KR101734582B1 - 4WD system using VRS and control method using the same - Google Patents

4WD system using VRS and control method using the same Download PDF

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KR101734582B1
KR101734582B1 KR1020110125820A KR20110125820A KR101734582B1 KR 101734582 B1 KR101734582 B1 KR 101734582B1 KR 1020110125820 A KR1020110125820 A KR 1020110125820A KR 20110125820 A KR20110125820 A KR 20110125820A KR 101734582 B1 KR101734582 B1 KR 101734582B1
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vrs
rear wheel
wheel torque
friction
vehicle
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KR20130059705A (en
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이지수
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현대자동차주식회사
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/30—Switches, e.g. mercury or ball type switches
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/40—Torque distribution
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

본 발명은 VRS를 이용한 4WD 시스템에 관한 것으로, 회전반경제어장치(VRS:Variable Rack Strike); 및 VRS의 'ON'시 정보를 전달받아서 노면이 저마찰상태임을 판단하여 전후륜 토크 배분을 제어하고, 직진 및 선회시 안전성을 향상시키는 전후구동력 배분장치를 포함한다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a 4WD system using a VRS, including a variable radius control (VRS) And a front and rear driving force distribution device that receives information at the time of 'ON' of the VRS to judge that the road surface is in a low friction state, controls front and rear wheel torque distribution, and improves safety in straightening and turning.

Description

ＶＲＳ를 이용한 4ＷＤ 시스템 및 이를 이용한 제어방법{4WD system using VRS and control method using the same}[0001] The present invention relates to a 4WD system using VRS and a control method using the 4WD system,

본 발명은 회전반경제어장치(VRS:Variable Rack Stroke)를 이용한 4WD(Four Wheel Drive) 시스템 및 이를 이용한 제어방법에 관한 것으로서, 보다 상세하게는 VRS의 ON/OFF 정보를 4WD 시스템에서 받아서 노면 상태를 판단 가능토록 하여 각 노면에 따른 제어전략을 달리하는 VRS를 이용한 4WD 시스템 및 제어방법에 관한 것이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a 4WD (Four Wheel Drive) system using a VRS (Variable Rack Stroke) and a control method using the same, more specifically, The present invention relates to a 4WD system and a control method using a VRS that differently controls the control strategy for each road surface.

일반적으로 전자식 4WD(전후 구동력 배분장치) 시스템은 휠속 및 요레이트 등 정보로 차량 거동을 판단하여 전후륜 토크 배분을 능동적으로 제어하며, 이에 따라 발진 성능 및 선회 안전성을 향상시킨다.In general, the electronic 4WD (front and rear driving force distributor) system actively controls the front and rear wheel torque distribution by judging the vehicle behavior by information such as the wheel speed and yaw rate, thereby improving the oscillation performance and turning safety.

한편, VRS(Variable Rack Stroke) 시스템은 조향 기어박스의 조향 스트로크를 스노우체인의 장착 유무에 따라 가변시키는 시스템으로, 휠베이스와 같은 차량 제원의 변경없이 VRS가 장착된 기어박스 교체만으로 최소회전직경 약 0.6m~0.7m 감소가 가능하며, 이에 주차, 유턴 및 저속 선회시 운전 기동성을 향상시켜 운전편의성을 증대시키는 시스템이다.On the other hand, the VRS (Variable Rack Stroke) system is a system that varies the steering stroke of the steering gear box depending on whether or not the snow chain is mounted. It can change the minimum rotation diameter It is possible to reduce 0.6m ~ 0.7m and it improves driving maneuverability during parking, U-turn and low-speed turnaround, thereby increasing the convenience of operation.

그러나 종래 기술인 전자식 4WD 시스템은 노면 상태가 저마찰로 주행인지 고마찰로 주행인지에 대한 노면 상태를 판단하지 못하여 저마찰 노면 주행시 불안정한 차량의 거동이 발생하는 문제가 있다.However, in the conventional electronic 4WD system, the road surface condition for low friction traveling or high friction traveling can not be judged, so that there is a problem that unstable vehicle behavior occurs when traveling on low friction road surface.

이에 직접 노면마찰을 계측할 수 없음으로 횡가속도, 종가속도 등의 정보로 마찰계수를 추정하여 로직으로 사용하고 있지만, 이는 직진 주행시 마찰계수 추정이 거의 불가능하기에 보다 정확한 노면 말찰계수를 얻는 기술이 필요한 실정이다.
Since friction coefficient can not be directly measured, friction coefficient is estimated by using information such as lateral acceleration and closing speed. However, since it is almost impossible to estimate the coefficient of friction during straight driving, It is necessary.

전술한 문제점을 해결하기 위한 본 발명이 이루고자 하는 기술적 과제는, VRS(Variable Rack Strike)의 ON/OFF 정보를 4WD 시스템에서 받아서 노면 상태를 판단 가능토록 하여 각 노면에 따른 제어전략을 달리하는 VRS를 이용한 4WD 시스템 제어방법을 제공하기 위한 것이다.
According to an aspect of the present invention, there is provided a VRS system including a VRS (Variable Rack Strike) ON / OFF information receiving means for receiving a VRS (Variable Rack Strike) ON / OFF information from a 4WD system, And a method for controlling the 4WD system using the same.

전술한 기술적 과제를 달성하기 위한 수단으로서, 본 발명의 VRS를 이용한 4WD 시스템은 회전반경제어장치(VRS:Variable Rack Stroke); 및 VRS의 'ON' 또는 'OFF' 정보를 전달받아서 노면상태를 판단하고, 이에 전후륜 토크 배분량을 제어하여, 직진 및 선회시 안전성을 향상시키는 전후구동력 배분장치를 포함하는 것을 특징으로 한다.
As a means for achieving the above technical object, the 4WD system using the VRS of the present invention includes a variable radius control (VRS) system; And a front and rear driving force distribution device for receiving the 'ON' or 'OFF' information of the VRS to determine the road surface state and controlling the amount of forward and rear wheel torque to thereby improve the safety in straightening and turning.

본 발명에 따르면, VRS(Variable Rack Stroke)의 ON/OFF 정보를 4WD 시스템에서 받아서 노면 상태를 판단 가능토록 함으로써 각 노면에 따른 제어전략을 달리하여 발진성능 및 선회 안전성을 향상시킬 수 있는 효과가 있다.
According to the present invention, ON / OFF information of VRS (Variable Rack Stroke) is received in the 4WD system to enable determination of the road surface state, thereby improving the oscillation performance and turning safety by varying the control strategy according to each road surface .

도 1은 본 발명에 따른 VRS를 이용한 4WD 시스템을 도시한 도면.
도 2는 본 발명에 따른 VRS를 이용한 4WD 시스템 제어방법을 도시한 순서도.1 shows a 4WD system using a VRS according to the present invention.
2 is a flowchart showing a method of controlling a 4WD system using a VRS according to the present invention.

이와 같은 목적과 효과를 가지는 본 발명인 VRS를 이용한 4WD 시스템은 회전반경제어장치(VRS:Variable Rack Stroke); 및 VRS의 'ON'시 정보를 전달받아서 노면이 저마찰상태임을 판단하여 전후륜 토크 배분을 제어하고, 직진 및 선회시 안전성을 향상시키는 전후구동력 배분장치를 포함한다.The 4WD system using the VRS of the present invention having such an object and effect has a variable radius control (VRS) system; And a front and rear driving force distribution device that receives information at the time of 'ON' of the VRS to judge that the road surface is in a low friction state, controls front and rear wheel torque distribution, and improves safety in straightening and turning.

상기 전후구동력 배분장치는 전진시 전후륜 토크 배분량을 증대시키고, 선회시 전후륜 토크 배분량을 감소시킨다.The forward / rearward driving force distribution device increases the front / rear wheel torque multiplication amount when advancing and decreases the forward / rear wheel torque multiplication amount when turning.

이와 같은 구성을 가지는 VRS를 이용한 4WD 시스템 제어방법은 차량의 주행 성능을 센서들을 통해 감지하는 단계; 상기 센서들로부터 감지한 휠속차와 목표 요레이트(yawrate)에 따른 전후륜 토크 배분비를 계산하는 단계; 상기 전후륜 토크 배분비가 VRS 작동에 미부합하는지 판단하는 단계; VRS ON 상태를 감지하는 단계; VRS의 ON 정보 전달시 전후구동력 배분장치를 통해 전후륜 토크 배분을 조절하여 직진 및 선회시 안전성을 향상시키는 전후구동력 배분장치를 포함한다.A method of controlling a 4WD system using a VRS having the above-described structure includes sensing a driving performance of a vehicle through sensors; Calculating front and rear wheel torque distribution ratios according to a wheel speed and a target yaw rate sensed by the sensors; Determining whether the front / rear wheel torque distribution ratio is in conformity with the VRS operation; Detecting a VRS ON state; And a front and rear driving force distribution device for adjusting the forward and rear wheel torque distribution through the front and rear driving force distribution devices to transmit the ON information of the VRS to improve safety in straightening and turning.

상기 VRS가 ON 이면 저마찰상태로 간주하여 직진시에는 토크 배분량을 증대시키고, 선회시는 토크 배분량을 감소시키는 저마찰 제어 전략을 수립한다.When the VRS is ON, it is regarded as a low friction state and a low friction control strategy is established to increase the torque multiplication amount in the straight run and reduce the torque multiplication amount in turning.

전후륜 토크 분배비가 VRS 작동에 미부합하거나 또는 VRS 가 OFF 상태이면 센서들이 감지한 횡가속도 및 종가속도의 정보를 바탕으로 마찰계수를 추정하고, 추정된 마찰계수에 따라 저마찰로 또는 고마찰로 제어전략을 수립한다.When the front and rear wheel torque distribution ratio is not in conformity with VRS operation or VRS is OFF, the friction coefficient is estimated based on the information of the lateral acceleration and the closing speed sensed by the sensors, and a low friction or high friction Establish a control strategy.

상기 마찰계수에 따라 저마찰로 제어전략을 수립하면, 직진시 전후륜 토크 배분량을 증대시키고, 선회시 전후륜 토크 배분량을 감소시킨다.When a low friction control strategy is established in accordance with the friction coefficient, the forward and rear wheel torque multiplication amounts are increased in the straight ahead, and the front and rear wheel torque multiplication amounts are reduced in the turning.

상기 마찰계수에 따라 고마찰로 제어전략을 수립하면, 전후륜 토크 배분량을 균일하게 수행한다.When a high friction control strategy is established according to the friction coefficient, the front and rear wheel torque distributions are uniformly performed.

이하, 첨부한 도면을 참조하여 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 용이하게 실시할 수 있도록 본 발명의 실시예를 상세히 설명한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다. 그리고 도면에서 본 발명을 명확하게 설명하기 위해서 설명과 관계없는 부분은 생략하였으며, 명세서 전체를 통하여 유사한 부분에 대해서는 유사한 도면 부호를 붙였다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

본 발명의 VRS를 이용한 4WD 시스템은 VRS 스위치(100)의 'ON' 또는 'OFF' 정보를 전후구동력 배분장치(200)가 받아서 노면 상태를 판단하고, 그에 따라 전후륜(10)(20) 토크 배분량을 조절하여 직진 또는 선회시 안전성을 향상시키는 구성이다.In the 4WD system using the VRS of the present invention, the front / rear driving force distribution device 200 receives the 'ON' or 'OFF' information of the VRS switch 100 to determine the road surface state, The amount of power is adjusted to improve the safety in straightening or turning.

이와 같은 구성을 가지는 본 발명의 VRS를 이용한 4WD 시스템은 도 1에 도시한 바와 같이, VRS(Variable Rack Stroke) 스위치(100)와, 상기 VRS 스위치(100)의 'ON' 또는 'OFF' 정보에 따라 노면 상태를 판단하여 전후륜(10)(20)의 토크 분배량을 조절하는 전후구동력 배분장치(200)를 포함한다.As shown in FIG. 1, the 4WD system using the VRS according to the present invention having the above-described configuration includes a VRS (Variable Rack Stroke) switch 100 and a VRS switch 100 'ON' or 'OFF' And a front / rear driving force distribution device (200) for determining a road surface condition and adjusting a torque distribution amount of the front and rear wheels (10, 20).

본 발명의 VRS 스위치(100)는 운전석 쪽에 구비하여 운전자에 의해 'ON' 또는 'OFF'되며, 이에 따라 VRS(Variable Rack Stroke)(300), 즉 회전반경제어장치를 작동시켜서 노면 상태에 따라 직진성 및 선회성을 증대시킨다.The VRS switch 100 of the present invention is provided on the driver's seat side and is turned ON or OFF by the driver so that a VRS (Variable Rack Stroke) 300, that is, a turning radius control device is operated, And increases the swivelability.

즉, VRS 스위치(100)가 'OFF'이면 일반 주행모드로, 스노우 체인을 장착하지 않은 평상시의 운행 모드이며, 조향 핸들의 좌/우 최대회전각을 더 크게 하여 차량의 회전반경이 작아지므로 유턴 및 주차를 보다 쉽게 할 수 있도록 도와준다.That is, when the VRS switch 100 is 'OFF', the vehicle is in a normal driving mode and a normal driving mode without a snow chain, and the left / right maximum rotation angle of the steering wheel is further increased to decrease the turning radius of the vehicle. And makes parking easier.

한편, VRS 스위치(100)가 'ON'이면 체인장착 주행모드로, 스노우 체인을 장착한 상태의 운행 모드이며, 조향 핸들의 좌/우 최대 회전각을 작게 하여 체인 장착 공간을 확보한다. On the other hand, when the VRS switch 100 is 'ON', the vehicle is in a chain-mounted traveling mode and a snow chain is mounted, and the left / right maximum rotation angle of the steering wheel is reduced to secure a chain mounting space.

본 발명의 전후구동력 배분장치(200)는 VRS 스위치(100)의 'ON' 또는 'OFF' 정보에 따라 노면 상태를 판단하여 전후륜(10)(20)의 토크 분배량을 조절하는 것으로, VRS 스위치(100)가 'ON' 이면, 미끄러운 상태, 즉 노마찰상태로 판단하여 전진시 전후륜(10)(20) 토크 배분량을 증대시키고, 선회시 전후륜(10)(20) 토크 배분량을 감소시켜서 안전성을 향상시킨다.The front and rear driving force distribution device 200 of the present invention determines the road surface state according to the 'ON' or 'OFF' information of the VRS switch 100 and controls the torque distribution amount of the front and rear wheels 10 and 20, When the switch 100 is ON, it is judged that the vehicle is in the slippery state, that is, the no-frictional state, so that the torque multiplication amount of the front and rear wheels 10 and 20 is increased, Thereby improving safety.

한편, 전후구동력 배분장치(200)는 VRS 스위치(100)가 'OFF'이면, 노면 상태가 고 마찰상태임을 파단하여 전후륜(10)(20) 토크 배분량을 균일하게 분배하여 안전성을 향상시킨다.On the other hand, when the VRS switch 100 is OFF, the front-rear driving force distribution device 200 breaks the road surface state to a high friction state, thereby uniformly distributing the torque distribution amounts of the front and rear wheels 10 and 20 to improve safety .

이와 같은 구성을 가지는 VRS를 이용한 4WD 시스템 제어방법을 도 2를 참조하여 설명한다.A 4WD system control method using the VRS having the above-described configuration will be described with reference to FIG.

본 발명의 VRS를 이용한 4WD 시스템 제어방법은 차량의 주행 성능을 차량에 구비한 센서들을 통해 감지하는 단계; 상기 센서들로부터 감지한 휠속차와 목표 요레이트(yawrate)에 따른 전후륜 토크 배분비를 계산하는 단계; 상기 전후륜 토크 배분비가 VRS 작동에 미부합하는지 판단하는 단계; VRS 스위치 'ON' 상태를 감지하는 단계; VRS 스위치 'ON' 정보 전달시 전후구동력 배분장치를 통해 전후륜 토크 배분을 조절하여 직진 및 선회시 안전성을 향상시키는 단계를 포함한다.A method of controlling a 4WD system using a VRS according to the present invention comprises the steps of sensing a driving performance of a vehicle through sensors provided in the vehicle; Calculating front and rear wheel torque distribution ratios according to a wheel speed and a target yaw rate sensed by the sensors; Determining whether the front / rear wheel torque distribution ratio is in conformity with the VRS operation; Detecting a VRS switch 'ON' state; The VRS switch 'ON' information is transmitted through the front and rear driving force distribution device to adjust the front and rear wheel torque distribution to improve the safety in straightening and turning.

이하, 본 발명의 VRS를 이용한 4WD 시스템 제어방법을 보다 상세히 설명한다.Hereinafter, the 4WD system control method using the VRS of the present invention will be described in more detail.

먼저, S10 단계는 차량의 주행 성능을 차량에 구비한 센서들을 통해 감지한다. 즉, 상기 센서들은 차량의 횡가속도 및 종가속도,조향각, 휠속 목표 요레이크 등 정보를 감지한다. First, in step S10, the driving performance of the vehicle is sensed through sensors provided in the vehicle. That is, the sensors sense information such as the lateral acceleration and the closing speed of the vehicle, the steering angle, and the target yaw rate of the vehicle.

다음으로 S10 단계에서 자동차에 구비된 ECU는 센서들로부터 감지된 정보 중 휠속차 및 목표 요레이크에 따라 전후륜(10)(20)의 토크 배분비를 계산한다(S20).Next, in step S10, the ECU of the vehicle calculates the torque distribution ratios of the front and rear wheels 10 and 20 according to the wheel speed difference and the target yaw rate among the information sensed by the sensors (S20).

한편, S20 단계상태에서 토크 배분비가 VRS의 설정 수치에 부합 또는 미부합하는지 판단한다(S30).In step S20, it is determined whether the torque distribution ratio meets or does not meet the set value of VRS (S30).

상기 VRS가 부합하고이고, 운전자가 VRS 스위치(100)를 'ON' 또는 'OFF' 시켰는지 확인한다(S40).In step S40, it is determined whether the VRS matches and the driver has turned the VRS switch 100 ON or OFF.

만약에 VRS 스위치(100)가 'ON' 이면, 전후구동력 배분장치(200)는 노면이 노마찰 상태임을 확인하여 전후륜(10)(20) 토크 배분량을 조절한다(S60). 즉, 직진시에는 토크 배분량을 증대시키고, 선회시는 토크 배분량을 감소시켜서 주행 안전성을 증대시킨다.If the VRS switch 100 is 'ON', the front-rear driving force distribution apparatus 200 confirms that the road surface is in the no-friction state, and adjusts the torque multiplication amount of the front and rear wheels 10 and 20 (S60). That is, when the vehicle runs straight, the torque multiplication amount is increased, and when the vehicle is turned, the torque multiplication amount is decreased, thereby increasing the running stability.

이때는 센서들로부터 감지한 정보를 바탕으로 한 마찰계수를 추정하지 않는다(S50).At this time, the friction coefficient based on the information sensed by the sensors is not estimated (S50).

한편, 토크 배분비가 VRS의 설정 수치에 미부합 또는 VRS 스위치(100)가 'OFF'이면 센서들로부터 감지한 정보 중 횡가속도 및 종가속도의 정보를 바탕으로 마찰계수를 추정하고(S70), 추정된 마찰계수에 따라 저마찰로 또는 고마찰로 제어전략을 수립한다(S80).On the other hand, if the torque distribution ratio is not equal to the set value of VRS or the VRS switch 100 is 'OFF', the friction coefficient is estimated based on the information of the lateral acceleration and the closing speed among the information sensed by the sensors (S70) A control strategy is established with a low friction or high friction according to the coefficient of friction (S80).

저 마찰로인 경우 전후륜 토크 배분비를 조절하는데, 직진시에는 토크 배분량을 증대시키고, 선회시는 토크 배분량을 감소시켜서 주행 안전성을 증대시킨다(S90).In the case of a low-friction road, the front and rear wheel torque distribution ratios are adjusted. In the case of straight running, the torque multiplication amount is increased. In turning, the torque multiplication amount is decreased to increase the running stability (S90).

그리고 고 마찰로인 경우 전후륜 토크 배분량을 균일하게 유지하도록 제어한다(S100).
In the case of a high-friction road, control is performed so as to keep the front-rear wheel torque distribution amount uniform (S100).

본 발명의 범위는 상기 상세한 설명보다는 후술하는 특허청구범위에 의하여 나타내어지며, 특허청구범위의 의미 및 범위 그리고 그 균등 개념으로부터 도출되는 모든 변경 또는 변형된 형태가 본 발명의 범위에 포함되는 것으로 해석되어야 한다.The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: VRS 스위치 200: 전후구동력 배분장치100: VRS switch 200: front and rear driving force distribution device

Claims (7)

삭제delete 삭제delete 차량의 주행 성능을 센서들을 통해 감지하는 단계;
상기 센서들로부터 감지한 휠속차와 목표 요레이트(yawrate)에 따른 전후륜 토크 배분비를 계산하는 단계;
상기 전후륜 토크 배분비가 VRS 작동에 미부합하는지 판단하는 단계;
VRS 스위치 'ON' 상태를 감지하는 단계;
VRS 스위치 'ON' 정보 전달시 전후구동력 배분장치를 통해 전후륜 토크 배분을 조절하여 직진 및 선회시 안전성을 향상시키는 단계를 포함하는 VRS를 이용한 4WD 시스템 제어방법.Sensing the driving performance of the vehicle through sensors;
Calculating front and rear wheel torque distribution ratios according to a wheel speed and a target yaw rate sensed by the sensors;
Determining whether the front / rear wheel torque distribution ratio is in conformity with the VRS operation;
Detecting a VRS switch 'ON'state;
And controlling the forward and rear wheel torque distribution through the front and rear driving force distributing apparatuses when the VRS switch 'ON' information is transmitted to improve the safety in straightening and turning. 청구항 3에 있어서,
상기 VRS가 ON 이면 저마찰상태로 간주하여 직진시에는 토크 배분량을 증대시키고, 선회시는 토크 배분량을 감소시키는 저마찰 제어 전략을 수립하는 VRS를 이용한 4WD 시스템 제어방법.The method of claim 3,
And a low friction control strategy for reducing the torque multiplication amount when the VRS is in the low friction state when the VRS is in the ON state and increasing the torque multiplication amount when the VRS is ON. 청구항 4에 있어서,
전후륜 토크 분배비가 VRS 작동에 미부합하거나 또는 VRS 가 OFF 상태이면 센서들이 감지한 횡가속도 및 종가속도의 정보를 바탕으로 마찰계수를 추정하고, 추정된 마찰계수에 따라 저마찰로 또는 고마찰로 제어전략을 수립하는 VRS를 이용한 4WD 시스템 제어방법.The method of claim 4,
When the front and rear wheel torque distribution ratio is not in conformity with VRS operation or VRS is OFF, the friction coefficient is estimated based on the information of the lateral acceleration and the closing speed sensed by the sensors, and a low friction or high friction 4WD system control method using VRS to establish control strategy. 청구항 5에 있어서,
상기 마찰계수에 따라 저마찰로 제어전략을 수립하면, 직진시 전후륜 토크 배분량을 증대시키고, 선회시 전후륜 토크 배분량을 감소시키는 VRS를 이용한 4WD 시스템 제어방법.The method of claim 5,
A method for controlling a 4WD system using a VRS that increases a front / rear wheel torque multiplication amount when the vehicle is straight ahead and decreases a front / rear wheel torque multiplication amount when the vehicle is turned when the low friction control strategy is established according to the friction coefficient. 청구항 5에 있어서,
상기 마찰계수에 따라 고마찰로 제어전략을 수립하면, 전후륜 토크 배분량을 균일하게 수행하는 VRS를 이용한 4WD 시스템 제어방법.The method of claim 5,
A method for controlling a 4WD system using VRS that uniformly distributes front and rear wheel torque distributions when a high friction control strategy is established according to the friction coefficient.
KR1020110125820A 2011-11-29 2011-11-29 4WD system using VRS and control method using the same KR101734582B1 (en)

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JP2001097065A (en) * 1999-09-29 2001-04-10 Fuji Heavy Ind Ltd Vehicular power distribution control device
JP3221873B2 (en) * 1990-04-20 2001-10-22 マツダ株式会社 Torque distribution control device for four-wheel drive vehicle
JP2010184615A (en) * 2009-02-12 2010-08-26 Toyota Motor Corp Control device of transmission system for vehicle

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Publication number Priority date Publication date Assignee Title
JP3221873B2 (en) * 1990-04-20 2001-10-22 マツダ株式会社 Torque distribution control device for four-wheel drive vehicle
JP2001097065A (en) * 1999-09-29 2001-04-10 Fuji Heavy Ind Ltd Vehicular power distribution control device
JP2010184615A (en) * 2009-02-12 2010-08-26 Toyota Motor Corp Control device of transmission system for vehicle

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