KR100872508B1 - Vehicle rotation control method - Google Patents

Abstract

The present invention relates to the rotation control of the vehicle, and more particularly, when the vehicle rotates by independently braking the rear wheel on the steering direction side of the vehicle to rotate the rear wheel braked by the rotation axis, thereby minimizing the radius of rotation of the vehicle It relates to a vehicle rotation control method that can be.

The braking condition determination step of determining whether the steering angle information and the running speed of the vehicle corresponds to the rear wheel braking condition; And a rear wheel braking step of braking a rear wheel in a direction corresponding to the steering angle information through an ESP when the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking conditions.

According to the present invention, the rotation radius of the vehicle can be minimized by braking the rear wheels in the vehicle steering direction through the ESP so that the vehicle rotates about the rear wheels.

Therefore, there is an advantage that the U-turn or parking of the vehicle in a narrow space is much easier.

Description

Rotation control method for vehicle

The present invention relates to the rotation control of the vehicle, and more particularly, when the vehicle rotates by independently braking the rear wheel on the steering direction side of the vehicle to rotate the rear wheel braked by the rotation axis, thereby minimizing the radius of rotation of the vehicle It relates to a vehicle rotation control method that can be.

A vehicle, that is, a car that can be easily contacted with us in our daily lives, is typically provided such that only the front wheels can rotate left and right, and the rear wheels cannot rotate left and right similarly to the structure of a bicycle.

When the vehicle is to be rotated through this structure, the radius of rotation varies depending on the traveling speed of the vehicle and the degree of left and right rotation of the front wheel, but at least 1.5 to 2 times the width of the front and rear distance of the vehicle was required.

Therefore, a large space was required for the vehicle to rotate, and operations such as parking in a narrow space and a U-turn were too heavy for a beginner who was poor at driving.

In order to solve this problem, a method of reducing the distance between the front and rear axles of the vehicle has been proposed in the related art, but it is unreasonable to apply such a structure to a vehicle used by the general public.

Furthermore, if the above method is applied, the structure of the vehicle is greatly changed, which may cause a problem in the durability of the vehicle and additionally requires a large cost as a separate system is installed.

SUMMARY OF THE INVENTION The present invention is to solve the above-mentioned problems, by braking the rear wheels on the steering direction side using an ESP (Electronic Stability Program) which can independently brake each wheel of the vehicle when the vehicle rotates. It is an object of the present invention to provide a vehicle rotation control method capable of minimizing a radius of rotation of a vehicle by rotating the vehicle with the braked rear wheels as a rotating shaft.

In addition, the present invention provides a vehicle rotation control method that can reduce the rotation radius of the vehicle when the vehicle is rotated by modifying only the control method for driving the ESP without requiring an additional device or structure for the rotation control of the vehicle. Has a different purpose.

In addition, another object of the present invention is to provide a vehicle rotation control method capable of maximizing the driver's convenience by allowing the rear wheel in the steering direction to be braked through an automatic or manual method at the request of the driver.

In one preferred embodiment of the present invention for achieving the above object, the braking condition determination step of determining whether the steering angle information and the running speed of the vehicle corresponds to the rear wheel braking conditions; And a rear wheel braking step of braking a rear wheel in a direction corresponding to the steering angle information through an ESP when the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking conditions.

In this case, the rear wheel braking condition, the steering angle information of the vehicle is preferably 90 ° or more, the current traveling speed of the vehicle is preferably 5 to 30 Km / h.

According to another preferred embodiment of the present invention, a braking request input step of receiving rear wheel braking request information from a driver; And a rear wheel braking step of sensing steering angle information of the vehicle and braking the rear wheel in a direction corresponding to the steering angle information through the ESP after the braking request input step.

In addition, the present invention may further include a braking releasing step of releasing the braking of the rear wheel, which has been braked in the rear wheel braking step, when the braking releasing condition based on the driver's input is satisfied after the rear wheel braking step.

The braking releasing condition is preferably a case where a reverse gear is input or a brake is input.

In addition, the ESP, when braking the rear wheel, it is more preferable to apply a periodic braking force to the rear wheel at a predetermined cycle.

On the other hand, in another preferred embodiment of the present invention, the mode setting step for receiving the driver's intention regarding the rear wheel braking method; A braking condition determining step of determining whether the steering angle information and the driving speed of the vehicle correspond to the rear wheel braking condition when the automatic mode request is input in the mode setting step; A first rear wheel braking step of braking a rear wheel in a direction corresponding to the steering angle information received in the braking condition determination step through an ESP when the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking condition; A braking request input step of receiving rear wheel braking request information from a driver when the manual mode request is input in the mode setting step; And a second rear wheel braking step of sensing steering angle information of the vehicle and braking a rear wheel in a direction corresponding to the steering angle information after the braking request input step.

According to the present invention, the radius of rotation of the vehicle can be minimized by braking the rear wheels in the vehicle steering direction through the ESP so that the vehicle rotates around the braked rear wheels.

Therefore, there is an advantage that the U-turn or parking of the vehicle in a narrow space is much easier.

Furthermore, since a separate mechanism or structure is not required for the control of the vehicle, the vehicle can be directly applied to a vehicle currently used, and additionally, a large cost is not required.

In addition, there is an advantage that can maximize the convenience of the driver by enabling rear wheel braking for reducing the radius of rotation through automatic or manual mode.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

Hereinafter, a vehicle rotation control method according to an exemplary embodiment of the present invention will be described with reference to FIGS. 1 and 4. 1 is a flow chart of a vehicle rotation control method according to an embodiment of the present invention, Figure 4 is a block diagram of a vehicle rotation control apparatus according to a preferred embodiment of the present invention.

According to an exemplary embodiment of the present invention, when the controller 110 determines the rear wheel braking condition and the current vehicle state corresponds to the rear wheel braking condition, the controller 110 automatically brakes the rear wheel in the vehicle steering direction. same.

According to an exemplary embodiment of the present invention, the steering angle information and the traveling speed of the current vehicle detected by the controller 110 through the steering information detector 111 and the vehicle speed detector 112 are first applied to the rear wheel braking condition. It is determined whether it corresponds (S110).

In this case, when it is determined in step S110 that the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking condition, the control unit 110 performs a rear wheel in a direction corresponding to the steering angle information through the ESP 120. Control to brake (121 or 122) (S120).

In more detail, in a preferred embodiment of the present invention, when the current state of the vehicle satisfies a predetermined rear wheel braking condition, the controller 110 considers that the current driver intends to rotate the vehicle, and the driver Brakes the rear wheel (for example, the right rear wheel when the driver turns the vehicle to the right) to rotate the vehicle around the braked rear wheel, thereby enabling the vehicle to rotate in a small space. will be.

Here, the ESP (Electronic Stability Program) refers to a wheel that requires braking among the wheels of the front, rear, left, and right of slipping of the vehicle that occurs in an extremely unstable situation during acceleration, braking, or cornering. By selectively braking, the system stably holds the vehicle's posture and corrects even the driver's mistakes.It is able to grasp the slip state of the vehicle based on information such as the speed of the wheel, braking pressure, steering angle, and the inclination of the vehicle body. By applying the appropriate brakes on the wheels, the vehicle's attitude is stabilized again to prevent drift-out or spin-out.

For the above operation, the ESP is capable of applying independent braking force to each wheel of the vehicle.

Therefore, according to the present invention, since the control unit 110 brakes the rear wheels 121 or 122 in the steering direction through the ESP 120 as described above, adjusting the inter-vehicle distance to reduce the turning radius of the vehicle as in the prior art. Excessive structural changes, such as, are not required, and further additional devices need not be provided in the vehicle.

On the other hand, in the preferred embodiment of the present invention, the rear wheel braking condition, which is a basic requirement that the control unit 110 determines that braking of a specific rear wheel of the vehicle, is required, the steering angle information of the vehicle is 90 ° or more, The current traveling speed is preferably 5 to 30 Km / h because the speed range at which the operation of the ESP used in the conventional vehicle is activated is set to 30 Km / h or more.

In other words, by controlling the vehicle wheels in the range of 30 km / h or less rather than the general operating range of the ESP, it is possible to reduce the radius of rotation of the vehicle when the rear wheel braking conditions are satisfied without affecting the original operation of the ESP. It is.

Therefore, the present invention can be applied directly to a vehicle having an ESP system, and does not require a separate device. Therefore, the present invention does not require a large cost.

FIG. 5 shows the rotation of the vehicle 10 in which the rear wheels 10a in the steering direction are braked through this method. According to the present invention as shown in Figure 5 it can be seen that the radius of rotation of the vehicle is very small compared to the existing to the extent similar to the front and rear length of the vehicle.

Next, in the preferred embodiment of the present invention, if the braking release condition is satisfied after the step 'S120', the braking of the rear wheel which has been braked in the rear wheel braking step may be released (S130).

Here, the braking releasing condition is a steering angle information of the vehicle detected when the reverse gear is input through the gear information input unit 113, or when the brake is input through the brake information input unit 114 or in step 'S110'. It is preferable that the steering angle information in the opposite direction is detected. The above two inputs are generally not required in a situation where a u-turn or a rotation is smoothly performed. Because it is one.

Through this configuration, the present invention releases the braking state of the rear wheel, which has been braked after the vehicle rotates, so that the driver can achieve smooth driving.

Hereinafter, a vehicle rotation control method according to another exemplary embodiment of the present invention will be described with reference to FIGS. 2 and 4. In the description, the same reference numerals as those in FIG. 1 refer to the same configuration that performs the same function.

Another preferred embodiment of the present invention is to brake the rear wheels in the steering direction according to the driver's request, that is, an embodiment in which the rear wheels in the steering direction are manually braked according to the driver's input.

According to another preferred embodiment of the present invention, first, the rear wheel braking request information input unit 115 receives rear wheel braking request information from the driver (S210).

Here, the rear wheel braking request information input unit 115 is for receiving input that the driver intends to brake the rear wheel in a specific direction, and may be a separate button provided near the driver's seat, but more preferably, the driver's seat Various input devices provided in the configuration may be used.

When the rear wheel braking request information is input in step S210, the controller 110 detects steering angle information of the current vehicle through the steering information sensor 111 (S220).

The controller 110 that detects the steering angle information through the steering information sensor 111 in step S220 refers to the steering angle information so that the rear wheel of the ESP 120 corresponds to the steering angle information. To brake (S230).

In another preferred embodiment of the present invention, by allowing the rear wheels in a specific direction to be braked according to the driver's input rather than the controller 110, the driver's rotation radius can be reduced at the desired moment.

After the step 'S230', in the preferred embodiment of the present invention, the braking release condition is equally satisfied, or the driver no longer wishes to brake the rear wheel in a specific direction through the rear wheel braking request information input unit 115. If none is input, it is possible to release the braking of the rear wheel which was previously braked (S130).

On the other hand, when the ESP 120 brakes the rear wheels 121 or 122 in the steering direction in the step 'S120' or 'S220', it is preferable that the braking force is periodically applied to the rear wheels 121 or 122 according to a predetermined period. This is to reduce the wear of the wheel inevitably caused by the braked rear wheel rotation of the vehicle.

Here, the predetermined period is a value that can be changed as many as the intention of the invention to take into account the wear and braking force of the wheel.

Hereinafter, a vehicle rotation control method according to another preferred embodiment of the present invention will be described with reference to FIGS. 3 and 4.

Another preferred embodiment of the present invention is an embodiment in which the driver can selectively use the automatic or manual method described above.

According to another preferred embodiment of the present invention, first, the control unit 110 receives the driver's intention regarding the rear wheel braking method through the mode setting unit 116 (S310).

The rear wheel braking method preferably enables the rear wheel in the steering direction to be braked by an automatic or manual method, and also makes it possible not to use the rear wheel braking according to the driver's preference, and the mode setting unit 116 inputs such an input. Although a mode switching switch and the like may be used to easily input the present invention, the present invention is not limited thereto, and a combination of input devices provided in the existing vehicle, such as the rear wheel brake request information input unit 115, may be used.

When the automatic mode request is received in step 'S310', the control unit 110 controls the steering angle information and the driving speed of the current vehicle detected by the steering information detecting unit 111 and the vehicle speed detecting unit 112. If the steering angle information and the running speed of the current vehicle corresponds to the rear wheel braking condition, the direction corresponding to the steering angle information received in the step S320a through the ESP 120 is determined. Braking the rear wheel (S330a).

Here, the rear wheel braking condition is similar to the preferred embodiment of the present invention, the current steering angle information of the current vehicle is 90 ° or more, it is preferable that the current running speed of the current vehicle is 5 to 30 Km / h.

On the contrary, if the manual mode request is input in step 'S310' (if neither the automatic mode request nor the manual mode request is input in step 'S310', the driver is considered to have no intention of rear wheel braking. The control unit 110 receives the rear wheel braking request information from the driver through the rear wheel braking request information input unit 115 (S320b), and thereafter, the steering information detecting unit 111 By detecting the steering angle information of the vehicle through the ESP 120, the rear wheel 121 or 122 in a direction corresponding to the steering angle information detected in the steering angle detection step is braked (S330b).

On the other hand, after the 'S330a' or 'S330b' step, if the brake release condition is satisfied, it is preferable to release the braking of the rear wheels 121 or 122 braked in the 'S330a' or 'S330b' step (S340). ).

At this time, the braking releasing condition, as in the preferred embodiment or another embodiment of the present invention, it is preferable that the reverse gear is input or the brake is input, and further in the 'S320a' or 'S320b' step More preferably, the ESP 120 applies a periodic braking force to the rear wheels according to a predetermined period during the braking time for braking the rear wheels.

Through this configuration, the present invention enables the driver to use the rear wheel braking through an automatic or manual method, thereby maximizing the convenience of the driver.

As mentioned above, although this invention was demonstrated by the limited embodiment and drawing, this invention is not limited by this, The person of ordinary skill in the art to which this invention belongs, Of course, various modifications and variations are possible within the scope of equivalent claims.

For example, in the above, the controller 110 and the ESP 120 are described as being independently present in separate configurations. However, as shown in FIG. 4, the controller 110 and the ESP 120 include an ESP-ECU processor ( 101) There may be one module operating inside.

1 is a flow chart of a vehicle rotation control method according to an embodiment of the present invention;

2 is a flowchart of a vehicle rotation control method according to another embodiment of the present invention;

3 is a flowchart of a vehicle rotation control method according to another preferred embodiment of the present invention;

4 is a block diagram of a vehicle rotation control apparatus according to an embodiment of the present invention,

5 is an exemplary view showing a state of a vehicle rotating according to the vehicle rotation control method of the present invention.

<Explanation of symbols for the main parts of the drawings>

110: control unit 111: steering information input unit

112: vehicle speed detection unit 113: gear information input unit

114: brake information input unit 115: rear wheel braking request information input unit

116: mode setting unit 120: ESP

121: Left rear wheel 122: Right rear wheel

Claims (11)

A braking condition determination step of determining whether the steering angle information and the driving speed of the vehicle correspond to the rear wheel braking condition; And And a rear wheel braking step of braking a rear wheel in a direction corresponding to the steering angle information through an ESP when the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking conditions. In the rear wheel braking step, And the ESP applies a periodic braking force to the rear wheel at a predetermined cycle when the rear wheel is braked. The method of claim 1, wherein the rear wheel braking conditions, The steering angle information of the vehicle is more than 90 ° Vehicle rotation control method characterized in that the current running speed of the vehicle is 5 to 30 Km / h. A braking request input step of receiving rear wheel braking request information from a driver; And And a rear wheel braking step of sensing steering angle information of the vehicle after the braking request input step and braking a rear wheel in a direction corresponding to the steering angle information through an ESP, In the rear wheel braking step, And the ESP applies a periodic braking force to the rear wheel at a predetermined cycle when the rear wheel is braked. The method of claim 3, wherein After the rear wheel braking step, And a brake releasing step of releasing braking of the rear wheel, which has been braked in the rear wheel braking step, when a reverse gear is input or a brake is input. delete delete A mode setting step of receiving a driver's intention regarding the rear wheel braking method; A braking condition determining step of determining whether the steering angle information and the driving speed of the vehicle correspond to the rear wheel braking condition when the automatic mode request is input in the mode setting step; A first rear wheel braking step of braking a rear wheel in a direction corresponding to the steering angle information received in the braking condition determination step through an ESP when the steering angle information and the traveling speed of the vehicle correspond to the rear wheel braking condition; A braking request input step of receiving rear wheel braking request information from a driver when the manual mode request is input in the mode setting step; And And a second rear wheel braking step of sensing steering angle information of the vehicle and braking the rear wheel in a direction corresponding to the steering angle information after the braking request input step. The method of claim 7, wherein the rear wheel braking conditions, The current steering angle information of the current vehicle is over 90 ° Vehicle rotation control method, characterized in that the current running speed of the current vehicle is 5 to 30 Km / h. The method of claim 7, wherein After the first rear wheel braking step or the second rear wheel braking step, And a braking releasing step of releasing the braking of the rear wheel which has been braked in the first rear wheel braking step or the second rear wheel braking step when the braking releasing condition based on the driver's input is satisfied. The method of claim 9, wherein the braking release condition, Vehicle reverse control method characterized in that the reverse gear is input or the brake is input. The method according to any one of claims 7 to 10, In the first rear wheel braking step or the second rear wheel braking step, And the ESP applies a periodic braking force to the rear wheel at a predetermined period during the braking time for braking the rear wheel.

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