Vehicle running control apparatus and method
View Patent ↗The present disclosure relates to a vehicle running control apparatus and a vehicle running control method. The invention calculates a compensation torque for preventing the pulling of the vehicle by reflecting the speed difference between the driving wheel and the driven wheel of the vehicle, thereby enabling the vehicle to run more stably as compared to the prior art.
1. A vehicle running control apparatus comprising:
A drive controller configured to control a drive torque output from an engine of a vehicle;
A pulling compensation controller configured to calculate a pulling compensation torque based on at least one of a slip compensation torque map, a rotation speed deviation and torque bias to compensate pulling of the vehicle which occurs when the drive torque output is transferred to left and right drive shafts; and
An EPS controller configured to generate a steering auxiliary power based on the pulling compensation torque such that the steering auxiliary power is transferred to a wheel of the vehicle;
Wherein the pulling compensation controller includes:
A torque bias calculator configured to calculate the torque bias based on a deviation between drive torques which is generated when the drive torque output from the engine of the vehicle is transferred to the left and right drive shafts;
A speed deviation calculator configured to receive rotation speed information of the front wheels and the rear wheels of the vehicle from a wheel speed sensor and calculate the rotation speed deviation from each piece of the received rotation speed information; and
A pulling compensation torque calculator configured to calculate the pulling compensation torque based on the calculated torque bias and rotation speed deviation such that the steering auxiliary power is generated.
2. The vehicle running control apparatus of claim 1 , wherein the pulling compensation torque calculator calculates the pulling compensation torque to counteract the torque bias calculated by the torque bias calculation unit.
3. The vehicle running control apparatus of claim 1 , wherein the slip compensation torque map is set in such a manner that a slip compensation gain corresponding to the rotation speed deviation value is set and that the slip compensation gain decreases as the rotation speed deviation value increases and when the rotation speed deviation value is equal to or larger than a pre-set rotation speed deviation value, the slip compensation gain is maintained constantly.
4. The vehicle running control apparatus of claim 1 , wherein, when the torque bias is equal to or higher than a pre-set reference value or when the engine speed received from the sensor is equal to or higher than a pre-set reference value, the pulling compensation controller determines that pulling occurs in the vehicle and calculates the pulling compensation torque.
5. A vehicle running control method comprising:
Receiving a drive torque information output from an engine of a vehicle;
Calculating a pulling compensation torque for the vehicle based on the drive torque information by using at least one of a slip compensation torque map, a rotation speed deviation and torque bias; and
Driving a steering motor based on the calculated pulling compensation torque such that a steering auxiliary power is transferred to a wheel of the vehicle;
Wherein the calculating of the pulling compensation torque includes:
Receiving rotation speed information for front wheels and rear wheels of the vehicle to calculate the rotation speed deviation between the rotation speed of the front wheels and the rotation speed of the rear wheels,
Wherein the calculating the pulling compensation torque comprises:
calculating the torque bias based on deviation between drive torques which is generated when the drive torque output from the engine of the vehicle is transferred to the left and right drive shafts;
calculating the pulling compensation torque based on the calculated torque bias and the rotation speed deviation such that the steering auxiliary power is generated.
6. The vehicle running control method of claim 5 , wherein the calculating the pulling compensation torque based on the calculated torque bias and the rotation speed deviation calculates the pulling compensation torque to counteract the torque bias.
7. The vehicle running control method of claim 5 , wherein the slip compensation torque map is set in such a manner that a slip compensation gain corresponding to the rotation speed deviation value is set and that the slip compensation gain decreases as the rotation speed deviation value increases and when the rotation speed deviation value is equal to or larger than a pre-set rotation speed deviation value, the slip compensation gain is maintained constantly.
8. The vehicle running control method of claim 5 , wherein the calculating the pulling compensation torque comprises, when the torque bias is equal to or higher than a pre-set reference value or when the engine speed received from the sensor is equal to or higher than a pre-set reference value, determining that pulling occurs in the vehicle and calculates the pulling compensation torque.