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KR101724746B1 - Control apparatus and method for Steering Force According to Road Surface State - Google Patents

Control apparatus and method for Steering Force According to Road Surface State Download PDF

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KR101724746B1
KR101724746B1 KR1020110122031A KR20110122031A KR101724746B1 KR 101724746 B1 KR101724746 B1 KR 101724746B1 KR 1020110122031 A KR1020110122031 A KR 1020110122031A KR 20110122031 A KR20110122031 A KR 20110122031A KR 101724746 B1 KR101724746 B1 KR 101724746B1
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steering
road surface
vehicle
torque
unit
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KR20130056426A (en
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이경복
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/50—Magnetic or electromagnetic sensors
    • B60W2420/503—Hall effect or magnetoresistive, i.e. active wheel speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 불안정한 노면에 대한 운전자의 조향감을 향상시켜 주행 안전성을 증가시키도록 한 것으로, 도로 주행시 주행차량의 상태를 감지하기 위한 차량상태센서부; 차량상태센서부로부터 감지된 주행차량의 정보를 전달받아 도로의 노면상태를 판별하고, 보상 토크값을 계산하는 노면판별부; 노면판별부에서 계산된 보상 토크값을 조향 토크값에 합해 조향핸들의 조향력을 제어하는 조향제어부;를 포함하는 노면에 따른 차량의 조향력 제어장치 및 방법이 소개된다.The present invention relates to a vehicle stability control apparatus for improving driving feeling of a driver on an unstable road surface, A road surface discrimination unit for receiving the information of the traveling vehicle sensed by the vehicle state sensor unit to discriminate the road surface condition of the road and calculating a compensation torque value; And a steering control unit for controlling the steering force of the steering wheel in accordance with the steering torque value calculated by the road surface judging unit.

Description

노면에 따른 차량의 조향력 제어장치 및 방법{Control apparatus and method for Steering Force According to Road Surface State} BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control apparatus and method for controlling a steering force of a vehicle according to a road surface,

본 발명은 불안정한 노면에 대한 운전자의 조향감을 향상시켜 주행 안전성을 증가시키도록 한 노면에 따른 차량의 조향력 제어장치 및 방법에 관한 것이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for controlling a steering force of a vehicle according to a road surface that improves a steering feeling of a driver with respect to an unstable road surface and increases driving safety.

일반적으로 자동차의 조향 장치는 운전자가 차륜의 진행방향을 임의로 바꿀수 있도록 장착되는 장치로서, 운전자가 직접 조향 조작을 하여 그 조작력을 각 기구로 전달하기 위해 조향 핸들과 조향축 및 칼럼 등으로 이루어진 조작기구와, 상기 조향축의 회전을 감속함으로써 조작력을 증대시킴과 동시에 조작기구의 운동방향을 바꾸어 링크 기구에 전달하는 기어기구 및, 이 기어기구의 움직임을 앞바퀴에 전달함과 동시에 좌우 바퀴의 관계위치를 올바르게 유지하기 위해 피트먼 암과 드래그 링크 및 너클 암과 타이로드 등으로 구성된 링크 기구를 갖추고 있다.2. Description of the Related Art Generally, an automotive steering apparatus is a device mounted on a driver so that a driver can arbitrarily change the traveling direction of a wheel. In order to transmit a steering force to a mechanism by a driver, A gear mechanism for increasing the operating force by reducing the rotation of the steering shaft and transmitting the rotation of the operating mechanism to the link mechanism by changing the direction of movement of the operating mechanism and for transmitting the movement of the gear mechanism to the front wheel, It has a link mechanism consisting of a pitman arm and a drag link and a knuckle arm and a tie rod to maintain it.

그리고 대형 자동차나 저압 타이어를 사용한 차량에서는 앞바퀴의 접지저항이 크기 때문에 핸들의 조작력이 크게 되고 신속한 조향조작이 안될 염려가 있기 때문에 가볍고 신속한 조향 조작을 하기 위해 동력 조향 장치를 사용하고 있는 바, 이와 같은 동력 조향 장치는 동력원이 되는 유압을 발생시키는 오일펌프와 압력조절밸브 및 유량제어밸브를 포함하는 밸브유닛 등으로 구성된 동력장치와, 오일펌프에서 발생한 유압을 기계적인 힘으로 바꾸어 조향력을 발생시키기 위해 실린더를 사용하는 작동장치 및, 이 작동장치에 이르는 유로를 개폐하고 핸들의 조작에 상응해서 유로를 바꾸어 동력실린더의 작동방향과 작동상태를 제어하는 제어장치 등으로 구성되어 있다.In a vehicle using a large-sized automobile or a low-pressure tire, since the grounding resistance of the front wheel is large, the steering force of the steering wheel becomes large and there is a fear that the steering operation may not be performed quickly. Therefore, the power steering apparatus is used for light and quick steering operation. The power steering apparatus includes a power unit including an oil pump for generating a hydraulic pressure serving as a power source, a valve unit including a pressure control valve and a flow control valve, and a control unit for controlling the hydraulic pressure generated by the cylinder And a control device for controlling the operating direction and operating state of the power cylinder by opening and closing the flow path to the operating device and changing the flow path according to the operation of the handle.

그런데 상기한 종래의 기계식 조향장치나 동력 조향장치에서는 차속에 따라 운전자가 느끼는 조향 감각이 일정한 결점이 있어 최근에는 차속, 조향각, 휠센서 등을 이용하여 조향감을 자동으로 변환시켜주도록 한 전동식 조향장치가 개발되었다.However, in the conventional mechanical steering system or power steering system, there is a drawback that the steering feeling felt by the driver is constant according to the vehicle speed. Recently, an electric steering system that automatically converts the steering feeling by using a vehicle speed, a steering angle, Developed.

전동식 조향장치의 경우 차량의 상태정보를 통해 조향력을 제어하여 조향감을 든든하게 하거나 가볍게 하고 있으나 주행중인 도로가 험로나 요철로 등과 같이 노면의 상태가 좋지 않은 도로인 경우 이를 효과적으로 감지하지 못함으로써 운전시 조향휠이 쉽게 돌아가거나 흔들려 불안감을 느끼게 되는 문제점이 있었다.In the case of an electric steering system, the steering feeling is controlled through the state information of the vehicle to relieve or lighten the steering feeling. However, when the road under driving is not a road with bad road conditions such as rough roads and irregular roads, There is a problem that the wheel easily rotates or shakes to cause anxiety.

이를 위해, 운전자는 조향휠을 바로 잡기 위해 좌우로 계속적으로 수정조타를 하게 되나, 휠이 가벼워 정확히 맞추기가 어려웠으며, 자칫 안전사고의 위험이 있는 등 주행 안전성이 저하되는 문제점이 있었다.For this purpose, the driver is required to steer the steering wheel continuously to correct the steering wheel. However, since the wheel is light and difficult to precisely match, there is a risk of safety accidents.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

본 발명은 이러한 문제점을 해결하기 위하여 제안된 것으로, 불안정한 노면에 대해 든든한 조타감 구현으로 조향감을 향상시키도록 하고, 이로 인해 주행 안전성 증가는 물론 고객으로부터 신뢰도를 높일 수 있는 노면에 따른 차량의 조향력 제어장치 및 방법을 제공함에 그 목적이 있다.
SUMMARY OF THE INVENTION The present invention has been proposed in order to solve such a problem, and it is an object of the present invention to provide a steering control system for a vehicle, And an object of the present invention is to provide an apparatus and method.

상기의 목적을 달성하기 위한 본 발명의 노면에 따른 차량의 조향력 제어장치는 도로 주행시 주행차량의 상태를 감지하기 위한 차량상태센서부; 차량상태센서부로부터 감지된 주행차량의 정보를 전달받아 도로의 노면상태를 판별하고, 보상 토크값을 계산하는 노면판별부; 노면판별부에서 계산된 보상 토크값을 조향 토크값에 합해 조향핸들의 조향력을 제어하는 조향제어부;를 포함한다.According to an aspect of the present invention, there is provided an apparatus for controlling a steering force of a vehicle according to a road surface, comprising: a vehicle state sensor unit for detecting a state of a traveling vehicle at the time of driving on a road; A road surface discrimination unit for receiving the information of the traveling vehicle sensed by the vehicle state sensor unit to discriminate the road surface condition of the road and calculating a compensation torque value; And a steering control unit for controlling the steering force of the steering wheel by summing the compensation torque value calculated by the road surface judging unit with the steering torque value.

상기 차량상태센서부는 주행속도 감지를 위한 차속센서, 주행차량의 조향상태 감지를 위한 조향각센서, 좌우 휠 감지를 위한 휠스피드센서를 포함하고, 상기 노면판별부는 상기 차량상태센서부에서 감지된 신호를 처리하는 신호처리부, 신호처리부를 통해 처리완료된 정보로 노면상태를 판단하는 판단부, 판단부에서의 판단결과를 통해 보상 토크값을 계산하여 토크를 보상하는 토크 보상부를 포함한다.Wherein the vehicle state sensor unit includes a vehicle speed sensor for detecting a traveling speed, a steering angle sensor for detecting a steering state of a traveling vehicle, and a wheel speed sensor for detecting a left and right wheel, And a torque compensator for compensating for the torque by calculating a compensated torque value based on a result of the determination by the determiner. The torque compensator includes: a signal processor for processing the signal; a signal processor for processing the signal;

또한, 본 발명의 노면에 따른 차량의 조향력 제어방법은 도로 주행시 주행차량의 정보를 전달받아 노면상태를 판단하는 노면 판단단계; 노면상태가 험로 또는 요철로인 것으로 판단된 경우, 조향토크에 보상토크를 부여하여 조향력을 높여주는 토크 제어단계;를 포함한다.According to another aspect of the present invention, there is provided a method of controlling a steering force of a vehicle according to a road surface, the method comprising: determining a road surface state by receiving information of a traveling vehicle; And a torque control step of increasing the steering force by applying a compensation torque to the steering torque when it is determined that the road surface condition is rough or uneven.

상기 노면 판단단계는, 주행차량의 차속, 조향각, 휠스피드신호, 조타력을 통해 노면상태를 판단하도록 할 수 있다.The road surface determining step may determine the road surface state through the vehicle speed, the steering angle, the wheel speed signal, and the steering force of the traveling vehicle.

상기 노면 판단단계는, 주행차량의 차속이 10KPH ~ 60KPH 사이인지를 판단하는 차속 판단단계와, 주행차량의 조향각 변위량이 0 ~ 10 사이인지를 판단하는 조향각 판단단계와, 주행차량의 좌우 휠스피드센서 신호가 3초간 20회 이상 상이한지를 판단하는 휠신호 판단단계를 포함할 수 있다.The step of determining the road surface includes a step of determining whether the vehicle speed of the driving vehicle is between 10 KPH and 60 KPH, a steering angle determining step of determining whether the steering wheel displacement amount of the driving vehicle is between 0 and 10, And a wheel signal judgment step of judging whether the signal is different 20 times or more for 3 seconds.

상기 노면 판단단계는 차속 판단단계, 조향각 판단단계, 휠신호 판단단계를 순차적으로 거쳐 노면상태를 판단할 수 있다.The road surface determination step may determine the road surface state sequentially through the vehicle speed determination step, the steering angle determination step, and the wheel signal determination step.

상기 휠신호 판단단계 후에 조향각 온센터(0 ~ 60°)구간에서 휠신호의 좌우변위가 초당 4회 이상 발생하는지를 판단하는 조향변화 판단단계를 더 포함할 수 있다.And a steering change determining step of determining whether a lateral displacement of the wheel signal occurs more than four times per second in the steering angle on center (0 to 60 °) interval after the wheel signal determining step.

상기 노면 판단단계 후에 노면 판단단계의 각 단계의 조건이 3초 이상 지속되는지를 판단하는 지속여부 판단단계와, 3초 이상 지속된 것으로 판단된 경우 험로 또는 요철로를 주행하고 있는 것으로 인지하는 노면 인지단계를 더 포함할 수 있다.Determining whether a condition of each step of the road surface judging step is continued for 3 seconds or longer after the road surface judging step; determining whether the condition of each road in the road surface judging step is 3 seconds or longer; Step < / RTI >

상기 토크 제어단계는 조향토크가 1.5 N.m미만인지를 판단하는 조향토크 판단단계와, 조향토크가 1.5 N.m미만인 것으로 판단된 경우 토크를 보상하여 조향핸들의 조향력을 높여주는 조향 보상단계를 포함할 수 있다.The torque control step may include a steering torque determination step of determining whether the steering torque is less than 1.5 Nm and a steering compensation step of increasing the steering force of the steering wheel by compensating torque when it is determined that the steering torque is less than 1.5 Nm .

상술한 바와 같은 방법으로 이루어진 불안정한 노면에 대해 든든한 조향감의 구현으로 조향 만족도를 향상시킬 수 있고, 이에 따라 주행 안전성 증가는 물론 운전자로부터 높은 신뢰도를 얻을 수 있게 되며, 타사에 대한 경쟁력을 높일 수 있음은 물론 차량 구매를 도모할 수 있는 효과가 있다.
As a result, it is possible to improve the steering satisfaction by realizing a steady steering feeling on the unstable road surface formed by the above-described method, thereby increasing the driving safety and obtaining the high reliability from the driver and enhancing the competitiveness against other companies. Of course, there is an effect that the vehicle can be purchased.

도 1은 본 발명의 일 실시예에 따른 노면에 따른 차량의 조향력 제어장치의 개략적인 구성도,
도 2는 본 발명의 일 실시예에 따른 노면에 따른 차량의 조향력 제어방법의 순서도.1 is a schematic configuration diagram of an apparatus for controlling a steering force of a vehicle according to a road surface according to an embodiment of the present invention;
2 is a flowchart of a method of controlling a steering force of a vehicle according to a road surface according to an embodiment of the present invention.

이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시 예에 따른 노면에 따른 차량의 조향력 제어장치 및 방법에 대하여 살펴본다.Hereinafter, an apparatus and method for controlling a steering force of a vehicle according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

본 발명의 일 실시예에 따른 노면에 따른 차량의 조향력 제어장치는 험로 또는 요철로와 같이 노면상태가 부드럽지 않은 도로를 주행하는 경우에 기존의 조향력보다 무겁게 하여 든든한 조향감으로 운전 안전성은 물론 조향 만족도를 높이도록 한 것이다.The apparatus for controlling the steering force of a vehicle according to an embodiment of the present invention can relieve the steering effort by making the steering force stronger than the conventional steering force when traveling on a road such as a rough road or an uneven road, Satisfaction.

즉, 종래에는 조향 제어하는 경우, 노면의 상태에 따른 조향력 가변이 아니라 단순히 차속센서나 조향각센서 및 휠스피드센서에 따라 자동으로 조향핸들을 가볍게 하거나 무겁게 하는 등 조향력을 가변시키도록 동작 제어됨으로써 노면이 좋지 않은 도로에서도 동일하게 적용되어져 운전 효율성이 저하되고, 또한 운전자가 불안감을 느끼게 되는 문제가 있었다.That is, conventionally, in the case of steering control, the steering force is not controlled variable according to the state of the road surface but is controlled so as to vary the steering force, such as simply lightening or weighting the steering wheel automatically according to the vehicle speed sensor, the steering angle sensor and the wheel speed sensor, The same is applied to an unfavorable road, so that the driving efficiency is lowered and the driver feels uneasiness.

이를 해결하기 위해 본 발명에서는 후술되는 차속센서와, 조향각센서, 휠스피트센서를 통해 주행차량의 상태를 감지하도록 한 후 그 감지신호를 판별하여 노면상태를 판단함으로써 노면상태에 따라 든든한 조향감을 갖도록 조향력을 제어하는 것이다.In order to solve the above problem, the present invention detects a state of a traveling vehicle through a vehicle speed sensor, a steering angle sensor, and a wheel speed sensor to be described later, .

또한, 이외에도 주행차량의 상하진동을 감지하기 위한 G센서와, 주행차량의 회전상태를 감지하기 위한 요(YAW센서)를 통해 주행차량의 상태를 감지하여 노면상태를 구별할 수 있다.In addition, it is also possible to distinguish the road surface state by sensing the state of the traveling vehicle through a G sensor for detecting the up-and-down vibration of the traveling vehicle and a yaw sensor for detecting the rotational state of the traveling vehicle.

도 1은 본 발명의 일 실시예에 따른 노면에 따른 차량의 조향력 제어장치의 개략적인 구성도로서, 본 발명의 노면에 따른 차량의 조향력 제어장치는 도로 주행시 주행차량의 정보를 감지하는 차량상태센서부와, 차량상태센서부로부터 감지된 주행차량의 정보를 전달받아 노면상태를 판별하고 보상 토크값을 계산하는 노면판별부와, 노면판별부에서 계산된 보상 토크값을 조향 토크값에 합해 조향핸들의 조향력을 제어하는 조향제어부를 포함하여 구성된다.FIG. 1 is a schematic block diagram of an apparatus for controlling a steering force of a vehicle according to an embodiment of the present invention. The steering force control apparatus for a vehicle according to the present invention includes a vehicle state sensor A road surface discrimination unit for receiving the information of the traveling vehicle sensed by the vehicle condition sensor unit and determining the road surface condition and calculating a compensation torque value; And a steering control unit for controlling the steering force of the steering wheel.

상기 차량상태센서부는 험로 또는 요철로 등 도로를 주행하는 차량의 상태정보를 감지하기 위한 구성으로, 주행속도 감지를 위한 차속센서와, 주행차량의 조향상태 감지를 위한 조향각센서와, 좌우 휠 감지를 위한 휠스피드센서를 포함한다.The vehicle state sensor unit is configured to detect state information of a vehicle traveling on rough roads or uneven roads. The vehicle state sensor unit includes a vehicle speed sensor for detecting a traveling speed, a steering angle sensor for detecting a steering state of the traveling vehicle, And a wheel speed sensor.

상기 차속센서는 10KPH ~ 60KPH 사이인 경우 작동하게 되고, 조향각센서는 0에서 10도 사이인 경우 작동하도록 되어 있으며, 휠스피드센서는 초당 좌우상이한 신호가 3초간 20회 이상 발생될 때 작동하도록 되어 있다.The vehicle speed sensor is operated in the range of 10 KPH to 60 KPH, the steering angle sensor is operated in the range of 0 to 10 degrees, and the wheel speed sensor is operated when the left and right different signals per second occur more than 20 times in 3 seconds .

그리고, 상기 노면판별부는 상기 차량상태센서부에서 감지된 신호를 처리하는 신호처리부와, 신호처리부를 통해 처리완료된 정보로 노면상태를 판단하는 판단부와, 판단부에서의 판단결과를 통해 보상 토크값을 계산하여 토크를 보상하는 토크 보상부를 포함할 수 있다.The road surface determination unit may include a signal processing unit for processing signals sensed by the vehicle state sensor unit, a determination unit for determining a road surface state based on information processed through the signal processing unit, And a torque compensating unit for compensating for the torque.

이때, 상기 노면판별부에는 판단부 및 토크 보상부와 연결되어 정보를 송수신하여 고장여부를 확인하기 위한 안전장치(fail-safe)가 설치되어 있다.At this time, the road surface judging unit is provided with a fail-safe for transmitting / receiving information by connecting to the judging unit and the torque compensating unit so as to confirm the failure.

한편, 본 발명의 노면에 따른 차량의 조향력 제어방법은 도로 주행시 주행차량의 상태정보를 감지하여 그 감지된 주행차량의 정보를 통해 노면상태를 판단하는 노면 판단단계(S100)와, 노면상태가 험로 또는 요철로인 것으로 판단된 경우 조향토크에 보상토크를 부여하여 조향력을 높여주는 토크 제어단계(S200)를 포함한다.The method for controlling the steering force of the vehicle according to the present invention includes a step S100 of detecting the state information of the traveling vehicle at the time of road driving and determining the state of the road based on the information of the traveling vehicle, And a torque control step (S200) for increasing the steering force by applying a compensating torque to the steering torque when it is judged to be the unevenness.

상기 노면 판단단계에서 노면상태를 판단하기 위한 정보는 주행차량의 차속, 조향각, 휠스피드신호, 조타력을 통해 전달받게 되고, 이러한 정보를 통해 주행중인 노면의 상태가 부드러운지 아니면 험로 또는 요철로인지를 판단하게 된다.The information for determining the road surface state at the road surface determination step is received through the vehicle speed, the steering angle, the wheel speed signal, and the steering force of the traveling vehicle. The information of the road surface during running is smooth, .

이를 위해, 상기 노면 판단단계(S100)는 주행차량의 차속이 10KPH ~ 60KPH 사이인지를 판단하는 차속 판단단계(S110)와, 주행차량의 조향각 변위량이 0 ~ 10 사이인지를 판단하는 조향각 판단단계(S120)와, 주행차량의 좌우 휠스피드센서 신호가 20회 이상 상이한지를 판단하는 휠신호 판단단계(S130)를 포함하고 있고, 이와 같은 차속 판단단계와 조향각 판단단계 및 휠신호 판단단계를 순차적으로 거쳐 노면상태를 판단하게 된다.For this, the road surface judgment step S100 is a step of judging whether the vehicle speed of the traveling vehicle is between 10 KPH and 60 KPH (S110), a steering angle judgment step of judging whether the steering wheel displacement amount of the traveling vehicle is between 0 and 10 And a wheel signal determination step (S130) for determining whether the left and right wheel speed sensor signals of the traveling vehicle are different from each other by more than 20 times. The vehicle speed determination step, the steering angle determination step, and the wheel signal determination step are sequentially The road surface state is judged.

이때, 상기 휠신호 판단단계(S130) 후에는 조향각 온센터(0 ~ 60°)구간에서 휠신호의 좌우변위가 초당 4회 이상 발생하는지를 판단하는 조향변화 판단단계(S140)를 거치게 되고, 또한 조향변화 판단단계를 포함하여 상기 차속 판단단계와 조향각 판단단계 및 휠신호 판단단계의 각 단계 조건이 3초 이상 지속되었는지를 판단하는 지속여부 판단단계(S150)를 거치게 되며, 지속여부 판단단계를 통해 3초 이상 지속된 것으로 판단된 경우에 한해 현재 주행하고 있는 도로의 노면이 험로 또는 요철로를 주행하고 있는 것으로 인지하게 된다.At this time, after the wheel signal determination step (S130), a steering change determination step (S140) is performed to determine whether the left / right displacement of the wheel signal occurs more than four times per second in the steering angle on center (0 to 60 °) A step of determining whether the condition of each of the vehicle speed determination step, the steering angle determination step, and the wheel signal determination step is continued for 3 seconds or longer including the change determination step (S150) It is recognized that the road surface of the road that is currently traveling is running on rough roads or rough roads.

그리고, 상기 토크 제어단계(S200)는 조향토크가 1.5 N.m미만인지를 판단하는 조향토크 판단단계(S210)와, 조향토크가 1.5 N.m미만인 것으로 판단된 경우 토크를 보상하여 조향핸들의 조향력을 높여주는 조향 보상단계(S220)를 포함하고 있다.The torque control step S200 includes a steering torque determination step S210 for determining whether the steering torque is less than 1.5 Nm, and a step for increasing the steering force of the steering wheel by compensating for the torque when it is determined that the steering torque is less than 1.5 Nm And a steering compensation step S220.

상기 조향토크 판단단계에서 판단의 대상이 되는 조향토크는 종래와 같이 상기 차속센서와 조향각센서 및 휠스피드센서를 통해 측정된 정보를 통해 자동으로 결정되는 토크로서, 전자 제어 장치(Electronic Control Unit; 이하, 'ECU'라 칭함)에서 측정된 정보를 통해 결정하게 되며, 본 발명에서는 기존의 ECU의 제어로 동작되는 전동식 조향장치(MotorDriven Power Steering)를 그대로 이용하면서 노면판별부를 더 포함하여 노면을 판별하여 조향감을 높이도록 한 것이며, 전동식 조향장치는 이미 공지된 기술이므로 본 발명에서는 구체적으로 설명하지 않기로 한다.The steering torque to be determined in the steering torque determination step is a torque that is automatically determined through information measured through the vehicle speed sensor, the steering angle sensor, and the wheel speed sensor as in the prior art, and is an electronic control unit (Hereinafter, referred to as 'ECU'). In the present invention, a road surface discrimination unit is further used, while using an existing motor-driven steering system (MotorDriven Power Steering) And the electric steering system is a well-known technology, so that it will not be described in detail in the present invention.

도 2는 본 발명의 일 실시예에 따른 노면에 따른 차량의 조향력 제어방법의 순서도로서, 도로 주행시 주행차량의 차속이 10KPH ~ 60KPH 사이인지를 판단하는 차속 판단단계(S110)를 수행하고, 차속이 10KPH ~ 60KPH 사이인 경우에 주행차량의 조향각 변위량이 0 ~ 10 사이인지를 판단하는 조향각 판단단계(S120)를 수행하며, 조향각 변위량이 0 ~ 10 사이인 경우 주행차량의 좌우 휠스피드센서 신호가 20회 이상 상이한지를 판단하는 휠신호 판단단계(S130)를 수행한다.FIG. 2 is a flow chart of a method of controlling a steering force of a vehicle according to a road surface according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a vehicle speed determining step S110 for determining whether a vehicle speed of a traveling vehicle is between 10 KPH and 60 KPH, A steering angle determination step (S120) for determining whether the steering angle displacement amount of the traveling vehicle is between 0 and 10 KPH to 60 KPH, and when the steering angle displacement amount is between 0 and 10, the left and right wheel speed sensor signals of the traveling vehicle are 20 (Step S 130).

상기 휠신호 판단단계에서 휠스피드센서 신호가 3초간 20회 이상 상이한 경우 조향각 온센터(0 ~ 60°)구간에서 휠신호의 좌우변위가 초당 4회 이상 발생하는지를 판단하는 조향변화 판단단계(S140)를 수행하게 되고, 휠신호의 좌우변위가 초당 4회 이상 발생한 경우 위 S110 내지 S140단계의 조건이 3초 이상 지속되었는지를 판단하는 지속여부 판단단계(S150)를 수행하며, 지속여부 판단단계를 통해 3초 이상 지속된 것으로 판단된 경우에 한해 현재 주행하고 있는 도로의 노면이 험로 또는 요철로를 주행하고 있는 것으로 인지하게 된다(S160).A steering change determining step (S140) of determining whether a left-right displacement of a wheel signal occurs more than four times per second in a steering angle on center (0 to 60 °) range when the wheel speed sensor signal is different by 20 or more times for 3 seconds in the wheel signal determining step; If the left and right displacement of the wheel signal occurs more than four times per second, it is determined whether or not the condition in steps S110 to S140 has continued for 3 seconds or longer. In step S150, It is recognized that the road surface of the road that is currently traveling is traveling on rough roads or uneven roads (S160).

이때, 상기 S110 내지 S140단계에서 조건을 만족하지 못한 경우, 각 단계의 조건을 만족할 때까지 반복동작하게 된다.If the condition is not satisfied in steps S110 to S140, the operation is repeated until the condition of each step is satisfied.

그리고, 노면상태가 험로 또는 요철로를 주행하고 있는 것으로 판단된 경우에는 조향토크가 1.5 N.m미만인지를 판단하는 조향토크 판단단계(S210)를 수행하고, 조향토크가 1.5 N.m미만인 경우 토크를 보상하여 조향핸들의 조향력을 높여주게 되는 것이다(S220).When it is determined that the road surface state is running on rough roads or uneven roads, a steering torque determination step (S210) is performed to determine whether the steering torque is less than 1.5 Nm. When the steering torque is less than 1.5 Nm, the torque is compensated The steering force of the steering wheel is increased (S220).

본 발명은 특정한 실시예에 관련하여 도시하고 설명하였지만, 이하의 특허청구범위에 의해 제공되는 본 발명의 기술적 사상을 벗어나지 않는 한도 내에서, 본 발명이 다양하게 개량 및 변화될 수 있다는 것은 당 업계에서 통상의 지식을 가진 자에게 있어서 자명할 것이다.
While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled 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 by the following claims It will be apparent to those of ordinary skill in the art.

10: 차량상태센서부 20: 노면판별부
22: 신호처리부 24: 판단부
26: 토크 보상부 28: 안전장치
30: 조향제어부
S100: 노면 판단단계 S110: 차속 판단단계
S120: 조향각 판단단계 S130: 휠신호 판단단계
S140: 조향변화 판단단계 S150: 지속여부 판단단계
S160: 노면 인지단계 S200: 토크 제어단계
S210: 조향토크 판단단계 S220: 조향 보상단계10: vehicle state sensor unit 20: road surface judgment unit
22: Signal processing section 24:
26: torque compensating unit 28: safety device
30:
S100: road surface judgment step S110: vehicle speed judgment step
S120: Steering angle determination step S130: Wheel signal determination step
S140: Steering change determination step S150:
S160: Road surface recognition step S200: Torque control step
S210: Steering torque determination step S220: Steering compensation step

Claims (10)

도로 주행시 주행차량의 상태를 감지하기 위한 차량상태센서부;
차량상태센서부로부터 감지된 주행차량의 정보를 전달받아 도로의 노면상태를 판별하고, 보상 토크값을 계산하는 노면판별부;
노면판별부에서 계산된 보상 토크값을 조향 토크값에 합해 조향핸들의 조향력을 제어하는 조향제어부;를 포함하고,
노면판별부는 주행차량의 차속이 10KPH ~ 60KPH 사이인지를 판단하며, 주행차량의 조향각 변위량이 0°~ 10°사이인지를 판단하고, 주행차량의 좌우 휠스피드센서 신호가 3초간 20회 이상 상이한지를 판단한 이후 조향각 온센터(0 ~ 60°)구간에서 휠신호의 좌우변위가 초당 4회 이상 발생하는지를 판단하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어장치.A vehicle state sensor unit for detecting the state of the traveling vehicle at the time of road driving;
A road surface discrimination unit for receiving the information of the traveling vehicle sensed by the vehicle state sensor unit to discriminate the road surface condition of the road and calculating a compensation torque value;
And a steering control unit for controlling the steering force of the steering wheel by summing the compensation torque value calculated by the road surface judging unit with the steering torque value,
The road surface judging unit judges whether the vehicle speed of the traveling vehicle is between 10 KPH and 60 KPH and judges whether the amount of shift of the steering angle of the traveling vehicle is between 0 ° and 10 ° and judges whether the left and right wheel speed sensor signals of the traveling vehicle are different by 20 times or more And determining whether a left-right displacement of the wheel signal occurs more than four times per second in a section of the steering angle-on center (0 to 60 °) after the determination. 청구항 1에 있어서,
상기 차량상태센서부는, 주행속도 감지를 위한 차속센서, 주행차량의 조향상태 감지를 위한 조향각센서 및 좌우 휠 감지를 위한 휠스피드센서를 포함하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어장치.The method according to claim 1,
Wherein the vehicle state sensor unit includes a vehicle speed sensor for detecting a traveling speed, a steering angle sensor for detecting a steering state of the traveling vehicle, and a wheel speed sensor for sensing left and right wheels. 청구항 1에 있어서,
상기 노면판별부는, 상기 차량상태센서부에서 감지된 신호를 처리하는 신호처리부, 신호처리부를 통해 처리완료된 정보로 노면상태를 판단하는 판단부, 판단부에서의 판단결과를 통해 보상 토크값을 계산하여 토크를 보상하는 토크 보상부를 포함하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어장치.The method according to claim 1,
The road surface determination unit may include a signal processing unit for processing signals sensed by the vehicle state sensor unit, a determination unit for determining a road surface state based on information processed through the signal processing unit, a compensation torque value calculation unit And a torque compensating unit for compensating for the torque of the vehicle. 도로 주행시 주행차량의 정보를 전달받아 노면상태를 판단하는 노면 판단단계;
노면상태가 험로 또는 요철로인 것으로 판단된 경우, 조향토크에 보상토크를 부여하여 조향력을 높여주는 토크 제어단계;를 포함하고,
상기 노면 판단단계는, 주행차량의 차속이 10KPH ~ 60KPH 사이인지를 판단하는 차속 판단단계와, 주행차량의 조향각 변위량이 0°~ 10°사이인지를 판단하는 조향각 판단단계와, 주행차량의 좌우 휠스피드센서 신호가 3초간 20회 이상 상이한지를 판단하는 휠신호 판단단계 및 상기 휠신호 판단단계 후에 조향각 온센터(0 ~ 60°)구간에서 휠신호의 좌우변위가 초당 4회 이상 발생하는지를 판단하는 조향변화 판단단계를 포함하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어방법.A road surface judgment step of receiving the information of the traveling vehicle at the time of road driving to determine a road surface state;
And a torque control step of increasing the steering force by applying a compensation torque to the steering torque when it is determined that the road surface condition is rough or uneven,
Wherein the step of determining the road surface includes a step of determining whether the vehicle speed of the driving vehicle is between 10 KPH and 60 KPH, a steering angle determining step of determining whether the steering wheel displacement amount of the driving vehicle is between 0 and 10, A wheel signal determining step of determining whether the speed sensor signal is different by 20 or more times for 3 seconds, and a steering signal determining step of determining whether the left / right displacement of the wheel signal occurs more than four times per second in the steering angle on center (0 to 60 degrees) And determining a change in the steering angle of the vehicle. 청구항 4에 있어서,
상기 노면 판단단계는, 주행차량의 차속, 조향각, 휠스피드신호 및 조타력을 통해 노면상태를 판단하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어방법.The method of claim 4,
Wherein the road surface determination step determines the road surface state through the vehicle speed, the steering angle, the wheel speed signal, and the steering force of the traveling vehicle. 삭제delete 청구항 4에 있어서,
상기 노면 판단단계는 차속 판단단계, 조향각 판단단계, 휠신호 판단단계를 순차적으로 거쳐 노면상태를 판단하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어방법.The method of claim 4,
Wherein the road surface determination step determines the road surface state sequentially through the vehicle speed determination step, the steering angle determination step, and the wheel signal determination step. 삭제delete 청구항 4에 있어서,
상기 노면 판단단계 후에 노면 판단단계의 각 단계의 조건이 3초 이상 지속되는지를 판단하는 지속여부 판단단계와, 3초 이상 지속된 것으로 판단된 경우 험로 또는 요철로를 주행하고 있는 것으로 인지하는 노면 인지단계를 더 포함하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어방법.The method of claim 4,
Determining whether a condition of each step of the road surface judging step is continued for 3 seconds or longer after the road surface judging step; determining whether the condition of each road in the road surface judging step is 3 seconds or longer; Further comprising the steps of: determining a steering angle of the vehicle; 청구항 4에 있어서,
상기 토크 제어단계는, 조향토크가 1.5 N.m미만인지를 판단하는 조향토크 판단단계와, 조향토크가 1.5 N.m미만인 것으로 판단된 경우 토크를 보상하여 조향핸들의 조향력을 높여주는 조향 보상단계를 포함하는 것을 특징으로 하는 노면에 따른 차량의 조향력 제어방법.The method of claim 4,
Wherein the torque control step includes a steering torque determination step of determining whether the steering torque is less than 1.5 Nm and a steering compensation step of increasing the steering force of the steering wheel by compensating torque when it is determined that the steering torque is less than 1.5 Nm Wherein the steering angle of the vehicle is controlled by the road surface.
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