around the vehicle and obtains data about the object;
a first wheel motor provided to rotate the left drive wheel;
a second wheel motor provided to rotate the right driving wheel; and
A controller electrically connected to the steering angle sensor, the object sensor, the first wheel motor, and the second wheel motor;
The control unit
Calculate a minimum turning radius of the vehicle based on the maximum steering angle;
Calculate a required turning radius of the vehicle based on the data about the object;
Determine whether or not to notify torque vectoring control for reducing the minimum turning radius based on a comparison result of the required turning radius and the minimum turning radius;
A vehicle that controls the first wheel motor and the second wheel motor so that torques in opposite directions are applied to the left driving wheel and the right driving wheel based on the execution command of the torque vectoring control. According to claim 1,
The control unit
A vehicle that controls a display to display a guide message informing that the torque vectoring control is necessary based on that the required turning radius is smaller than the minimum turning radius. According to claim 1,
The control unit
A vehicle that controls an audio device to output a guide voice notifying that the torque vectoring control is necessary based on that the required turning radius is smaller than the minimum turning radius. According to claim 1,
The control unit
A vehicle that receives the execution command of the torque vectoring control from an input device that obtains a user input. According to claim 1,
The control unit
A vehicle that executes the torque vectoring control based on the vehicle speed being lower than a predetermined threshold speed. According to claim 1,
The control unit
A vehicle that executes the torque vectoring control based on the steering angle being greater than a predetermined threshold angle. According to claim 1,
The control unit
A vehicle that executes the torque vectoring control based on an opening degree of the accelerator pedal being smaller than a predetermined threshold opening degree. According to claim 1,
The control unit
processing data about the object to determine road width, road curvature and vehicle position;
A vehicle that determines the required turning radius based on the road width, the curvature of the road and the position of the vehicle. According to claim 1,
The control unit
Based on the steering angle detected after determining the torque vectoring control, the first wheel motor is controlled so that the first torque applied to the left drive wheel is adjusted, and the second torque applied to the right drive wheel is adjusted. A vehicle for controlling the second wheel motor. According to claim 9,
The control unit
A gain corresponding to the steering angle, a wheel tread that is the distance between the left driving wheel and the right driving wheel, and the dynamic radius of tires mounted on the left driving wheel and the right driving wheel are factors. determining the first torque and the second torque based on a correlation expression of calculate a minimum turning radius of the vehicle based on the maximum steering angle;
calculating a required turning radius of the vehicle based on data about objects around the vehicle obtained by the object sensor;
determine whether or not to notify torque vectoring control for reducing the minimum turning radius based on a comparison result between the required turning radius and the minimum turning radius;
and controlling a first wheel motor and a second wheel motor so that torques in opposite directions are applied to the left driving wheel and the right driving wheel based on the execution command of the torque vectoring control. According to claim 11,
Determining whether or not to notify about the torque vectoring control,
and controlling a display to display a guide message informing that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius. According to claim 11,
Determining whether or not to notify about the torque vectoring control,
and controlling an audio device to output a guide voice notifying that the torque vectoring control is necessary based on the fact that the required turning radius is smaller than the minimum turning radius. According to claim 11,
and receiving an execution command of the torque vectoring control from an input device that obtains a user input. According to claim 11,
Controlling the first wheel motor and the second wheel motor
A control method of a vehicle, which is executed based on a vehicle speed being lower than a predetermined threshold speed. According to claim 11,
Controlling the first wheel motor and the second wheel motor
The control method of a vehicle, which is executed based on the steering angle being greater than a predetermined threshold angle. According to claim 11,
Controlling the first wheel motor and the second wheel motor
A control method of a vehicle, which is executed based on an opening degree of an accelerator pedal being smaller than a predetermined threshold opening degree. According to claim 11,
Calculating the required turning radius of the vehicle is
process data about the object to determine road width, road curvature, and vehicle position;
and determining the required turning radius based on the road width, the road curvature, and the location of the vehicle. According to claim 11,
Controlling the first wheel motor and the second wheel motor
Based on the steering angle detected after determining the torque vectoring control, the first wheel motor is controlled so that the first torque applied to the left drive wheel is adjusted, and the second torque applied to the right drive wheel is adjusted. A method of controlling a vehicle including controlling the second wheel motor. According to claim 19,
Controlling the first wheel motor and the second wheel motor
A gain corresponding to the steering angle, a wheel tread that is the distance between the left driving wheel and the right driving wheel, and the dynamic radius of tires mounted on the left driving wheel and the right driving wheel are factors. and determining the first torque and the second torque based on a correlation equation of

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