KR100808009B1 - Method and device for detecting curved travelling of a vehicle - Google Patents

Method and device for detecting curved travelling of a vehicle Download PDF

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KR100808009B1
KR100808009B1 KR1020040029707A KR20040029707A KR100808009B1 KR 100808009 B1 KR100808009 B1 KR 100808009B1 KR 1020040029707 A KR1020040029707 A KR 1020040029707A KR 20040029707 A KR20040029707 A KR 20040029707A KR 100808009 B1 KR100808009 B1 KR 100808009B1
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speed
vehicle
turning
wheel
average
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KR1020040029707A
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KR20050105323A (en
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김기영
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주식회사 만도
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/246—Change of direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명은 차량의 선회주행 검출장치 및 방법에 관한 것으로, 특히 본 발명은 보다 향상된 차량 선회주행 검출기능을 갖는 차량의 선회주행 검출장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for turning driving detection of a vehicle, and more particularly, to an apparatus and method for turning driving detecting a vehicle having an improved vehicle turning driving detection function.

이를 위해 본 발명은 주행방향의 좌측 차륜들의 평균속도와 우측 차륜들의 평균속도 사이의 속도차를 산출하고, 산출된 속도차에 기초하여 차량이 선회 주행하는지를 판단한다.To this end, the present invention calculates a speed difference between the average speed of the left wheels in the driving direction and the average speed of the right wheels, and determines whether the vehicle is turning on the basis of the calculated speed difference.

따라서, 본 발명은 차량의 선회주행여부를 정확히 판단할 수 있어 차량의 선회 주행 검출에 대한 신뢰성을 향상시킬 수 있는 장점이 있다.Therefore, the present invention can accurately determine whether the vehicle is traveling in a circle, and thus, there is an advantage of improving reliability of the vehicle's turning drive detection.

Description

차량의 선회주행 검출장치 및 방법{Method and device for detecting curved travelling of a vehicle}Method and device for detecting curved traveling of a vehicle}

도 1은 본 발명에 따른 차량 선회주행 검출장치의 제어블록도이다.1 is a control block diagram of a vehicle turning driving detection apparatus according to the present invention.

도 2는 본 발명에 따른 차량 선회주행 검출장치를 제어하는 방법을 설명하기 위한 제어흐름도이다.2 is a control flowchart for explaining a method for controlling a vehicle turning driving detection apparatus according to the present invention.

*도면의 주요 기능에 대한 부호의 설명** Description of the symbols for the main functions of the drawings *

10 : 전륜 우측 휠 속도센서 11 : 후륜 우측 휠 속도센서10: Front wheel right wheel speed sensor 11: Rear wheel right wheel speed sensor

12 : 전륜 좌측 휠 속도센서 13 : 후륜 좌측 휠 속도센서12: Front wheel left wheel speed sensor 13: Rear wheel left wheel speed sensor

20 : 제1속도산출부 21 : 제2속도산출부20: first speed calculation section 21: second speed calculation section

30 : 제어부 31 : 마이크로프로세서30 control unit 31 microprocessor

32 : 카운트회로 40 : 제동압조절부32: count circuit 40: braking pressure control unit

본 발명은 차량의 선회주행 검출장치 및 방법에 관한 것이다.The present invention relates to a vehicle turning detection apparatus and method.

일반적으로, 차량이 직진 주행하는 경우에는 차륜들 간의 속도차가 미미하나, 차량이 선회 주행하는 경우에는 차륜들 간의 속도차가 상대적으로 크게 나타난 다.In general, the speed difference between the wheels is small when the vehicle travels straight, but the speed difference between the wheels is relatively large when the vehicle turns.

종래에는 이러한 차량의 주행상태에 따른 차륜들 간의 속도차를 이용하여 차량의 선회주행여부를 판단하고 있다. 즉, 차륜들의 속도 중 가장 빠른 속도와 그 다음 빠른 속도사이의 속도차를 이용하여 차량의 선회주행여부를 판단한다.Conventionally, it is determined whether the vehicle is turning by using the speed difference between the wheels according to the driving state of the vehicle. That is, it is determined whether the vehicle is turning by using the speed difference between the fastest of the wheels and the next highest speed.

그러나, 차량이 직진 주행하고 있다 하더라도 차량이 좌우노면의 마찰계수가 서로 다른 스플리트 노면 등을 주행하고 있는 경우에는 차륜들 간의 속도차가 상대적으로 크게 생길 수 있어 선회 주행여부를 정확히 판단하기 어려운 문제점이 있다. 이는 안티록 브레이크 시스템(Anti-lock Braking System ; ABS), 트랙션 제어시스템(Traction Control System ; TCS), 또는 일렉트로닉 스테빌리티 프로그램(Electronic Stability Program ;ESP)을 장착한 차량에서는 더욱 그러하다. 예를 들면, 이러한 차량에서는 각 차륜에 ABS 제어개입, TCS 제어개입, ESP 제어개입에 의해서 제동압을 제공하므로 차륜의 속도에 영향을 미치게 되어 차량의 선회 주행여부를 정확히 판단하기 힘들다.However, even when the vehicle is traveling straight, when the vehicle is traveling on a split road surface having different friction coefficients on the left and right road surfaces, the speed difference between the wheels may be relatively large, making it difficult to accurately determine whether the vehicle is turning. have. This is especially true for vehicles equipped with the Anti-lock Braking System (ABS), Traction Control System (TCS), or the Electronic Stability Program (ESP). For example, in such a vehicle, the braking pressure is provided to each wheel by the ABS control intervention, the TCS control intervention, and the ESP control intervention, which affects the speed of the wheel, making it difficult to accurately determine whether the vehicle is turning.

본 발명은 전술한 문제점을 해결하기 위한 것으로, 본 발명의 목적은 보다 향상된 차량의 선회주행 검출기능을 갖는 차량의 선회주행 검출장치 및 방법을 제공한다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a turning drive detecting apparatus and method for a vehicle having a more improved turning detection function of the vehicle.

전술한 목적을 달성하기 위한 본 발명의 차량 선회주행 검출장치는 각 차륜의 회전속도를 검출하는 휠 속도센서, 주행방향의 좌측 차륜들 사이의 평균속도를 산출하는 제1속도산출부, 주행방향의 우측 차륜들 사이의 평균속도를 산출하는 제2속도산출부, 상기 제1속도산출부와 제2속도산출부에서 산출된 평균속도들 사이의 속도차에 기초하여 차량의 선회주행 여부를 판단하는 제어부를 포함한다.In order to achieve the above object, the vehicle turning driving detection apparatus of the present invention includes a wheel speed sensor for detecting a rotation speed of each wheel, a first speed calculation unit for calculating an average speed between the left wheels in the driving direction, and a driving direction. A second speed calculating unit for calculating the average speed between the right wheels, a control unit for determining whether to drive the vehicle on the basis of the speed difference between the average speed calculated in the first speed calculating unit and the second speed calculating unit It includes.

또한, 본 발명의 차량 선회주행 검출장치를 제어하는 방법은 주행방향의 우측 차륜들 사이의 평균속도와 좌측 차륜들 사이의 평균속도를 산출하고, 상기 산출된 평균속도사이의 속도차에 기초하여 차량이 선회 주행하는지를 판단하는 것을 특징으로 한다.In addition, the method for controlling the vehicle turning drive detection apparatus of the present invention calculates the average speed between the right wheels and the left wheels in the driving direction, and based on the speed difference between the calculated average speed It is characterized by judging whether or not this turning drive.

이하에서는 본 발명의 바람직한 실시예를 본 도면을 참조하여 상세하게 설명하도록 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

도 1은 본 발명에 따른 차량 선회주행 검출장치의 제어블록도이다. 도 1에 도시된 바와 같이, 본 발명에 따른 차량 선회주행 검출장치는 전륜 우측(FR) 휠 속도센서(10), 후륜 우측(RR) 휠 속도센서(11), 전륜 좌측(FL) 휠 속도센서(12), 후륜 좌측(FR) 휠 속도센서(13)를 포함한다.1 is a control block diagram of a vehicle turning driving detection apparatus according to the present invention. As shown in FIG. 1, the vehicle turning driving detecting apparatus according to the present invention includes a front wheel right (FR) wheel speed sensor 10, a rear wheel right (RR) wheel speed sensor 11, and a front wheel left (FL) wheel speed sensor. 12, the rear wheel left (FR) wheel speed sensor 13.

전륜 우측(FR) 휠 속도센서(10)와 후륜 우측(RR) 휠 속도센서(11)는 제1속도산출부와 전기적으로 연결되어 있다. 제1속도산출부(20)는 전륜 우측(FR) 휠 속도센서(10)와 후륜 우측(RR) 휠 속도센서(11)로부터 검출되는 차륜속도들의 평균속도를 산출하고, 산출된 평균속도를 제어부(30)로 전송한다.The front wheel right (FR) wheel speed sensor 10 and the rear wheel right (RR) wheel speed sensor 11 are electrically connected to the first speed calculator. The first speed calculator 20 calculates an average speed of wheel speeds detected from the front wheel right (FR) wheel speed sensor 10 and the rear wheel right (RR) wheel speed sensor 11, and controls the calculated average speed. Transfer to 30.

전륜 좌측(FL) 휠 속도센서(12)와 후륜 좌측(RL) 휠 속도센서(13)는 제2속도산출부(21)와 전기적으로 연결되어 있다. 제2속도산출부(21)는 전륜 좌측(FL) 휠 속도센서(12)와 후륜 좌측(RL) 휠 속도센서(13)로부터 검출되는 차륜속도들의 평균 속도를 산출하고, 산출된 평균속도를 제어부(30)로 전송한다.The front wheel left (FL) wheel speed sensor 12 and the rear wheel left (RL) wheel speed sensor 13 are electrically connected to the second speed calculation unit 21. The second speed calculator 21 calculates an average speed of wheel speeds detected from the front wheel left (FL) wheel speed sensor 12 and the rear wheel left (RL) wheel speed sensor 13, and controls the calculated average speed. Transfer to 30.

제어부(30)는 마이크프로세서(31)와 카운트회로(32)로 이루어진다.The controller 30 is composed of a microphone processor 31 and a count circuit 32.

마이크로프로세서(31)는 제1속도산출부(20)를 통해 산출되는 좌측 전륜(FL)의 회전속도와 좌측 후륜(RL)의 회전속도사이의 평균속도와, 제2속도산출부(21)를 통해 산출되는 우측 전륜(FR)의 회전속도와 우측 후륜(RR)의 회전속도사이의 평균속도를 산출하고, 이 평균속도들사이의 속도차를 산출한다. 그리고, 이 속도차가 미리 설정된 속도값(일예로 2Kph)보다 큰 상태를 연속하여 유지하는 시간을 카운트회로를 통해 카운트한다. 그런 후 마이크로프로세서는 카운트회로를 통해 카운트된 시간에 기초하여 차량의 선회주행여부를 판단한다. 즉, 차량이 선회하고 있다면, 관성에 의하여 선회 외측 차륜(FL, RL)들 사이의 평균속도와 선회 내측 차륜(FR, RR)들의 평균속도사이에는 소정의 속도차가 소정시간 이상 생길 것이다. 따라서, 이 속도차의 정도를 확인함으로써 차량의 선회주행 여부를 판단할 수 있는 근거로 삼을 수 있다.The microprocessor 31 determines the average speed between the rotational speed of the left front wheel FL and the rotational speed of the left rear wheel RL calculated by the first speed calculation unit 20, and the second speed calculation unit 21. The average speed between the rotational speed of the right front wheel FR and the rotational speed of the right rear wheel RR calculated through the calculation is calculated, and the speed difference between these average speeds is calculated. Then, the time for continuously maintaining the state where the speed difference is larger than a preset speed value (for example, 2 Kph) is counted through the counting circuit. Thereafter, the microprocessor determines whether the vehicle is turning based on the time counted through the counting circuit. That is, if the vehicle is turning, a predetermined speed difference will occur between the average speed between the turning outer wheels FL and RL and the average speed of the turning inner wheels FR and RR due to inertia for a predetermined time or more. Therefore, by checking the degree of the speed difference can be used as a basis for determining whether the vehicle is turning.

만약, 차량이 선회 주행하는 것으로 판단되면, 마이크로프로세서는 제동압조절부(40)를 통해 차량의 선회 외측 후륜에 제동압을 가하여 차량의 선회 안정성을 향상시킨다.If it is determined that the vehicle is turning, the microprocessor applies braking pressure to the turning outer rear wheel of the vehicle through the brake pressure adjusting unit 40 to improve the turning stability of the vehicle.

도 2는 본 발명에 따른 차량 선회주행 검출장치를 제어하는 방법을 설명하기 위한 제어흐름도이다. 도 2를 살펴보면, 전륜 우측(FR) 휠 속도센서(10)와 후륜 우측(RR) 휠 속도센서(11)로부터 주행방향의 우측 전륜속도와 우측 후륜속도를 읽어 들인다(100). 그런 후 우측 전륜속도와 우측 후륜속도사이의 평균속도를 산출한다(101).2 is a control flowchart for explaining a method for controlling a vehicle turning driving detection apparatus according to the present invention. Referring to FIG. 2, the right front wheel speed and the right rear wheel speed of the driving direction are read from the front wheel right (FR) wheel speed sensor 10 and the rear wheel right (RR) wheel speed sensor 11 (100). Then, the average speed between the right front wheel speed and the right rear wheel speed is calculated (101).

마찬가지로, 전륜 좌측(FL) 휠 속도센서(12)와 후륜 좌측(RL) 휠 속도센서(13)로부터 좌측 전륜속도와 좌측 후륜속도를 읽어 들인다(102). 그런 후 좌측 전륜속도와 좌측 후륜속도사이의 평균속도를 산출한다(103).Similarly, the left front wheel speed and the left rear wheel speed are read from the front wheel left (FL) wheel speed sensor 12 and the rear wheel left (RL) wheel speed sensor 13 (102). Then, the average speed between the left front wheel speed and the left rear wheel speed is calculated (103).

그리고, 작동모드 101과 103에서 산출된 평균속도들 사이의 속도차를 산출한다(104).Then, the speed difference between the average speeds calculated in the operation modes 101 and 103 is calculated (104).

작동모드 104에서 속도차를 산출 한 후 속도차를 미리 설정된 속도값(일예로, 2Kph)와 비교하여 속도차가 미리 설정된 속도값보다 높은지를 판단한다(105). 만약, 작동모드 105에서의 판단결과 속도차가 미리 설정된 속도값보다 적으면 차량이 직진주행하는 것으로 판단한다(109). 한편, 속도차가 미리 설정된 속도값보다 크면 속도차가 미리 설정된 속도값보다 큰 상태를 연속하여 유지하는 시간을 카운트한다(106).After calculating the speed difference in the operation mode 104, the speed difference is compared with a preset speed value (for example, 2 Kph) to determine whether the speed difference is higher than the preset speed value (105). If it is determined in the operation mode 105 that the speed difference is less than the preset speed value, it is determined that the vehicle travels straight (109). On the other hand, if the speed difference is greater than the preset speed value, the time for continuously maintaining the state in which the speed difference is greater than the preset speed value is counted (106).

그런 후 카운트된 시간이 소정시간을 경과하였는지를 판단한다(107). 만약, 작동모드 107에서의 판단결과 카운트된 시간이 소정시간을 경과하지 않으면, 속도차가 차량의 선회주행에 의한 것이 아니고, 일시적인 노면상태변화에 따른 것이므로 차량이 직진 주행하는 것을 판단한다(109). 한편, 카운트된 시간이 소정시간을 경과하면, 속도차가 차량의 선회주행에 의한 것이므로 차량이 선회주행하는 것으로 판단한다(108). 이때, 차량이 선회주행하는 것으로 판단되면, 선회 외측 후륜에 제동압을 가하여 차량의 선회 안정성을 높인다.Then, it is determined whether the counted time has passed a predetermined time (107). If it is determined in the operation mode 107 that the counted time does not pass a predetermined time, it is determined that the vehicle travels straight because the speed difference is not caused by the turning of the vehicle but a temporary road surface change (step 109). On the other hand, if the counted time passes a predetermined time, it is determined that the vehicle is turning because the speed difference is due to the turning of the vehicle (108). At this time, if it is determined that the vehicle is turning, the braking pressure is applied to the turning outer rear wheel to increase the turning stability of the vehicle.

이상에서 상세히 설명한 바와 같이, 본 발명은 차량의 선회주행여부를 정확히 판단할 수 있어 차량의 선회주행 검출에 대한 신뢰성을 향상시킬 수 있는 효과가 있다. As described in detail above, the present invention can accurately determine whether or not the vehicle is turning, thereby improving the reliability of the turning driving detection of the vehicle.

또한, 본 발명은 차량이 스플리트 노면을 직진 주행하는 경우에도 차량이 선회 주행하는 것으로 오판할 여지를 방지할 수 있는 효과가 있다.In addition, the present invention has the effect that it is possible to prevent the possibility of mistaken by turning the vehicle even when the vehicle travels straight on the split road surface.

또한, 본 발명은 선회 주행에서의 차량의 안정성을 향상시킬 수 있는 효과가 있다.In addition, the present invention has the effect of improving the stability of the vehicle in the turning driving.

Claims (6)

주행방향의 우측 차륜들 사이의 평균속도와 좌측 차륜들 사이의 평균속도를 산출하고,Calculate the average speed between the right wheels in the driving direction and the average speed between the left wheels, 상기 산출된 평균속도사이의 속도차가 미리 설정된 속도값 이상인 상태를 소정시간이상 유지하면 차량이 선회 주행하는 것으로 판단하고,When the state in which the speed difference between the calculated average speeds is equal to or greater than a predetermined speed value is maintained for more than a predetermined time, it is determined that the vehicle is turning and traveling. 차량이 선회 주행하면, 선회 외측 후륜의 제동력을 제어하는 것을 특징으로 하는 차량의 선회주행 검출방법.A turning run detection method for a vehicle, wherein the braking force of the turning outer rear wheel is controlled when the vehicle turns. 삭제delete 삭제delete 각 차륜의 회전속도를 검출하는 휠 속도센서,Wheel speed sensor for detecting the rotational speed of each wheel, 주행방향의 좌측 차륜들 사이의 평균속도를 산출하는 제1속도산출부,A first speed calculating section for calculating an average speed between the left wheels in the driving direction, 주행방향의 우측 차륜들 사이의 평균속도를 산출하는 제2속도산출부,A second speed calculating portion for calculating an average speed between the right wheels in the driving direction, 상기 제1속도산출부와 제2속도산출부에서 산출된 평균속도들 사이의 속도차가 미리 설정된 속도값 이상인 상태를 소정시간이상 유지하면 선회 외측 후륜의 제동력을 제어하는 제어부를 포함하는 차량의 선회주행 검출장치.If the speed difference between the average speed calculated by the first speed calculation unit and the second speed calculation unit maintains a state over a predetermined speed value for more than a predetermined time, the turning drive of the vehicle including a control unit for controlling the braking force of the rear outer wheel Detection device. 제4항에 있어서, 상기 제어부는 상기 속도차가 미리 설정된 속도값 이상인 상태를 연속하여 유지하는 시간을 카운트하는 카운트회로, 상기 카운트회로를 통해 카운트된 시간이 소정시간을 경과하였는지 판단한 뒤, 상기 차량의 선회주행 여부를 판단하는 마이크로프로세서를 포함하는 것을 특징으로 하는 차량의 선회주행 검출장치.The apparatus of claim 4, wherein the controller is further configured to count a time for continuously maintaining a state in which the speed difference is equal to or greater than a preset speed value, and after determining whether the time counted by the count circuit has passed a predetermined time, A turning drive detection apparatus for a vehicle, characterized in that it comprises a microprocessor for determining whether or not to turn. 삭제delete
KR1020040029707A 2004-04-28 2004-04-28 Method and device for detecting curved travelling of a vehicle KR100808009B1 (en)

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JPH0826089A (en) * 1994-07-19 1996-01-30 Nippondenso Co Ltd Antiskid controller

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0826089A (en) * 1994-07-19 1996-01-30 Nippondenso Co Ltd Antiskid controller

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