Apparatus and method for controlling rotation of vehicle in consideration of slip

Patent metadata

Field	Value
Publication number	US-10752285-B2
Application number	US-201816017488-A
Country	US
Kind code	B2
Filing date	Jun 25, 2018
Priority date	Dec 22, 2017
Publication date	Aug 25, 2020
Grant date	Aug 25, 2020

Abstract

An apparatus and a method are provided for controlling rotation of a vehicle in consideration of slip. The apparatus includes a radius of curvature setting unit that sets a target radius of curvature of rotation of the vehicle while the vehicle is being driven and a radius of curvature calculation unit that estimates an actual radius of curvature of a traveling vehicle based on forward speed and lateral acceleration of the vehicle. Additionally, a radius of curvature adjustment unit adjusts a yaw direction rotation moment of the vehicle based on a difference between the target radius of curvature set by the radius of curvature setting unit and the estimated radius of curvature estimated by the radius of curvature calculation unit to adjust the radius of curvature of rotation of the vehicle.

First claim

What is claimed is:

1. An apparatus for controlling rotation of a vehicle in consideration of slip, comprising:
a radius of curvature setting unit configured to set a target radius of curvature of rotation of the vehicle while the vehicle is being driven;
a radius of curvature calculation unit configured to estimate an actual radius of curvature of a traveling vehicle based on forward speed and lateral acceleration of the vehicle; and
a radius of curvature adjustment unit configured to adjust a yaw direction rotation moment of the vehicle based on a difference between the target radius of curvature set by the radius of curvature setting unit and the estimated radius of curvature estimated by the radius of curvature calculation unit to adjust the radius of curvature of rotation of the vehicle.

2. The apparatus of claim 1 , wherein the radius of curvature calculation unit is configured to estimate a radius of curvature according to an equation

ρ
=

V
X
2

A
y

based on the forward speed and the lateral acceleration, where ρ is an estimated radius of curvature, V x is the forward speed, and A y is the lateral acceleration.

3. The apparatus of claim 1 , wherein the forward speed is detected by a speedometer installed within the vehicle and wherein the lateral acceleration is detected by a gyro sensor installed within the vehicle.

4. The apparatus of claim 1 , wherein the radius of curvature setting unit is configured to set the target radius of curvature based on a steering angle via manipulation of a steering wheel of the vehicle using a data map including a predetermined relationship between the steering angle and the target radius of curvature.

5. The apparatus of claim 1 , wherein the radius of curvature setting unit is configured to set the target radius of curvature according to an equation

ρ
*

=

V

x
⁢

⁢
0

γ
0

where ρ* is the target radius of curvature, V x0 is forward speed of the vehicle, and γ 0 is a yaw rate of the vehicle.

6. The apparatus of claim 1 , wherein the radius of curvature adjustment unit includes a proportional integral controller configured to determine a target value of a yaw direction rotation moment of the vehicle to cause the difference between the target radius of curvature and the estimated radius of curvature to be 0.

7. The apparatus of claim 6 , wherein the radius of curvature adjustment unit is configured to distribute torque of left and right driving motors of the vehicle in a range of a torque command value of the vehicle to generate a yaw direction rotation moment of the vehicle that corresponds to the target value.

8. The apparatus of claim 1 , wherein the radius of curvature adjustment unit is configured to adjust a rotation direction and rotation size of a steering motor of the vehicle to generate a yaw direction rotation moment of the vehicle that corresponds to the target value.

9. A method of controlling rotation of a vehicle in consideration of slip, comprising:
setting, by a controller, a target radius of curvature of rotation of the vehicle while the vehicle is being driven;
estimating, by the controller, an actual radius of curvature of a traveling vehicle based on forward speed and lateral acceleration of the vehicle; and
adjusting, by the controller, a yaw direction rotation moment of the vehicle based on a difference between the target radius of curvature and the estimated radius of curvature and a torque command value of the vehicle to adjust the radius of curvature of rotation of the vehicle.

10. The method of claim 9 , wherein the estimating includes:
estimating, by the controller, a radius of curvature according to an equation

ρ
=

V
X
2

A
y

based on the forward speed and the lateral acceleration,
wherein ρ is an estimated radius of curvature, V x is the forward speed, and A y is the lateral acceleration.

11. The method of claim 9 , wherein the setting of the target radius of curvature includes:
setting, by the controller, the target radius of curvature based on a steering angle via manipulation of a steering wheel of the vehicle using a data map including a predetermined relationship between the steering angle and the target radius of curvature.

12. The method of claim 9 , wherein the setting of the target radius of curvature includes:
setting, by the controller, the target radius of curvature according to an equation

ρ
*

=

V

x
⁢

⁢
0

γ
0

wherein ρ* is the target radius of curvature, V x0 is forward speed of the vehicle, an γ 0 is a yaw rate of the vehicle.

13. The method of claim 9 , wherein the adjusting of the radius of curvature includes:
determining, by the controller, a target value of a yaw direction rotation moment of the vehicle to cause the difference between the target radius of curvature and the estimated radius of curvature to be 0 via proportional integral control.

14. The method of claim 13 , wherein the adjusting of the radius of curvature includes:
distributing, by the controller, torque of left and right driving motors of the vehicle in a range of a torque command value of the vehicle to generate a yaw direction rotation moment of the vehicle that corresponds to the target value.

15. The method of claim 13 , wherein the adjusting of the radius of curvature includes:
adjusting, by the controller, a rotation direction and rotation size of a steering motor of the vehicle to generate a yaw direction rotation moment of the vehicle that corresponds to the target value.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Jang Young Jin
• Kang Hyung Souk
• Noh Soung Han

Classifications

• B60W2710/083

  Torque · CPC title

• B60W2510/207

  Oversteer or understeer · CPC title

• B60W40/114

  Yaw movement · CPC title

• B60W2520/14

  Yaw · CPC title

• B60W30/045 Primary

  Improving turning performance · CPC title