Device and method for controlling the articulation of an articulated vehicle

Abstract

The present invention discloses a device and a method for controlling the articulation of an articulated vehicle. The device includes: a yaw rate calculator, a first torque generator, a second torque generator, an adder, and an articulation controller. The yaw rate calculator is configured to calculate a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle; the first torque generator is configured to generate a yaw rate control torque based on the required yaw rate and the actual yaw rate of the articulated vehicle; the second torque generator is configured to generate a traction damping control torque based on the traction angular velocity of the articulated vehicle; the adder is configured to output a final torque for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control torque and the traction damping control torque; the articulation controller is configured to control the articulation of the articulated vehicle based on the final torque.

Description

Technical Field

[0001] The present invention relates to a device for controlling the articulation of an articulated vehicle, and more particularly, to a device and method for controlling the articulation of an articulated vehicle, which can prevent the folding of an articulated vehicle traveling on a slippery road. Background Art

[0002] Generally, an articulated vehicle is a transport device that is manufactured by connecting two or more vehicle parts through an articulated joint, so that it can be easily bent even on a curved road, such as an articulated bus, a tractor-trailer, and a train.

[0003] In recent years, a push-type articulated vehicle has been developed, which adopts a wheel motor shaft for an electric bus and is rear-axle driven.

[0004] Such a push-type articulated vehicle requires an articulation system for preventing unstable behaviors of the vehicle, such as folding.

[0005] Folding refers to the situation where when the vehicle suddenly brakes on a curved road, the rear body connected to the front body of the articulated vehicle folds towards the front body due to the inertial force, similar to the acute angle of a folding knife.

[0006] Therefore, the articulation system performs safety control by increasing and decreasing the resistance of the hydraulic device and performing cut-off control of the vehicle power according to the traction angle between the front body and the rear body, thereby preventing the articulated vehicle from folding.

[0007] However, in an articulated vehicle, when traveling on a slippery road, the traction angle increases excessively, so folding is likely to occur.

[0008] Specifically, when traveling on a slippery road, if the articulated vehicle folds due to excessive articulation, an alarm sound is emitted, and then a manual operation of cutting off the power of the articulated vehicle must be performed, which causes inconvenience to the driver.

[0009] Therefore, it is desirable to provide a device for controlling the articulation of an articulated vehicle, which can prevent the folding of an articulated vehicle traveling on a slippery road, thereby improving the convenience and safety of the driver. Summary of the Invention

[0010] Accordingly, the present invention is dedicated to providing a device and method for controlling the articulation of an articulated vehicle, which substantially eliminates one or more problems caused by the limitations and disadvantages of the prior art.

[0011] The object of the present invention is to provide a device and method for controlling the articulation of an articulated vehicle, which can control the articulation of the articulated vehicle by a yaw rate control moment corresponding to the steering angle and vehicle speed of the articulated vehicle and a hitch damping control moment corresponding to the towing angular velocity of the articulated vehicle, thereby preventing the articulated vehicle traveling on a slippery road from bending, and further improving the convenience and safety of the driver.

[0012] Other advantages, objects, and features of the present invention will be presented in part in the following description, will become apparent to those of ordinary skill in the art in part after reading the following, or can be learned from the practice of the present invention. The objects and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the written description and claims of the present invention and the drawings.

[0013] In another aspect of the present invention, a device for controlling the articulation of an articulated vehicle includes: a yaw rate calculator, a first torque generator, a second torque generator, an adder, and an articulation controller. The yaw rate calculator is configured to calculate a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle; the first torque generator is configured to generate a yaw rate control moment based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle; the second torque generator is configured to generate a hitch damping control moment based on the towing angular velocity of the articulated vehicle; the adder is configured to output a final moment for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control moment and the hitch damping control moment; and the articulation controller is configured to control the articulation of the articulated vehicle based on the final moment.

[0014] In another aspect of the present invention, a method for controlling the articulation of an articulated vehicle in a device including a processor for controlling the articulation includes: the processor confirming whether the steering angle and vehicle speed of the articulated vehicle are input; when the steering angle and vehicle speed of the articulated vehicle are input, the processor calculating a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle; the processor generating a yaw rate control moment based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle; the processor generating a hitch damping control moment based on the towing angular velocity of the articulated vehicle; the processor outputting a final moment for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control moment and the hitch damping control moment; and the processor controlling the articulation of the articulated vehicle based on the final moment.

[0015] In yet another aspect of the present invention, a computer-readable recording medium records a program for executing a method for controlling the articulation of an articulated vehicle in a device for controlling the articulation of an articulated vehicle, and the computer-readable recording medium executes a process provided by the method for controlling the articulation of an articulated vehicle.

[0016] In yet another aspect of the present invention, an articulated vehicle includes: a sensing device and a device, the sensing device being configured to sense the steering angle and vehicle speed of the articulated vehicle; the device for controlling the articulation of the articulated vehicle based on the sensed steering angle and vehicle speed of the articulated vehicle; wherein the device calculates a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle, generates a yaw rate control moment based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle, generates a traction damping control moment based on the traction angular velocity of the articulated vehicle, outputs a final moment for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control moment and the traction damping control moment, and controls the articulation of the articulated vehicle based on the final moment.

[0017] It should be understood that the foregoing general description of the present invention and the following detailed description are both exemplary and explanatory and are intended to provide further explanation of the claimed invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present invention and, together with the description, explain the principles of the present invention. In the drawings:

[0019] Figure 1 is a schematic diagram showing an articulated vehicle equipped with a device for controlling the articulation of an articulated vehicle according to an embodiment of the present invention;

[0020] Figure 2 is a block diagram showing a device according to an embodiment of the present invention;

[0021] Figure 3 is a circuit diagram showing a process of generating an articulation control moment in a device according to an embodiment of the present invention;

[0022] Figure 4 and Figure 5 is a schematic diagram showing a process of calculating a required yaw rate in a device;

[0023] Figure 6 is a graph showing a process of generating a weight in a device;

[0024] Figure 7 is a circuit diagram showing an articulation controller of a device;

[0025] Figures 8A to 8C It is a graph comparing and describing the articulation control of an articulated vehicle traveling on a slippery road according to whether articulation control is performed;

[0026] Figure 9 It is a schematic diagram comparing and describing the trajectory of an articulated vehicle traveling on a slippery road according to whether articulation control is performed;

[0027] Figure 10 It is a flowchart showing a method for controlling the articulation of an articulated vehicle in a device according to an embodiment of the present invention. Detailed Embodiments

[0028] Now, reference will be made in detail to the preferred embodiments of the present invention, which are illustrated in the accompanying drawings. However, the disclosure of the present invention is not limited to the embodiments described herein and various modifications can be made. In the drawings, for the purpose of clearly describing the present invention, the description of elements irrelevant to the present invention will be omitted, and even if the same or similar elements are shown in different drawings, they will be denoted by the same reference numerals.

[0029] In the following description of the embodiments, it will be understood that when a component "includes" an element, unless otherwise stated, the component may further include other elements and the presence of these other elements is not excluded. In addition, in the following description of the embodiments, it will be understood that the terms "component", "unit" and "module" indicate a unit for processing at least one function or operation, and can be implemented using hardware, software, or a combination of hardware and software.

[0030] Hereinafter, reference will be made to Figures 1 to 10 describe in detail an apparatus and a method for controlling the articulation of an articulated vehicle applicable to an embodiment of the present invention.

[0031] Figure 1 It is a schematic diagram of an articulated vehicle equipped with a device for controlling the articulation of an articulated vehicle according to an embodiment of the present invention.

[0032] As Figure 1 shown, the articulated vehicle 10 according to the present invention may include: a front body 11 as a tractor, a rear body 13 as a trailer, and an articulation joint 15 configured to connect the front body 11 and the rear body 13 in an articulated state.

[0033] That is, the articulated vehicle 10 according to the present invention can be applied to various vehicles connecting two or more vehicle parts, such as articulated buses, tractor-trailers, and trains.

[0034] The articulated vehicle 10 according to the present invention may include: a sensing device 100 and a device 200, where the sensing device 100 is configured to sense the steering angle and vehicle speed of the articulated vehicle 10; and the device 200 is used to control the articulation of the articulated vehicle 10 based on the sensed steering angle and vehicle speed.

[0035] Here, the device 200 may calculate the required yaw rate based on the steering angle and vehicle speed of the articulated vehicle 10, generate a yaw rate control moment based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle 10, generate a hitch damping control moment based on the towing angular velocity of the articulated vehicle 10, output the final moment for controlling the articulation of the articulated vehicle 10 obtained by adding the yaw rate control moment and the hitch damping control moment, and control the articulation of the articulated vehicle 10 based on the final moment.

[0036] That is, the device 200 may be a safety assist control device that can independently control the left wheel motor and the right wheel motor of the articulated vehicle 10, so as to stably control the articulation of the articulated vehicle 10 traveling on a slippery road.

[0037] When calculating the required yaw rate, the device 200 may calculate the required yaw rate considering the steady state of the articulated vehicle 10.

[0038] In addition, if the articulated vehicle 10 includes a front body 11 and at least one rear body 13 connected to the front body 11, the device 200 may receive the wheel steering angle of the front body 11 and then calculate the required yaw rate.

[0039] In addition, when generating the yaw rate control moment, the device 200 may calculate the error between the required yaw rate and the actual yaw rate of the articulated vehicle 10, generate a yaw moment based on the error, generate a first weight for torque distribution, and output the yaw rate control moment obtained by multiplying the yaw moment by the first weight.

[0040] Here, when generating the yaw moment, when the error between the required yaw rate and the actual yaw rate of the articulated vehicle 10 is input, the device 200 may generate the yaw moment by performing proportional-integral control based on the error.

[0041] In addition, when generating the first weight, the device 200 may set the weight in the range of 0 to 1 based on the towing angle and towing angular velocity of the articulated vehicle 10, and generate the first weight for torque distribution based on the set weight.

[0042] Here, the weight can be set as a function of the towing angle and towing angular velocity of the articulated vehicle 10, and the first weight for torque distribution can be calculated using the equation expressed as "First weight = 1 - weight (here, the weight ranges from 0 to 1)".

[0043] In addition, when generating the towing damping control torque, when the towing angular velocity of the articulated vehicle 10 is input, the device 200 can amplify the signal corresponding to the towing angular velocity, generate a second weight for torque distribution, and output the towing damping control torque obtained by multiplying the output value of the amplified signal by the second weight.

[0044] Here, when generating the second weight, the device 200 can set the weight in the range of 0 to 1 based on the towing angle and towing angular velocity of the articulated vehicle 10, and generate the second weight for torque distribution based on the set weight.

[0045] Here, the weight can be set as a function of the towing angle and towing angular velocity of the articulated vehicle 10, and the second weight for torque distribution can be equal to the set weight (in this embodiment, the weight ranges from 0 to 1).

[0046] In addition, when controlling the articulation of the articulated vehicle 10, when the final torque is input, the device 200 can distribute the input final torque to each of the left wheel motor and the right wheel motor of the rear body 13 of the articulated vehicle 10 to control the wheel motor torque of the rear body 13 of the articulated vehicle 10, so as to stably control the articulation of the articulated vehicle 10 during reverse driving.

[0047] In this way, in the present invention, the articulation of the articulated vehicle 10 can be controlled based on the yaw rate control torque corresponding to the steering angle and vehicle speed of the articulated vehicle 10 and the towing damping control torque corresponding to the towing angular velocity of the articulated vehicle 10, thereby preventing the articulated vehicle 10 from bending on a slippery road, and further improving the convenience and safety of the driver.

[0048] In addition, even when the articulated vehicle 10 is in an unstable state, the wheel motors can be used to control the attitude of the articulated vehicle 10, thereby preventing the articulated vehicle 10 from bending, and further improving the marketability of the articulated vehicle 10 due to the improved driving stability and safety functions.

[0049] Figure 2 is a block diagram showing a device according to an embodiment of the present invention.

[0050] As Figure 2As shown, the device 200 according to the present invention is a device that uses the torque vector of in-wheel motors to prevent the folding of an articulated vehicle when driving on a slippery road, and may include a yaw rate calculator 210, a first torque generator 220, a second torque generator 230, an adder 240, and an articulation controller 250.

[0051] Here, the yaw rate calculator 210 may calculate the required yaw rate based on the steering angle and vehicle speed of the articulated vehicle.

[0052] If the articulated vehicle includes a front body and at least one rear body connected to the front body, the yaw rate calculator 210 may receive the wheel steering angle of the front body and then calculate the required yaw rate.

[0053] In addition, the yaw rate calculator 210 may calculate the required yaw rate based on the steady state of the articulated vehicle and a dynamic tractor-trailer vehicle model.

[0054] For example, the yaw rate calculator 210 may use the following equation to calculate the required yaw rate.

[0055]

[0056] Here, ω ref may be the required yaw rate, δ cmd may be the steering angle based on the driver's steering command, V x may be the vehicle speed of the articulated vehicle, M1 may be the weight of the tractor of the articulated vehicle, M2 may be the weight of the trailer of the articulated vehicle, a1 may be the distance from the center of gravity of the tractor to its front axle, b1 may be the distance from the center of gravity of the tractor to its rear axle, c1 may be the distance from the center of gravity of the tractor to the hitch point, a2 may be the distance from the center of gravity of the trailer to the hitch point, b2 may be the distance from the center of gravity of the trailer to the trailer axle, C af may be the cornering stiffness of the front tires of the tractor, C ar may be the cornering stiffness of the rear tires of the tractor, C at may be the cornering stiffness of the tires of the trailer, l1 may be a1 + b1, and l2 may be a2 + b2.

[0057] The first torque generator 220 may generate a yaw rate control torque based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle 10.

[0058] Here, the first torque generator 220 may calculate the error between the required yaw rate and the actual yaw rate of the articulated vehicle 10, generate a yaw torque based on the error, generate a first weight for torque distribution, and output the yaw rate control torque obtained by multiplying the yaw torque by the first weight.

[0059] Here, when generating a yaw moment, when an error between a desired yaw rate and an actual yaw rate of the articulated vehicle 10 is input, the first moment generator 220 can generate a yaw moment by performing proportional-integral control based on the error.

[0060] In addition, when generating the first weight, the first moment generator 220 can calculate the weight as a function of the towing angle and the towing angular velocity of the articulated vehicle, and generate a first weight for moment distribution by setting the weight to a value greater than 0 and less than 1.

[0061] Here, when calculating the weight, the first moment generator 220 can calculate the weight as a function of the towing angle and the towing angular velocity of the articulated vehicle.

[0062] In addition, when calculating the first weight, the first moment generator 220 can generate a first weight calculated using an equation expressed as "first weight = 1 - weight (where the weight is a function of the towing angle and the towing angular velocity of the articulated vehicle)".

[0063] Subsequently, the second moment generator 230 can generate a towing damping control moment based on the towing angular velocity of the articulated vehicle.

[0064] Here, when the towing angular velocity of the articulated vehicle is input, the second moment generator 230 can amplify a signal corresponding to the towing angular velocity, generate a second weight for moment distribution, and output a towing damping control moment obtained by multiplying an output value of the amplified signal by the second weight.

[0065] Here, when generating the second weight, the second moment generator 230 can calculate the second weight using a function of the towing angle and the towing angular velocity of the articulated vehicle.

[0066] Next, the adder 240 can output a final moment for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control moment and the towing damping control moment.

[0067] Finally, the articulation controller 250 can control the articulation of the articulated vehicle based on the final moment.

[0068] When the final moment is input, the articulation controller 250 can distribute the input final moment to each of the left wheel motor and the right wheel motor of the rear body of the articulated vehicle, thereby controlling the wheel motor torque of the rear body of the articulated vehicle.

[0069] Figure 3 is a circuit diagram showing a process of generating an articulation control moment in an apparatus according to an embodiment of the present invention.

[0070] AsFigure 3 As shown, when the articulated vehicle 10 travels on a slippery road according to the command of the driver 1, the yaw rate calculator 210 of the device can receive the sensed speed V from the articulated vehicle 10 and receive the steering angle δ according to the steering command of the driver 1.

[0071] Thereafter, the yaw rate calculator 210 can calculate the required yaw rate ω based on the received steering angle δ and vehicle speed V of the articulated vehicle 10. f .

[0072] For example, the yaw rate calculator 210 can calculate the required yaw rate ω based on a dynamic tractor-trailer vehicle model, taking into account the steady state of the articulated vehicle 10. f .

[0073] Next, the first torque generator 220 can generate a yaw rate control torque based on the error ω between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω. f between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω. e to generate a yaw rate control torque.

[0074] Here, the first torque generator 220 can include: an error calculator 222, a yaw moment generator 224, a first weight generator 226, and a first control torque calculator 228.

[0075] The error calculator 222 can calculate the error ω between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω. f between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω. e .

[0076] For example, the error calculator 222 can include a subtractor that calculates the error ω between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω, f between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω, e and outputs the calculated error ω e to the yaw moment generator 224, but is not limited thereto.

[0077] In addition, the yaw moment generator 224 can generate a yaw moment based on this error.

[0078] For example, the yaw moment generator 224 can include a proportional-integral (PI) controller. When the error ω between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω f between the required yaw rate ω of the articulated vehicle and the actual yaw rate ω e is input, the proportional-integral (PI) controller generates a yaw moment based on the error ω e by performing proportional-integral control, but is not limited thereto.

[0079] Next, the first weight generator 226 can generate a first weight for torque distribution.

[0080] When generating the first weight, the first weight generator 226 can set a weight within the range of 0 to 1 based on the towing angle and towing angular velocity of the articulated vehicle, and generate a first weight for torque distribution based on the set weight.

[0081] Here, the weight can be set as a function of the towing angle and towing angular velocity of the articulated vehicle, and the first weight for torque distribution can be calculated using the equation "First weight = 1 - weight (where the weight is within the range of 0 to 1)".

[0082] In addition, the first control torque calculator 228 can output a yaw rate control torque obtained by multiplying the yaw moment by the first weight.

[0083] Next, the second torque generator 230 can include: an amplifier 232, a second weight generator 234, and a second control torque calculator 236. When the towing angular velocity of the articulated vehicle is input the amplifier 232 amplifies the signal corresponding to the towing angular velocity ; the second weight generator 234 generates a second weight for torque distribution; the second control torque calculator 236 outputs a towing damping control torque calculated by multiplying the output value of the amplifier 232 by the second weight.

[0084] Here, when generating the second weight, the second weight generator 234 can set a weight within the range of 0 to 1 based on the towing angle θ and towing angular velocity of the articulated vehicle and generate a second weight for torque distribution based on the set weight.

[0085] The weight can be set as a function of the towing angle θ and towing angular velocity of the articulated vehicle and the second weight for torque distribution can be equal to the set weight (where the weight is within the range of 0 to 1).

[0086] Thereafter, the adder 240 can output a final torque M for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control torque and the towing damping control torque z .

[0087] Figure 4 And Figure 5 is a schematic diagram showing the process of calculating the required yaw rate in the device.

[0088] As Figure 4 and Figure 5 shown, the device according to the present invention can calculate the required yaw rate based on a dynamic tractor-trailer vehicle model in consideration of the steady state of the articulated vehicle.

[0089] The required yaw rate can be calculated using the following equation.

[0090]

[0091] Here, ω ref can be the required yaw rate, δ cmd can be the steering angle based on the driver's steering command, V x can be the vehicle speed of the articulated vehicle, M1 can be the weight of the tractor of the articulated vehicle, M2 can be the weight of the trailer of the articulated vehicle, a1 can be the distance from the center of gravity of the tractor to its front axle, b1 can be the distance from the center of gravity of the tractor to its rear axle, c1 can be the distance from the center of gravity of the tractor to the towing point, a2 can be the distance from the center of gravity of the trailer to the towing point, b2 can be the distance from the center of gravity of the trailer to the trailer axle, C af can be the cornering stiffness of the front tires of the tractor, C ar can be the cornering stiffness of the rear tires of the tractor, C at can be the cornering stiffness of the tires of the trailer, l1 can be a1 + b1, l2 can be a2 + b2.

[0092] Figure 6 is a graph showing the process of generating weights in the device.

[0093] As Figure 6 shown, in the present invention, weights can be respectively assigned to the first torque generator and the second torque generator, the first torque generator being configured to generate a yaw rate control torque, and the second torque generator being configured to generate a traction damping control torque.

[0094] Each weight can be set as a function of the towing angle and the towing angular velocity of the articulated vehicle.

[0095] That is, the weight can be set as the function and has a value in the range of 0 to 1.

[0096] Here, W can represent the weight, θ can represent the towing angle, can represent the towing angular velocity.

[0097] Therefore, in the present invention, the yaw rate control torque can be generated based on the first weight calculated using the equation expressed as "first weight = 1 - weight (here, the weight is in the range of 0 to 1)", and the traction damping control torque can be generated based on the second weight equal to the set weight.

[0098] That is, in the present invention, when the towing angle and towing angular velocity of the articulated vehicle increase, the weight for the towing damping control torque can be increased, and when the towing angle and towing angular velocity of the articulated vehicle decrease, the weight for the yaw rate control torque can be increased.

[0099] Figure 7 is a circuit diagram showing the articulation controller of the device.

[0100] As Figure 7 shown, when the final torque M z is input, the articulation controller can distribute the input final torque M z to each of the left wheel motor and the right wheel motor of the rear body of the articulated vehicle to control the wheel motor torque of the rear body of the articulated vehicle.

[0101] For example, the articulation controller may include: a first amplifier 2410, a second amplifier 2420, an adder 2430, a subtractor 2440, a first wheel motor torque controller 2450, and a second wheel motor torque controller 2460.

[0102] Here, the first amplifier 2410 can amplify the signal corresponding to the input required torque, and the second amplifier 2420 can amplify the signal corresponding to the final torque M z corresponding.

[0103] In addition, the adder 2430 can add the output values of the first amplifier 2410 and the second amplifier 2420, and the subtractor 2440 can subtract the output values of the first amplifier 2410 and the second amplifier 2420.

[0104] Thereafter, the first wheel motor torque controller 2450 can calculate a first torque control value based on the output value of the adder 2430 and the torque limit value of the first wheel motor to control the torque of the first wheel motor, and the second wheel motor torque controller 2460 can calculate a second torque control value based on the output value of the subtractor 2440 and the torque limit value of the second wheel motor to control the torque of the second wheel motor.

[0105] For example, when the required torque calculated based on the accelerator pedal sensor and the vehicle speed is input, the first amplifier 2410 can amplify the input required torque.

[0106] In addition, the first wheel motor torque controller 2450 may include: a first calculator 2452 and a second calculator 2454. When the output value of the adder 2430 and the maximum allowable driving torque (+) corresponding to the first wheel motor are input, the first calculator 2452 calculates and outputs a torque value less than the maximum allowable driving torque (+). When the torque value of the first calculator 2452 and the maximum allowable generating torque (-) corresponding to the first wheel motor are input, the second calculator 2454 calculates and outputs a torque value less than the maximum allowable generating torque (-).

[0107] In addition, the second wheel motor torque controller 2460 may include: a third calculator 2462 and a fourth calculator 2464. When the output value of the subtractor 2440 and the maximum allowable driving torque (+) corresponding to the second wheel motor are input, the third calculator 2462 calculates and outputs a torque value less than the maximum allowable driving torque (+). When the torque value of the third calculator 2462 and the maximum allowable generating torque (-) corresponding to the second wheel motor are input, the fourth calculator 2464 calculates and outputs a torque value less than the maximum allowable generating torque (-).

[0108] Figures 8A to 8C It is a graph comparing the articulation control of an articulated vehicle traveling on a slippery road according to whether articulation control is performed.

[0109] Figure 8A It is a graph showing the yaw rate of an articulated vehicle. Figure 8B It is a graph showing the towing angle of an articulated vehicle. Figure 8C It is a graph showing the moment of the articulation joint of an articulated vehicle.

[0110] As Figures 8A to 8C shown, when the steering angle of an articulated vehicle traveling on a slippery road is approximately 4.5 degrees and its vehicle speed is approximately 50 kph, among the articulated vehicles a and b without articulation control, the articulated vehicle a without an articulation system may bend from the start of steering, while the articulated vehicle b with an articulation system may bend in the middle of steering.

[0111] In addition, among the articulated vehicles c and d with articulation control according to the present invention, the articulated vehicle c without an articulation system stably maintains the towing angle and does not slip, so no bending occurs, while the articulated vehicle d with an articulation system travels most stably, so no bending occurs.

[0112] Figure 9 It is a schematic diagram comparing the trajectories of articulated vehicles traveling on a slippery road according to whether articulation control is performed.

[0113] AsFigure 9 As shown, it can be confirmed that when the steering angle of an articulated vehicle traveling on a slippery road is approximately 4.5 degrees and its vehicle speed is approximately 50 kph, among articulated vehicles a and b without articulated control, the articulated vehicle a without an articulation system may start to bend from the beginning of steering, while the articulated vehicle b with an articulation system may bend in the middle of steering.

[0114] In addition, it can be confirmed that the articulated vehicle d with an articulation system and subjected to the articulation control according to the present invention travels most stably without bending.

[0115] Therefore, in the present invention, even when the articulated vehicle is in an unstable state, the wheel motors can be used to control the attitude of the articulated vehicle, thereby preventing the bending of the articulated vehicle. Furthermore, due to the improved driving stability and safety functions, the marketability of the articulated vehicle can be enhanced.

[0116] Figure 10 is a flowchart showing a method for controlling the articulation of an articulated vehicle in a device according to an embodiment of the present invention.

[0117] As Figure 10 shown, the device according to the present invention may include a processor configured to control the articulation of an articulated vehicle.

[0118] Here, the processor may include Figure 2 the elements shown, but is not limited thereto.

[0119] First, the processor may confirm whether the steering angle and vehicle speed of the articulated vehicle are input (step S10).

[0120] Thereafter, when the steering angle and vehicle speed of the articulated vehicle are input, the processor may calculate the required yaw rate based on the steering angle and vehicle speed of the articulated vehicle (step S20).

[0121] Here, the processor may calculate the required yaw rate based on a dynamic tractor-trailer vehicle model considering the steady state of the articulated vehicle.

[0122] Thereafter, the processor may generate a yaw rate control torque based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle (step S30).

[0123] Here, the processor may calculate the error between the required yaw rate and the actual yaw rate of the articulated vehicle, generate a yaw moment based on the error, generate a first weight for torque distribution, and output the yaw rate control torque obtained by multiplying the yaw moment by the first weight.

[0124] Here, the processor can set a weight within the range of 0 to 1 based on the towing angle and towing angular velocity of the articulated vehicle, and generate a first weight for torque distribution based on the set weight.

[0125] For example, the weight can be set as a function of the towing angle and towing angular velocity of the articulated vehicle, and the first weight for torque distribution can be calculated using the equation "First weight = 1 - weight (where the weight is within the range of 0 to 1)".

[0126] Thereafter, the processor can generate a towing damping control torque based on the towing angular velocity of the articulated vehicle (step S40).

[0127] Here, when the towing angular velocity of the articulated vehicle is input, the processor can amplify the signal corresponding to the towing angular velocity, generate a second weight for torque distribution, and output the towing damping control torque obtained by multiplying the output value of the amplified signal by the second weight.

[0128] Here, the processor can set a weight within the range of 0 to 1 based on the towing angle and towing angular velocity of the articulated vehicle, and generate a second weight for torque distribution based on the set weight.

[0129] For example, the weight can be set as a function of the towing angle and towing angular velocity of the articulated vehicle, and the second weight for torque distribution can be equal to the set weight (where the weight is within the range of 0 to 1).

[0130] Thereafter, the processor can generate a final torque for controlling the articulation of the articulated vehicle by adding the yaw rate control torque and the towing damping control torque (step S50).

[0131] Subsequently, the processor can control the articulation of the articulated vehicle based on the final torque (step S60).

[0132] Here, when the final torque is input, the processor can distribute the input final torque to each of the left wheel motor and the right wheel motor of the rear body of the articulated vehicle to control the wheel motor torque of the rear body of the articulated vehicle.

[0133] For example, when controlling the articulation of an articulated vehicle, the processor can separately amplify and output a first signal corresponding to the torque and a second signal corresponding to the input required torque, add and subtract the output values of the amplified first signal and the second signal, calculate a first torque control value based on the output value obtained by adding the amplified first signal and the second signal and the torque limit value of the first wheel motor, and then control the torque of the first wheel motor based on the calculated first torque control value. Calculate a second torque control value based on the output value obtained by subtracting the amplified first signal from the second signal and the torque limit value of the second wheel motor, and then control the torque of the second wheel motor based on the calculated second torque control value.

[0134] Here, when controlling the torque of the first wheel motor, when the output value obtained by adding the amplified first signal and the second signal and the maximum allowable driving torque (+) corresponding to the first wheel motor are input, the processor calculates and outputs a torque value less than the maximum allowable driving torque (+). When a torque value less than the maximum allowable driving torque (+) and the maximum allowable generating torque (-) corresponding to the first wheel motor are input, the processor calculates and outputs a torque value less than the maximum allowable generating torque (-).

[0135] In addition, when controlling the torque of the second wheel motor, when the output value obtained by subtracting the amplified first signal from the second signal and the maximum allowable driving torque (+) corresponding to the second wheel motor are input, the processor calculates and outputs a torque value less than the maximum allowable driving torque (+). When a torque value less than the maximum allowable driving torque (+) and the maximum allowable generating torque (-) corresponding to the second wheel motor are input, the processor calculates and outputs a torque value less than the maximum allowable generating torque (-).

[0136] Thereafter, the processor can confirm whether to terminate the articulation control (step S70), and when it is confirmed to terminate the articulation control, terminate the above process for controlling the articulation of the articulated vehicle.

[0137] In this way, in the present invention, the articulation of the articulated vehicle is controlled based on the yaw rate control torque corresponding to the steering angle and vehicle speed of the articulated vehicle and the traction damping control torque corresponding to the traction angular velocity of the articulated vehicle, thereby preventing the articulated vehicle from bending when driving on a slippery road, and further improving the convenience and safety of the driver.

[0138] In addition, in the present invention, even when the articulated vehicle is in an unstable state, the wheel motors can be used to control the attitude of the articulated vehicle, thereby preventing the articulated vehicle from bending, and further improving the marketability of the articulated vehicle due to the improved driving stability and safety functions.

[0139] In addition, in the present invention, a computer-readable recording medium records a program for executing a method for controlling the articulation of an articulated vehicle in a device for controlling the articulation of an articulated vehicle according to an embodiment of the present invention, and the process provided by the method for controlling the articulation of an articulated vehicle can be executed.

[0140] The present invention can be implemented as computer-readable code in a computer-readable recording medium in which a program is recorded. Such a computer-readable recording medium may include all types of recording media in which computer system-readable data is stored. For example, the computer-readable recording medium may include a hard disk drive (HDD), a solid state drive (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0141] It is obvious from the above description that in the device and method for controlling the articulation of an articulated vehicle according to at least one embodiment of the present invention, the articulation of the articulated vehicle is controlled based on a yaw rate control torque corresponding to the steering angle and vehicle speed of the articulated vehicle and a traction damping control torque corresponding to the traction angular velocity of the articulated vehicle, thereby preventing the articulated vehicle traveling on a slippery road from bending, and further improving the convenience and safety of the driver.

[0142] In addition, even when the articulated vehicle is in an unstable state, the wheel motor can be used to control the attitude of the articulated vehicle, thereby preventing the articulated vehicle from bending, and further improving the marketability of the articulated vehicle due to improved driving stability and safety functions.

[0143] It is obvious to those skilled in the art that various modifications and changes can be made to the present invention without departing from the spirit or scope of the present invention. Therefore, the present invention is intended to cover the modified forms and variations of the present invention provided, and the modified forms and variations of the present invention are within the scope of the appended claims and their equivalents.

Claims

1. A device for controlling the articulation of an articulated vehicle, comprising: A yaw rate calculator configured to calculate a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle; A first torque generator configured to generate a yaw rate control torque based on the error between the required yaw rate and the actual yaw rate of the articulated vehicle; A second torque generator configured to generate a traction damping control torque based on the traction angular velocity of the articulated vehicle; An adder configured to output a final torque for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control torque and the traction damping control torque; And An articulation controller configured to control the articulation of the articulated vehicle based on the final torque; Wherein, the articulation controller includes: A first amplifier configured to amplify a signal corresponding to an input required torque; A second amplifier configured to amplify a signal corresponding to the final torque; An adder configured to add the output value of the first amplifier and the output value of the second amplifier; A subtractor configured to subtract the output value of the first amplifier from the output value of the second amplifier; A first wheel motor torque controller configured to calculate a first torque control value based on the output value of the adder and the torque limit value of the first wheel motor, and control the torque of the first wheel motor based on the first torque control value; and A second wheel motor torque controller configured to calculate a second torque control value based on the output value of the subtractor and the torque limit value of the second wheel motor, and control the torque of the second wheel motor based on the second torque control value.

2. The device for controlling the articulation of an articulated vehicle according to claim 1, wherein, The first torque generator includes: An error calculator configured to calculate the error between the required yaw rate and the actual yaw rate of the articulated vehicle; A yaw moment generator configured to generate a yaw moment based on the error; A first weight generator configured to generate a first weight for torque distribution; and A first control torque calculator configured to output a yaw rate control torque calculated by multiplying the yaw moment by the first weight.

3. The device for controlling the articulation of an articulated vehicle according to claim 2, wherein, The error calculator includes: A subtractor configured to calculate the error between the required yaw rate and the actual yaw rate of the articulated vehicle, and output the calculated error to the yaw moment generator.

4. The device for controlling the articulation of an articulated vehicle according to claim 2, wherein, The yaw moment generator includes: A proportional-integral controller configured to generate a yaw moment by performing proportional-integral control based on the error when the error between the required yaw rate and the actual yaw rate of the articulated vehicle is input.

5. The device for controlling the articulation of an articulated vehicle according to claim 2, wherein, The first weight generator sets a weight within the range of 0 to 1 based on the traction angle and traction angular velocity of the articulated vehicle, and generates a first weight for torque distribution based on the set weight.

6. The device for controlling the articulation of an articulated vehicle according to claim 5, wherein, When generating the first weight, the first weight generator uses an equation expressed as first weight = 1 - weight.

7. The device for controlling the articulation of an articulated vehicle according to claim 1, wherein, The second torque generator includes: An amplifier configured to amplify a signal corresponding to the traction angular velocity of the articulated vehicle when the traction angular velocity is input; A second weight generator configured to generate a second weight for torque distribution; and A second control torque calculator configured to output a traction damping control torque calculated by multiplying an output value of an amplifier by a second weight.

8. The device for controlling the articulation of an articulated vehicle according to claim 7, wherein, The second weight generator sets a weight in the range of 0 to 1 based on the traction angle and traction angular velocity of the articulated vehicle, and generates a second weight for torque distribution based on the set weight.

9. The device for controlling the articulation of an articulated vehicle according to claim 8, wherein, When generating the second weight, the second weight generator generates a second weight equal to the set weight.

10. The device for controlling the articulation of an articulated vehicle according to claim 1, wherein, The first wheel motor torque controller includes: A first calculator configured to calculate and output a torque value less than the maximum allowable driving torque when an output value of an adder and the maximum allowable driving torque corresponding to the first wheel motor are input; and A second calculator configured to calculate and output a torque value less than the maximum allowable generating torque when the torque value of the first calculator and the maximum allowable generating torque corresponding to the first wheel motor are input.

11. The device for controlling the articulation of an articulated vehicle according to claim 1, wherein, The second wheel motor torque controller includes: A third calculator configured to calculate and output a torque value less than the maximum allowable driving torque when an output value of a subtractor and the maximum allowable driving torque corresponding to the second wheel motor are input; and A fourth calculator configured to calculate and output a torque value less than the maximum allowable generating torque when the torque value of the third calculator and the maximum allowable generating torque corresponding to the second wheel motor are input.

12. A method for controlling the articulation of an articulated vehicle in a device for controlling the articulation of an articulated vehicle, the device including a processor for controlling the articulation, the method including: Confirming by the processor whether the steering angle and vehicle speed of the articulated vehicle are input; When the steering angle and vehicle speed of the articulated vehicle are input, calculating by the processor a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle; Generating by the processor a yaw rate control torque based on an error between the required yaw rate and the actual yaw rate of the articulated vehicle; Generating by the processor a traction damping control torque based on the traction angular velocity of the articulated vehicle; Outputting by the processor a final torque for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control torque and the traction damping control torque; Controlling by the processor the articulation of the articulated vehicle based on the final torque; Wherein, controlling the articulation of the articulated vehicle includes: Amplifying and outputting a first signal corresponding to the final torque and a second signal corresponding to the input required torque; Adding and subtracting the output values of the amplified first signal and the amplified second signal; Calculating a first torque control value based on the output value obtained by adding the amplified first signal and the amplified second signal and the torque limit value of the first wheel motor, and then controlling the torque of the first wheel motor; Calculating a second torque control value based on the output value obtained by subtracting the amplified first signal and the amplified second signal and the torque limit value of the second wheel motor, and then controlling the torque of the second wheel motor.

13. The method according to claim 12, wherein Generating the yaw rate control torque includes: Calculating an error between the required yaw rate and the actual yaw rate of the articulated vehicle; Generating a yaw moment based on the error; Generating a first weight for torque distribution; Output a yaw rate control torque calculated by multiplying a yaw moment by a first weight.

14. The method according to claim 12, wherein, Generating a traction damping control torque includes: When the traction angular velocity of the articulated vehicle is input, amplifying a signal corresponding to the traction angular velocity; Generating a second weight for torque distribution; Outputting a traction damping control torque calculated by multiplying the output value of the amplifier by the second weight.

15. The method according to claim 12, wherein, Controlling the torque of the first wheel motor includes: When an output value obtained by adding the amplified first signal and the amplified second signal and a maximum allowable driving torque corresponding to the first wheel motor are input, calculating and outputting a torque value less than the maximum allowable driving torque; When a torque value less than the maximum allowable driving torque and a maximum allowable generating torque corresponding to the first wheel motor are input, calculating and outputting a torque value less than the maximum allowable generating torque.

16. The method according to claim 12, wherein Controlling the torque of the second wheel motor includes: When an output value obtained by subtracting the amplified second signal from the amplified first signal and a maximum allowable driving torque corresponding to the second wheel motor are input, calculating and outputting a torque value less than the maximum allowable driving torque; When a torque value less than the maximum allowable driving torque and a maximum allowable generating torque corresponding to the second wheel motor are input, calculating and outputting a torque value less than the maximum allowable generating torque.

17. A non-transitory computer-readable recording medium storing a program for executing the method according to claim 12.

18. An articulated vehicle, comprising: A sensing device configured to sense a steering angle and a vehicle speed of the articulated vehicle; And A device for controlling the articulation of the articulated vehicle based on the sensed steering angle and vehicle speed of the articulated vehicle; Wherein, the device calculates a required yaw rate based on the steering angle and vehicle speed of the articulated vehicle, generates a yaw rate control torque based on an error between the required yaw rate and the actual yaw rate of the articulated vehicle, generates a traction damping control torque based on the traction angular velocity of the articulated vehicle, outputs a final torque for controlling the articulation of the articulated vehicle obtained by adding the yaw rate control torque and the traction damping control torque, and controls the articulation of the articulated vehicle based on the final torque; Wherein, when the device controls the articulation of the articulated vehicle based on the final torque, the device is configured to: Amplify and output a first signal corresponding to the final torque and a second signal corresponding to the input required torque; Add and subtract the output values of the amplified first signal and the amplified second signal; Calculate a first torque control value based on an output value obtained by adding the amplified first signal and the amplified second signal and a torque limit value of the first wheel motor, and then control the torque of the first wheel motor; Calculate a second torque control value based on an output value obtained by subtracting the amplified second signal from the amplified first signal and a torque limit value of the second wheel motor, and then control the torque of the second wheel motor.

Images