Method of controlling driving of vehicle
View Patent ↗A method of controlling driving of a vehicle which performs torque command tracking control includes distributing a required torque command to a left wheel torque command and a right wheel torque command, correcting each of the distributed torque commands using the differential control amount according to a vehicle driving mode and steering input information, and then controlling torque applied to the wheel based on the torque command after correction.
1. A method of controlling driving of a vehicle, the method comprising:
determining, by a controller, a required torque command when the vehicle is turning;
determining, by the controller, a differential control amount for generating a difference in torque applied between a left wheel and a right wheel of the vehicle based on steering input information of a driver when the vehicle is turning;
distributing, by the controller, the required torque command to a left wheel torque command and a right wheel torque command;
correcting, by the controller, the distributed left wheel torque command and the distributed right wheel torque command using the determined differential control amount; and
controlling, by the controller, the torque applied to the left wheel and the torque applied to the right wheel when the vehicle is turning based on a corrected final left wheel torque command and a corrected right wheel torque command,
wherein the determining of the differential control amount includes determining the differential control amount to be a function of steering angle information and a derivative of the steering angle information as the steering input information of the driver, and
wherein the differential control amount is determined to be a value obtained by multiplying terms of the steering angle information and the derivative of the steering angle information by preset coefficients, respectively, and adding the terms.
2. The method of claim 1 , wherein each of the preset coefficients is set to a value according to a vehicle driving mode.
3. The method of claim 1 ,
wherein the correcting of the distributed left wheel torque command and the distributed right wheel torque command includes correcting each of the distributed left wheel torque command and the distributed right wheel torque command by a value of ½ of the differential control amount, and
wherein the controlling of the torque applied to the left wheel and the torque applied to the right wheel includes setting the difference in the torque applied between the left wheel and the right wheel to be the differential control amount.
4. The method of claim 3 , wherein, in the left wheel and the right wheel, a turning internal wheel torque command is corrected by subtracting ½ of the differential control amount, and a turning external wheel torque command is corrected by adding ½ of the differential control amount.
5. The method of claim 4 , wherein the distributing includes distributing the required torque command to the left wheel torque command and the right wheel torque command by a distribution ratio of 1:1.
6. The method of claim 1 , wherein the determining of the differential control amount includes determining, by the controller, the differential control amount based on the steering input information and vehicle driving information further using a vehicle driving mode in addition to the steering input information when the vehicle is turning.
7. The method of claim 6 , wherein the vehicle driving mode is a driving mode selected by the driver, and includes a comfort mode, a normal mode, and a sports mode.
8. The method of claim 7 , wherein, when the differential control amount in a yaw moment reinforcement direction is defined as a positive control amount, and the differential control amount in a yaw damping direction is defined as a negative control amount, the determining of the differential control amount includes determining the differential control amount to be a negative (−) value when the vehicle driving mode is the comfort mode during the turning of the vehicle, and determining the differential control amount to be a positive (+) value when the vehicle driving mode is the sports mode during the turning of the vehicle.
9. The method of claim 7 ,
wherein the determining of the differential control amount includes determining the differential control amount to a value of “0” when the vehicle driving mode is the normal mode during the turning of the vehicle, and
wherein the correcting includes determining the distributed left wheel torque command and the distributed right wheel torque command to a final left wheel torque command and a final right wheel torque command, respectively, without change.
10. A method of controlling driving of a vehicle, the method comprising:
determining, by a controller, a required torque command when the vehicle is turning;
determining, by the controller, a differential control amount for generating a difference in torque applied between a left wheel and a right wheel of the vehicle based on steering input information of a driver when the vehicle is turning;
distributing, by the controller, the required torque command to a left wheel torque command and a right wheel torque command;
correcting, by the controller, the distributed left wheel torque command and the distributed right wheel torque command using the determined differential control amount; and
controlling, by the controller, the torque applied to the left wheel and the torque applied to the right wheel when the vehicle is turning based on a corrected final left wheel torque command and a corrected right wheel torque command,
wherein the determining of the differential control amount includes determining the differential control amount using a transfer function to which steering angle information is input.
11. The method of claim 10 , wherein the differential control amount is determined by the following Equation E1:
Δ
T
diff
δ
=
C
N
0
+
C
N
1
s
+
C
N
2
s
2
+
C
N
3
s
3
+
…
C
D
0
+
C
D
1
s
+
C
D
2
s
2
+
C
D
3
s
3
+
…
E
1
where ΔT diff denotes the differential control amount, δ denotes a value of the steering angle information, and each of C N0 , C N1 , C N2 , C N3 , C D0 , C D1 , C D2 , and C D3 denotes a preset coefficient.
12. The method of claim 11 , wherein each of the coefficients is set to a value according to a vehicle driving mode.
13. A method of controlling driving of a vehicle, the method comprising:
determining, by a controller, a required torque command when the vehicle is turning;
determining, by the controller, a differential control amount for generating a difference in torque applied between a left wheel and a right wheel of the vehicle based on a vehicle driving mode when the vehicle is turning;
distributing, by the controller, the required torque command to a left wheel torque command and a right wheel torque command;
correcting, by the controller, the distributed left wheel torque command and the distributed right wheel torque command using the determined differential control amount; and
controlling, by the controller, the torque applied to the left wheel and the torque applied to the right wheel when the vehicle is turning based on the corrected left wheel torque command and the corrected right wheel torque command,
wherein the vehicle driving mode is a driving mode selected by a driver, and includes a normal mode,
wherein the determining of the differential control amount includes determining the differential control amount to a value of “0” when the vehicle driving mode is the normal mode during the turning of the vehicle, and
wherein the correcting includes determining the distributed left wheel torque command and the distributed right wheel torque command to a final left wheel torque command and a final right wheel torque command, respectively, without change.
14. The method of claim 13 ,
wherein the correcting of the distributed left wheel torque command and the distributed right wheel torque command includes correcting each of the distributed left wheel torque command and the distributed right wheel torque command by a value of ½ of the differential control amount, and
wherein the controlling of the torque applied to the left wheel and the torque applied to the right wheel includes setting the difference in the torque applied between the left wheel and the right wheel to be the differential control amount.
15. The method of claim 14 , wherein, in the left wheel and the right wheel, a turning internal wheel torque command is corrected by subtracting ½ of the differential control amount, and a turning external wheel torque command is corrected by adding ½ of the differential control amount.
16. The method of claim 13 , wherein the vehicle driving mode further includes a comfort mode and a sports mode.
17. The method of claim 16 , wherein, when the differential control amount in a yaw moment reinforcement direction is defined as a positive control amount, and the differential control amount in a yaw damping direction is defined as a negative control amount, the determining of the differential control amount includes determining the differential control amount to be a negative (−) value when the vehicle driving mode is the comfort mode during the turning of the vehicle, and determining the differential control amount to be a positive (+) value when the vehicle driving mode is the sports mode during the turning of the vehicle.