Vehicle control apparatus and vehicle control method
View Patent ↗Disclosed herein are a vehicle control apparatus and a vehicle control method. The vehicle control apparatus includes a yaw-rate sensor to detect a yaw-rate of a vehicle, a steering-angle sensor to detect a steering angle of the vehicle, and a Micro Controller Unit (MCU) to calculate a yaw-rate based on the steering-angle, to calculate a target braking pressure of a wheel based on a difference between the actual yaw-rate detected via the yaw-rate sensor and the calculated yaw-rate, and to adjust a braking pressure of the wheel based on the calculated target braking pressure.
1. A vehicle control apparatus comprising:
a yaw-rate sensor detecting a yaw-rate of a vehicle;
a steering-angle sensor detecting a steering angle of the vehicle; and
a controller calculating a yaw-rate based on the steering-angle, calculating a target braking pressure of a wheel based on a difference between the actual yaw-rate detected via the yaw-rate sensor and the calculated yaw-rate, and adjusting a braking pressure of the wheel based on the calculated target braking pressure,
wherein the controller generates a target moment based on the difference between the actual yaw-rate and the calculated yaw-rate, and
wherein the target braking pressure of the wheel is calculated based on the target moment.
2. The apparatus according to claim 1 , wherein the controller performs wheel braking pressure control when the vehicle is in an automated traveling control mode.
3. The apparatus according to claim 1 , wherein the controller calculates the yaw-rate based on the following Equation 1:
Yaw_Rate
_
Original
=
V
l
f
+
l
r
+
m
V
2
(
l
r
C
ar
-
l
f
C
af
)
2
C
af
C
ar
L
δ
here, “I f ” is distance from a front-wheel axle to the center of gravity,
“I r ” is distance from a rear-wheel axle to the center of gravity,
“C af ” is front-wheel cornering stiffness,
“C ar ” is rear-wheel cornering stiffness,
“L” is I f +I r ,
“m” is vehicle mass
“δ” is steering angle, and
“V” is longitudinal wheel-speed.
4. A vehicle control method comprising:
detecting, with a yaw-rate sensor, a yaw-rate of a vehicle;
detecting, with a steering-angle sensor, a steering angle of the vehicle;
calculating, with a controller, a yaw-rate based on the steering-angle;
calculating, with the controller, a target braking pressure of a wheel based on a difference between the actual yaw-rate detected via a yaw-rate sensor and the calculated yaw-rate;
adjusting, with the controller, a braking pressure of the wheel based on the calculated target braking pressure; and
generating a target moment based on the difference between the actual yaw-rate and the calculated yaw-rate,
wherein the target braking pressure of the wheel is calculated based on the target moment.
5. The method according to claim 4 , wherein the controller a performs wheel braking pressure control when the vehicle is in an automated traveling control mode.
6. The method according to claim 4 , wherein the controller calculates the yaw-rate based on the following Equation 1:
Yaw_Rate
_
Original
=
V
l
f
+
l
r
+
m
V
2
(
l
r
C
ar
-
l
f
C
af
)
2
C
af
C
ar
L
δ
here, “I f ” is distance from a front-wheel axle to the center of gravity,
“I r ” is distance from a rear-wheel axle to the center of gravity,
“C af ” is front-wheel cornering stiffness,
“C ar ” is rear-wheel cornering stiffness,
“L” is I f +I r ,
“m” is vehicle mass
“δ” is steering angle, and
“V” is longitudinal wheel-speed.