Vehicle behavior control method, a computing system, and a vehicle supporting the same

Patent metadata

Field	Value
Publication number	US-12269461-B2
Application number	US-202318240191-A
Country	US
Kind code	B2
Filing date	Aug 30, 2023
Priority date	Apr 18, 2023
Publication date	Apr 8, 2025
Grant date	Apr 8, 2025

Abstract

A vehicle behavior control method includes: selecting a center of gravity point at which behavior control for a vehicle is to be performed; setting a target roll behavior value and a target pitch behavior value at the selected center of gravity point such that behavior of the selected center of gravity point is less than a predefined reference value; calculating a target roll moment corresponding to the target roll behavior value and a target pitch moment corresponding to the target pitch behavior value; generating a control signal to be transmitted to at least one actuator for following the target roll moment and the target pitch moment; and transmitting the control signal to the at least one actuator to perform control such that the behavior at the selected center of gravity point is less than the predefined reference value.

First claim

What is claimed is:

1. A vehicle for receiving vehicle behavior control, the vehicle comprising:
a sensor device configured to collect sensing information associated with driving of the vehicle;
a processor configured to perform control associated with an operation of the vehicle;
a storage device configured to store at least one instruction for operating the processor;
wherein the processor is configured to
select a center of gravity point at which the behavior control for the vehicle is to be performed,
set a target roll behavior value and a target pitch behavior value at the selected center of gravity point such that behavior of the selected center of gravity point is less than a predefined reference value,

calculate a target roll moment corresponding to the target roll behavior value and a target pitch moment corresponding to the target pitch behavior value,
generate a control signal to be transmitted to at least one actuator for following the target roll moment and the target pitch moment, and
transmit the control signal to the at least one actuator to perform control such that the behavior at the selected center of gravity point is less than the predefined reference value.

2. The vehicle of claim 1 , wherein the processor is configured to:
collect the sensing information including four-wheel speed information, lateral acceleration information, pitch rate information, roll rate information, and steering wheel angle information of the vehicle from the sensor device; and
design the target roll behavior value and the target pitch behavior value based on the collected sensing information and the selected center of gravity point.

3. The vehicle of claim 1 , wherein the processor is configured to receive seating detection sensing information from the sensor device and to select a different center of gravity point at which the behavior control is to be performed according to the number of occupants and positions of the occupants based on the seating detection sensing information.

4. The vehicle of claim 1 , wherein the processor is configured to receive seating detection sensing information from the sensor device and to select a point at which an occupant has been seated as the selected center of gravity point at which the behavior control is to be performed, based on the seating detection sensing information.

5. The vehicle of claim 1 , wherein the processor is configured to:
calculate a roll electronic control suspension (ECS) distribution moment and a pitch ECS distribution moment following the target roll moment and the target pitch moment based on an ECS distribution algorithm stored in the storage device in advance;
calculate a control signal for four-wheel damping force control based on the roll ECS distribution moment and the pitch ECS distribution moment; and
transmit the control signal to a suspension device that controls a damping force for each wheel of the vehicle among the actuators.

6. The vehicle of claim 1 , wherein the processor is configured to:
calculate a roll ECS distribution moment and a pitch ECS distribution moment generated according to application of an ECS distribution algorithm;
calculate a roll delta moment and a pitch delta moment by subtracting the roll ECS distribution moment and the pitch ECS distribution moment from the target roll moment and the target pitch moment, respectively; and
generate a control signal to be transmitted to at least one of a driving device and a braking device among the actuators by applying the calculated roll delta moment and pitch delta moment to a driving device distribution algorithm.

7. The vehicle of claim 1 , wherein the processor is configured to re-select a center of gravity point at which behavior control for the vehicle is to be performed when at least one of a position of an occupant of the vehicle and the number of occupants of the vehicle is changed.

8. The vehicle of claim 1 , wherein the processor is configured to separate a vertical force and a longitudinal force in consideration of a calculation time for following the target roll moment and the target pitch moment and then perform a calculation for optimization.

9. A vehicle behavior control method comprising:
selecting, by a processor for controlling driving of a vehicle, a center of gravity point at which behavior control for the vehicle is to be performed;
setting a target roll behavior value and a target pitch behavior value at the selected center of gravity point such that behavior of the selected center of gravity point is less than a predefined reference value;
calculating a target roll moment corresponding to the target roll behavior value and a target pitch moment corresponding to the target pitch behavior value;
generating a control signal to be transmitted to at least one actuator for following the target roll moment and the target pitch moment; and
transmitting the control signal to the at least one actuator to perform control such that the behavior at the selected center of gravity point is less than the predefined reference value.

10. The vehicle behavior control method of claim 9 , further comprising:
collecting sensing information including four-wheel speed information, lateral acceleration information, pitch rate information, roll rate information, and steering wheel angle information of the vehicle from a sensor device disposed in the vehicle,
wherein setting the target roll behavior value and the target pitch behavior value includes designing the target roll behavior value and the target pitch behavior value based on the collected sensing information and the selected center of gravity point.

11. The vehicle behavior control method of claim 9 , wherein selecting the center of gravity point includes:
receiving seating detection sensing information from a sensor device disposed in the vehicle; and
differently selecting a center of gravity point at which the behavior control is to be performed according to the number of occupants and positions of the occupants based on the seating detection sensing information.

12. The vehicle behavior control method of claim 9 , wherein selecting the center of gravity point includes:
receiving seating detection sensing information from a sensor device disposed in the vehicle; and
selecting a point at which an occupant has been seated as the selected center of gravity point at which the behavior control is to be performed, based on the seating detection sensing information.

13. The vehicle behavior control method of claim 9 , wherein generating the control signal further includes:
calculating a roll electronic control suspension (ECS) distribution moment and a pitch ECS distribution moment following the target roll moment and the target pitch moment based on an ECS distribution algorithm stored in a storage device in advance; and
calculating a control signal for four-wheel damping force control based on the roll ECS distribution moment and the pitch ECS distribution moment,
wherein performing the control includes transmitting the control signal to a suspension device that controls a damping force for each wheel of the vehicle among the actuators.

14. The vehicle behavior control method of claim 9 , wherein generating the control signal includes:
calculating a roll ECS distribution moment and a pitch ECS distribution moment generated according to application of the ECS distribution algorithm;
calculating a roll delta moment and a pitch delta moment by subtracting a roll ECS distribution moment and a pitch ECS distribution moment from the target roll moment and the target pitch moment, respectively; and
generating a contr

Assignees

• Hyundai Motor Co Ltd
• Kia Corp
• Korea Univ Of Technology And Education Industry—Univ Cooperation Foundation
• Univ Korea Ind Univ Coop Found

Inventors

• Suh Jee Yoon
• Yoo Seung Han
• Cho Wan Ki
• Jeon Chang Jun

Classifications

• B60W2520/16

  Pitch · CPC title

• B60W2520/18

  Roll · CPC title

• B60W2520/28

  Wheel speed · CPC title

• B60W2040/0881

  Seat occupation; Driver or passenger presence · CPC title

• B60W2540/18

  Steering angle · CPC title