KR101621981B1 - Apparatus for compensation pulling of vehicle and compensation method thereof - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a deviation compensation apparatus for a vehicle and a compensation method therefor. More particularly, the present invention relates to a deviation compensation apparatus and method for compensating a deviation of a vehicle from a steering torque, a yaw angle, Therefore, it is possible to secure the stability of the running and to remove the additional steering torque to prevent the driver from leaning. Therefore, the driver's fatigue Can be reduced.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an anti-

[0001] The present invention relates to a deviation compensation apparatus for a vehicle and a compensation method therefor, more particularly, to compensate for a deviation of a vehicle due to an average of a compensation torque for compensating for a deviation of a vehicle, And a driver's leaning compensation device capable of reducing the driver's fatigue, and a compensation method therefor.

A left / right unbalance of the vehicle occurs due to internal / external factors such as a lateral wind, a road surface gradient condition, and a tire condition at the time of driving the vehicle straight, so that the vehicle is biased to either left or right regardless of the driver's will pulling phenomenon occurs.

Conventionally, when the pulling phenomenon occurs, the driver has to operate the steering wheel with a certain force to maintain the straightness of the vehicle, so that the steering wheel must be operated in the opposite direction of the vehicle steering. Also, the driver's convenience, safety, and straightness of the vehicle may be deteriorated due to a pulling phenomenon occurring while driving.

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-mentioned problems of the prior art, and it is an object of the present invention to provide a steering control apparatus and a steering control method of an internal combustion engine capable of discriminating a leaning phenomenon of a vehicle through steering torque, yaw angle, steering angle and vehicle speed, So that it is possible to eliminate a sense of heterogeneity due to torque compensation, and to provide a compensation method therefor.

It is another object of the present invention to provide a steering assist system for a vehicle that discriminates a leaning phenomenon of a vehicle and compensates for the occurrence of a torque deviation through an average of the compensating torques so as to eliminate an additional weighted steering torque Which is capable of reducing the driver's fatigue and ensuring driving stability, and a compensation method therefor.

In order to accomplish the above object, according to the present invention, there is provided an apparatus for compensating deflection of a vehicle and a method of compensating for the deflection of a vehicle, the method comprising the steps of: determining whether an electronic safety control system and a compensator are operated to check whether an airbag is operating; Determining whether or not lateral displacement of the vehicle has occurred through the steering torque average, the yaw angle average, the steering angle change rate, and the vehicle speed when the airbag is not operated; and determining that the leaning has occurred in the lean decision unit A compensated torque calculating step of calculating a compensated torque according to the magnitude of the steering torque average in the compensated torque calculating section and a compensated torque average which is an average of the compensated torque and a plurality of compensated torque data stored in the memory , The compensating torque average is added to the steering torque to calculate the compensating steering torque, Applying compensation torque for applying a steering torque compensated by the driving motor may include a step.

Determining whether the steering angle change rate is less than 5 degrees per second when the vehicle speed exceeds 60 KPH, determining whether the steering angle change rate is less than 60 KPH, Determining whether or not the yaw angle average exceeds 5 [deg.] If the yaw angle average is less than 5 [deg.] Per second; and determining a first steering torque And a judgment step.

Wherein the compensating torque calculating step includes a second steering torque judging step of judging whether or not the steering torque average exceeds 1 Nm when the steering torque average exceeds 0.5 Nm and a second steering torque judging step of judging whether or not the steering torque average A first compensation torque setting step of setting a compensation torque to 0.5 Nm when the steering torque average is greater than or equal to 1 Nm, and a second compensation torque setting step of determining whether the steering torque average exceeds 1.5 Nm A second compensation torque setting step of setting the compensation torque to 1 Nm when the steering torque average is 1.5 Nm or less in the third steering torque determination step and a third compensation torque setting step of setting the compensation torque at the third steering torque determination step And setting the compensating torque to 1.5 Nm when the steering torque average exceeds 1.5 Nm in the second compensating torque setting step.

In order to achieve the above object, according to the present invention, there is provided an apparatus for compensating deflection of a vehicle and a method of compensating for the deflection of a vehicle by means of a steering torque average, a yaw angle average, A steering angle determination unit for determining whether steering has been performed or not; a compensation torque calculation unit for calculating a compensation torque according to a magnitude of the steering torque average when it is determined that a leaning has occurred in the steering angle determination unit; A compensated torque average calculator for calculating a compensated torque average that is an average of a plurality of compensation torque data stored and a compensated torque average computed by the compensated torque average calculator; And a summing unit for calculating the compensation steering torque.

And a safety maintaining unit for limiting operations of the leaning determination unit and the compensation torque calculation unit if the electronic safety control system and the airbag are operating.

Wherein the compensation torque average calculation section comprises a memory for storing the compensation torque calculated by the compensation torque calculation section and a compensation torque which is an average of a plurality of compensation torque data stored in the memory and a compensation torque applied by the compensation torque calculation section, And an average calculating unit for calculating an average.

The deviation compensation apparatus and compensation method of the present invention compensates the deviation of the vehicle through the steering torque, the yaw angle, the steering angle, and the vehicle speed, and compensates for the occurrence of the torque deviation through the average of the compensation torque, It is possible to eliminate a sense of heterogeneity caused by

The present invention also provides an apparatus and method for compensating for deviation of a vehicle according to the present invention, which discriminates a leaning phenomenon of a vehicle and compensates for the deviation of the torque due to the average of the compensating torques. So that the driver's fatigue can be reduced and the driving stability can be ensured.

FIG. 1 is a flowchart illustrating a method of compensating leaning of a vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a vehicle deflection device for performing the deflection method of the vehicle of FIG. 1; FIG.
3 is a block diagram showing the compensation torque average calculation unit in the vehicle deflection apparatus of FIG.
FIG. 4 is a flowchart showing the determination of leaning in the leaning compensation method of the vehicle of FIG. 1. FIG.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred 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. Here, parts having similar configurations and operations throughout the specification are denoted by the same reference numerals.

Referring to FIG. 1, there is shown a flowchart illustrating a method of compensating leaning of a vehicle according to an embodiment of the present invention. 2, there is shown a block diagram illustrating a vehicle deflection device of a vehicle. Hereinafter, the leaning compensation method of the vehicle of FIG. 1 will be described with reference to the leaning compensation device of the vehicle of FIG.

First, a motor driving power steering ("MDPS") controller 20 calculates a steering torque Mt for controlling the driving of the driving motor M in accordance with the steering angle and the vehicle speed, (M).

When the electronic stability control (ESC) and the airbag are in an inoperative state, the tilting compensation apparatus 10 calculates the steering torque average Mta, the yaw angle average Ya, the steering angle change rate Ar, (11) for determining whether lateral displacement of the vehicle has occurred through the steering angle sensor (Vs); and a steering angle determination unit (11) for determining whether the steering angle And a compensating torque calculating section 12 for calculating a compensating torque Tc in accordance with the magnitude of the input torque Mta.

The tilting compensation apparatus 10 further includes a safety holding section 13 for securing the safety of the vehicle. The safety control unit 13 stops operation of the leaning determination unit 11 when the electronic safety control system ESC and the airbag are driven so as to stop the leaning device 10 and the electronic safety control system ESC And controls the leaning determination unit 11 to drive when the airbag is not driven. Further, the safety holding section 13 checks the calculation error at the time of calculating the compensation torque at the compensation torque calculating section 12, and limits the operation of the compensation torque calculating section 12 when the calculation error occurs. The safety maintaining unit 13 determines whether the values of the steering torque, the yaw angle, the vehicle speed, and the steering angle measured by the respective sensors are valid, and controls whether or not the leaning compensation device 10 is driven to maintain the stability of the vehicle .

The tilting compensation apparatus 10 further includes a compensation torque average calculation section 14 for calculating an average value of the compensation torque Tc. The configuration of the compensation torque average calculator 14 is composed of a memory 14a and an average calculator 14b as shown in FIG.

The memory 14a receives and stores the calculated compensating torque Tc when the compensating torque Tc is calculated in the compensating torque calculating section 12 due to the occurrence of leaning in the vehicle, Quot; 0 "is stored when the value Tc is not calculated.

The memory 14a is electrically connected to the compensation torque calculating section 12 and receives the compensation torque Tc. The memory 14a is also electrically connected to the enable switch ES and the enable switch ES applies or cuts off data "0" to the memory 14a depending on whether or not the compensation torque Tc is calculated .

The memory 14a may consist of, for example, 500 cells each storing 500 compensating torque data, but the number of cells is not limited to 500. The compensation torque data stored in each cell of the memory 14a is sequentially deleted in the order of storage, and new compensation torque data is sequentially stored in the empty cell from which the compensation torque data is deleted. In the initial operation, "0" is stored in all the cells of the memory 14a.

In order to change a plurality of stored data to new compensation torque (Tc) data, the memory 14a sequentially deletes the stored plurality of data in the order of the stored data, It takes some time to save.

The average calculating section 14b calculates the compensated torque average value Atc that is the average of the compensating torque Tc calculated by the compensating torque calculating section 12 and the plurality of compensating torque data Dtcn stored in the memory 14a . For example, the average calculating section 14b calculates a sum of the sum of the plurality of the compensation torque data Dtcn stored in the memory 14a and the compensation torque Tc calculated in the compensation torque calculating section 12 By a value obtained by adding 1 to the number of the plurality of compensated torque data Dtcn.

The summing unit 30 calculates the compensating steering torque Ms by summing the steering torque Mt and the compensating torque average Atc and applies the compensation steering torque Ms to the drive motor M. [

Even when the compensating torque Tc is suddenly changed, the deflection compensating device 10 calculates the compensating torque average Atc through the compensating torque average calculating part 14 and compensates the steering torque through the compensating torque average calculating part 14, Can be gradually compensated for so as not to cause a sense of heterogeneity due to the torque change.

Further, the leaning compensation device 10 judges that the vehicle is leaning and compensates the steering torque of the vehicle, which is deflected to one side at the time of leaning, so as to prevent the occurrence of a drift over time through the compensated torque average (Atc) It is possible to reduce the fatigue which is weighted in steering wheel control in order to induce the vehicle to travel straight ahead.

In order to perform the method of compensating the leaning of the vehicle through the leaning compensation device 10, the safety maintaining unit 13 first determines whether the electronic safety control system ESC and the airbag ABG operate. The safety control unit 13 determines whether or not the electronic stability control system ESC and the airbag ABG are operating and determines whether or not the vehicle tilt compensation device 10 is driven. ). If the electronic safety control system (ESC) and the airbag are operating in the determination step S1 of determining whether or not the compensation device is driven, the operation of the deflection device 10 is restricted.

If the electronic safety control system ESC and the airbag ABG are not driven at the step S1 of determining whether or not the compensation device is driven, the lean decision unit 11 determines that the steering torque average Mta, yaw angle average Ya, A leaning determination step S2 for determining whether or not a lateral deviation has occurred in the vehicle through the change rate Ar and the vehicle speed Vs is executed. Each step of the leaning judgment step S2 is shown in Fig.

As shown in FIG. 4, in the lean decision step S2, a speed determination step S21 for determining whether the leaning of the vehicle exceeds 60 KPH, which is the vehicle speed Vs at which the driver starts to influence the driver, is executed.

When the vehicle speed Vs exceeds 60 KPH, it is determined that the vehicle deviations have an influence on the driver. In order to check whether the vehicle is running straight ahead, the steering angle change rate Ar is set to 5 (S22) for judging whether or not the steering angle? Is less than?

If the steering angle change rate Ar is less than 5 degrees per second, a yaw angle determination step S23 is performed to determine whether the yaw angle average Ya exceeds 5 degrees in order to check whether or not the vehicle has shaken.

And determines whether or not the steering torque average Mta exceeds 0.5 Nm in order to check whether or not the driver is changing the steering torque due to the vehicle deviations when the yaw angle average Ya exceeds 5 DEG, The judgment step S24 is executed.

That is, in the leaning determination step S2, the lean decision unit 11 determines that the vehicle speed Vs exceeds 60 KPH, the steering angle change rate Ar changes less than 5 degrees per second, the yaw angle average Ya exceeds 5 degrees , And when the steering torque average (Mta) exceeds 0.5 Nm, it is determined that the vehicle is leaning, and the compensation torque calculation step (S3) is executed.

When the vehicle speed Vs exceeds 60 KPH, the steering angle change rate Ar is less than 5 deg., The yaw angle average Ya exceeds 5 deg., The steering torque average Mta exceeds 0.5 Nm If the at least one condition is not satisfied, it is determined that there is no leaning in the vehicle and the vehicle is returned (R), and the re-execution of the step S1 for determining whether or not the compensation device is driven is executed again.

If it is determined in step S2 that the leaning has occurred in the vehicle, the compensation torque calculating unit 12 calculates the compensation torque Tc to calculate the compensation torque Tc according to the magnitude of the steering torque average Mta (S3).

If it is determined that the steering torque average Mta exceeds 0.5 Nm in the first steering torque determination step S24, it is determined whether the steering torque average Mta exceeds 1 Nm The second steering torque determination step S31 is executed.

If it is determined that the steering torque average Mta is less than or equal to 1 Nm in the second steering torque determination step S31, the steering torque average Mta is greater than 0.5 Nm and less than 1 Nm, The first compensation torque setting step S32 for setting the compensation torque Tc to Nm is executed.

If it is determined in the second steering torque determination step S31 that the steering torque average Mta exceeds 1 Nm, a third steering torque determination step S33 (S33) for determining whether the steering torque average Mta exceeds 1.5 Nm ).

If it is determined in the third steering torque determination step S33 that the steering torque average Mta is 1.5 Nm or less, since the steering torque average Mta is more than 1 Nm and less than 1.5 Nm, the steering torque average Mta is 1 Nm A second compensation torque setting step S34 for setting the compensation torque Tc is executed.

If it is determined in the third steering torque determination step S33 that the steering torque average Mta exceeds 1.5 Nm, in order to prevent the steering angle of the vehicle from being excessively steered by the compensation torque Tc, And a third compensation torque setting step S35 for setting the compensation torque Tc to 1.5 Nm.

If it is determined in step S2 that the leaning has occurred in the vehicle, the compensation torque calculation step S3 calculates the compensation torque Tc for each step according to the magnitude of the steering torque average Mta.

The calculated compensation torque torque Tc and the compensation torque data Dtcn stored in the memory 14a are used to calculate the compensated torque average Atc and the calculated compensated torque average Atc and the steering torque Mt And a compensating torque applying step (S4) for applying the summed compensating steering torque Ms to the driving motor is executed.

In this compensation torque application step S4, the calculated compensation torque Tc and the compensated torque data Dtcn stored in the memory 14a are summed and the average compensated torque average Atc, which is the average thereof, (Step S41).

For example, if there are 500 storage cells in the memory 14a, and the time for storing and storing all the 500 pieces of storage data as new new data is 5 seconds, If the compensation torque Tc is calculated, the sum of the compensation torque data Dtcn stored in the memory 14a is zero, so that the compensation torque average becomes 0.5 Nm / 501. At this time, a compensation torque Tc of 0.5 Nm is stored in one storage cell of the memory 14a.

The compensated torque data Dtcn stored in each cell in the memory 14a can be changed to 0.5 Nm so that the sum of the compensated torque data Dtcn Is 0.5 Nm * 500. Therefore, the compensation torque average is 0.5 Nm * 501/501 at 0.5 Nm. That is, the compensated torque average Dtcn is gradually changed so that no deviation occurs for 5 seconds after the compensating torque Tc is changed.

 The compensation steering torque Ms, which is obtained by summing the compensation torque average Atc calculated in the compensation torque average calculation step S41 and the steering torque Ms through the summer 30, Step S42 is executed.

In this way, the compensating torque applying step S4 calculates the compensating torque average Atc, which is an average of the compensating torque Tc, to compensate the steering torque Mt, M can be changed from the steering torque Mt to the compensating steering torque Ms, it is possible to minimize the torque disturbance that may occur.

By compensating the compensation torque, which is the steering torque change due to the vehicle deviating, to have the continuity of the torque by the compensation torque equation Tc (t) during the compensation period t0, And it is possible to eliminate the extra steering torque applied by the driver in order to prevent the vehicle from leaning, thereby reducing the driver's fatigue.

Such a steering deflection device and its compensation method of the vehicle discriminates the leaning phenomenon of the vehicle through the steering torque, the yaw angle, the steering angle and the vehicle speed while the vehicle is running, and compensates for the continuity of the torque according to the steering torque. And it is possible to reduce the fatigue which is weighted when the steering wheel is controlled in order to induce a straight running of the vehicle in which the driver is deflected.

It is to be understood that the present invention is not limited to the above-described embodiment, and that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as defined in the appended claims. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

10; Tilt compensator
11; A leaning judging unit 12; The compensation torque calculating section
13; A safety holding portion 14; The compensation torque average calculation unit
30; Summing unit
Mta; Steering torque average Ya; Yaw angle mean
Ar; Steering angle change rate Vs; Vehicle speed
Ms; Compensating steering torque Tc; Compensation torque
Atc; Compensated torque average Mt; Steering torque

Claims (6)

Determining whether the electronic safety control system and the compensation device are operated to check whether the airbag is operating;
Determining whether a lateral deviation of the vehicle has occurred through the steering torque average, the yaw angle average, the steering angle change rate, and the vehicle speed in the electronic safety control system and the lean decision unit when the airbag is not operated;
A compensating torque calculating step of calculating a compensating torque in accordance with the magnitude of the steering torque average in the compensating torque calculating unit when it is determined that the leaning has occurred in the leaning judging unit; And
Calculating a compensated torque average that is an average of the compensated torque and a plurality of compensated torque data stored in the memory, calculating a compensated steering torque by adding the compensated torque average to the steering torque, And applying a compensating torque to the vehicle. The method according to claim 1,
The leaning determination step
A speed determining step of determining whether the vehicle speed exceeds 60 KPH;
Determining whether the steering angle change rate is less than 5 degrees per second when the vehicle speed exceeds 60 KPH;
A yaw angle determining step of determining whether the yaw angle average exceeds 5 [deg.] When the steering angle change rate is less than 5 [deg.] Per second; And
And a first steering torque determination step of determining whether the steering torque average exceeds 0.5 Nm when the yaw angle average exceeds 5 DEG. The method according to claim 1,
The compensating torque calculating step
A second steering torque determination step of determining whether the steering torque average exceeds 1 Nm when the steering torque average exceeds 0.5 Nm;
A first compensation torque setting step of setting a compensation torque to 0.5 Nm when the steering torque average is less than or equal to 1 Nm in the second steering torque determination step;
A third steering torque determination step of determining whether the steering torque average exceeds 1.5 Nm when the steering torque average exceeds 1 Nm in the second steering torque determination step;
A second compensation torque setting step of setting the compensation torque to 1 Nm when the steering torque average is less than or equal to 1.5 Nm in the third steering torque determination step; And
And a third compensation torque setting step of setting the compensation torque to 1.5 Nm when the steering torque average exceeds 1.5 Nm in the third steering torque determination step. A lean decision unit for determining whether a lateral deviation of the vehicle has occurred through the steering torque average, the yaw angle average, the steering angle change rate, and the vehicle speed if the electronic safety control system and the airbag are not operating;
A compensating torque calculating unit for calculating a compensating torque according to a magnitude of the steering torque average when it is determined that the leaning determination unit has caused a leaning;
A compensated torque average calculator for calculating the compensated torque calculated by the compensated torque calculator and the compensated torque average which is an average of the stored plurality of compensated torque data; And
And a summation unit for calculating a compensating steering torque by adding the average compensating torque calculated by the compensating torque average calculating unit to the steering torque. The method of claim 4,
Further comprising a safety maintaining unit for limiting the operation of the leaning determination unit and the compensation torque calculation unit if the electronic safety control system and the airbag are operating. The method of claim 4,
Wherein the compensation torque average calculation unit comprises: a memory for storing the compensation torque calculated by the compensation torque calculation unit; And
And an average calculation unit for calculating a compensation torque average which is an average of a plurality of compensation torque data stored in the memory and a compensation torque applied by the compensation torque calculation unit.

Images