KR-102962095-B1 - Integrated control apparatus of a vehicle, system having the same and method thereof

KR102962095B1KR 102962095 B1KR102962095 B1KR 102962095B1KR-102962095-B1

Abstract

The present invention relates to a vehicle integrated control device, a system including the same, and a method thereof. A vehicle integrated control device according to an embodiment of the present invention may include: a processor that performs braking control at the beginning of a driver's steering control and controls the damping force of an electronically controlled suspension to be weak, releases the braking control at the end of a driver's steering control and controls the damping force of the electronically controlled suspension to be strong; and a storage unit that stores data obtained by the processor and an algorithm for driving the processor.

Inventors

김현수
채민지
조재성
현민제

Assignees

현대자동차주식회사
기아 주식회사

Dates

Publication Date: 20260512
Application Date: 20200527

Claims (20)

A processor that performs braking control at the beginning of the driver's steering control and controls the damping force of the electronically controlled suspension to be weak, releases the braking control at the end of the driver's steering control and controls the damping force of the electronically controlled suspension to be strong; and A storage unit for storing data obtained by the above processor and an algorithm for driving the above processor; Includes, The above processor is, A vehicle integrated control device characterized by controlling to output a first stage damping force before a roll angle occurs during the initial stage of vehicle steering control, controlling to output a second stage damping force greater than the first stage at the point when the amount of change of the roll angle decreases after the roll angle has increased, and releasing the damping control when the roll rate disappears.
In claim 1, The above processor is, A vehicle integrated control device characterized by controlling the phase difference between the yaw rate and the roll angle during the braking control and the control of the electronically controlled suspension.
In claim 1, The above processor is, A vehicle integrated control device characterized by estimating the roll angle of a vehicle based on the lateral acceleration of the vehicle and the mass of the vehicle.
In claim 1, The above processor is, A vehicle integrated control device characterized by calculating a target yaw rate and a target roll angle based on a 3-degree-of-freedom vehicle model.
In claim 4, The above processor is, A vehicle integrated control device characterized by calculating a yaw rate error based on the above target yaw rate and the sensed yaw rate.
In claim 5, The above processor is, A vehicle integrated control device characterized by calculating a roll angle error based on the above target roll angle and the estimated roll angle.
In claim 6, The above processor is, Calculate the target yaw moment based on the above yaw rate error, and A vehicle integrated control device characterized by calculating a target roll moment based on the above roll angle error.
In claim 7, The above processor is, Convert the above target yaw moment into a target braking pressure, and A vehicle integrated control device characterized by converting the above-mentioned target roll moment into a target damping amount.
In claim 8, The above processor is, The above target braking pressure is output to the braking control device, and A vehicle integrated control device characterized by outputting the above target damping amount to an electronically controlled suspension device.
In claim 8, The above processor is, A vehicle integrated control device characterized by converting the above target yaw moment into tire force and converting the above tire force into target braking pressure.
In claim 8, The above processor is, A vehicle integrated control device characterized by calculating a target damping force applied to each wheel of a vehicle using at least one of a front wheel distribution ratio, a rear wheel distribution ratio, and a left-right distribution ratio.
In claim 1, The above processor is, A vehicle integrated control device characterized by performing braking control in the section where a yaw rate is generated and increases during the initial stage of vehicle steering control, and controlling to terminate braking control during the later stage of steering control.
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In claim 1, The above processor is, At the initial stage of vehicle steering control, the inner rear wheel is braked unevenly to control the yaw rate, and the damping force for damping control is controlled softly, and A vehicle integrated control device characterized by releasing the differential braking after steering of the vehicle and hard-controlling the damping force.
In claim 1, The above processor is, Determining the driver's intention to accelerate based on vehicle speed and driver accelerator pedal opening (APS), and A vehicle integrated control device characterized by determining the driver's intention to turn based on steering angle and steering angle velocity.
A braking control device that controls the braking of a vehicle; Electronically controlled suspension device for controlling vehicle body posture; and A vehicle integrated control device that integrates and controls the braking control device and the electronically controlled suspension device; comprising The above vehicle integrated control device is, Performing braking control at the beginning of the driver's steering control and controlling the damping force of the electronically controlled suspension to be weak, releasing the braking control at the end of the driver's steering control and controlling the damping force of the electronically controlled suspension to be strong, A vehicle system characterized by controlling the output of a first stage damping force before a roll angle occurs during the initial stage of steering control of the vehicle, controlling the output of a second stage damping force greater than the first stage at the point when the amount of change of the roll angle decreases after the roll angle has increased, and releasing the damping control when the roll rate disappears.
A step of performing braking control at the beginning of the driver's steering control and controlling the damping force of the electronically controlled suspension to be weak; A step of releasing braking control after the driver's steering control and significantly controlling the damping force of the electronically controlled suspension; and A vehicle integrated control method characterized by including the step of controlling to output a first stage damping force before a roll angle occurs during the initial stage of vehicle steering control, controlling to output a second stage damping force greater than the first stage at the time when the amount of change of the roll angle decreases after the roll angle increases, and releasing the damping control when the roll rate disappears.
In claim 17, A step of estimating the roll angle of a vehicle based on the lateral acceleration of the vehicle and the mass of the vehicle; A step of calculating the target yaw rate and target roll angle based on a 3-degree-of-freedom vehicle model; A step of calculating a yaw rate error based on the above target yaw rate and the sensed yaw rate; A step of calculating a roll angle error based on the above target roll angle and the estimated roll angle; A vehicle integrated control method characterized by further including
In claim 18, A step of calculating a target yaw moment based on the above yaw rate error; A step of calculating a target roll moment based on the above roll angle error; A step of converting the above target yaw moment into a target braking pressure; A step of converting the above target roll moment into a target damping amount; A vehicle integrated control method characterized by further including
In claim 18, A step of outputting the above target braking pressure to a braking control device and outputting the above target damping amount to an electronically controlled suspension device. A vehicle integrated control method characterized by further including

Description

Vehicle integrated control apparatus, system including the same, and method thereof The present invention relates to a vehicle integrated control device, a system including the same, and a method thereof, and more specifically, to a technology capable of improving steering unity and vehicle behavior linearity. In the case of conventional braking control for yaw rate control, yaw gain control is performed to increase the magnitude of the yaw rate. Conversely, in electronic suspension control, control is performed to reduce the magnitude of the roll. Conventionally, when controlling the yaw rate and roll in this way, the control that increases the yaw rate and the control that decreases the roll increase the delay time between the yaw rate and the roll. There is a problem in that if the delay time between the yaw rate and roll increases, the control operates in a way that reduces the sense of unity in the vehicle's movement. FIG. 1 is a block diagram showing the configuration of a vehicle system including a vehicle integrated control device according to one embodiment of the present invention. FIG. 2 is a diagram showing the direction of motion during vehicle integrated control according to one embodiment of the present invention. FIGS. 3a and 3b are drawings showing a vehicle model for setting target values to control roll and yaw of a vehicle integrated control device according to one embodiment of the present invention. FIG. 4 is a diagram illustrating a method for calculating the control amount of a vehicle integrated control device according to one embodiment of the present invention. FIG. 5 is a diagram illustrating a method for calculating the control amount of a braking control device according to one embodiment of the present invention. FIG. 6 is a diagram illustrating a method for calculating the control amount of an electronically controlled suspension device according to one embodiment of the present invention. FIGS. 7 and FIGS. 8 are flowcharts for explaining a vehicle integrated control method according to an embodiment of the present invention. FIG. 9 is a graph illustrating a vehicle integrated control method according to one embodiment of the present invention. FIG. 10 is an explanation for describing the damper amount control at the beginning and end of a turn according to an embodiment of the present invention. FIGS. 11a and FIGS. 11b are graphs showing that yaw responsiveness and roll responsiveness are improved in one embodiment of the present invention. FIG. 12 illustrates a computing system according to one embodiment of the present invention. Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted. In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application. Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 12. FIG. 1 is a block diagram showing the configuration of a vehicle system including a vehicle integrated control device according to one embodiment of the present invention. Referring to FIG. 1, a vehicle integrated control device (100) according to one embodiment of the present invention may be implemented inside a vehicle. At this time, the vehicle integrated control device (100) may be formed integrally with the internal control units of the vehicle, or it may be implemented as a separate device and connected to the control units of the vehicle by a separate connection means. Referring to FIG. 2, the vehicle system may include a vehicle integrated control unit (100), a sensing unit (200), an electronically controlled suspension unit (300), and a braking control unit (400). The vehicle integrated control unit (100) determines the turning intention based o