KR-20260064119-A - VEHICLE DRIFT CONTROL APPARATUS AND METHOD SUBDIVIDING DRIFT STATE STAGE

Abstract

A vehicle drift control device according to one embodiment of the present invention may include a controller that receives data of a plurality of drift state stages corresponding to a plurality of different body slip angle ranges, and changes the rear wheel torque limiting stage of the vehicle as the drift state stage corresponding to the real-time body slip angle of the vehicle changes during the drift state of the vehicle.

Inventors

• 정지용
• 박진웅
• 강태수

Assignees

• 현대자동차주식회사
• 기아 주식회사
• 현대모비스 주식회사

Dates

Publication Date

20260507

Application Date

20241031

Claims (20)

1. A vehicle drift control device comprising a controller that receives data of multiple drift state stages corresponding to each of multiple different body slip angle ranges, and changes the rear wheel torque limiting stage of the vehicle as the drift state stage corresponding to the real-time body slip angle of the vehicle changes during the vehicle's drift state.
2. In paragraph 1, The above controller is a vehicle drift control device that changes the rear wheel torque limiting stage of the vehicle so as to lower the rear wheel drive torque limit of the vehicle as the real-time body slip angle increases and raise the rear wheel drive torque limit of the vehicle as the real-time body slip angle decreases.
3. In paragraph 2, The above controller is a vehicle drift control device that increases the rear wheel torque limit in the real-time rear wheel torque limiting stage as the real-time accelerator pedal opening amount of the vehicle increases, and lowers the rear wheel torque limit in the real-time rear wheel torque limiting stage as the real-time accelerator pedal opening amount of the vehicle decreases.
4. In paragraph 2, The above controller is a vehicle drift control device that changes the rear wheel torque limit stage of the vehicle such that when the real-time drift state stage is drift state stage 0, the rear wheel torque limit of the vehicle is increased more than the upper limit, when the real-time drift state stage is drift state stage 1, the rear wheel torque limit of the vehicle is adjusted closer to the upper limit than the lower limit, as the real-time drift state stage is closer to drift state stage 2, the rear wheel torque limit of the vehicle is adjusted closer to the upper limit than the lower limit, and as the real-time drift state stage is closer to drift state stage 3, the rear wheel torque limit of the vehicle is adjusted closer to the lower limit than the upper limit.
5. In paragraph 4, the above controller is, When the real-time driving wheel slip of the rear wheel of the vehicle is greater than the driving wheel slip target value, the real-time rear wheel torque of the vehicle is controlled to approach the driving wheel slip target value, and A driving wheel slip target value is generated based on at least two of the real-time accelerator pedal opening amount, real-time body slip angle, real-time body slip angle change rate, and real-time speed of the vehicle, and a second rear wheel torque limit corresponding to the driving wheel slip target value is generated. A vehicle drift control device that determines a rear-wheel drive torque target value based on the lower value between the above rear-wheel torque limit and the above second rear-wheel torque limit.
6. In paragraph 4, The above controller is a vehicle drift control device that lowers the rear wheel torque limit of the vehicle as the steering angle of the front wheel of the vehicle increases when the real-time drift state stage is drift state stage 0.
7. In paragraph 4, The above controller is a vehicle drift control device that selectively increases the front wheel torque of the vehicle compared to the front wheel torque when the real-time drift state stage is 3 or lower, when the real-time drift state stage exceeds drift state stage 3.
8. In Paragraph 7, The above controller is a vehicle drift control device that increases the front wheel torque of the vehicle as the steering angle of the front wheel of the vehicle increases when the real-time drift state stage exceeds drift state stage 2 and the vehicle is in a counter-steer state.
9. In paragraph 1, The above controller is a vehicle drift control device that selectively uses braking torque control or vehicle dynamic control of the vehicle depending on whether at least one of the real-time body slip angle change rate, yaw rate error, and yaw speed of the vehicle is greater than a reference value.
10. In Paragraph 9, The above controller increases the braking torque of the vehicle as at least one of the real-time body slip angle change rate, yaw rate error, and yaw speed of the vehicle increases, and The above controller increases the braking torque of the vehicle as the real-time accelerator pedal opening amount of the vehicle decreases, and The above controller is a vehicle drift control device that reduces the braking torque of the front and rear wheels of the vehicle when the real-time body slip angle of the vehicle exceeds a spin reference value.
11. In Paragraph 9, The above controller receives a drift support level input, and The above controller is a vehicle drift control device that, when at least one of the real-time body slip angle change rate, yaw rate error, and yaw speed of the vehicle is greater than a reference value, changes whether to use braking torque control or attitude control of the vehicle according to an input drift support level, or adjusts the control strength of the braking torque control or attitude control of the vehicle.
12. In Paragraph 7, The above controller receives a drift support level input, and The above controller is a vehicle drift control device that, when the real-time drift state stage exceeds drift state stage 3, selectively changes whether to use front wheel torque control of the vehicle or adjusts the control strength of the front wheel torque control of the vehicle according to the input drift support level.
13. In paragraph 4, The above controller receives a drift support level input, and The above controller is a vehicle drift control device that adjusts at least one of the upper limit and the lower limit according to the input drift support level.
14. In paragraph 1, The above controller receives a drift support level input, and The above controller is a vehicle drift control device that adjusts the rear wheel torque limit in at least one of the plurality of drift state stages according to the input drift support level.
15. A step of monitoring the real-time body slip angle of a vehicle in a drift state in which data of a plurality of drift state stages corresponding to a plurality of different body slip angle ranges is provided; and A vehicle drift control method comprising: a step of changing the rear wheel torque limiting step of the vehicle as the drift state step corresponding to the real-time body slip angle of the vehicle is changed.
16. In item 15, the above-mentioned changing step is, A vehicle drift control method comprising optionally increasing the front wheel torque of the vehicle according to the real-time drift state stage.
17. In Clause 16, the above-mentioned changing step is, A vehicle drift control method comprising lowering the rear wheel torque limit of the vehicle or increasing the front wheel torque of the vehicle as the steering angle of the front wheel increases in the counter-steer state of the vehicle.
18. In Clause 17, the above-mentioned changing step is, A vehicle drift control method comprising selectively using braking torque control or vehicle dynamic control of the vehicle depending on whether at least one of the real-time body slip angle change rate, yaw rate error, and yaw speed of the vehicle is greater than a reference value.
19. In paragraph 18, the above-mentioned changing step is, A vehicle drift control method comprising increasing the rear wheel torque limit in the real-time rear wheel torque limiting stage as the real-time accelerator pedal opening amount of the vehicle increases, and lowering the rear wheel torque limit in the real-time rear wheel torque limiting stage as the real-time accelerator pedal opening amount of the vehicle decreases.
20. A storage medium storing one or more programs including instructions for executing the vehicle drift control method of claim 15.

Description

Vehicle Drift Control Apparatus and Method Substituting Drift State Stages The present invention relates to a vehicle drift control device and method that subdivides the drift state stages. Vehicle drift is a technique in which a driver intentionally causes the rear wheels to slide while maintaining control of the vehicle to induce an oversteer state, thereby passing through a corner in order to maintain a high exit speed. For example, electric vehicles can achieve the aforementioned vehicle drift by distributing torque only to the rear wheel motors. Vehicle drift is increasingly being considered in vehicle control not only for entertainment to enhance the driver's driving enjoyment but also for driving efficiency and stability in environments with low ground friction. FIG. 1 is a drawing showing a vehicle including a vehicle drift control device according to one embodiment of the present invention. FIG. 2 is a flowchart showing drift control with subdivided drift state steps of a vehicle drift control device and method according to one embodiment of the present invention. Figure 3 is a diagram illustrating the drift state and rear wheel torque limit over time during the vehicle drift process. FIG. 4 is a flowchart showing additional control when the drift state level of a vehicle drift control device and method according to one embodiment of the present invention is high. FIG. 5 is a diagram showing front wheel torque control of a vehicle drift control device and method according to one embodiment of the present invention. FIG. 6 is a flowchart illustrating the process of determining a wheel slip target value for wheel slip-based torque control according to one embodiment of the present invention. FIG. 7 is a graph illustrating the trend of a wheel slip target value for wheel slip-based torque control in the vehicle drift process according to one embodiment of the present invention. FIG. 8 is a diagram illustrating a vehicle drift control device and method according to an embodiment of the present invention that inputs and outputs a drift support level and displays it. FIG. 9 is a diagram illustrating a vehicle drift control device and method according to an embodiment of the present invention displaying a drift support level by changing it. FIG. 10 is a flowchart illustrating the process of a vehicle drift control device and method according to an embodiment of the present invention adjusting the control strength (and/or presence or absence) according to an input drift support level. The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and/or" includes a combination of a plurality of related described items or any of a plurality of related described items. The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. 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. In this specification, a vehicle (including an electric vehicle) refers to various vehicles that transport a transported object, such as a person, animal, or object, from a place of origin to a destination. Such vehicles are not limited to vehicles that travel on roads or railways. Hereinafter, preferred embodiments of the present invention will be described in more detail with reference