KR20070069578A - 차량의 롤오버 검출방법 - Google Patents
차량의 롤오버 검출방법 Download PDFInfo
- Publication number
- KR20070069578A KR20070069578A KR1020050131872A KR20050131872A KR20070069578A KR 20070069578 A KR20070069578 A KR 20070069578A KR 1020050131872 A KR1020050131872 A KR 1020050131872A KR 20050131872 A KR20050131872 A KR 20050131872A KR 20070069578 A KR20070069578 A KR 20070069578A
- Authority
- KR
- South Korea
- Prior art keywords
- vehicle
- rollover
- value
- lateral acceleration
- derivative
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 48
- 238000001914 filtration Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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Classifications
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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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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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
- B60T8/17—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
- 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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W40/10—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 vehicle motion
- B60W40/109—Lateral acceleration
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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
- B60W40/10—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 vehicle motion
- B60W40/114—Yaw movement
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
Claims (4)
- 차량 안정성 제어시스템의 횡가속도, 요 레이트 및 속도센서를 이용하여 차량의 롤오버를 검출하는 방법에 있어서,상기 횡가속도센서로부터 얻어진 신호를 오프셋 보정과 필터링을 거쳐 차량의 횡가속도(Ay)를 구하는 단계;상기 구해진 횡가속도(Ay)를 미분하여 그 미분값(KD_Ay)이 미리 정해진 기준값(T1)보다 큰가를 비교하는 단계; 및상기 횡가속도의 미분값(KD_Ay)이 기준값(T1)보다 크면 차량이 롤오버로 진행 중이라고 판단하는 단계를포함하는 것을 특징으로 하는 차량의 롤오버 검출방법.
- 제 1항에 있어서,상기 구해진 횡가속도(Ay)를 속도센서로부터 얻어진 차량속도(Vx)로 나누는 단계;상기 요 레이트센서로부터 얻어진 신호를 오프셋 보정과 필터링을 거쳐 차량의 요 레이트(DΨ)를 구하는 단계;상기 횡가속도(Ay)를 차량속도(Vx)로 나눈 값에서 요 레이트 값(DΨ)을 뺀 미끄럼각의 미분값(KD_β)을 구하는 단계; 및상기 미끄럼각의 미분값(KD_β)이 미리 정해진 기준값(T2)보다 큰가를 비교 하여 미끄럼각의 미분값(KD_β)이 기준값(T2)보다 크면 차량의 롤 경향이 증가하였음을 판단하는 단계를더 포함하는 것을 특징으로 하는 차량의 롤오버 검출방법.
- 제 2항에 있어서,상기 횡가속도의 미분값(KD_Ay)과 미끄럼각의 미분값(KD_β)을 조합하여 차량의 롤오버 값(K_Roll)을 구하는 단계; 및상기 구해진 롤오버 값(K_Roll)이 미리 정해진 기준값(T3)보다 큰가를 비교하여 롤오버 값(K_Roll)이 기준값(T3)보다 크면 차량이 롤오버 현상을 갖는다고 최종 판단하는 단계를 더 포함하는 것을 특징으로 하는 차량의 롤오버 검출방법.
- 제 1항 내지 제 3항 중 어느 한 항에 있어서,상기 횡가속도의 미분값(KD_Ay), 미끄럼각의 미분값(KD_β) 및 롤오버 값(K_Roll) 중 어느 하나라도 기준값(T1, T2, T3)보다 크지 않으면 차량이 롤오버 현상을 갖지 않는다고 판단하는 것을 특징으로 하는 차량의 롤오버 검출방법.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020050131872A KR101002971B1 (ko) | 2005-12-28 | 2005-12-28 | 차량의 롤오버 검출방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020050131872A KR101002971B1 (ko) | 2005-12-28 | 2005-12-28 | 차량의 롤오버 검출방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20070069578A true KR20070069578A (ko) | 2007-07-03 |
KR101002971B1 KR101002971B1 (ko) | 2010-12-22 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020050131872A KR101002971B1 (ko) | 2005-12-28 | 2005-12-28 | 차량의 롤오버 검출방법 |
Country Status (1)
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KR (1) | KR101002971B1 (ko) |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11334336A (ja) * | 1999-04-30 | 1999-12-07 | Tokico Ltd | サスペンション制御装置 |
JP2002331951A (ja) | 2001-05-09 | 2002-11-19 | Toyota Central Res & Dev Lab Inc | 路面摩擦係数推定装置 |
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- 2005-12-28 KR KR1020050131872A patent/KR101002971B1/ko active IP Right Grant
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KR101002971B1 (ko) | 2010-12-22 |
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