KR101709177B1 - Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid - Google Patents

Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid Download PDF

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KR101709177B1
KR101709177B1 KR1020100122728A KR20100122728A KR101709177B1 KR 101709177 B1 KR101709177 B1 KR 101709177B1 KR 1020100122728 A KR1020100122728 A KR 1020100122728A KR 20100122728 A KR20100122728 A KR 20100122728A KR 101709177 B1 KR101709177 B1 KR 101709177B1
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vehicle
steering assist
center
gravity
braking force
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KR1020100122728A
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KR20120061413A (en
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오종국
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현대모비스 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/17—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
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1766—Proportioning of brake forces according to vehicle axle loads, e.g. front to rear of vehicle
    • 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
    • B60T8/18—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 weight or load, e.g. load distribution
    • 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
    • B60T8/18—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 weight or load, e.g. load distribution
    • B60T8/1837—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 weight or load, e.g. load distribution characterised by the load-detecting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

적재 무게에 비례하여 제동력을 증가시키고, 무게중심이 후방에서 전방으로 이동하는 것에 비례하여 조향 보조력을 증가시켜 적절한 제동력 및 조향 보조력을 인가할 수 있도록 하는 차량의 제동 및 조향 방법 및 장치가 제공된다. 본 발명의 차량 제동 및 조향 방법은, 차량의 화물 적재 여부를 판단하는 단계; 상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계; 상기 차량의 무게중심 이동 여부를 판단하는 단계; 상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및 산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함한다. 이와 같이, 적재무게나 적재에 따른 무게중심의 이동에 따라 적절한 제동력과 조향보조력을 인가함으로써 운전자의 의도에 맞는 차량 제어가 가능하게 되어 운전자의 안전성이 향상될 수 있다. There is provided a braking and steering apparatus and apparatus for a vehicle that increases the braking force in proportion to the weight of the load and increases the steering assist force in proportion to the movement of the center of gravity from the rear to the front to apply an appropriate braking force and steering assist force do. A vehicle braking and steering method of the present invention includes the steps of: determining whether a car is loaded with cargo; Calculating a braking force corresponding to the load when the vehicle is judged to be loaded; Determining whether the center of gravity of the vehicle is moving; Calculating a steering assist force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle has been moved; And controlling the vehicle by the calculated braking force and steering assist force. In this way, by applying the appropriate braking force and the steering assist force according to the movement of the center of gravity according to the load weight or the load, it is possible to control the vehicle according to the intention of the driver, thereby improving the safety of the driver.

Description

차량의 무게와 무게중심의 변화에 대한 보상을 적용한 제동 및 조향 방법 및 장치{Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to braking and steering methods and apparatuses for compensating for changes in vehicle weight and center of gravity,

본 발명은 차량의 제동 및 조향 방법 및 장치에 관한 것으로서, 더 구체적으로는 차량의 무게와 무게중심의 변화에 대한 보상을 적용한 차량의 제동 및 조향 방법 및 장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for braking and steering a vehicle, and more particularly, to a method and apparatus for braking and steering a vehicle applying compensation for changes in the weight and center of gravity of the vehicle.

종래에는 화물의 적재유무에 관계없이 브레이크 페달의 입력에 의한 제동을 하였고, 적재 차량의 무게중심에 상관없는 동일한 조향 보조력을 인가하여 조향 장치를 작동하였다.Conventionally, the braking is performed by inputting the brake pedal regardless of whether or not the cargo is loaded, and the steering apparatus is operated by applying the same steering assist force regardless of the center of gravity of the loaded vehicle.

그러나, 적재무게가 증가함에 따라 차량의 운동량은 증가하고, 과적의 경우 제동력의 저하를 초래하여 제동거리를 증가시켜 대형사고의 원인이 되기도 한다.However, as the load weight increases, the momentum of the vehicle increases, and in the case of overload, the braking force is decreased and the braking distance is increased, which causes a large accident.

또한, 차량 거동에 영향을 주는 무게중심이 변화할 경우, 조향 보조력에 영향을 주어 운전자가 큰 불편을 느낄 수 있는 요인이 있었다.In addition, when the center of gravity, which affects the vehicle behavior, is changed, there is a factor that the driver may feel a great inconvenience because it affects the steering assist force.

본 발명은 상술한 바와 같은 기술적 배경에서 안출된 것으로서, 적재 무게와 무게중심의 변화를 반영하여 제동력 및 조향 보조력을 조절할 수 있는 차량의 제동 및 조향 방법 및 장치를 제공하는 것을 그 목적으로 한다.SUMMARY OF THE INVENTION It is an object of the present invention to provide a braking and steering apparatus and a braking and steering apparatus capable of adjusting a braking force and a steering assist force in accordance with changes in weight and center of gravity.

이와 같은 과제를 해결하기 위하여 본 발명에서는 적재 무게에 비례하여 제동력을 증가시키고, 무게중심이 후방에서 전방으로 이동하는 것에 비례하여 조향 보조력을 증가시켜 적절한 제동력 및 조향 보조력을 인가할 수 있도록 한다.In order to solve the above problem, in the present invention, the braking force is increased in proportion to the weight of the load, and the steering assist force is increased in proportion to the shift of the center of gravity from the rear to the front, so that appropriate braking force and steering assist force can be applied .

본 발명에 따른 차량의 제동 및 조향 방법은, 차량의 화물 적재 여부를 판단하는 단계; 상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계; 상기 차량의 무게중심 이동 여부를 판단하는 단계; 상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및 산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함하여 이루어진다.A braking and steering method for a vehicle according to the present invention includes the steps of: determining whether a vehicle is loaded with a cargo; Calculating a braking force corresponding to the load when the vehicle is judged to be loaded; Determining whether the center of gravity of the vehicle is moving; Calculating a steering assist force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle has been moved; And controlling the vehicle by the calculated braking force and steering assist force.

상기 적재 하중에 따른 제동력 산출 단계에서는 적재 하중의 증가에 따라 제동력을 증가시키고, 상기 무게중심의 이동에 따른 조향 보조력 산출 단계에서는 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 조향 보조력을 증가시키는 것이 바람직하다.The braking force is increased in accordance with the increase of the load, and in the steering assist force calculation step according to the movement of the center of gravity, as the center of gravity moves forward from the rear of the vehicle, .

본 발명에 따른 차량의 제동 및 조향 장치는, 차량의 화물 적재 여부 및 무게중심 이동 여부를 판단하는 판단부; 상기 차량의 화물 적재량에 따른 제동력과 무게중심 이동에 따른 조향 보조력을 산출하는 계산부; 및 상기 계산부에 의하여 산출된 상기 제동력 및 조향 보조력에 따라 상기 차량을 제어하는 제어부를 포함한다.A braking and steering apparatus for a vehicle according to the present invention includes: a determination unit for determining whether or not a car is loaded and a center of gravity is moved; A calculation unit for calculating a braking force according to the cargo load of the vehicle and a steering assist force according to the movement of the center of gravity; And a control unit for controlling the vehicle according to the braking force and the steering assist force calculated by the calculation unit.

본 발명에 따르면, 적재무게나 적재에 따른 무게중심의 이동에 따라 적절한 제동력과 조향보조력을 인가함으로써 운전자의 의도에 맞는 차량 제어가 가능하게 되어 운전자의 안전성이 향상될 수 있다. According to the present invention, appropriate braking force and steering assist force are applied in accordance with the movement of the center of gravity according to the load weight or the load, so that the vehicle can be controlled in accordance with the intention of the driver, and the safety of the driver can be improved.

도 1은 본 발명의 실시예에 따른 제동 및 조향 방법을 나타내는 흐름도이다.
도 2는 적재무게와 적재위치에 따른 무게와 무게중심의 변화를 예시하는 도면이다.
도 3은 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 적재 무게에 따른 제동력의 변화를 나타내는 그래프이다.
도 4는 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 무게중심이 후방에서 전방으로 이동하는 것에 따른 조향 보조력의 변화를 나타내는 그래프이다.1 is a flow chart illustrating a braking and steering method according to an embodiment of the present invention.
Fig. 2 is a diagram illustrating changes in weight and center of gravity according to the load weight and the loading position.
3 is a graph illustrating changes in braking force according to the weight of the braking and steering apparatus and method according to an embodiment of the present invention.
4 is a graph showing a change in the steering assist force as the center of gravity moves from the rear to the front in the braking and steering apparatus and method according to the embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다. 한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 및/또는 "포함하는(comprising)"은 언급된 구성요소, 단계, 동작 및/또는 소자는 하나 이상의 다른 구성요소, 단계, 동작 및/또는 소자의 존재 또는 추가를 배제하지 않는다. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

이하에서, 첨부한 도면을 참고로 하여 본 발명의 실시예에 따른 차량의 제동 및 조향 장치 및 방법에 대하여 상세히 설명하기로 한다.Hereinafter, a braking and steering apparatus and method of a vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 실시예에 따른 차량의 제동 및 조향 방법을 나타내는 흐름도이다. 1 is a flowchart showing a braking and steering method of a vehicle according to an embodiment of the present invention.

도 1에 나타난 바와 같이, 본 발명의 실시예에 따른 차량의 제동 및 조향 방법에서는, 먼저 화물의 적재 여부를 판단한다(S110). 화물을 적재하기 않은 것으로 판단되면 기본 제동력을 제공하고(S130), 화물을 적재한 경우에는 적재하중에 따른 제동력을 산출한다(S120). 적재하중에 따른 제동력 산출에 대해서는 도 3을 참조하여 후술하기로 한다.As shown in FIG. 1, in the braking and steering method of the vehicle according to the embodiment of the present invention, it is first determined whether the cargo is loaded (S110). If it is determined that the cargo is not loaded, the basic braking force is provided (S130). If the cargo is loaded, the braking force according to the load is calculated (S120). The calculation of the braking force according to the loading load will be described later with reference to Fig.

다음, 차량의 무게중심이 이동하였는지를 판단한다(S140). 무게중심이 이동하지 않은 것으로 판단되면, 기본 조향 보조력을 제공하고(S160), 무게중심이 이동한 경우에는 무게중심 이동에 따른 조향 보조력을 산출한다(S150). 무게중심 이동에 따른 조향 보조력 산출에 대해서는 도 4를 참조하여 후술하기로 한다.Next, it is determined whether the center of gravity of the vehicle has moved (S140). If it is determined that the center of gravity is not moved, the basic steering assist force is provided (S160). If the center of gravity is moved, the steering assist force corresponding to the center of gravity is calculated (S150). The steering assist force calculation according to the movement of the center of gravity will be described later with reference to FIG.

이제, 차량의 무게와 무게중심의 변화에 따른 제동력과 조향 보조력이 산출되었으므로 산출된 제동력 및 조향 보조력에 따른 제어를 제공한다(S170).Now, since the braking force and the steering assist force according to the change of the weight and the center of gravity of the vehicle are calculated, control according to the calculated braking force and steering assist force is provided (S170).

도 2는 적재무게와 적재위치에 따른 무게와 무게중심의 변화를 예시하는 도면이다.Fig. 2 is a diagram illustrating changes in weight and center of gravity according to the load weight and the loading position.

도 2의 (A)는 적재하중이 크지만 무게중심은 여전히 가운데에 위치하는 경우를 나타낸다. 이와 같은 경우에는 제동력은 크게 하되, 조향 보조력은 기본 조향 보조력을 사용할 수 있다.2 (A) shows a case in which the load is large but the center of gravity is still in the center. In such a case, the braking force is large and the steering assist force can be used as the basic steering assist force.

도 2의 (B)는 적재하중이 중간 정도의 무게이고, 무게중심은 가운데에 위치하는 경우를 나타낸다. 이와 같은 경우에는 제동력을 기본보다 약간 크게 하고, 기본 조향 보조력을 사용한다.Fig. 2 (B) shows a case in which the load is a medium weight and the center of gravity is located in the center. In such a case, the braking force is slightly larger than the basic value and the basic steering assist force is used.

도 2의 (C)는 적재하중이 중간 정도의 무게이지만, 무게중심이 뒤쪽으로 이동하여 있는 경우를 나타낸다. 이 경우에는 제동력을 기본보다 약간 크게 하고, 조향 보조력은 기본 조향 보조력에 비하여 약간 작게 할 수 있다.2C shows a case in which the loading load is a medium weight, but the center of gravity moves backward. In this case, the braking force is slightly larger than the basic value, and the steering assist force can be made slightly smaller than the basic steering assist force.

도 2의 (D)는 적재하중이 중간 정도의 무게이지만, 도 2의 (C)와는 반대로 무게중심이 앞쪽으로 이동하여 있는 경우를 나타낸다. 이 경우에는 제동력을 기본보다 약간 크게 하고, 조향 보조력 역시 기본 조향 보조력에 비하여 약간 크게 할 수 있다. FIG. 2D shows a case in which the weight of the load is medium, but the center of gravity moves forward as opposed to FIG. 2C. In this case, the braking force is slightly larger than the basic value, and the steering assist force can also be slightly larger than the basic steering assist force.

이제, 적재하중과 무게중심의 이동에 따른 제동력 및 조향 보조력의 산출에 대하여 도 3 및 도 4를 참고로 하여 좀 더 자세히 설명한다.Now, the calculation of the braking force and the steering assist force according to the load load and the movement of the center of gravity will be described in more detail with reference to FIG. 3 and FIG.

도 3은 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 적재 무게에 따른 제동력의 변화를 나타내는 그래프이다.3 is a graph illustrating changes in braking force according to the weight of the braking and steering apparatus and method according to an embodiment of the present invention.

도 3에 나타난 바와 같이, 적재를 하지 않은 상태에서의 기본 제동력에 비하여 적재무게가 늘어날수록 적재무게에 비례하여 제동력이 증가하도록 한다. 이 때의 기울기를 a로 나타내었는데, 기본 제동력, 기울기 a, 및 최대 제동력의 값은 튜닝을 통하여 최적화할 수 있다. As shown in FIG. 3, the braking force is increased in proportion to the load weight as the load weight is increased compared to the basic braking force in the unloaded state. The slope at this time is represented by a, and the values of the basic braking force, the slope a, and the maximum braking force can be optimized through tuning.

도 4는 본 발명의 실시예에 따른 제동 및 조향 장치 및 방법에서 무게중심이 후방에서 전방으로 이동하는 것에 따른 조향 보조력의 변화를 나타내는 그래프이다.4 is a graph showing a change in the steering assist force as the center of gravity moves from the rear to the front in the braking and steering apparatus and method according to the embodiment of the present invention.

도 4에 나타난 바와 같이, 조향 보조력은 무게중심이 뒤쪽에서 앞쪽으로 이동함에 따라 증가하게 되며, 제동력의 경우와 마찬가지로, 기본 조향 보조력, 기울기 b, 및 최대 조향 보조력의 값은 튜닝을 통하여 최적화할 수 있다. 또한, 본 실시예에서는 무게 중심이 전후로 이동하는 경우만을 예를 들어 설명하였지만, 무게 중심이 좌우로 이동하는 경우에도 좌우 방향의 조향에 따라 다른 조향 보조력을 인가할 수도 있다. As shown in FIG. 4, the steering assist force increases as the center of gravity moves from the rear side to the front side. As in the case of the braking force, the values of the basic steering assist force, the slope b, and the maximum steering assist force It can be optimized. In the present embodiment, only the case where the center of gravity moves back and forth has been described as an example. However, even when the center of gravity moves to the right and left, another steering assist force may be applied according to the steering in the left and right directions.

이와 같이 본 발명의 실시예에 따르면 적재무게나 적재에 따른 무게중심의 이동에 따라 적절한 제동력과 조향보조력을 인가함으로써 운전자의 의도에 맞는 차량 제어가 가능하게 되어 운전자의 안전성이 향상될 수 있다. As described above, according to the embodiment of the present invention, appropriate braking force and steering assist force are applied according to the movement of the center of gravity according to the weight of the load or the load, so that the vehicle can be controlled according to the intention of the driver.

한편, 상술한 실시예에서는 화물차량에 화물을 적재함으로써 전체 무게와 무게중심이 변하는 상황을 예로 하여 설명하였지만, 화물차량이 아닌 승용차나 승합차의 경우에도 유사한 방식으로 본 발명을 적용할 수 있음은 물론이다. In the above-described embodiment, the entire weight and the center of gravity are changed by loading the cargo in the freight vehicle. However, the present invention can be applied to a passenger car or a van other than a freight car in a similar manner to be.

이상에서 바람직한 실시예를 기준으로 본 발명을 설명하였지만, 본 발명의 장치 및 방법은 반드시 상술된 실시예에 제한되는 것은 아니며 발명의 요지와 범위로부터 벗어남이 없이 다양한 수정이나 변형을 하는 것이 가능하다. 따라서, 첨부된 특허청구의 범위는 본 발명의 요지에 속하는 한 이러한 수정이나 변형을 포함할 것이다. While the invention has been described in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Accordingly, the appended claims are intended to embrace all such modifications and variations as fall within the true spirit of the invention.

Claims (6)

차량의 화물 적재 여부 및 무게중심 이동 여부를 판단하는 판단부와, 상기 차량의 화물 적재량에 따른 제동력과 무게중심 이동에 따른 조향 보조력을 산출하는 계산부, 및 상기 계산부에 의하여 산출된 상기 제동력 및 조향 보조력에 따라 상기 차량을 제어하는 제어부를 포함하는 차량의 제동 및 조향 장치에 의해 제어되는 제동 및 조향 방법에 있어서,
상기 제어부가,
차량의 화물 적재 여부를 판단하는 단계;
상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계;
상기 차량의 무게중심 이동 여부를 판단하는 단계;
상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및
산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함하고,
상기 적재 하중에 따른 제동력 산출 단계에서는 상기 적재 하중의 증가에 따라 상기 제동력을 증가시키고,
상기 무게중심의 이동에 따른 조향 보조력 산출 단계에서는,
상기 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 상기 조향 보조력을 증가시키고,
상기 적재 무게 대비 기본 제동력과 최대 제동력 사이의 변화에 대응하는 기울기 a 및 차량의 뒤쪽에서 앞쪽으로의 차량의 무게중심이동 대비 기본 조향 보조력과 최대 조향 보조력 사이의 변화에 대응하는 기울기 b를 이용하여 제동력 또는 조향 보조력을 증가시키는 것을 특징으로 하는 차량의 무게와 무게중심의 변화에 대한 보상을 적용한 제동 및 조향 방법.
A determination unit for determining whether or not the vehicle is loaded and whether the vehicle is loaded or not, a calculation unit for calculating a braking force according to a cargo load amount of the vehicle and a steering assist force according to the movement of the center of gravity, And a control unit for controlling the vehicle in accordance with a steering assist force, the braking and steering method being controlled by a braking and steering apparatus of a vehicle,
The control unit,
Determining whether the car is loaded or unloaded;
Calculating a braking force corresponding to the load when the vehicle is judged to be loaded;
Determining whether the center of gravity of the vehicle is moving;
Calculating a steering assist force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle has been moved; And
And controlling the vehicle by the calculated braking force and steering assist force,
In the braking force calculation step according to the loading load, the braking force is increased in accordance with the increase of the load load,
In the steering assist force calculating step according to the movement of the center of gravity,
The steering assist force is increased as the center of gravity moves forward from the rear of the vehicle,
A slope a corresponding to a change between the basic braking force and the maximum braking force with respect to the stacking weight, and a slope b corresponding to a change between the basic steering assist force and the maximum steering assist force with respect to the center of gravity of the vehicle from the rear to the front of the vehicle Wherein the braking force or the steering assist force is increased to compensate for changes in the weight and the center of gravity of the vehicle.
삭제delete 삭제delete 차량의 화물 적재 여부 및 무게중심 이동 여부를 판단하는 판단부;
상기 차량의 화물 적재량에 따른 제동력과 무게중심 이동에 따른 조향 보조력을 산출하는 계산부; 및
상기 계산부에 의하여 산출된 상기 제동력 및 조향 보조력에 따라 상기 차량을 제어하도록, 차량의 화물 적재 여부를 판단하는 단계; 상기 차량이 화물을 적재한 것으로 판단되면 적재 하중에 따른 제동력을 산출하는 단계; 상기 차량의 무게중심 이동 여부를 판단하는 단계; 상기 차량의 무게중심이 이동된 것으로 판단되면 무게중심 이동에 따른 조향 보조력을 산출하는 단계; 및 산출된 상기 제동력 및 조향 보조력에 의하여 상기 차량을 제어하는 단계를 포함하고, 상기 적재 하중에 따른 제동력 산출 단계에서는 상기 적재 하중의 증가에 따라 상기 제동력을 증가시키고, 상기 무게중심의 이동에 따른 조향 보조력 산출 단계에서는 상기 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 상기 조향 보조력을 증가시키고, 상기 적재 무게 대비 기본 제동력과 최대 제동력 사이의 변화에 대응하는 기울기 a 및 차량의 뒤쪽에서 앞쪽으로의 차량의 무게중심이동 대비 기본 조향 보조력과 최대 조향 보조력 사이의 변화에 대응하는 기울기 b를 이용하여 제동력 또는 조향 보조력을 증가시키는 제어부;를 포함하고,
상기 제동력은, 상기 적재 하중의 증가에 따라 증가하도록 산출되고, 상기 조향 보조력은, 상기 무게중심이 상기 차량의 후방에서 전방으로 이동함에 따라 증가하도록 산출되는 것을 특징으로 하는 차량의 제동 및 조향 장치.A judging unit for judging whether or not the car is loaded and whether the car is loaded in the center of gravity;
A calculation unit for calculating a braking force according to the cargo load of the vehicle and a steering assist force according to the movement of the center of gravity; And
Determining whether the vehicle is loaded with a car so as to control the vehicle according to the braking force and the steering assist force calculated by the calculating unit; Calculating a braking force corresponding to the load when the vehicle is judged to be loaded; Determining whether the center of gravity of the vehicle is moving; Calculating a steering assist force according to the movement of the center of gravity when it is determined that the center of gravity of the vehicle has been moved; And controlling the vehicle by the calculated braking force and steering assist force, wherein in the braking force calculating step according to the loaded load, the braking force is increased in accordance with the increase of the load load, In the steering assist force calculating step, the steering assist force is increased as the center of gravity moves forward from the rear of the vehicle, and the inclination a corresponding to the change between the basic braking force and the maximum braking force And a control unit for increasing a braking force or a steering assist force by using a slope b corresponding to a change between a basic steering assist force and a maximum steering assist force,
Wherein the braking force is calculated so as to increase with an increase in the load, and the steering assist force is calculated so that the center of gravity increases as the vehicle moves forward from the rear of the vehicle. . 삭제delete 삭제delete
KR1020100122728A 2010-12-03 2010-12-03 Method and Apparatus for braking and steering applying compensation for change of vehicle weight and centroid KR101709177B1 (en)

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KR101449213B1 (en) 2012-12-31 2014-10-08 현대자동차주식회사 Anti-nose down torque control method for fuel cell vehicle
KR102663608B1 (en) * 2018-11-28 2024-05-03 현대자동차주식회사 Preventing method of leaning for vehicle
KR102645058B1 (en) * 2019-05-03 2024-03-11 현대자동차주식회사 Apparatus for controlling a vehicle, system having the same and method thereof

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2003335233A (en) * 2002-05-21 2003-11-25 Nissan Motor Co Ltd Brake control device
JP2010253978A (en) * 2009-04-21 2010-11-11 Toyota Motor Corp Vehicle control device

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KR20130057882A (en) * 2011-11-24 2013-06-03 현대모비스 주식회사 Steering compensation control method according to center of gravity of vehicle

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Publication number Priority date Publication date Assignee Title
JP2003335233A (en) * 2002-05-21 2003-11-25 Nissan Motor Co Ltd Brake control device
JP2010253978A (en) * 2009-04-21 2010-11-11 Toyota Motor Corp Vehicle control device

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