Vehicle control apparatus and control method thereof

1. A vehicle control apparatus comprising:

an input unit configured to receive a current yaw rate value, a current steering angle value, and a current lateral acceleration value detected by a detection device;

an estimator configured to obtain an estimated lateral acceleration value of lateral acceleration estimation model information on the basis of the received current yaw rate value and current steering angle value;

a determiner configured to determine that the current lateral acceleration value is abnormal when the received current lateral acceleration value is not equal to the estimated lateral acceleration value of the lateral acceleration estimation model information; and

a controller configured to receive the current yaw rate value, the current steering angle value, and the current lateral acceleration value, deliver an estimation command to the estimator, and deliver a determination command to the determiner.

2. The vehicle control apparatus of claim 1 , wherein the lateral acceleration estimation model information includes first lateral acceleration estimation model information for calculating a first estimated lateral acceleration value by using the current yaw rate value and a current vehicle speed value.

3. The vehicle control apparatus of claim 1 , wherein the lateral acceleration estimation model information includes second lateral acceleration estimation model information for calculating a second estimated lateral acceleration value by using the current steering angle value, a current vehicle speed value, a distance value between a front wheel and a rear wheel, and a vehicular characteristic speed value.

4. The vehicle control apparatus of claim 1 ,

wherein the input unit further receives first difference values between current lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period and first estimated lateral acceleration values, and

wherein the determiner further determines whether the current lateral acceleration values are in a first state in which the received first difference values are greater than a predetermined first reference value and outputs a first determination signal when the current lateral acceleration values are in the first state.

5. The vehicle control apparatus of claim 1 ,

wherein the input unit further receives second difference values between current lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period and second estimated lateral acceleration values, and

wherein the determiner further determines whether the current lateral acceleration values are in a second state in which the received second difference values are greater than a predetermined second reference value and outputs a second determination signal when the current lateral acceleration values are in the second state.

6. The vehicle control apparatus of claim 5 ,

wherein the input unit further receives current steering angle values corresponding to current vehicle speeds further detected by the detection device over a certain time period, and

wherein the determiner changes determination times of the second determination signal corresponding to levels of the second difference values according to the current steering angle values corresponding to the current vehicle speeds while outputting the second determination signal.

7. The vehicle control apparatus of claim 6 , wherein the determiner outputs the second determination signal at a first determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined low vehicle speed value range, outputs the second determination signal at a second determination time set longer than the first determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined medium vehicle speed value range, and outputs the second determination signal at a third determination time set longer than the second determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined high vehicle speed value range.

8. The vehicle control apparatus of claim 1 ,

wherein the input unit further receives third difference values between first estimated lateral acceleration values and second estimated lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period, and

wherein the determiner further determines whether the current lateral acceleration values are in a third state in which the received third difference values are smaller than a predetermined third reference value and outputs a third determination signal when the current lateral acceleration values are in the third state.

9. The vehicle control apparatus of claim 1 , wherein the controller ignores delivery of an operating command to an electronic stability control (ESC) apparatus when the current lateral acceleration value is abnormal.

10. The vehicle control apparatus of claim 1 , further comprising a compensator configured to compensate for the current lateral acceleration value so that the ESC apparatus is operated according to a predetermined target lateral acceleration value range when the current lateral acceleration value is abnormal.

11. A vehicle control method comprising:

receiving a current yaw rate value, a current steering angle value, and a current lateral acceleration value detected by a detection device;

obtaining an estimated lateral acceleration value of lateral acceleration estimation model information on the basis of the received current yaw rate value and current steering angle value; and

determining that the current lateral acceleration value is abnormal when the received current lateral acceleration value is not equal to the estimated lateral acceleration value of the lateral acceleration estimation model information.

12. The vehicle control method of claim 11 , further comprising:

receiving first difference values between current lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period and first estimated lateral acceleration values; and

determining whether the current lateral acceleration values are in a first state in which the received first difference values are greater than a predetermined first reference value and outputting a first determination signal when the current lateral acceleration values are in the first state.

13. The vehicle control method of claim 11 , further comprising:

receiving second difference values between current lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period and second estimated lateral acceleration values; and

determining whether the current lateral acceleration values are in a second state in which the received second difference values are greater than a predetermined second reference value and outputting a second determination signal when the current lateral acceleration values are in the second state.

14. The vehicle control method of claim 13 , further comprising:

receiving current steering angle values corresponding to current vehicle speeds further detected by the detection device over a certain time period; and

changing determination times of the second determination signal corresponding to levels of the second difference values according to the current steering angle values corresponding to the current vehicle speeds while outputting the second determination signal.

15. The vehicle control method of claim 14 , further comprising:

outputting the second determination signal at a first determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined low vehicle speed value range;

outputting the second determination signal at a second determination time set longer than the first determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined medium vehicle speed value range; and

outputting the second determination signal at a third determination time set longer than the second determination time among the determination times of the second determination signal corresponding to the levels of the second difference values when the received current steering angle values corresponding to the current vehicle speeds are within a steering angle value range corresponding to a predetermined high vehicle speed value range.

16. The vehicle control method of claim 11 , further comprising:

receiving third difference values between first estimated lateral acceleration values and second estimated lateral acceleration values corresponding to current vehicle speeds further detected by the detection device over a certain time period; and

determining whether the current lateral acceleration values are in a third state in which the received third difference values are smaller than a predetermined third reference value and outputting a third determination signal when the current lateral acceleration values are in the third state.

17. The vehicle control method of claim 11 , further comprising ignoring delivery of an operating command to an electronic stability control (ESC) apparatus when the current lateral acceleration value is abnormal.

18. The vehicle control method of claim 11 , further comprising compensating for the current lateral acceleration value so that the ESC apparatus is operated according to a predetermined target lateral acceleration value range when the current lateral acceleration value is abnormal.