阅读说明：本技术 车辆的综合控制装置、综合控制方法及具有该装置的系统 (Integrated control device and integrated control method for vehicle and system with the same ) 是由 金显秀 蔡旻知 赵在成 玄玟帝 于 2020-10-19 设计创作，主要内容包括：本发明涉及车辆的综合控制装置、综合控制方法及具有该装置的系统,本发明的示例性实施方案提供一种车辆的综合控制装置,其包括：处理器和存储装置；所述处理器配置为在驾驶员的转向控制的初期阶段执行制动控制,控制电控悬架的阻尼力,在驾驶员的转向控制的后期阶段解除制动控制,并且增大电控悬架的阻尼力；所述存储装置配置为存储由处理器获得的数据和用于驱动处理器的算法。(The present invention relates to an integrated control apparatus of a vehicle, an integrated control method, and a system having the same, and an exemplary embodiment of the present invention provides an integrated control apparatus of a vehicle, including: a processor and a storage device; the processor is configured to execute brake control at an early stage of steering control of the driver, control a damping force of the electronically controlled suspension, release the brake control at a later stage of the steering control of the driver, and increase the damping force of the electronically controlled suspension; the memory device is configured to store data obtained by the processor and an algorithm for driving the processor.)

1. An integrated control apparatus of a vehicle, comprising:

a processor configured to: executing brake control at the initial stage of steering control of a driver to control the damping force of an electrically controlled suspension; the brake control is released at the later stage of the steering control of the driver, and the damping force of the electric control suspension is increased; and

a storage device configured to store data obtained by the processor and an algorithm for driving the processor.

2. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

the phase difference between the yaw rate and the roll angle is controlled when controlling the braking control and the electronically controlled suspension.

3. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

the roll angle of the vehicle is estimated based on the lateral acceleration of the vehicle and the mass of the vehicle.

4. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

a target yaw rate and a target roll angle are calculated based on the three-degree-of-freedom vehicle model.

5. The integrated control apparatus of a vehicle according to claim 4,

the processor is further configured to:

a yaw rate error is calculated based on the target yaw rate and the sensed yaw rate.

6. The integrated control apparatus of a vehicle according to claim 5,

the processor is further configured to:

a roll angle error is calculated based on the target roll angle and the estimated roll angle.

7. The integrated control apparatus of a vehicle according to claim 6,

the processor is further configured to:

calculating a target yaw moment based on the yaw rate error;

a target roll moment is calculated based on the roll angle error.

8. The integrated control apparatus of a vehicle according to claim 7,

the processor is further configured to:

converting the target yaw moment into a target brake pressure;

the target roll moment is converted into a target damping amount.

9. The integrated control apparatus of a vehicle according to claim 8,

the processor is further configured to:

outputting the target brake pressure to a brake control device;

and outputting the target damping amount to the electronic control suspension system.

10. The integrated control apparatus of a vehicle according to claim 8,

the processor is further configured to:

the target yaw moment is converted into a tire force, and the tire force is converted into a target braking pressure.

11. The integrated control apparatus of a vehicle according to claim 8,

the processor is further configured to:

the target damping force applied to each wheel of the vehicle is calculated by using at least one of the front wheel distribution ratio, the rear wheel distribution ratio, or the left-right distribution ratio.

12. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

the braking control is executed during a period in which the yaw rate is generated and increased in an early stage of the steering control of the vehicle, and the control terminates the braking control in a later stage of the steering control.

13. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

controlling a damping force output of a first stage before a roll angle occurs in an initial stage of steering control of the vehicle;

controlling a damping force output of a second stage that is greater than the first stage at a point in time when the amount of change in the roll angle decreases after the roll angle increases;

when the roll rate disappears, the damping control is released.

14. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

controlling a yaw rate by performing a yaw brake on the inward rear wheels and controlling a damping force for damping control at an early stage of steering control of the vehicle;

in a later stage of the steering control of the vehicle, the bias brake is released, and the damping force is increased.

15. The integrated control apparatus of a vehicle according to claim 1,

the processor is further configured to:

determining a driver's intention to accelerate based on a vehicle speed and a driver's accelerator pedal depression degree;

the driver's intention to steer is determined based on the steering angle and the steering angular velocity.

16. A vehicle system, comprising:

a brake control device configured to control braking of the vehicle;

an electronically controlled suspension system configured to control a posture of a vehicle body;

an integrated control device configured to integrally control the brake control device and the electronically controlled suspension system,

wherein the integrated control apparatus:

executing brake control at the initial stage of steering control of a driver to control the damping force of an electrically controlled suspension; the brake control is released at a later stage of the steering control by the driver, and the damping force of the electronically controlled suspension is increased.

17. An integrated control method of a vehicle, comprising:

executing brake control at an initial stage of steering control by a driver, and controlling a damping force of an electronically controlled suspension;

the brake control is released at a later stage of the steering control by the driver, and the damping force of the electronically controlled suspension is increased.

18. The integrated control method according to claim 17, further comprising:

estimating a roll angle of the vehicle based on a lateral acceleration of the vehicle and a mass of the vehicle;

calculating a target yaw rate and a target roll angle based on the three-degree-of-freedom vehicle model;

calculating a yaw rate error based on the target yaw rate and the sensed yaw rate;

a roll angle error is calculated based on the target roll angle and the estimated roll angle.

19. The integrated control method according to claim 18, further comprising:

calculating a target yaw moment based on the roll angle error;

calculating a target roll moment based on the roll angle error;

converting the target yaw moment into a target brake pressure;

the target roll moment is converted into a target damping amount.

20. The integrated control method according to claim 19, further comprising:

outputting the target brake pressure to a brake control device;

and outputting the target damping amount to the electronic control suspension system.

Technical Field

The present invention relates to an integrated control apparatus and an integrated control method for a vehicle, and a system including the same, and more particularly, to a technique capable of improving steering consistency and linearity of vehicle behavior.

Background

In the case of the normal braking control for yaw rate control, yaw gain control is performed to increase the magnitude of the yaw rate. In contrast, in the case of electronically controlled suspension control, control is performed to reduce the degree of roll.

In the conventional art, when the yaw rate and the roll are controlled, the delay time between the yaw rate and the roll is increased by executing the control of increasing the yaw rate and the control of reducing the roll.

When the delay time between the yaw rate and the roll increases, there is a problem in that the control is operated in a direction that reduces the sense of coincidence of the vehicle behavior.

The above information disclosed in this background section is for background to aid in understanding the invention and should not be taken as an admission that the information forms any part of the prior art.

Disclosure of Invention

Exemplary embodiments of the present invention have been made in an effort to provide an integrated control apparatus of a vehicle, an integrated control method, and a system including the same, which are capable of improving responsiveness of yaw rate and roll by dividing a time for controlling steering of the vehicle into an initial steering stage and a late steering stage and integrally controlling braking control and electronically controlled suspension control.

The technical object of the present invention is not limited to the above object, and other technical objects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

According to an exemplary embodiment of the present invention, an integrated control apparatus of a vehicle may include: a processor and a storage device; the processor is configured to execute brake control at an early stage of steering control of the driver, control a damping force of the electronically controlled suspension, release the brake control at a later stage of the steering control of the driver, and increase the damping force of the electronically controlled suspension; the memory device is configured to store data obtained by the processor and an algorithm for driving the processor.

According to an exemplary embodiment, the processor may control a phase difference between a yaw rate and a roll angle when controlling a brake control and an electronically controlled suspension.

According to an exemplary embodiment, the processor may estimate a roll angle of the vehicle based on a lateral acceleration of the vehicle and a mass of the vehicle.

According to an exemplary embodiment, the processor may calculate a target yaw rate and a target roll angle based on a three-degree-of-freedom vehicle model.

According to an exemplary embodiment, the processor may calculate a yaw rate error based on a target yaw rate and a sensed yaw rate.

According to an exemplary embodiment, the processor may calculate a roll angle error based on the target roll angle and the estimated roll angle.

According to an exemplary embodiment, the processor may calculate a target yaw moment based on the yaw rate error and may calculate a target roll moment based on the roll angle error.

According to an exemplary embodiment, the processor may convert the target yaw moment into the target braking pressure, and may convert the target roll moment into the target damping amount.

According to an example embodiment, the processor may output a target brake pressure to the brake control device and may output a target damping amount to the electronically controlled suspension system.

According to an exemplary embodiment, the processor may convert the target yaw moment into a tire force, and may convert the tire force into a target braking pressure.

According to an exemplary embodiment, the processor may calculate the target damping force applied to each wheel of the vehicle by using at least one of a front wheel distribution ratio, a rear wheel distribution ratio, or a left-right distribution ratio.

According to an example embodiment, the processor may perform the braking control during a period in which the yaw rate is generated and increased in an early stage of the steering control of the vehicle, and may control to terminate the braking control in a later stage of the steering control.

According to an exemplary embodiment, the processor may control the damping force output of the first stage before the roll angle occurs in an initial stage of the steering control of the vehicle, may control the damping force output of the second stage, which is greater than the first stage, at a point in time when an amount of change in the roll angle decreases after the roll angle increases, and may release the damping control when the roll rate disappears.

According to an exemplary embodiment, the processor may control the yaw rate by applying the partial braking to the inner rear wheel at an early stage of the steering control of the vehicle, and may control the damping force for the damping control, and may release the partial braking and increase the damping force at a later stage of the steering control of the vehicle.

According to an exemplary embodiment, the processor may determine the driver's intention to accelerate based on a vehicle speed and a driver accelerator pedal depression degree (APS), and may determine the driver's intention to steer based on a steering angle and a steering angular velocity.

An exemplary embodiment of the present invention provides a vehicle system, including: a brake control device configured to control braking of the vehicle; an electronically controlled suspension system configured to control a posture of a vehicle body; and an integrated control device configured to integrally control the brake control device and the electronically controlled suspension system, wherein the integrated control device performs the brake control at an early stage of the steering control by the driver, controls the damping force of the electronically controlled suspension, releases the brake control at a later stage of the steering control by the driver, and increases the damping force of the electronically controlled suspension.

According to an exemplary embodiment, the braking control device may include an Electronic Stability Control (ESC) device.

An exemplary embodiment of the present invention provides an integrated control method of a vehicle, including: executing brake control at an initial stage of steering control by a driver, and controlling a damping force of an electronically controlled suspension; the brake control is released at a later stage of the driver's steering control, and the damping force of the electronically controlled suspension is increased.

According to an exemplary embodiment, the method may further comprise: estimating a roll angle of the vehicle based on a lateral acceleration of the vehicle and a mass of the vehicle; calculating a target yaw rate and a target roll angle based on the three-degree-of-freedom vehicle model; calculating a yaw rate error based on the target yaw rate and the sensed yaw rate; a roll angle error is calculated based on the target roll angle and the estimated roll angle.

According to an exemplary embodiment, the method may further comprise: calculating a target yaw moment based on the yaw rate error; calculating a target roll moment based on the roll angle error; converting the target yaw moment into a target brake pressure; the target roll moment is converted into a target damping amount.

According to an exemplary embodiment, the method may further comprise: outputting the target brake pressure to a brake control device; the target damping amount is output to the electronically controlled suspension system.

According to this technology, by dividing the time for controlling the steering of the vehicle into the initial steering stage and the later steering stage and comprehensively controlling the braking control and the electronically controlled suspension control, it is possible to improve the responsiveness of the yaw rate and the roll, thereby enhancing the consistency and linearity of the behavior of the vehicle.

In addition, various effects that can be directly or indirectly recognized through the file can be provided.

Drawings

Fig. 1 shows a block diagram representing the configuration of a vehicle system including an integrated control apparatus of a vehicle according to an exemplary embodiment of the present invention.

Fig. 2 illustrates a moving direction during integrated control of a vehicle according to an exemplary embodiment of the present invention.

Fig. 3A and 3B show a vehicle model for setting target values for controlling roll and yaw of an integrated control apparatus of a vehicle according to an exemplary embodiment of the present invention, in which fig. 3A is a plan view and fig. 3B is a front view.

Fig. 4 shows a schematic diagram for describing a control amount calculation method of an integrated control apparatus of a vehicle according to an exemplary embodiment of the present invention.

Fig. 5 shows a schematic diagram for describing a method for calculating a control quantity of a brake control apparatus according to an exemplary embodiment of the present invention.

Fig. 6 shows a schematic diagram for describing a method for calculating a control quantity of an electronically controlled suspension system according to an exemplary embodiment of the present invention.

Fig. 7 and 8 show flowcharts representing an integrated control method of a vehicle according to an exemplary embodiment of the present invention.

Fig. 9 shows a graph for describing an integrated control method of a vehicle according to an exemplary embodiment of the present invention.

Fig. 10 shows a schematic diagram for describing damping amount control in an early steering stage and a late steering stage according to an exemplary embodiment of the present invention.

Fig. 11A and 11B illustrate graphs representing improved yaw responsiveness and roll responsiveness according to an exemplary embodiment of the present invention.

FIG. 12 illustrates a computing system according to an exemplary embodiment of the invention.

Detailed Description

Hereinafter, some exemplary embodiments of the present invention will be described in detail with reference to the exemplary drawings. It should be noted that, when reference numerals are added to constituent elements of each drawing, they have the same reference numerals even if the same constituent elements are indicated on different drawings. In addition, in describing exemplary embodiments of the present invention, when it is determined that a detailed description of related well-known configurations or functions hinders understanding of exemplary embodiments of the present invention, the detailed description thereof will be omitted.

In describing the constituent elements according to the exemplary embodiments of the present invention, terms such as first, second, A, B, (a) and (b), etc. may be used. These terms are only used to distinguish constituent elements from other constituent elements, and the nature, order, or sequence of constituent elements is not limited by these terms. In addition, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art (one of ordinary skill in the art) to which this invention belongs, unless defined otherwise. Terms defined in a general dictionary should be interpreted as having meanings matching those of terms in the context of the related art, and should not be interpreted as having idealized or overly formal meanings unless expressly so defined herein.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to fig. 1 to 12.

Fig. 1 shows a block diagram representing the configuration of a vehicle system including an integrated control apparatus of a vehicle according to an exemplary embodiment of the present invention.

Referring to fig. 1, an integrated control apparatus 100 of a vehicle may be implemented inside the vehicle according to an exemplary embodiment of the present invention. In this case, the integrated control apparatus 100 may be integrally formed with an interior control unit of the vehicle, or may be implemented as a separate apparatus to be connected to the control unit of the vehicle through a separate connection device.

Referring to fig. 1, a vehicle system may include an integrated control device 100, a sensing device 200, an electronically controlled suspension system, and a brake control device 400.

The integrated control apparatus 100 determines the steering intention based on the sensing signals (e.g., the steering angle of the driver, the accelerator pedal signal, etc.) received from the sensing apparatus 200, estimates the vehicle states (e.g., the vehicle speed and the roll angle), calculates the target values of the yaw behavior and the roll behavior of the vehicle, and calculates and outputs control values for controlling the electronically controlled suspension system 300 and the brake control apparatus 400.

The integrated control device 100 may include a communication device 110, a storage device 120, and a processor 130.

The communication apparatus 110 is a hardware apparatus implemented with various circuits to transmit and receive signals through wireless or wired connection, and in the present invention, the communication apparatus 110 can perform V2I communication with a server, infrastructure, and other vehicles outside the vehicle by using an in-vehicle network communication technology or wireless internet access or a short-range communication technology. Herein, the in-vehicle communication may be performed by Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, or flex-ray communication, which is an in-vehicle network communication technology. In addition, the wireless communication technology may include Wireless LAN (WLAN), Wireless broadband (WiBro), Wi-Fi, Worldwide Interoperability for Microwave Access (WiMAX), and the like. In addition, the short-range communication technology may include bluetooth, ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), infrared data association (IrDA), and the like.

As an example, the communication device 110 may receive the sensing result of the sensing device 200, and may receive vehicle information (e.g., vehicle speed, steering angle, steering angular velocity, etc.) from the in-vehicle device.

The storage device 120 may store sensing results of the sensing device 200, vehicle information (e.g., lateral slip, etc.) received by the communication device 110 from devices in the vehicle, data obtained by the processor 130, data and/or algorithms required for the integrated control device 100 of the vehicle to operate, and the like.

As an example, the storage device 120 may store data required for the processor 130 to calculate a target yaw rate, a target roll angle, a target yaw moment, a target roll moment, and the like, which are calculated by the processor 130, and the processor 130 to calculate the target yaw rate, the target roll angle, the target yaw moment, the target roll moment, and the like. The storage device 120 may include at least one type of storage medium among various types of memories such as a flash memory, a hard disk, a micro type, a card type (e.g., a Secure Digital (SD) card or an extreme digital (XD) card), a Random Access Memory (RAM), a static RAM (sram), a Read Only Memory (ROM), a programmable ROM (prom), an electrically erasable prom (eeprom), a magnetic memory (MRAM), a magnetic disk, or an optical disk.

The processor 130 may be electrically connected to the communication device 110, the storage device 120, and the like, may electrically control each component, and may be a circuit that executes software instructions, thereby performing various data processing and calculations described below. For example, the processor 130 may be an Electronic Control Unit (ECU), a microcontroller unit (MCU), or other sub-controllers installed in the vehicle.

For example, the processor 130 according to an exemplary embodiment of the present invention may be a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, or the like.

The processor 130 may perform the braking control at an early stage of the steering control of the driver, may weakly control the damping force of the electronically controlled suspension, may release the braking control at a later stage of the steering control of the driver, and may strongly control the damping force of the electronically controlled suspension. For example, the damping force controlled in the later stage of the steering control (i.e., the damping force controlled strongly) may be larger than the damping force controlled in the early stage of the steering control (i.e., the damping force controlled weakly). That is, the damping force may be increased from the amount of the damping force at the initial stage of the steering control at the later stage of the steering control.

The processor 130 performs signal processing on various signals received from the sensing device 200 and devices in the vehicle. In this case, the various signals may include a steering angle, a yaw rate, a vehicle speed, a lateral acceleration, APS (driver accelerator pedal depression degree), a steering angle speed, and the like, and the signal processing may include noise removal.

The processor 130 determines the driver's intention based on the vehicle speed, the APS, the steering angle, and the steering angle speed. In this case, the driver intention may include a desire to perform steering and a desire to perform acceleration.

The processor 130 may determine that the driver is willing to accelerate when the vehicle speed exceeds a certain speed and the APS (driver accelerator pedal depression degree) exceeds a certain value, and the processor 130 may determine that the driver is willing to steer when the steering angle exceeds a certain value and the steering angular speed exceeds a certain value.

Processor 130 may estimate the roll angle as shown in equation 1 below.

(equation 1)

In equation 1, m_sRepresenting sprung mass, h_sIndicating the vertical distance, K, from the road surface to the center of the sprung mass_jRepresents a roll rigidity coefficient of the vehicle, and a_yRepresenting the lateral acceleration of the vehicle. These values may be obtained by reception from the sensing device 200 or from an in-vehicle device via the communication device 110.

The processor 130 may calculate a target yaw rate and a target roll angle as control targets using the three-degree-of-freedom model equations. Fig. 2 shows the direction of movement during integrated control of a vehicle according to an exemplary embodiment of the present invention, and fig. 3A and 3B show vehicle models for setting target values for controlling the roll and yaw of an integrated control apparatus of a vehicle according to an exemplary embodiment of the present invention. Fig. 3A shows a plan view of the vehicle, and fig. 3B shows a front view thereof.

Referring to fig. 2, the integrated control apparatus 100 may control the roll of the vehicle through the control of an electronically controlled suspension system (ECS)300, and may control the yaw of the vehicle through the control of a brake control apparatus (e.g., ESC) 400.

As shown in equation 2 below, processor 130 may express the vehicle model as a three-degree-of-freedom vehicle model.

(equation 2)

1) Transverse direction:

2) the yaw direction:

3) the roll direction:

referring to FIGS. 3A and 3B, Fy, ij represents the lateral force applied to each of the tires FL, FR, RL and RR, and m_urRepresenting unsprung mass, m, of the rear wheel_ufRepresenting unsprung mass, m, of the front wheel_sRepresenting sprung mass, g gravity acceleration, h_sIndicating the vertical distance from the road surface to the center of the sprung mass,/_rDenotes the distance, l, from the center of the rear axle to the C.G (center of gravity) point of the vehicle_fIndicating the distance from the center of the front axle to the C.G (center of gravity) point of the vehicle. In addition, I_xzRepresenting the yaw moment of inertia caused by roll-direction motion,representing the roll angle of the vehicle, r representing the yaw rate of the vehicle, V_xRepresenting the longitudinal speed, M, of the vehicle_zRepresents a yaw moment based on the Z-axis, beta represents a slip angle of the vehicle,a roll rigidity coefficient of the vehicle is expressed,representing the roll damping coefficient of the vehicle.

As shown in equation 3 below, the processor 130 may calculate the target yaw rate and the target roll angle by using the steady state variable Xss.

(equation 3)

x_ss＝[β r φ]^T

u＝[δ_f δ_r]^T

δ_fIndicating the front wheel steering angle (tire angle), δ, of the vehicle_rDenotes a rear wheel steering angle (tire angle) of the vehicle, and u denotes a matrix of a front steering angle and a rear steering angle of the vehicle. The steady state variable Xss is calculated by using the a, B and u matrices of equation 4 below, r represents the target yaw rate,representing the target roll angle. Equations 5 and 6 define each matrix value in equation 4.

(equation 4)

(equation 5)

(equation 6)

C_fRepresents a front wheel cornering stiffness coefficient, and C_rThe rear wheel cornering stiffness coefficient is represented.

The processor 130 may store the calculated target yaw rate and the calculated target roll angle in the storage device 120.

In the present invention, the steering control may be divided into an initial stage and a later stage, and the first half and the second half of the control may be divided and controlled differently. Accordingly, the processor 130 may determine whether it is in an initial steering phase (initial phase of steering control). That is, the processor 130 may determine whether it is in the initial steering stage based on the vehicle speed, the road friction coefficient, the APS, the steering angular velocity, etc., and may set the gain of the PD controller for calculating the target yaw moment and the target roll moment to be suitable for the initial steering stage or the later steering stage. The configuration of the PD controller will be described in detail later with reference to fig. 4.

As shown in equations 7 and 8 below, the processor 130 may calculate a yaw rate error and a roll angle error based on the target yaw rate and the target roll angle. That is, as in equation 7, the processor 130 may calculate the yaw rate error by subtracting the sensor yaw rate from the target yaw rate. In this case, the target yaw rate may be a value obtained by equation 2, and the sensor yaw rate may be a value received from the sensing device 200.

(equation 7)

Yaw rate error (e)_r) Target yaw rate (r) -sensor yaw rate

The processor 130 calculates the roll angle error by subtracting the estimated roll angle from the target roll angle, as in equation 8. In this case, the target roll angle may be a value obtained by equation 2, and the estimated roll angle may be a value obtained from equation 1.

(equation 8)

Side inclination angle error (e)_Φ) Target roll angle (Φ) -estimated roll angle (Φ)_e)

The processor 130 may calculate the target yaw moment Mz and the target roll moment Mx by using the yaw rate error and the roll angle error obtained in equations 7 and 8.

Fig. 4 shows the configuration of the PD controller 131, the gain setter 132, and the actuator distributor 133 for calculating the target yaw moment Mz and the target roll moment Mx as part of the specific configuration of the processor 130.

When receiving the yaw rate error e_rAnd roll angle errorAt this time, the PD controller 131 may calculate the target yaw moment Mz and the target roll moment Mx, respectively, according to a preset gain. The PD controller 131 is a proportional-derivative controller and utilizes the yaw rate error e_rAnd roll angle errorFor calculating target yaw moment Mz and target roll moment MxThe configuration may be used by conventional techniques.

The gain setter 132 sets the gain of the PD controller 131 in consideration of the vehicle speed, the road friction coefficient, the driver's accelerator pedal depression degree (APS), and the steering angular velocity.

The actuator distributor 133 converts and distributes the target yaw moment Mz and the target roll moment Mx calculated by the PD controller 131.

As shown in equation 10, the actuator allocator 133 converts the target yaw moment Mz into the tire force value F_b,rearAnd, as shown in equation 11, the tire force is converted into the target braking pressure P_br。

(equation 10)

In this case, T_rIndicating the tire rolling radius.

(equation 11)

In this case, r_effIndicating effective brake diameter (effective brake diameter), K_brWhich represents a coefficient for converting the brake hydraulic pressure into the wheel torque using the braking coefficient.

Fig. 5 shows a schematic diagram for describing a method for calculating a control quantity of a brake control apparatus according to an exemplary embodiment of the present invention. Referring to fig. 5, it can be seen that the target yaw moment Mz is converted into the tire force value F_b,rear。

Thus, the processor 130 outputs the target brake pressure P_brAs a brake command of a brake control device (ESC)400, and applies a brake of the steering inner wheel.

In addition, the actuator distributor 133 may distribute the target roll moment M calculated as in equation 12_xWhich is converted into a damping force. That is, as shown in fig. 6, the actuator distributor 133 may turn the target roll momentIn exchange for a damping force, which is a vertical force (compressive or tensile) F required for each wheel_FL、F_FR、F_RLAnd F_RR. Fig. 6 shows a schematic diagram for describing a method for calculating a control quantity of an electronically controlled suspension system according to an exemplary embodiment of the present invention.

(equation 12)

In this case, Tread represents the distance between the centers of the wheels, and represents the distance between the left and right wheels. In this case, the front wheel distribution ratio and the left-right distribution ratio may be set in consideration of the restriction of the actuator.

In controlling the braking control and electronically controlled suspension, the processor 130 may control the phase difference between the yaw rate and the roll angle. In addition, the processor 130 may perform the braking control to be performed within a period in which the yaw rate is generated and increased in an early stage of the steering control of the vehicle, and may control the braking control to be terminated in a later stage of the steering control.

The processor 130 may control the damping force of the first stage to be output before the roll angle occurs in an initial stage of the steering control of the vehicle, may control the damping force of the second stage, which is greater than the first stage, to be output at a time point when an amount of change in the roll angle decreases after the roll angle increases, and may release the damping control when the roll rate disappears.

The processor 130 may control the yaw rate by performing the yaw braking on the inward rear wheels in an early stage of the steering control of the vehicle, may control the damping force for the damping control in a soft (soft) manner, and may release the yaw braking in a later stage of the steering control of the vehicle to control the damping force in a hard (hardly) manner.

The sensing device 200 may include a plurality of sensors for sensing wheel slip, vehicle speed, yaw rate, roll angle, steering angular velocity, etc., and to this end, the sensing device 200 may include an acceleration sensor, a yaw rate sensor, a torque measurement sensor and/or a wheel speed sensor, a steering angle sensor, etc.

An electronically controlled suspension system (ECS)300 is used to ensure driving safety and riding comfort by changing the height of a vehicle body according to road surface conditions and driving conditions. The electronically controlled suspension system 300 can be controlled in accordance with the damping control amount received from the integrated control apparatus 100.

The brake control apparatus 400 may be configured to control braking of the vehicle, and may include a controller that controls the brakes thereof. The brake control device 400 can perform braking in accordance with the brake control amount received from the integrated control device 100. The braking control device 400 may include an Electronic Stability Control (ESC) device.

As described above, the present invention improves the responsiveness of the yaw rate by the yaw brake of the steered outer rear wheels in the early stage of the steering control by the driver, and softly holds the electronically controlled suspension, so that the responsiveness of controlling the roll is associated with the responsiveness of the yaw rate. In addition, the present invention avoids overshoot (overshoot) of the yaw rate at the termination of the off-braking in the latter half of the steering control, and at the same time, the electronically controlled suspension is kept hard, thereby eliminating overshoot of the roll and stabilizing the behavior of the vehicle. According to the present invention, the time delay of the yaw behavior and the roll behavior of the vehicle is reduced by such control as compared with the steering control by the driver, so that the steering uniformity and the linearity of the vehicle behavior can be improved.

Hereinafter, an integrated control method of a vehicle according to an exemplary embodiment of the present invention will be described in detail with reference to fig. 7 and 8. Hereinafter, it is assumed that the integrated control apparatus 100 of fig. 1 performs the processes of fig. 7 and 8. In addition, in the description of fig. 7 and 8, the operations described as being performed by the devices may be understood as being controlled by the processor 130 of the integrated control device 100 of the vehicle.

Referring to fig. 7, the integrated control device 100 receives a sensing signal from the sensing device 200 through CAN communication to perform signal processing (S100). In this case, the sensing signal may include a steering angle, a yaw rate, a vehicle speed, a lateral acceleration, an APS, a steering angle speed, and the like. In addition, the integrated control apparatus 100 may perform signal processing to extract the maximum value and the minimum value of the sensing signal and remove noise through an LPF (first low pass filter).

The integrated control apparatus 100 may determine the driver' S intention to turn (S200).

That is, the integrated control device 100 may determine the driver' S intention to accelerate based on the vehicle speed and the APS (accelerator pedal depression degree value) (S210), and may determine the intention to steer based on the steering angle and the steering angle speed (S220).

The integrated control apparatus 100 may determine whether the vehicle speed is greater than a predetermined vehicle speed threshold value, and may determine that the driver has an intention to accelerate when the vehicle speed is greater than the predetermined vehicle speed threshold value (S211). In addition, the integrated control device 100 may determine whether the APS is greater than a predetermined APS threshold, and may determine that the driver has a desire to accelerate when the APS is greater than the predetermined APS threshold (S212). When the vehicle speed is equal to or less than the predetermined vehicle speed threshold value, or when the APS is equal to or less than the predetermined APS threshold value, the integrated control device 100 determines that the driver has no intention to accelerate, and waits for control (S105).

In this case, the integrated control device 100 may determine that the driver keeps the vehicle speed or accelerates when both the vehicle speed and the APS satisfy certain conditions, and may avoid a braking difference feeling caused by low-speed braking control by setting the vehicle speed conditions as described above.

The integrated control apparatus 100 may determine whether the steering angle is greater than a predetermined steering angle threshold value, and may determine that the driver has a desire to steer when the steering angle is greater than the predetermined steering angle threshold value (S221). In addition, the integrated control apparatus 100 may determine whether the steering angle speed is greater than a predetermined steering angle speed threshold value, and may determine that the driver has an intention to steer when the steering angle speed is greater than the predetermined steering angle speed threshold value (S222). When the steering angle is equal to or smaller than the predetermined steering angle threshold value, or when the steering angle speed is equal to or smaller than the predetermined steering angle speed threshold value, the integrated control apparatus 100 determines that the driver has no intention to steer, and waits for control (S105).

When both the steering angle and the steering angular velocity satisfy the predetermined condition, the integrated control apparatus 100 may determine that the driver is willing to steer.

Referring to fig. 8, in step S200, when it is determined that the driver intends to steer, the integrated control device 100 performs roll angle estimation based on the lateral acceleration sensing signal (S300).

The integrated control apparatus 100 may set a control target (S400).

The integrated control apparatus 100 calculates a three-degree-of-freedom model equation in accordance with the above equation 1 (S411), derives equation 2 from equation 1 to calculate a target yaw rate value in a steady state (S412), and calculates a target roll angle in a steady state (S413).

Subsequently, the integrated control apparatus 100 of the vehicle determines whether it is in an initial steering stage (S500). That is, the integrated control device 100 sets the gain of the PD controller based on the vehicle speed, the road friction coefficient, the APS, the steering angular velocity, and the like (S510).

The integrated control apparatus 100 may set a control amount (S600).

That is, the integrated control apparatus 100 calculates a target yaw moment based on the yaw rate error using the sensor yaw rate and the target yaw rate (S610), and calculates a target roll moment based on the roll angle error by using the estimated roll angle and the target roll angle (S620). In this case, the target yaw moment and the target roll moment may be calculated by the PD controller.

The integrated control apparatus 100 may convert the control amount (S700).

The integrated control apparatus 100 converts the calculated target yaw moment into a target braking pressure (S710), and converts the calculated target roll moment into a target damping amount (S720) to output a final control amount and a final damping control amount (S800). That is, the integrated control apparatus 100 outputs the converted target brake pressure as the final brake control amount, and outputs the target damping amount as the final damping control amount (S810 and S820).

In this way, the present invention divides the steering control into an initial stage and a later stage, and controls the yaw rate by applying the yaw brake to the inner rear wheel and the outer rear wheel in the initial stage of the steering control, and controls the ECS damping force to the first stage (soft region). On the other hand, the present invention releases the braking control at the latter stage of the steering control, and controls the ECS damping force to the second stage (hard region).

As described above, since the responsiveness of the roll and yaw rate to the steering control input of the driver is improved by comprehensively controlling the braking control and the suspension control by dividing the steering control into the early stage and the late stage, the consistency of the behavior of the vehicle of the driver can be improved by reducing the time delay of the yaw behavior and the roll behavior as compared with the steering control of the driver, and the agility of the behavior of the vehicle can be improved by increasing the linearity between the yaw rate and the roll.

Fig. 9 shows a graph for describing an integrated control method of a vehicle according to an exemplary embodiment of the present invention, and fig. 10 shows a schematic diagram for describing damping amount control in an early steering stage and a late steering stage according to an exemplary embodiment of the present invention.

Referring to fig. 9, when a yaw rate 902 and a roll behavior 903 according to a driver steering angle 901 occur, a braking control amount 904 and a damping control amount 905, which are controlled by an electronically controlled suspension system (ECS)300 and a braking control device (ESC)400, are displayed independently of the respective physical amounts.

When the driver steering angle 901 is input, vehicle behavior occurs, a yaw rate 902 is generated, and then roll behavior 903 is generated.

In this case, as for the form and control point of the final control amount to be calculated, it can be seen that the braking control 904 is executed in the period in which the yaw rate is established, and the control is terminated by reducing the braking pressure during the late steering phase.

In the case of the damping control, as shown in a diagram 1001 in fig. 10, it can be seen that the damping force is set to the first-stage control amount (soft damping) from before the roll angle occurs (the occurrence timing of the steering angle), and as shown in a diagram 1002 in fig. 10, when the roll angle is established and the amount of change in the roll angle starts to decrease, the control is performed with the second-stage control amount (hard damping). Thereafter, when the roll angle is in a stable state so that the roll rate disappears, the damping control is released. Here, the respective control amounts in the first stage and the second stage may be determined by adjustment.

Fig. 11A and 11B illustrate graphs representing improved yaw responsiveness and roll responsiveness according to an exemplary embodiment of the present invention. Fig. 11A shows an example in which yaw responsiveness is improved, and fig. 11B shows an example in which roll responsiveness is improved.

According to the present invention, by using a brake control device (ESC) and an electronically controlled suspension system (ECS) and by improving yaw rate responsiveness and roll responsiveness according to a steering input of a driver, it is possible to improve the sense of coincidence of steering, yaw rate, and roll in terms of overall vehicle behavior.

As described above, improving the responsiveness of the yaw rate and the roll to the steering input of the driver can provide the driver with an improved sense of coincidence of the behavior of the vehicle, which is improved by increasing the linearity between the yaw rate and the roll.

FIG. 12 illustrates a computing system according to an exemplary embodiment of the invention.

Referring to fig. 12, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected by a bus 1200.

Processor 1100 may be a Central Processing Unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include Read Only Memory (ROM) and Random Access Memory (RAM).

Thus, the steps of a method or algorithm described in connection with the exemplary embodiments disclosed herein may be embodied directly in hardware, in a software module executed by the processor 1100, or in a combination of the two. The software modules may reside in storage media (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, and a CD-ROM.

An exemplary storage medium is coupled to processor 1100, and processor 1100 can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the exemplary embodiments disclosed in the present invention are not intended to limit the technical concepts of the present invention but to explain them, and the scope of the technical concepts of the present invention is not limited by these exemplary embodiments. The scope of the invention should be construed by the appended claims, and all technical ideas within the equivalent scope should be construed as being included in the scope of the invention.