KR102179442B1 - Vehicle and controlling method of the vehicle - Google Patents

Abstract

The disclosed invention detects and stores the rotational torque of the steering wheel in real time, and continuously updates the threshold required to detect whether the steering wheel is not gripped based on the stored data, thereby increasing the accuracy of the hands-off function and further increasing the driver's convenience. It provides a vehicle and a control method thereof.
To this end, a handle for adjusting a wheel for moving the vehicle; A motor generating an input torque for determining whether the handle is gripped; A sensing unit that detects a rotation torque of the steering wheel while the vehicle is driving; A storage unit for storing the detected rotation torque and a threshold value calculated based on the rotation torque and the input torque; And a controller configured to determine whether the rotation torque is within the stored threshold value range, determine whether to grip the handle, and recalculate the threshold value based on the rotation torque used in the determination result and store it in the storage unit. Includes.

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD OF THE VEHICLE}

The disclosed invention relates to a vehicle and a control method thereof, and more particularly, to an apparatus and a control method for detecting a state in which a steering wheel is not held in a vehicle.

In general, a steering device is installed in a vehicle to adjust the driving direction. In the case of such a steering device, a power steering device that is mostly automatic is installed.

The power steering device is classified into a hydraulic system using hydraulic pressure and a motor driven power steering (MDPS) method using rotational force of a driving motor according to the type of driving means.

The MDPS method is widely used in recent years because it improves fuel economy compared to the hydraulic type, is environmentally friendly because it does not use oil, and reduces parts and improves workability by eliminating the hydraulic line.

Meanwhile, the vehicle is equipped with a steering control system that assists the vehicle to drive through the center of the lane. Such a steering control system has an advantage that the driver's driving burden can be greatly reduced.

In such a steering control system, a hands off function that detects whether a driver is holding a steering wheel is essential.

In order to realize the hands-off function in the MDPS steering system, a sensor that determines the rotation of the steering wheel is required. However, in the MDPS method, the sensor may be installed at a position where it is not possible to accurately detect whether the handle is rotated, and this has a problem in the accuracy of detecting whether the handle is not gripped in the hands-off function.

In order to solve the above problems, the disclosed invention detects and stores the rotational torque of the handle in real time, and continuously updates the threshold required to detect whether the handle is not gripped based on the stored data, so that the accuracy of the hands-off function. It provides a vehicle and a control method thereof that increases the driver's convenience and increases the driver's convenience.

A vehicle according to an aspect includes a handle for adjusting a wheel for moving the vehicle; A motor generating an input torque for determining whether the handle is gripped; A sensing unit that detects a rotation torque of the steering wheel while the vehicle is driving; A storage unit for storing the detected rotation torque and a threshold value calculated based on the rotation torque and the input torque; And a controller configured to determine whether the rotation torque is within the stored threshold value range, determine whether to grip the handle, and recalculate the threshold value based on the rotation torque used in the determination result and store it in the storage unit. Includes.

The sensing unit may detect a torsion torque generated when the input torque and the rotation torque do not coincide in directions.

The storage unit may store the torsional torque.

The control unit may compare the torsional torque and the rotation torque to determine whether the rotation torque for which the similarity of the pattern is recognized is within the threshold value range.

The control unit may determine the similarity of the pattern based on whether the torsional torque stored in the storage unit has a linear relationship with the rotation torque.

The threshold value may be calculated through a least square method based on the rotation torque at which the linear relationship of the pattern is recognized.

The threshold value may be calculated through a threshold deviation based on the rotation torque at which the similarity of the pattern is recognized.

It may further include a rack-pinion gear converting the rotational motion of the handle into a linear motion, and a column connecting the rack-pinion gear and the handle.

The sensing unit may detect a rotation torque generated when the handle rotates and the column rotates through this.

The sensing unit may be located between the column and the rack-pinion gear.

An output unit that outputs at least one of a warning sound, a screen, and a vibration to induce gripping of the handle may be further included.

When the rotation torque is within the threshold range, the control unit may determine that the handle is not held in position, and may control the output unit.

A method of controlling a vehicle according to another aspect includes generating an input torque to determine whether a steering wheel is gripped; Sensing the rotation torque of the steering wheel while the vehicle is running; Storing the detected rotation torque and a threshold value calculated based on the rotation torque and the input torque; Determining whether to grip the handle by determining whether the rotation torque is within the stored threshold value range; And recalculating the threshold value based on the rotation torque used in the determination result and storing the threshold value.

The sensing may include sensing a torsion torque generated when the input torque and the rotation torque do not coincide in directions.

The storing; may include storing the torsional torque.

The determining; may include comparing the torsion torque and the rotation torque to determine whether the rotation torque for which the similarity of the pattern is recognized is within the threshold value range.

The determining may further include determining the similarity of the pattern based on whether the torsional torque stored in the storage unit is in a linear relationship with the rotation torque.

The threshold value may be calculated through a least square method based on the rotation torque in which the linear relationship is recognized.

The threshold value may be calculated through a threshold deviation based on the rotation torque at which the similarity of the pattern is recognized.

It may further include a rack-pinion gear converting the rotational motion of the handle into a linear motion, and a column connecting the rack-pinion gear and the handle.

The sensing; may further include sensing a rotation torque at which the column rotates.

It may further include outputting at least one of a warning sound, a screen, and a vibration to induce gripping of the handle.

The determining; is, when the rotation torque is within the threshold value range, it may be determined that the handle is not gripped.

According to the vehicle and its control method according to one aspect, the accuracy of the hands-off function is achieved by detecting and storing the rotational torque of the steering wheel in real time, and continuously updating the threshold required to detect whether the steering wheel is not gripped based on the stored data. And further increase the driver's convenience.

1 is an external view of a vehicle according to an embodiment of the disclosed invention.
FIG. 2 is a diagram illustrating an interior configuration of a vehicle in a vehicle according to an exemplary embodiment of the present disclosure.
3 is a view showing a steering apparatus according to an embodiment of the present invention.
4 is a block diagram illustrating a hands-off function according to an embodiment of the present invention.
5 is a series of flow charts for determining whether or not the handle is gripped.
6 is a series of flowcharts for determining whether a detected rotation torque and a twisting torque are similar patterns.
7 is a graph showing an example that is the basis for determining the linear relationship of FIG. 6.
8 is a flow chart showing the entire process of determining whether a handle is gripped.
9 is a table of results for an experiment to determine the effect.
Fig. 10 is a diagram showing Fig. 9 as a graph.

Hereinafter, an exemplary embodiment of a vehicle seat, a vehicle including the same, and a method for controlling the position of the vehicle seat according to an aspect of the disclosed invention will be described in detail with reference to the accompanying drawings.

1 is an external view of a vehicle according to an embodiment of the disclosed invention.

Referring to FIG. 1, a vehicle 1 according to an embodiment of the present invention includes a main body 2 forming the exterior of the vehicle 1, wheels 51 and 53 for moving the vehicle 1, and a wheel 51. , The driving device 60 rotating 53, the doors 71 and 72 shielding the inside of the vehicle 1 from the outside, and a windshield that provides a driver inside the vehicle 1 with a view in front of the vehicle 1 80), and a side mirror (81, 82) that provides the driver with side and rear view of the vehicle (1).

The wheels 51 and 53 include a front wheel 51 provided at the front of the vehicle and a rear wheel 53 provided at the rear of the vehicle, and the driving device 60 is a front wheel so that the main body 2 moves forward or backward. (51) or the rear wheel (53) to provide rotational force. Such a driving device 60 may employ an engine that generates rotational force by burning fossil fuels.

The doors 71 and 72 are rotatably provided on the left and right sides of the main body 2 so that the driver can ride inside the vehicle 1 when opened, and the inside of the vehicle 1 from the outside when closed. Shield.

The wind screen 80 is provided on the front upper side of the main body 100 so that the driver inside the vehicle 1 can acquire the field of view information in front of the vehicle 1.

The side mirrors 81 and 82 include a left side mirror 81 provided on the left side of the main body 2 and a right side mirror 82 provided on the right side, and the driver inside the vehicle 1 It makes it possible to acquire side and rear view information.

In addition to the configuration not disclosed in FIG. 1, the vehicle 1 may disclose a component connecting various components of the vehicle 1 inside the main body 2 and an electronic device controlling the same, and there is no limitation.

FIG. 2 is a diagram illustrating an interior configuration of a vehicle in a vehicle according to an exemplary embodiment of the present disclosure.

Referring to FIG. 2, the interior of the vehicle 1 includes seats 21 and 22 on which an occupant sits, a dashboard 10, and a tachometer, a speedometer, a coolant thermometer, a fuel gauge, and a direction. Instrument panel (i.e. cluster, 12) with switching indicators, high beam indicators, warning lights, seat belt warning lights, odometer, odometer, automatic shift selector indicator, door open warning lights, engine oil warning lights, and low fuel warning lights, and vehicles (1) A steering wheel that moves and manipulates the wheels 51 and 53, that is, a handle 101, and a center fascia in which the air conditioner's vents and control plates are arranged, and the AVN display 611 and audio equipment are arranged ( center fascia).

Here, the center fascia means a central area of the dashboard 10 in which the control panel board is located between the driver's seat 21 and the assistant seat 22.

Meanwhile, the AVN display 611 may be provided on a center fascia of a dashboard in front of a vehicle so that an occupant, particularly a driver, can view or manipulate an image displayed while driving.

Here, the AVN display 611 may be implemented as a Liquid Crystal Display (LCD), a Light Emitting Diode (LED), a Plasma Display Panel (PDP), an Organic Light Emitting Diode (OLED), a cathode ray tube (CRT), or the like.

The AVN display 611 outputs an alarm, an image, etc. to warn the driver when the driver does not hold the steering wheel 101. That is, the image warning of the un-grasp condition of the handle may be output through a warning lamp provided in the cluster 12 or through the AVN display 611.

In addition, an audio output unit 620 may be provided inside the vehicle 1. The voice output unit 620 refers to a device capable of outputting various voices or sounds, and a speaker is an example.

In the disclosed invention, the audio output unit 620 may output a warning sound or the like that induces the driver to grip the steering wheel.

The center console 40 may be provided with a jog shuttle type or a hard key type center input unit 41. The center console 40 is located between the driver's seat 21 and the assistant seat 22 and refers to a portion in which the gear operation lever 40 and the tray 38 are formed.

Meanwhile, the interior of the vehicle 1 shown in FIG. 2 is only an example of the invention, and may include various configurations or other electronic devices, and there is no limitation.

3 is a view showing a steering apparatus according to an embodiment of the present invention.

3, the vehicle 1 is an input device for the driver to control the wheels 51 and 53, that is, a column 102 and a column for transmitting the rotational motion of the steering wheel 101 and the steering wheel 101. A rack-pinion gear 103 that converts the rotational motion of 102 into a linear motion, a sensing unit 200 and a handle 101 that detects torque caused by the rotational motion of the column 102 It includes an actuating motor 400 that generates an input torque for determining whether or not to hold the meaning.

In general, the steering device refers to a series of configurations for adjusting the driving direction of the vehicle. In the case of such a steering device, a power steering device is mostly installed. The power steering device refers to a device that assists the force that enters the steering wheel during steering.

Power steering apparatuses are broadly classified into a hydraulic system using hydraulic pressure, a driving motor, and a motor driven power steering (MDPS) method using the rotational force of the motor 400 according to the type of driving means.

Here, FIG. 3 shows a form of a rack-motor driven power steering (R-MDPS) in which the motor 104 for steering is connected to the rack-pinion gear 103.

Meanwhile, in order to realize the aforementioned hands-off function in R-MDPS, a sensor installed in the column 102 is required. However, depending on the position of the sensor, it may be difficult to determine whether the handle is not gripped.

Specifically, in FIG. 3, the sensing unit 200 for detecting the rotational torque is installed on the column 102, but is located below the column 102, that is, near the rack pinion gear 103.

In this case, even when the handle 101 is not manipulated, a certain amount of torque may be generated by the inertia of the upper portion of the column 102. The torque of the minute size generated in this way may interfere with determining whether the handle 101 is not gripped.

For example, when the generated torque of a certain magnitude is 0.4 (N*m), the hands-off function requires the driver to apply a torque of 0.4 (N*m) or more to the steering wheel 101. Otherwise, the hands-off function may be determined as a state in which the handle 101 is not held. If such an erroneous determination occurs, even if the driver grips the steering wheel 101 with an appropriate force, a warning sound due to the un-grip may sound, causing discomfort to the driver, or vice versa, the warning sound may not sound, causing carelessness of the driver.

In order to solve this problem, the motor 400 of FIG. 3 transmits an input torque of a predetermined size to the rack-pinion gear 103. Here, the rack-pinion gear 103 converts a linear motion into a rotational motion, and causes the handle 101 to move constantly.

If the driver is holding the steering wheel 101, the movement of the rack-pinion gear 103 will not coincide with the movement of the steering wheel 101, which will generate a torsional torque.

That is, if the motor 400 generates an input torque of a certain size and the driver does not hold the handle 101, the torsion torque will not occur. In the opposite case, a torsion torque is generated, and the detection unit 200 detects this and executes a hands-off function.

Equation 1 below shows the relationship between the torsional torque and the rotational torque of the column 102 according to the operation of the handle 101.

는 steering control command 토크, 즉 비틀림 토크를 의미하며,

는 도3의 감지부(200)에서 검출하는 칼럼(102)의 steering column torque, 즉 회전 토크를 의미한다.here

Means steering control command torque, that is, torsional torque,

Denotes the steering column torque, that is, the rotation torque of the column 102 detected by the sensing unit 200 of FIG. 3.

As mentioned above, the torsional torque is related to whether the handle 101 is operated, and Equation 1 is a mathematical expression of this relationship.

That is, Equation 1 indicates that the differential value of the torsion torque detected by the sensing unit 200 is proportional to the rotational torque of the column 102 by the driver's operation. The disclosed invention determines whether the handle 101 is gripped through the operation described below on the assumption that the relationship between the torsional torque and the rotation torque is the same as in Equation 1.

4 is a block diagram illustrating a hands-off function according to an embodiment of the present invention.

Referring to FIG. 4, a sensing unit 200 for detecting rotational torque, a motor 400 for generating an input torque, a storage unit 500 for storing a result value detected by the sensing unit, etc., and a steering wheel 101 for the driver. ) And a control unit 300 that determines whether or not the handle 101 is gripped and controls various configurations.

The sensing unit 200 includes a sensor that detects rotation torque and twisting torque. Specifically, the detection unit 200 includes a rotation torque detection unit 210 that detects a torque value by detecting the rotational motion of the column 102 and a torsion torque detection unit 220 that detects the torque value by detecting the aforementioned twisting torque. ).

Here, the sensor may mean a variety of detection devices, and any device capable of detecting torque is sufficient and there is no limitation. In addition, the sensing unit 200 may include a transmission module (not shown) that converts the detected value into an electrical signal and transmits it to the controller 300.

As mentioned above, the motor 400 may include an actuating motor that generates a driving force for power steering in the R-MDPS. In addition, in the disclosed invention, it is possible to generate an input torque for torsional torque through the rack-pinion gear 102.

The types and shapes of the motor 400 may vary, and their positions may also vary. However, one embodiment of the invention describes that the motor 400 is installed near the rack-pinion gear 103.

The storage unit 500 serves to store the detected torque value and a threshold value to be described below, and store the threshold value calculated by the control unit 300 again. That is, the storage unit 500 continuously stores the rotational torque of the column 102 that is detected in real time through the sensor unit 200 while the vehicle 1 is traveling, and updates the detected value and threshold. It serves to continuously store the value and transmit it to the control unit 300 again.

Meanwhile, the storage unit 500 may store control data for driving the motor 400, and may include a volatile memory such as S-RAM and D-lap. However, the present invention is not limited thereto, and in some cases, the memory 115 may be a flash memory, a ROM (Read Only Memory), an Erasable Programmable Read Only Memory (EPROM), or an EEPROM (Electrically Erasable Programmable Read Only Memory: EEPROM). It may also include nonvolatile memory such as.

Further, the storage unit 500 may be located together with the control unit 300 in a memory type, and there is no limitation as long as it is a configuration for storing data.

When it is determined that the driver is not holding the handle 101, the output unit 600 outputs a warning sound, a warning image, and a vibration (haptic haptic) to induce gripping.

Specifically, the display unit 610 of the output unit 600 may output an image that induces the grip of the handle 101 through the AVN display 611 shown in FIG. 2 or the indicator light on the cluster 12.

In addition, the audio output unit 620 described in FIG. 2 may output a warning sound or other various sounds that induce gripping of the handle 101 under the control of the controller 300.

The output unit 600 may output a vibration to the driver in order to induce the grip of the handle 101. Here, the vibration unit 630 may be connected to the handle 101 or the driver's seat 21 to output vibration.

Meanwhile, the output unit 600 may have various outputs for inducing the driver to grip the handle 101, and may include various types other than the aforementioned output module, and there is no limitation.

The controller 300 is a microprocessor that executes a hands-off function and controls the overall configuration of the invention, such as the motor 400 and the output unit 600.

The control unit 300 may control the motor 400 to generate an input torque, calculate a threshold value based on the detected torsional torque and rotation torque, and store it in the storage unit 500. In addition, it is determined whether the handle 101 is not gripped by comparing the rotation torque of the column 102 detected in real time with the previously obtained threshold value.

Here, the control unit 300 updates the threshold value calculated using the storage unit 500 in real time, and compares the rotation torque detected while the vehicle 1 is traveling to realize a high-accuracy hands-off function.

A specific algorithm performed by the control unit 300 will be described in detail later through other drawings and equations.

Meanwhile, the control unit 300 may be implemented as a processing device that performs various operations and control processes, such as a head unit built into the vehicle 1, and may be implemented through various previously known processing devices. have.

In addition, at least one of the control unit 300, the storage unit 500, and the output unit 600 may be integrated in a system on chip (SOC) built in the vehicle 1, and may be integrated in a processor. Can be operated by However, since there is not only one system-on-chip embedded in the vehicle 1, but may be multiple, it is not limited to being integrated into only one system-on-chip.

5 is a series of flow charts for determining whether or not the handle is gripped.

Referring to FIG. 5, the sensing unit 200 detects a rotation torque according to rotation to the column 102 and a torsion torque generated according to an input torque of the motor 400 (1010 ). Thereafter, the controller 300 determines the similarity of the pattern of the detected value based on the detection data of a predetermined time before the current point in time (1020).

Here, the pattern similarity refers to a primary determination method for determining whether the currently detected rotation torque is data capable of determining whether or not the handle is gripped.

A specific method of determining the similarity of patterns will be described later in FIGS. 6 and 7.

)와 임계 편차(

)를 산출한다. 이를 기초로 제어부(300)는 임계값을 판단한다(1030). On the other hand, the control unit 300 is based on the rotation torque that has passed the primary determination and the accumulated torsion torque.

) And critical deviation (

) Is calculated. Based on this, the controller 300 determines a threshold value (1030).

When the threshold value is obtained in this way, the controller 300 determines whether the rotation torque detected at the current time is within the threshold value range (1040). If the detected rotation torque is within the threshold range, the control unit 300 determines that the handle 101 is not in a gripped state (1050). A method of obtaining the threshold value will be described later in FIG. 8.

In summary, the control unit 300 secondarily determines whether or not the handle 101 is gripped using the detected value determined primarily, thereby increasing the accuracy of the hands-off function. In addition, the control unit 300 continuously updates the determined detection value and uses it again, thereby increasing the accuracy of determining whether the hands are off.

6 is a series of flowcharts for determining whether a detected rotation torque and a twisting torque are similar patterns. 7 is a graph showing an example that is the basis for determining the linear relationship of FIG. 6. In order to prevent overlapping descriptions, FIGS. 6 and 7 will be described together.

Referring to FIG. 6, the control unit 300 stores detected values of the detected rotational torque and twisting torque in the storage unit 500 (2010). In addition, the controller 300 determines the similarity of the pattern based on the detected value stored below.

The controller 300 compares previously stored data based on the rotation torque sensed based on the current time point to determine the similarity of the pattern (2020).

As mentioned above, the control unit 300 determines whether or not the handle is gripped based on the rotation torque at which the similarity of the pattern is recognized.

Specifically, the method of determining the similarity of the pattern starts on the premise that the differential value of the torsion torque detected by the sensing unit 200 and accumulated in the storage unit 500 is directly proportional to the rotational torque of the column 102. .

Here, an equation representing a direct proportion relationship is Equation 1.

Equation 2 is a formula in which Equation 1 is specified. That is, among several direct proportional relationships, the controller 300 may determine a torque detection value that satisfies Equation 2 as a torque detection value for which similarity is recognized as valid data.

Where c and d are constants.

)가 필요하다.Specifically, c means a slope in Equation 2. In order to determine the slope of the linear function, that is, the linear relationship, the correlation coefficient (correlation coefficient,

) Is required.

Here, the correlation coefficient means an index indicating the strong degree of the relationship between the two characteristic values x and y. In one embodiment of the disclosed invention, the correlation coefficient is based on 0.8. However, these numbers may vary.

Meanwhile, in order to obtain c, it may be calculated based on the data accumulated in the storage unit 500. That is, the control unit 300 determines the constant c through the accumulated data.

Referring to FIG. 7, accumulated data may take on various forms.

Specifically, a of FIG. 7 is an example when the correlation coefficient is -1. 7B is an example when the correlation coefficient is greater than -1 and less than 0. 7C is an example when the correlation coefficient is 0. 7D is an example when the correlation coefficient is greater than 0 and less than +1. 7E is an example when the correlation coefficient is +1.

7D and E show a form in which the accumulated data has a positive slope of a linear function.

Referring back to FIG. 6, the controller 300 determines a linear relationship by analyzing the accumulated data. Accordingly, the control unit 300 calculates the slope c through the accumulated data, and when the correlation coefficient corresponding to the slope c exceeds 0.8, it performs the following determination.

When c is determined by analyzing the accumulated data, the control unit 300 determines whether the torque bias has a constant detection value (2030).

Torque bias means a constant d in Equation 2. The controller 300 analyzes the accumulated data and determines that the similarity of the pattern is recognized when the torque bias has a constant value.

The condition with a constant value is judged through the variance condition, that is, the variance of accumulated data. That is, the control unit 300 determines the constant d through the accumulated data and Equation 3.

In Equation 3, var() means an equation for obtaining the average of the square of the distance away from the average, that is, the variance. Here, 0.0009 is only an example of the disclosed invention and may vary depending on the structure and conditions of the steering device.

Meanwhile, when the accumulated data satisfies Equation 3, the controller 300 may recognize the similarity of the pattern. In addition, the control unit 300 calculates a constant d corresponding thereto, that is, a torque bias (2040).

That is, the control unit 300 determines the similarity of the pattern based on the data that is primarily accumulated. Specifically, the control unit 300 determines whether a linear relationship is recognized, and if so, determines the similarity through the dispersion condition of the torque bias.

The process of calculating the torque bias will be described later in detail in FIG. 8.

8 is a flow chart showing the entire process of determining whether a handle is gripped. Descriptions that are redundant with those mentioned above will be omitted.

In FIG. 8, the flow chart on the left is a flow chart based on accumulated data (data set based).

First, the sensing unit 200 senses the rotational torque (3010), and detects the twisting torque through the input torque by the motor 400 (3020, 3030). The detection unit 200 transmits the detected value of the detected torque to the control unit 300, and the control unit 300 stores the detected torque in the storage unit 400.

After the stored data is accumulated, the controller 300 determines the similarity of the aforementioned patterns based on the accumulated data (3040). Thereafter, the control unit 300 calculates a torque bias based on data for which similarity is recognized (3050).

The control unit 300 may calculate a torque bias using a least square method.

The least squares method is a method of approximately obtaining a solution equation for a system, and means a method for obtaining a solution in which the sum of the squares of the error of the actual solution and the solution to be approximated is the minimum.

Specifically, the controller 300 calculates a torque bias by applying Equation 4 and Equation 5 below based on data for which a linear relationship is recognized.

의 미분값이고, x는

이다. 한편 d는 토크 바이어스(torque bias,

)를 의미한다. 즉 토크 바이어스는 수학식 6과 같다.Where y is the aforementioned

Is the derivative of, and x is

to be. Meanwhile, d is a torque bias (torque bias,

Means ). That is, the torque bias is equal to Equation 6.

That is, using Equations 4 and 6, the controller 300 calculates a torque bias. Thereafter, the control unit 300 calculates a threshold deviation (3060). The critical deviation is determined based on the data recognized in the similarity determination. The critical deviation can be calculated by Equation 7.

는 유사성이 최고 임계 편차의 값이고,

는 최소 임계 편차의 값이다. 최고 및 최소 임계 편차의 값은 수학식 8에 의해서 판단된다.here

Where the similarity is the value of the highest critical deviation,

Is the value of the minimum critical deviation. The values of the maximum and minimum critical deviations are determined by Equation 8.

는 축적된 데이터에서 컬럼 회전 토크의 최고 값이고,

는 축적된 데이터 중 최소 회전 토크이다. 즉, 임계 편차는 저장부(600)에 저장된 데이터를 바탕으로 판단될 수 있다.here

Is the highest value of the column rotation torque in the accumulated data,

Is the minimum rotation torque among accumulated data. That is, the threshold deviation may be determined based on data stored in the storage unit 600.

In summary, the control unit 300 primarily filters out data for which similarity is recognized, and stores it in the storage unit 500 to continuously accumulate data. Therefore, the torque bias and the critical deviation used for whether or not the handle 101 is gripped are variable, and accuracy is improved because it is performed through a statistical similarity verification method.

On the other hand, the flow chart on the right side of FIG. 8 is a flow chart of determining whether or not a handle is gripped through a rotation torque detected in real time.

First, the control unit 300 receives the rotation torque of the current column 102 sensed by the sensing unit 200 (3090).

The control unit 300 loads the calculated torque bias and the threshold deviation from the storage unit 500 (3070, 3080). After that, the controller 300 calculates a threshold value.

Here, the threshold value means a range in which it is determined that the handle 101 is not gripped if the rotation torque detected in real time is within the threshold value range. Specifically, the threshold value can be obtained by applying the previously calculated torque bias and threshold deviation to Equation 9.

In this way, if the detection value of the rotation torque of the column 102 detected by the current sensing unit is within the range of Equation (9), the control unit 300 determines that the handle 101 is not held. If the detected column rotation torque value does not satisfy Equation 9, the controller 300 determines that the handle is gripped. Thereafter, the control unit 300 stores the detection value in the storage unit and returns to the similarity determination 3040.

Here, the torque bias and the threshold deviation necessary for determining the rotation torque are continuously updated based on the data stored in the storage unit 500, and the torque bias and the threshold deviation also change as the vehicle 1 drives.

9 is a table of results for an experiment to determine the effect. Fig. 10 is a diagram showing Fig. 9 as a graph. It will be described together below to avoid redundant description.

Referring to FIG. 9, CAR1 to CAR3 mean a plurality of vehicle types running on a highway.

In addition, test case (a) shows a range (Equation 9) for a threshold value obtained while driving the vehicle 1 without gripping the steering wheel 101. The test case (b) is a result value obtained when driving while holding the handle 101 with one hand. The test case (c) is a result value obtained when driving while holding the handle 101 with both hands.

Norminal Bias represents the difference between the minimum and maximum values of the threshold.

Looking at the table of FIG. 9, as a result of the experiment in the three tests mentioned above, it can be seen that the range for the threshold value is obtained only in the state where the handle 101 is not held in CARs 1 to 3, that is, test case (a) . In addition, it can be seen that the data is not updated in the state in which the handle 101 is held, that is, test cases (b) and (c).

Finally, CAR 4 is a result of driving in a state in which the handle 101 is held at regular intervals and the handle 101 is gripped and returned to the un-grasp state. In this case, it can be seen that the range of the threshold value is measured higher than CAR 1 to CAR 3.

That is, the disclosed invention can use a range of different threshold values depending on the situation, thereby improving detection accuracy.

Referring to FIG. 10, each graph represents a range of a rotation torque detected for a predetermined time and a threshold value calculated in the test case (a) of FIG. 9.

Each graph of the first horizontal line is a comparison of a torsion torque (Measurement) and an input torque (Estimation) generated by the motor 400. That is, the actual rotation torque in blue means whether the driver grips the steering wheel 101.

In the case of CAR 1 in the graph of the first horizontal line, it can be seen that the torque detection value is higher than that of CARs 2 and 3 because the driver is not holding the steering wheel 101.

In the case of CAR 4 among the graphs of the first horizontal line, it can be seen that the rotation torque of the column 102 of about 2 N*m is detected because the handle 101 is held at regular intervals.

In the graph of the second horizontal line, the detected value in blue indicates the torque bias, and the detected value in green indicates the threshold value.

As a result of applying the disclosed invention, it can be confirmed that a torque bias corresponding to the handleless gripping in cars 1 to 4 is detected within a required threshold range.

1: vehicle, 2: body,
10: dashboard, 12: cluster,
21: driver's seat, 22: assistant seat,
40: center console, 41: center input,
51, 53: wheel, 60: drive device, 71, 72: door,
80: front glass, 81,82: side mirror,
101: handle, 102: column, 103: rack-pinion gear,
200: sensing unit, 210, rotational torque sensing unit, 220: torsional torque sensing unit,
300: control unit, 400: motor, 500: storage unit,
600: output unit, 610: display unit, 611: AVN display,
620: audio output unit, 630: vibration unit

Claims (23)

A handle for adjusting a wheel for moving the vehicle;
A motor generating an input torque for determining whether the handle is gripped;
A sensing unit that senses a rotation torque of the steering wheel while the vehicle is running and detects a torsional torque generated based on the input torque and the rotation torque;
A storage unit configured to store a threshold value calculated based on the rotation torque and the input torque; And
By comparing the twisting torque and the rotational torque, the similarity of the pattern between the twisting torque and the rotational torque is identified, and the rotational torque in which the similarity between the twisting torque and the pattern is recognized is within the threshold value range, and the And a controller configured to determine whether to grip the steering wheel, calculate the threshold value again based on the rotation torque used in the determination result, and store the threshold value in the storage unit. delete The method of claim 1,
The storage unit,
A vehicle that stores the torsional torque. delete The method of claim 3,
The control unit,
A vehicle that determines the similarity of the pattern based on whether the torsional torque stored in the storage unit is in a linear relationship with the rotation torque. The method of claim 5,
The threshold is,
A vehicle that is calculated through a least square method based on the rotation torque at which the linear relationship of the pattern is recognized. The method of claim 3,
The threshold is,
A vehicle calculated through a critical deviation based on the rotation torque at which the similarity of the pattern is recognized. The method of claim 1,
A vehicle further comprising a rack-pinion gear for converting rotational motion of the handle into linear motion, and a column connecting the rack-pinion gear and the handle. The method of claim 8,
The sensing unit,
A vehicle that senses a rotation torque generated when the handle rotates and the column rotates through it. The method of claim 8,
The sensing unit,
A vehicle installed at the lower end of the column so as to be positioned adjacent to the rack-pinion gear. The method of claim 1,
The vehicle further comprises an output unit for outputting at least one of a warning sound, a screen, and vibration for inducing the grip of the handle. The method of claim 11,
The control unit,
When the rotation torque is within the threshold value range, the vehicle determines that the steering wheel is not held in position, and controls the output unit. Generate an input torque to determine whether the handle is gripped;
Sensing the rotation torque of the steering wheel while the vehicle is running;
Sensing a torsion torque generated based on the input torque and the rotation torque;
Storing a threshold value calculated based on the rotation torque and the input torque;
By comparing the twisting torque and the rotational torque, the similarity of the pattern between the twisting torque and the rotational torque is identified, and the rotational torque in which the similarity between the twisting torque and the pattern is recognized is within the threshold value range, and the Determine whether to grip the handle; And
And storing the threshold value by calculating the threshold value again based on the rotation torque used in the determination result. delete The method of claim 13,
The vehicle control method further comprising storing the torsional torque. delete The method of claim 15,
To determine the above,
And determining the similarity of the pattern based on whether the torsional torque is in a linear relationship with the rotational torque. The method of claim 17,
The threshold is,
The vehicle control method comprising a; calculated through a least square method (least square method) based on the rotation torque that the linear relationship is recognized. The method of claim 13,
The threshold is,
A vehicle control method that is calculated through a critical deviation based on the rotation torque in which the similarity of the pattern is recognized. The method of claim 13,
A control method of a vehicle further comprising a rack-pinion gear for converting rotational motion of the steering wheel into linear motion, and a column connecting the rack-pinion gear and the handle. The method of claim 20,
To detect,
The method of controlling a vehicle further comprising; sensing a rotational torque at which the column rotates. The method of claim 13,
Outputting at least one of a warning sound, a screen, and a vibration to induce gripping of the steering wheel. The method of claim 13,
To determine the above,
When the rotation torque is within the threshold value range, it is determined that the steering wheel is not gripped.

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