Vehicle control device and method, and vehicle system

Patent metadata

Field	Value
Publication number	US-11975722-B2
Application number	US-202117512524-A
Country	US
Kind code	B2
Filing date	Oct 27, 2021
Priority date	Oct 29, 2020
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

The present embodiments relate to a vehicle control device and method, and a vehicle system. The vehicle control device may include a determinator determining a road surface condition based on vehicle driving information and determining whether to brake a vehicle based on a result of determining the road surface condition and a vehicle controller controlling a braking device according to a result of determining whether to brake the vehicle by the determinator and controlling a steering device based on control of the braking device.

First claim

What is claimed is:

1. A vehicle control device, comprising:
a processor configured to determine a road surface condition based on vehicle driving information and determine whether to brake a vehicle based on a result of determining the road surface condition; and
a vehicle controller configured to control a braking device according to a result of determining whether to brake the vehicle by the processor and control a steering device based on control of the braking device,
wherein the road surface condition includes at least one road surface condition of a split friction road surface condition or a black ice road surface condition,
wherein the processor is configured to, if determining that the determined road surface condition is at least one of the split friction road surface condition or the black ice road surface condition, determine to brake the vehicle,
wherein the vehicle controller is configured to control an operation of the braking device based on anti-lock braking system (ABS) control if the processor determines to brake the vehicle and control an operation of the steering device based on a counter steer control,
wherein the vehicle controller sets an inter-vehicle distance for a smart cruise control to a maximum distance and sets a following speed of the vehicle for the smart cruise control to a road surface limit speed to control the operation of the vehicle, and
wherein the processor is configured to, if determining that the determined road surface condition is not at least one of the split friction road surface condition or the black ice road surface condition, determine not to brake the vehicle.

2. The vehicle control device of claim 1 , wherein the vehicle driving information includes at least one of vehicle state information or navigation information,
wherein the vehicle state information includes vehicle wheel slip information, and the navigation information includes at least one of vehicle position information, vehicle slip occurable point information, or date information.

3. The vehicle control device of claim 2 , wherein the vehicle wheel slip information includes a vehicle left/right wheel peak slip difference, and
wherein the processor is configured to determine whether the road surface condition is the split friction road surface condition by comparing the vehicle left/right wheel peak slip difference with a preset reference slip value.

4. The vehicle control device of claim 3 , wherein the processor is configured to, if the vehicle left/right wheel peak slip difference exceeds the preset reference slip value and maintains a preset reference time, determine that the road surface condition is the split friction road surface condition.

5. The vehicle control device of claim 2 , wherein the vehicle wheel slip information includes a vehicle left/right wheel peak slip difference,
wherein the vehicle position information includes a vehicle position value,
wherein the vehicle slip occurable point information includes a vehicle slip occurable point position value,
wherein the date information includes a value of a date when the vehicle is driving,
wherein the processor is configured to compare the vehicle left/right wheel peak slip difference with a preset reference slip value, compare the vehicle position value with the vehicle slip occurable point position value, and compare the value of the date when the vehicle is driving with a preset season value to determine whether the road surface condition is the black ice road surface condition.

6. The vehicle control device of claim 5 , wherein the processor is configured to, if the vehicle left/right wheel peak slip difference exceeds the preset reference slip value and maintains a preset reference time, and the vehicle position value belongs to a specific position range including the vehicle slip occurable point position value, and the value of the date when the vehicle is driving belongs to a winter date value, determine that the road surface condition is the black ice road surface condition.

7. The vehicle control device of claim 1 , wherein the vehicle controller controls the operation of the braking device and the steering device to allow the vehicle to maintain a current state if the processor determines not to brake the vehicle.

8. The vehicle control device of claim 1 , wherein the split friction road surface condition and the black ice road surface condition include a high friction road surface condition and a low friction road surface condition, and
wherein the vehicle controller determines a steering torque and a steering angle based on a vehicle wheel slip ratio and, based thereupon, controls the operation of the steering device to allow the vehicle to counter-steer toward the low friction road surface condition.

9. A vehicle control method, comprising:
determining a road surface condition based on vehicle driving information;
determining whether to brake a vehicle according to a result of determining the road surface condition;
controlling a braking device according to a result of determining whether to brake the vehicle;
controlling a steering device based on control of the braking device; and
setting an inter-vehicle distance for a smart cruise control to a maximum distance and setting a following speed of the vehicle for the smart cruise control to a road surface limit speed to control the operation of the vehicle,
wherein the road surface condition includes at least one road surface condition of a split friction road surface condition or a black ice road surface condition,
wherein the determining of whether to brake the vehicle according to the result of determining the road surface condition comprises, if it is determined that the determined road surface condition is at least one of the split friction road surface condition or the black ice road surface condition, determining to brake the vehicle,
wherein the controlling of the braking device includes controlling an operation of the braking device based on ABS control if it is determined to brake the vehicle, and wherein the controlling of the steering device includes controlling an operation of the steering device based on a counter steer control, and
wherein the determining of whether to brake the vehicle according to the result of determining the road surface condition comprises, if it is determined that the determined road surface condition is not at least one of the split friction road surface condition or the black ice road surface condition, determining not to brake the vehicle.

10. The vehicle control method of claim 9 , wherein the split friction road surface condition and the black ice road surface condition include a high friction road surface condition and a low friction road surface condition; and
wherein controlling the steering device determines a steering torque and a steering angle based on a vehicle wheel slip ratio and, based thereupon, controls the operation of the steering device to allow the vehicle to counter-steer toward the low friction road surface condition.

11. A vehicle system, comprising:
a sensor device providing vehicle driving information including vehicle state information;
a navigation device providing the vehicle driving information including navigation information;
a vehicle device including a braking device and a steering device; and
a processor configured to determine a road surface condition based on the vehicle driving information, determine whether to brake a vehicle according to a result of determining the road surface condition, control the braking device according to a result of determining whether to brake the vehicle, and control the steering device based on control of the braking device,
wh

Assignees

• Hl Mando Corp

Inventors

• Jang Jae Hoon

Classifications

• B60W40/068 Primary

  Road friction coefficient · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W30/02 Primary

  Control of vehicle driving stability · CPC title

• B60W2510/202

  Steering torque · CPC title