Device for controlling the turning of a vehicle, method for controlling the turning of a vehicle and system having such a device

Abstract

This invention relates to an apparatus for controlling vehicle turning, a method for controlling vehicle turning, and a system having the apparatus. The vehicle turning control apparatus includes: a processor that performs control operations to determine whether the current situation is a normal turning situation based on vehicle steering angle information and wheel speed information, and, when the operation of the electronic limited-slip differential fails in a normal turning situation, operates the electronic limited-slip differential by causing the inner wheel to slip based on the turning direction; and a storage device that stores data obtained by the processor and algorithms executed by the processor.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2020-0058455, filed with the Korean Intellectual Property Office on May 15, 2020, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present invention relates to a device for controlling vehicle turning, a method for controlling vehicle turning, and a system having the device, and more specifically, to an integrated control technology for improving vehicle agility when turning. Background Technology

[0004] Typically, a differential is a device that keeps the revolutions per minute (RPM) of the left and right wheels different from each other, thereby making the drive torque of the left and right drive shafts equal.

[0005] In this type of differential, since the engine drive shaft is connected to the left and right drive shafts to drive the left and right wheels through pinion and half-shaft gears, when the vehicle turns during driving, the outer wheel turns with a turning radius greater than that of the inner wheel. Therefore, the outer wheel should rotate faster than the inner wheel, which can be achieved by the differential.

[0006] When a vehicle is in motion, if the tires mounted on the left and right sides of the vehicle are of different sizes, or if the left and right tires have different dynamic rotation radii due to differences in wear, the wheel with the smaller dynamic rotation radius should rotate more than the wheel with the larger dynamic rotation radius, thus enabling the vehicle to travel linearly. Therefore, an ideal differential can increase the rotation number of the tire with the smaller dynamic rotation radius, making the driving torque of the two wheels equal.

[0007] An electronic limited-slip differential (eLSD) is a device that controls the differential based on clutch control, distributing torque to the left and right sides.

[0008] This eLSD is not integrated with another system, such as active suspension, for control and / or cannot be controlled by operating with another system, such as active suspension.

[0009] The information disclosed in the above background section is intended to help understand the background technology of this invention and should not be construed as an admission that such information constitutes any part of the prior art. Summary of the Invention

[0010] The present invention is made to solve the above-mentioned problems in the prior art, while fully retaining the advantages achieved by the prior art.

[0011] One aspect of the present invention provides a device for controlling vehicle turning, a method for controlling vehicle turning, and a system having the device, which improves turning agility by using active suspension moving loads to induce wheel slippage to avoid situations where eLSD operation is prohibited through integrated control.

[0012] The technical problems to be solved by the present invention are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0013] According to one aspect of the present invention, an apparatus for controlling vehicle turning may include: a processor that performs control operations to determine whether the current situation is a normal turning situation based on the vehicle's steering angle information and wheel speed information, and when the operation of the electronic limited-slip differential (eLSD) fails in a normal turning situation, operating the eLSD by causing the inner wheel to slip based on the vehicle's turning direction; and a storage device that stores data obtained by the processor and algorithms executed by the processor.

[0014] According to an exemplary implementation, the processor can determine the turning direction based on the vehicle's steering angle information.

[0015] According to an exemplary implementation, the processor can compare the wheel speed of the outer wheel with the wheel speed of the inner wheel based on the turning direction, and determine that the current situation is a normal turning situation when the wheel speed of the outer wheel is greater than the wheel speed of the inner wheel.

[0016] According to an exemplary implementation, under normal turning conditions, when the understeering index exceeds a preset threshold, the processor can determine that the eLSD operation has failed.

[0017] According to an exemplary embodiment, the processor can perform control operations to make the inner wheel rotate at a speed greater than that of the outer wheel by causing the inner wheel to slip.

[0018] According to an exemplary embodiment, the processor can generate a normal force through the active suspension to move the vehicle's load outward from the turning direction, thereby causing the inner wheel to slip.

[0019] According to an exemplary implementation, the processor can operate the eLSD when the understeering index is less than or equal to a preset threshold.

[0020] According to another aspect of the invention, a vehicle system may include: an electronic limited-slip differential (eLSD) that transmits drive torque to the outer wheel based on the turning direction when the vehicle is turning; an active suspension that controls the normal forces applied to the inner and outer wheels; and a processor configured to perform control operations to determine whether the current situation is a normal turning situation based on the vehicle's steering angle information and wheel speed information, and to operate the eLSD by causing the inner wheel to slip based on the turning direction when the operation of the eLSD fails in a normal turning situation.

[0021] According to an exemplary implementation, the processor can determine the turning direction based on the vehicle's steering angle information.

[0022] According to an exemplary implementation, the processor can compare the wheel speed of the outer wheel with the wheel speed of the inner wheel based on the turning direction, and determine that the current situation is a normal turning situation when the wheel speed of the outer wheel is greater than the wheel speed of the inner wheel.

[0023] According to an exemplary implementation, under normal turning conditions, when the understeering index exceeds a preset threshold, the processor can determine that the eLSD operation has failed.

[0024] According to an exemplary embodiment, the processor can perform control operations to make the inner wheel rotate at a speed greater than that of the outer wheel by causing the inner wheel to slip.

[0025] According to an exemplary embodiment, the processor can generate a normal force through the active suspension to move the vehicle's load outward from the turning direction, thereby causing the inner wheel to slip.

[0026] According to another aspect of the present invention, a method for controlling vehicle turning may include: determining whether the current situation is a normal turning situation based on the vehicle's steering angle information and wheel speed information; determining whether the operation of the eLSD has failed in a normal turning situation; and performing a control operation when the operation of the eLSD fails in a normal turning situation by causing the inner wheel to slip based on the vehicle's turning direction to operate the eLSD.

[0027] According to an exemplary implementation, determining whether the current situation is a normal turning situation may include: determining the turning direction based on the vehicle's steering angle information.

[0028] According to an exemplary implementation, determining whether the current situation is a normal turning situation may further include: comparing the wheel speed of the outer wheel with the wheel speed of the inner wheel based on the turning direction; when the wheel speed of the outer wheel is greater than the wheel speed of the inner wheel, the current situation is determined to be a normal turning situation.

[0029] According to an exemplary implementation, determining whether the eLSD operation has failed during normal turning may include: determining that the eLSD operation has failed when the understeer index is greater than a preset threshold during normal turning.

[0030] According to an exemplary embodiment, performing control operations to operate the eLSD may include: performing control operations to cause the inner wheel to slip, thereby making the wheel speed of the inner wheel greater than that of the outer wheel.

[0031] According to an exemplary embodiment, performing control operations to operate the eLSD may include: moving the vehicle's load outward from the turning direction by controlling the normal force applied to each of the vehicle's outer and inner wheels, thereby causing the inner wheel to slip.

[0032] According to an exemplary implementation, determining whether the operation of the eLSD has failed may include: determining that the eLSD is operable when the understeering index is less than or equal to a preset threshold. Attached Figure Description

[0033] The above and other objects, features, and advantages of the present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0034] Figure 1 This is a block diagram illustrating the configuration of a vehicle system including means for controlling vehicle turning according to an exemplary embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram illustrating the detailed structure of the differential and eLSD according to an exemplary embodiment of the present invention;

[0036] Figure 3A This is a schematic diagram illustrating the normal turning of a vehicle according to an exemplary embodiment of the present invention;

[0037] Figure 3B This is a schematic diagram illustrating the restricted turning of a vehicle according to an exemplary embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram illustrating the control of the normal force of an active suspension according to an exemplary embodiment of the present invention;

[0039] Figure 5A and Figure 5B This is a schematic diagram illustrating the characteristics of a tire friction source in an active suspension according to an exemplary embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram illustrating wheel slippage caused by normal force according to an exemplary embodiment of the present invention;

[0041] Figure 7A This is a schematic diagram illustrating the forward direction of a vehicle when the eLSD is operating independently according to an exemplary embodiment of the present invention;

[0042] Figure 7B This is a schematic diagram illustrating the vehicle's roll when the eLSD is operated independently according to an exemplary embodiment of the present invention;

[0043] Figure 7C This is a schematic diagram illustrating the working and non-working areas of an eLSD when it operates alone according to an exemplary embodiment of the present invention;

[0044] Figure 8A This is a schematic diagram illustrating the forward direction of a vehicle during eLSD integrated operation according to an exemplary embodiment of the present invention;

[0045] Figure 8B This is a schematic diagram illustrating the vehicle's roll during eLSD integrated operation according to an exemplary embodiment of the present invention;

[0046] Figure 8C This is a schematic diagram illustrating the working and non-working areas of an eLSD during eLSD integration operation according to an exemplary embodiment of the present invention;

[0047] Figure 9 This is a flowchart illustrating an integrated control method for a vehicle turning according to an exemplary embodiment of the present invention; and

[0048] Figure 10 A computing system according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0049] Some embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In the following description, the same components are designated by the same reference numerals, even if shown in different drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of well-known features or functions will be omitted so as not to unnecessarily obscure the spirit of the invention.

[0050] In describing the components of embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are used only to distinguish related components from other components, and the nature, order, or sequence of related components is not limited by these terms. Furthermore, unless otherwise defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be understood to have meanings equivalent to those in the context of the relevant technical field, and should not be understood to have ideal or overly formal meanings, unless expressly defined as such in this application.

[0051] This invention discloses a configuration that increases the operating range of an electronic limited-slip differential by operating in conjunction with an active suspension, thereby improving the vehicle's cornering agility.

[0052] In the following text, reference will be made to Figures 1 to 10 Exemplary embodiments of the present invention are described below.

[0053] Figure 1 This is a block diagram illustrating the configuration of a vehicle system including means for controlling vehicle turning according to an exemplary embodiment of the present invention.

[0054] refer to Figure 1 According to an exemplary embodiment of the present invention, the device for controlling vehicle turning (vehicle turning control device) 100 can be implemented inside the vehicle. In this case, the vehicle turning control device 100 can be integrally formed with the vehicle's interior control unit, or it can be implemented separately from the vehicle's interior control unit to be connected to the vehicle's interior control unit via a separate connector. Specifically, according to the present invention, the vehicle turning control device 100 can integrate control of eLSD 200 and active suspension 300.

[0055] refer to Figure 1 The vehicle system may include a vehicle cornering control device 100, an eLSD 200, and an active suspension 300.

[0056] In both normal and restricted turning conditions, the vehicle turning control device 100 can integrate control of the eLSD 200 and the active suspension 300.

[0057] The eLSD 200 is a device that uses clutch control to control the differential, enabling vehicle cornering by distributing torque to the left and right wheels. The eLSD 200 transfers drive torque from the wheels with higher rotational speeds to the wheels with lower rotational speeds, allowing the vehicle to corner quickly. Figure 2 This is a schematic diagram illustrating the structure of an eLSD 200 connected to a differential 210 according to an exemplary embodiment of the present invention. (Reference) Figure 2 The differential 210 transmits driving force to the wheels, and the eLSD 200 controls the driving torque transmitted to the wheels. In this context, driving force refers to the force that overcomes motion resistance when moving a machine or driving a ship or vehicle at a specific speed.

[0058] In other words, when the eLSD 200's multi-plate clutch is not engaged, equal drive torque is transmitted to both left and right wheels, which is the same function as a regular differential 210. When the multi-plate clutch is engaged, since both left and right wheels rotate at the same speed, drive torque is transmitted to one wheel.

[0059] The active suspension 300 includes additional actuators between the vehicle body and the vehicle tires to actively control the vehicle's attitude. The active suspension 300 can perform roll control, pitch control, and bounce control.

[0060] When the operation of eLSD 200 is prohibited due to the increased risk of understeering after operation, the vehicle steering control device 100 can increase the working area of ​​eLSD by using the active suspension 300 to move the load and cause the inner wheel of the vehicle to slip (inner wheel slip).

[0061] The vehicle turning control device 100 may include a communication device 110, a storage device 120, and a processor 130.

[0062] The communication device 110 is a hardware device implemented as various circuits to send and receive signals via wireless or wired connections, and can perform in-vehicle communication via Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, or Flex-Ray communication.

[0063] As an example, the communication device 110 can receive steering angle information, information about wheel speed (wheel speed information), or information about the operation of the eLSD from the on-board device.

[0064] Storage device 120 can store steering angle information, wheel speed information or eLSD operation information received by communication device 110, data obtained by processor 130, or data / algorithms required for the operation of vehicle turning control device 100.

[0065] The storage device 120 may be implemented as at least one non-transitory storage medium selected from flash memory, hard disk memory, micro memory, card memory (e.g., Security Digital (SD) card or Limit Digital card), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable programmable ROM (EEPROM), magnetic RAM (MRAM), disk or optical disk memory.

[0066] The processor 130 can be electrically connected to the communication device 110 and the storage device 120, can electrically control each component, and can be a circuit that executes software commands. Therefore, the processor 130 can perform various data processing and calculations, as described below. For example, the processor 130 can be an electronic control unit (ECU), a microcontroller unit (MCU), or another next-level controller installed in the vehicle.

[0067] The processor 130 can determine whether the current situation is a normal turning situation based on the vehicle's steering information and wheel speed information. When the eLSD operation fails during a normal turning situation, the processor 130 controls the eLSD to operate by causing the inner wheel to slip based on the turning direction.

[0068] The processor 130 can determine the turning direction based on information about the vehicle's steering angle (steering angle information), and can compare the wheel speeds of the outer and inner wheels based on the turning direction. When the vehicle turns, the "outer" wheel can refer to the wheel outside the turning radius, and the "inner" wheel can refer to the wheel inside the turning radius. When the wheel speed of the outer wheel is greater than that of the inner wheel, the processor 130 can determine that the current situation is a normal turning situation. Conversely, when the wheel speed of the outer wheel is less than or equal to that of the inner wheel, the processor 130 can determine that the current situation is a restricted turning situation. Figure 3A This is a schematic diagram illustrating the normal turning of a vehicle according to an exemplary embodiment of the present invention. Figure 3B This is a schematic diagram illustrating the restricted turning of a vehicle according to an exemplary embodiment of the present invention.

[0069] refer to Figure 3A When a vehicle is making a normal turn, i.e., when the outer wheel's rotational speed is greater than the inner wheel's rotational speed, drive torque is transmitted to the inside of the turn, resulting in a yaw damping effect. In this case, when the vehicle oversteers, turning stability can be improved. However, when the vehicle understeers, it may increase the risk to the vehicle, therefore operation of the eLSD 200 is prohibited. Therefore, according to the present invention, a control operation is performed to move the vehicle's load using the active suspension 300, thereby causing the inner wheel to slip, making the rotational speed of the inner wheel change to that of the outer wheel. Thus, the eLSD 200 continues to operate to improve turning agility and reduce understeer. In this case, understeer is a phenomenon where, when the vehicle is turning at a corner, the vehicle's radius of rotation increases compared to the steering wheel angle, causing the vehicle to deviate from the driver's desired target line. On the other hand, oversteer is a phenomenon where, when the vehicle is turning at a corner, the vehicle's radius of rotation decreases compared to the steering wheel angle, resulting in a more abrupt turn than the driver's desired turning angle.

[0070] refer to Figure 3BWhen the vehicle is making a restricted turn, that is, when the wheel speed of the outer wheel is less than or equal to the wheel speed of the inner wheel, the drive torque is transmitted to the outer wheel, thus improving turning agility. When the vehicle oversteers, the risk to the vehicle increases, so the operation of the vehicle turning control device 100 is prohibited. When the vehicle understeers, turning agility is improved, thus reducing the understeer characteristic. When the vehicle oversteers, the load on the vehicle is shifted, causing the inner wheel to slip.

[0071] Under normal turning conditions, when the understeer index exceeds a preset threshold, the processor 130 determines that the eLSD operation has failed. In other words, when a vehicle with an understeer tendency makes a normal turn, it may lead to a dangerous situation. Therefore, the processor causes the inner wheels to slip to reduce the understeer tendency, thereby controlling the wheel speed of the inner wheels to be faster than that of the outer wheels.

[0072] The processor 130 can generate a normal force through the active suspension to shift the vehicle's load to the outside in the turning direction, causing the inside wheel to slip. In this case, the normal force refers to the force applied along the Z-axis.

[0073] When the understeering index is less than or equal to a preset threshold, the processor 130 can operate the eLSD.

[0074] Figure 4 This is a schematic diagram illustrating the control of the normal force of an active suspension according to an exemplary embodiment of the present invention. (Reference) Figure 4 The active suspension 300 can perform pitch control or bounce control by controlling the normal force applied to the vehicle's wheels in different ways.

[0075] Figure 5A and Figure 5B This is a schematic diagram illustrating the characteristics of a tire friction source in an active suspension according to an exemplary embodiment of the present invention. (Reference) Figure 5A It can be understood that the driving force "Fx" and the turning force "Fy" increase as the normal force "Fz" increases. Figure 5B The normal force "Fz", driving force "Fx", and turning force "Fy" are shown as a graph. In this case, the turning force is called the centripetal force, which balances the outward centrifugal force when the vehicle is turning. In other words, the turning force generated by tire lateral slippage increases proportionally to the angle between the tire's rotational surface and the direction of travel, and is affected by tire pressure, tire size, and tire suspension type.

[0076] Figure 6 A wheel slippage caused by normal force is illustrated according to an exemplary embodiment of the present invention. (Reference) Figure 6The difference in driving force is caused by the difference in normal force. When equal driving torque is applied to the left and right drive shafts, wheel slippage occurs due to the difference in wheel speed between the left and right wheels.

[0077] Figure 7A , Figure 7B and Figure 7C A method for controlling normal turning via individual control of an eLSD according to an exemplary embodiment of the present invention is shown.

[0078] refer to Figure 7A When a vehicle with understeer tends to turn outward from a reference line on the road, and the eLSD is activated alone, the vehicle turns even further outward, potentially leading to a collision. In this situation, such as... Figure 7B As shown, the vehicle's roll is stable. Figure 7C As shown, when the lateral acceleration of a vehicle with understeer tending exceeds a preset threshold (e.g., 0.5G) and eLSD is activated, the drive torque of the outer wheel is transferred to the inner wheel during cornering, thereby improving cornering agility (eLSD operating range). Conversely, when the vehicle's lateral acceleration is less than or equal to the preset threshold (e.g., 0.5G) and eLSD is activated, the drive torque of the inner wheel during cornering increases, thus increasing the understeer tendency. Therefore, this may increase the risk to the vehicle, thus stopping eLSD operation (eLSD non-operating range).

[0079] For example, it can be understood that, based on a lateral acceleration of 0.5G, the working area of ​​the eLSD is separated from the non-working area of ​​the eLSD, and it can be understood that the non-working area of ​​the eLSD is wider than the working area of ​​the eLSD.

[0080] Figure 8A , Figure 8B and Figure 8C A method for controlling normal turning via integrated control of eLSD according to an exemplary embodiment of the present invention is shown.

[0081] refer to Figure 8A Understandably, when a vehicle with understeer tends to turn outward from a reference line on the road, integrated control of the eLSD 200 and active suspension 300 is used to keep the vehicle close to the reference line. In this situation, such as Figure 8B As shown, the vehicle's body roll is slightly high, which is consistent with... Figure 7B Different. For example... Figure 8CAs shown, when the lateral acceleration of a vehicle with understeer tendency exceeds a preset threshold (e.g., 0.3G) and eLSD is activated, the drive torque of the outer wheel is transferred to the inner wheel during cornering, thereby improving cornering agility (eLSD operating range). Conversely, when the vehicle's lateral acceleration is less than or equal to the preset threshold (e.g., 0.3G) and eLSD is activated, the drive torque of the inner wheel during cornering increases, thus increasing the understeer tendency. Therefore, this may increase the risk to the vehicle, thus stopping eLSD operation (eLSD non-operating range).

[0082] For example, it can be understood that, based on a lateral acceleration of 0.3G, the working area of ​​the eLSD is separated from the non-working area of ​​the eLSD, and it can be understood that the working area of ​​the eLSD is wider than the non-working area of ​​the eLSD.

[0083] As described above, according to the present invention, the working area of ​​the eLSD is increased by operating in conjunction with the active suspension, thereby controlling vehicle cornering more effectively.

[0084] The method for controlling vehicle turning will be described in detail below according to an exemplary embodiment of the present invention. Figure 9 This is a flowchart illustrating a method for controlling a vehicle to turn according to an exemplary embodiment of the present invention.

[0085] In the following text, it is assumed that Figure 1 The vehicle turning control device 100 performs Figure 9 The process. Additionally, in reference... Figure 9 As will be understood from the following description, the operations described as being performed by the vehicle turning control device 100 are controlled by the processor 130 of the vehicle turning control device 100.

[0086] refer to Figure 9 The vehicle turning control device 100 receives steering angle and wheel speed signals from the on-board unit via CAN communication (S101), determines the turning direction based on the steering angle sign, and determines whether the wheel speed of the outer turning wheel is greater than that of the inner turning wheel based on the wheel speed, thereby determining whether the current turning situation is a normal turning situation or a restricted turning situation (S102). When the wheel speed of the outer turning wheel is less than or equal to the wheel speed of the inner turning wheel, the vehicle turning control device 100 determines that the current turning situation is a restricted turning situation, such as... Figure 3B As shown in (S103).

[0087] For example, when the steering angle has a plus sign (+), the vehicle turning control device 100 can determine that the vehicle is turning left, and when the steering angle has a minus sign (-), the vehicle turning control device 100 can determine that the vehicle is turning right.

[0088] Furthermore, when the steering angle has a plus sign (+) and the wheel speed of the left front wheel (FL) is greater than the wheel speed of the right front wheel (FR), the vehicle turning control device 100 can determine that the current situation is a restricted left turn. Conversely, when the steering angle has a plus sign (+) and the wheel speed of the left front wheel (FL) is less than or equal to the wheel speed of the right front wheel (FR), the vehicle turning control device 100 can determine that the current situation is a normal left turn.

[0089] When the speed of the outer wheel during a turn is greater than that of the inner wheel during a turn, the vehicle turning control device 100 determines that the current turning situation is a normal turning situation and determines whether the understeer index of the vehicle is greater than a specific threshold (S104). In this case, the vehicle turning control device 100 can receive information about the understeer index from the eLSD 200.

[0090] When the vehicle's understeer index is less than or equal to a preset threshold, the vehicle cornering control device 100 independently operates eLSD 200 (S105). In other words, during normal cornering, drive torque is transmitted to the inside wheel, thereby producing a yaw damping effect. When the vehicle oversteers, cornering stability can be improved.

[0091] At the same time, when the understeer index of the vehicle is greater than the preset threshold, the vehicle turning control device 100 determines to prohibit the operation of eLSD 200 due to the increased risk to the vehicle (S106).

[0092] In other words, the vehicle turning control device 100 can determine whether the current situation is a normal turning situation or a restricted turning situation based on the steering angle and wheel speed. When the understeer index is greater than a preset threshold under normal turning conditions, the vehicle turning control device 100 can determine to prohibit the operation of eLSD 200.

[0093] Subsequently, the vehicle cornering control device 100 generates a normal force through the active suspension 300 to move the load to the outside of the turn (S107). In this case, as the normal force of the tires increases, the driving force and cornering force increase. The difference between the normal force applied to the outer wheel of the vehicle and the normal force applied to the inner wheel of the vehicle results in a difference in driving force. Therefore, when equal driving torque is applied to the left and right drive axles, wheel slippage occurs due to the difference in the rotational speeds of the left and right wheels. In other words, the vehicle cornering control device 100 generates a normal force sufficient to cause slippage of the inner wheel during the turn.

[0094] The vehicle turning control device 100 determines whether the wheel speed of the outer turning wheel is greater than the wheel speed of the inner turning wheel (S108), and causes the wheel to slip until the wheel speed of the outer turning wheel is less than or equal to the wheel speed of the inner turning wheel.

[0095] When the outer wheel's rotational speed is less than or equal to the inner wheel's rotational speed during a turn (i.e., when the inner wheel's rotational speed is greater than the outer wheel's rotational speed), the inner wheel slips, and the eLSD 200's clutch engages for operation. In this situation, when the clutch engages, drive torque is transferred from the wheel with the higher rotational speed to the wheel with the lower rotational speed to improve the vehicle's cornering performance.

[0096] Therefore, when the eLSD 200 enters the non-operating area, the load is moved to the outside of the turn by the normal force through the active suspension 300. This causes the wheel on the inside of the turn to slip, thereby initiating the operation of the eLSD 200 (S109).

[0097] As described above, according to the present invention, when the vehicle is understeerable without slippage of the inner wheel during a turn, the risk to the vehicle increases if eLSD is operated, therefore eLSD operation is prohibited. However, when the load is moved by the active suspension, it causes the inner wheel to slip, thereby increasing the working area of ​​the eLSD and improving the vehicle's agility.

[0098] Figure 10 A computing system according to an exemplary embodiment of the present invention is shown.

[0099] refer to Figure 10 The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700, all interconnected via a bus 1200. According to an exemplary embodiment of the present invention, Figure 10 The computing system 1000 in the system can be an exemplary structure of the vehicle turning control device 100.

[0100] Processor 1100 may be a central processing unit (CPU) or semiconductor device for processing instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

[0101] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed in this invention can be directly implemented by hardware modules, software modules, or combinations thereof executed by processor 1100. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, erasable programmable ROM (EPROM), electrically EPROM (EEPROM), registers, hard disk, removable disk, or optical disc-ROM (CD-ROM).

[0102] An exemplary storage medium can be connected to processor 1100. Processor 1100 can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as separate components in the user terminal.

[0103] According to the present invention, by integrating control, the active suspension moves the load to induce wheel slippage to avoid situations that prohibit the operation of eLSD, thereby improving cornering agility.

[0104] In addition, various effects can be provided directly or indirectly through this disclosure.

[0105] Although the present invention has been described above with reference to exemplary embodiments and accompanying drawings, the present invention is not limited thereto. Those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the invention as claimed in the appended claims.

[0106] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the invention, but are provided for illustrative purposes only. The scope of protection of the present invention should be interpreted by the appended claims, and all equivalents thereof should be interpreted as being included within the scope of the present invention.

Claims

1. A device for controlling vehicle turning, the device comprising: The processor is configured to perform control operations to determine whether the current situation is a normal turning situation based on the vehicle's steering angle information and wheel speed information, and to operate the electronic limited-slip differential by causing the inner wheel to slip based on the vehicle's turning direction when the operation of the electronic limited-slip differential fails during a normal turning situation. as well as A storage device configured to store data acquired by the processor and algorithms executed by the processor. The processor is further configured to generate a normal force through the active suspension to move the vehicle's load outward from the turning direction, thereby causing the inner wheel to slip.

2. The device for controlling vehicle turning according to claim 1, wherein, The processor is further configured as follows: The turning direction is determined based on the vehicle's steering angle information.

3. The device for controlling vehicle turning according to claim 1, wherein, The processor is further configured as follows: The wheel speed of the outer wheel is compared with that of the inner wheel based on the turning direction. When the speed of the outer wheel is greater than that of the inner wheel, the current situation is determined to be a normal turning situation.

4. The device for controlling vehicle turning according to claim 1, wherein, The processor is further configured as follows: Under normal turning conditions, if the understeer index exceeds the preset threshold, the operation of the electronic limited-slip differential is determined to have failed.

5. The device for controlling vehicle turning according to claim 1, wherein, The processor is further configured as follows: The control operation is performed by causing the inner wheel to slip, thereby making the inner wheel's rotational speed greater than that of the outer wheel.

6. The device for controlling vehicle turning according to claim 1, wherein, The processor is further configured as follows: When the understeer index is less than or equal to the preset threshold, the electronic limited-slip differential is activated.

7. A vehicle system comprising: An electronic limited-slip differential transfers drive torque to the outer wheel based on the turning direction when the vehicle is turning. Active suspension controls the normal forces applied to the inner and outer wheels; as well as The processor is configured to perform control operations to determine whether the current situation is a normal turning condition based on the vehicle's steering angle and wheel speed information. Furthermore, if the electronic limited-slip differential fails to operate during a normal turning situation, it is activated by the active suspension causing the inner wheel to slip based on the turning direction. The processor is further configured to generate a normal force through the active suspension to move the vehicle's load outward from the turning direction, thereby causing the inner wheel to slip.

8. The vehicle system according to claim 7, wherein, The processor is further configured to determine the turning direction based on the vehicle's steering angle information.

9. The vehicle system according to claim 7, wherein, The processor is further configured as follows: The wheel speed of the outer wheel is compared with that of the inner wheel based on the turning direction. When the speed of the outer wheel is greater than that of the inner wheel, the current situation is determined to be a normal turning situation.

10. The vehicle system according to claim 9, wherein, The processor is further configured to determine that the operation of the electronic limited-slip differential has failed when the understeer index is greater than a preset threshold under normal turning conditions.

11. The vehicle system according to claim 7, wherein, The processor is further configured to perform a control operation that causes the inner wheel to slip, thereby making the wheel speed of the inner wheel greater than that of the outer wheel.

12. A method for controlling a vehicle to turn, the method comprising: The system determines whether the current situation is a normal turning situation based on the vehicle's steering angle information and wheel speed information. Under normal turning conditions, determine whether the electronic limited-slip differential has failed to operate; When the electronic limited-slip differential fails to operate under normal cornering conditions, control operations are initiated by causing the inner wheel to slip based on the vehicle's cornering direction. The control operation, which involves causing the inner wheel to slip based on the vehicle's turning direction, includes: By controlling the normal force applied to each of the outer and inner wheels of the vehicle, the load of the vehicle is shifted outward from the turning direction, causing the inner wheel to slip.

13. The method according to claim 12, wherein, Determining whether the current situation is a normal turn includes: The turning direction is determined based on the vehicle's steering angle information.

14. The method according to claim 13, wherein, Determining whether the current situation constitutes a normal turn further includes: The wheel speed of the outer wheel is compared with that of the inner wheel based on the turning direction. When the speed of the outer wheel is greater than that of the inner wheel, the current situation is determined to be a normal turning situation.

15. The method according to claim 12, wherein, Determining whether the electronic limited-slip differential has failed to operate under normal cornering conditions includes: Under normal turning conditions, if the understeer index exceeds the preset threshold, the operation of the electronic limited-slip differential is determined to have failed.

16. The method according to claim 12, wherein, Performing control operations, such as operating the electronic limited-slip differential by causing the inner wheel to slip based on the vehicle's turning direction, includes: The control operation is performed by causing the inner wheel to slip, thereby making the inner wheel's rotational speed greater than that of the outer wheel.

17. The method according to claim 12, wherein, Determining whether the electronic limited-slip differential has failed to operate includes: When the understeer index is less than or equal to a preset threshold, the electronic limited-slip differential is deemed operational.

Images