Vehicle control apparatus and vehicle control method

1. A vehicle control apparatus comprising:

a sensor configured to sense a vehicle speed value, operation information of an actuator for generating a torque in a stabilizer bar of an active roller stabilizer (ARS), and operation information of the stabilizer bar; and

a controller configured to calculate a target torque value that is to be generated in the stabilizer bar on the basis of the sensed vehicle speed value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar, and to determine whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS control mode, and in response to the sensed vehicle speed value determined to be the target vehicle speed value, and determine a deadband period in which a torque of the actuator is not transmitted, using a change value of a torque value and a change state of the torque value while the torque value is tracing the calculated target torque value.

2. The vehicle control apparatus of claim 1 , wherein the controller is configured to confirm the deadband period when the torque value has a change value greater than a change value of the target torque value during a predetermined period of time while keeping a change state constant.

3. The vehicle control apparatus of claim 1 , wherein the controller is further configured to control the actuator to generate a torque in the stabilizer bar according to the calculated target torque value such that the torque value traces the calculated target torque value.

4. The vehicle control apparatus of claim 1 , wherein the controller is further configured to:

calculate a target torque value that is to be generated in the stabilizer bar and a target motor speed value on the basis of the sensed vehicle speed value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar; and

determine whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS control mode, and in response to the sensed vehicle speed value determined to be the target vehicle speed value, determine a deadband period in which a torque of the actuator is not transmitted using a change value of a torque value and a change value of a motor speed value while the torque value and the motor speed value are tracing the calculated target torque value and the calculated target motor speed value.

5. The vehicle control apparatus of claim 4 , wherein the controller is configured to confirm the deadband period when the torque value has a change value greater than a change value of the target torque value while the motor speed value has a change value greater than a change value of the target motor speed value during a predetermined period of time.

6. The vehicle control apparatus of claim 4 , wherein the controller is configured to confirm the deadband period when a difference between the change value of the torque value and the change value of the target torque value is greater than a reference value during a predetermined period of time while the motor speed value has a change value greater than a change value of the target motor speed value.

7. The vehicle control apparatus of claim 4 , wherein the controller is further configured to control the actuator to generate a torque in the stabilizer bar according to the calculated target torque value and the calculated target motor speed value such that the torque value and the motor speed value trace the target torque value and the target motor speed value.

8. The vehicle control apparatus of claim 1 , wherein the controller is further configured to:

determine whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value, control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

9. The vehicle control apparatus of claim 8 , wherein the controller, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value, is further configured to control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and set to be larger than the original ARS gain value in the determination of the deadband period.

10. The vehicle control apparatus of claim 1 , wherein the controller is further configured to:

determine whether the sensed vehicle speed value and the change value of the calculated target torque value are a target vehicle speed value and a target change value set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value and in response to the change value of the target torque value being a small change range value corresponding to the target change value, control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and the small change range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

11. The vehicle control apparatus of claim 10 , wherein the controller, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value and in response to the change value of the target torque value being a large change range value corresponding to the target change value, is further configured to control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and the large change range value and set to be larger than the original ARS gain value in the determination of the deadband period.

12. The vehicle control apparatus of claim 1 , wherein the sensor is further configured to sense a steering speed value,

wherein the controller is further configured to:

determine whether the sensed vehicle speed value and the sensed steering speed value are a target vehicle speed value and a target steering speed value that are set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value and in response to the steering speed value being a lower steering speed range value corresponding to the target steering speed value, control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and the lower steering speed range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

13. The vehicle control apparatus of claim 12 , wherein the controller, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value and in response to the steering speed value being a higher steering speed range value corresponding to the target steering speed value, is further configured to control a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and the higher steering speed range value and set to be larger than an original ARS gain value in the determination of the deadband period.

14. A vehicle control apparatus comprising:

a sensor configured to sense a steering angle value and sense operation information of an actuator for generating a torque in a stabilizer bar of an active roll stabilizer (ARS) and operation information of the stabilizer bar; and

a controller configured to calculate a target torque value that is to be generated in the stabilizer on the basis of the sensed steering angle value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar, and determine whether the sensed steering angle value has no change when performing a feedback control in which a torque value traces the calculated target torque value; and

a filter, in response to no change of the steering angle value, further configured to remove a noise signal of a feedback signal according to a first filtering level that is set to perform a strong filtering on the feedback signal during the feedback control.

15. The vehicle control apparatus of claim 14 , wherein the filter, in response to a change of the steering angle value, is further configured to remove a noise signal of the feedback signal according to a second filtering level that is set to perform a weak filtering on the feedback signal.

16. The vehicle control apparatus of claim 14 , wherein the controller is further configured to perform a feedforward control by outputting a feedforward signal such that an actuator driver command corresponding to the target torque value is applied in advance to operate the actuator;

the filter, in response to a change of the steering angle value, is further configured to remove a noise signal of the feedback signal according to a second filtering level that is set to perform a weak filtering on the feedback signal; and

the controller is further configured to calculate an actuator target position value by adding a target position value of the feedback signal, in which the noise signal is removed according to one of the first filtering level and the second filtering level, together with a target position value of the feedforward signal.

17. The vehicle control apparatus of claim 16 , wherein the controller is further configured to determine a need for a rapid response in the determination of a deadband period in which a torque of the actuator is not transmitted, and

comprises a filter, in response to no need for the rapid response, further configured to remove a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a third filtering level that is set to perform a strong filtering on the actuator target position signal.

18. The vehicle control apparatus of claim 17 , wherein the controller comprises a filter, in response to a need for the rapid response, further configured to remove a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a fourth filtering level that is set to perform a weak filtering on the actuator target position signal.

19. The vehicle control apparatus of claim 16 , wherein the controller is further configured to determine a state of being a deadband period in which a torque of the actuator is not transmitted, and

comprises a filter, in response to the deadband period not confirmed by the controller, further configured to remove a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a fifth filtering level that is set to perform a strong filtering on the actuator target position signal.

20. The vehicle control apparatus of claim 19 , wherein the controller comprises a filter, in response to the deadband period confirmed by the controller, configured to remove a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a sixth filtering level that is set to perform a weak filtering on the actuator target position signal.

21. A vehicle control method comprising:

sensing a vehicle speed value, operation information of an actuator for generating a torque in a stabilizer bar of an active roller stabilizer (ARS), and operation information of the stabilizer bar;

calculating a target torque value that is to be generated in the stabilizer bar on the basis of the sensed vehicle speed value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar;

determining whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS control mode; and

in response to the sensed vehicle speed value determined to be the target vehicle speed value, determining a deadband period in which a torque of the actuator is not transmitted, using a change value of a torque value and a change state of the torque value while the torque value is tracing the calculated target torque value.

22. The vehicle control method of claim 21 , wherein the deadband period is confirmed when the torque value has a change value greater than a change value of the target torque value during a predetermined period of time while keeping a change state constant.

23. The vehicle control method of claim 21 , further comprising controlling the actuator to generate a torque in the stabilizer bar according to the calculated target torque value such that the torque value traces the calculated target torque value.

24. The vehicle control method of claim 21 , further comprising:

calculating a target torque value that is to be generated in the stabilizer bar and a target motor speed value on the basis of the sensed vehicle speed value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar;

determine whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS control mode; and

in response to the sensed vehicle speed value determined to be the target vehicle speed value, determining a deadband period in which a torque of the actuator is not transmitted using a change value of a torque value and a change value of a motor speed value while the torque value and the motor speed value are tracing the calculated target torque value and the calculated target motor speed value.

25. The vehicle control method of claim 24 , wherein the deadband period is confirmed when the torque value has a change value greater than a change value of the target torque value while the motor speed value has a change value greater than a change value of the target motor speed value during a predetermined period of time.

26. The vehicle control method of claim 24 , wherein the deadband period is confirmed when a difference between the change value of the torque value and the change value of the target torque value is greater than a reference value during a predetermined period of time while the motor speed value has a change value greater than a change value of the target motor speed value.

27. The vehicle control method of claim 24 , further comprising controlling the actuator to generate a torque in the stabilizer bar according to the calculated target torque value and the calculated target motor speed value such that the torque value and the motor speed value trace the target torque value and the target motor speed value.

28. The vehicle control method of claim 21 , further comprising determining whether the sensed vehicle speed value is a target vehicle speed value that is set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

29. The vehicle control method of claim 28 , further comprising, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and set to be larger than the original ARS gain value in the determination of the deadband period.

30. The vehicle control method of claim 21 , further comprising determining whether the sensed vehicle speed value and the change value of the calculated target torque value are a target vehicle speed value and a target change value that are set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value and the change value of the target torque value being a small change range value corresponding to the target change value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and the small change range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

31. The vehicle control method of claim 30 , further comprising, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value and in response to the change value of the target torque value being a large change range value corresponding to the target change value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and the large change range value and set to be larger than the original ARS gain value in the determination of the deadband period.

32. The vehicle control method of claim 21 , further comprising:

sensing a steering speed value;

determining whether the sensed vehicle speed value and the sensed steering speed value are a target vehicle speed value and a target steering speed value that are set to perform an ARS gain control mode in the ARS control mode to employ an ARS compensation gain value; and

in response to the vehicle speed value being a lower speed range value corresponding to the target vehicle speed value and in response to the steering speed value being a lower steering speed range value corresponding to the target steering speed value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the lower speed range value and the lower steering speed range value and set to be smaller than an original ARS gain value in the determination of the deadband period.

33. The vehicle control method of claim 32 , further comprising, in response to the vehicle speed value being a higher speed range value corresponding to the target vehicle speed value and in response to the steering speed value being a higher steering speed range value corresponding to the target steering speed value, controlling a response command for determining the deadband period by using an ARS compensation gain value corresponding to the higher speed range value and the higher steering speed range value and set to be larger than an original ARS gain value in the determination of the deadband period.

34. A vehicle control method comprising:

sensing a steering angle value and sensing operation information of an actuator for generating a torque in a stabilizer bar of an active roll stabilizer (ARS) and operation information of the stabilizer bar;

calculating a target torque value that is to be generated in the stabilizer on the basis of the sensed steering angle value, the sensed operation information of the actuator, and the sensed operation information of the stabilizer bar;

determining whether the sensed steering angle value has no change when performing a feedback control in which a torque value traces the calculated target torque value; and

in response to no change of the steering angle value, removing a noise signal of a feedback signal according to a first filtering level that is set to perform a strong filtering on the feedback signal during the feedback control.

35. The vehicle control method of claim 34 , further comprising, in response to a change of the steering angle value, removing a noise signal of the feedback signal according to a second filtering level that is set to perform a weak filtering on the feedback signal.

36. The vehicle control method of claim 34 , further comprising:

performing a feedforward control by outputting a feedforward signal such that an actuator driver command corresponding to the target torque value is applied in advance to operate the actuator;

in response to a change of the steering angle value, removing a noise signal of the feedback signal according to a second filtering level that is set to perform a weak filtering on the feedback signal; and

calculating an actuator target position value by adding a target position value of the feedback signal, in which the noise signal is removed according to one of the first filtering level and the second filtering level, together with a target position value of the feedforward signal.

37. The vehicle control method of claim 36 , further comprising:

determining a need for a rapid response in the determination of a deadband period in which a torque of the actuator is not transmitted, and

in response to no need for the rapid response, removing a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a third filtering level that is set to perform a strong filtering on the actuator target position signal.

38. The vehicle control method of claim 37 , further comprising, in response to a need for the rapid response, removing a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a fourth filtering level that is set to perform a weak filtering on the actuator target position signal.

39. The vehicle control method of claim 36 , further comprising:

determining a state of being a deadband period in which a torque of the actuator is not transmitted, and

in response to the deadband period not confirmed, removing a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a fifth filtering level that is set to perform a strong filtering on the actuator target position signal.

40. The vehicle control method of claim 39 , further comprising, in response to the deadband period confirmed, removing a noise signal of an actuator target position signal, which is generated from the calculated actuator target position value, according to a sixth filtering level that is set to perform a weak filtering on the actuator target position signal.