Vehicle, acceleration limit control method, and computer-readable recording medium

Abstract

The present application relates to a vehicle, an acceleration limit control method, and a computer-readable recording medium. An acceleration limit control method of one embodiment includes determining an acceleration limit based on information about a passenger, determining an interference torque due to an interference other than a drive source of a vehicle based on at least a gradient, determining a torque limit satisfying the acceleration limit based on the interference torque, and determining an output torque to be generated by the drive source based on the torque limit and a requested torque of a driver.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle and an acceleration limiting control method thereof. BACKGROUND

[0002] A speed limit control system is a driving safety system for limiting acceleration so that a driving speed does not exceed a speed limit set by a driver to prevent overspeeding. A representative example of the speed limit control system is a manual speed limit assist (MSLA) system.

[0003] In general, since the MSLA system does not perform brake control for deceleration, a vehicle can accelerate above a set speed on a downhill road. Unlike an intelligent cruise control (SCC) system, the MSLA system does not consider a relative position or speed of a front vehicle, so the driver needs to pay close attention to the situation ahead.

[0004] Recently, a camera-based SLA (CSLA) system using speed limit information recognized by a front camera and an intelligent SLA (ISLA) system further using speed limit information acquired by a navigation system have been developed and used.

[0005] These speed limit control systems are defined in "Safety Assist - Speed Assist System - Speed Control Function" which is an evaluation item of the European New Car Assessment Program (EURO NCAP).

[0006] When the speed limit control function is performed, acceleration needs to be considered. For example, ACSF regulation requires that lateral acceleration control be 3 m / s 2 or less during automatic driving or cruise control driving. This acceleration limit is very important, especially when the vehicle is equipped with a car seat.

[0007] When a passenger is less than 1 year old, it is recommended to put the passenger on a rear-facing car seat. However, a rear-facing car seat is more problematic when the vehicle accelerates than when the vehicle brakes. Therefore, some models of vehicles are equipped with a function that applies scaling so as to reduce the input value of the accelerator pedal in consideration of the direction in which the car seat faces, thereby minimizing the jolt of the passenger's body due to acceleration.

[0008] However, the zoom control can be problematic when the vehicle travels on a sloped road. For example, when a vehicle in which a rear-facing car seat is installed travels on an uphill road, the body of the passenger in the rear-facing car seat is in a state of being inclined to the front of the passenger due to the slope regardless of the driving state of the vehicle. In this state, if the zoom control is executed, the additional inclination of the body of the passenger due to acceleration can be minimized, but the vehicle can not be able to climb the uphill road and can be reversed. In addition, when the vehicle is reversed, the driver can press the accelerator pedal more deeply, and thus the zoom effect can be reduced. SUMMARY

[0009] The present disclosure relates to a vehicle and an acceleration limiting control method thereof. The detailed description relates to a vehicle and an acceleration limiting control method thereof capable of considering a passenger control acceleration.

[0010] Accordingly, the embodiments of the present invention provide a vehicle and an acceleration limiting control method thereof which substantially obviate one or more problems due to limitations and disadvantages of the related art.

[0011] The embodiments of the present invention provide a vehicle and an acceleration limiting control method thereof capable of providing a further improved acceleration limiting control function.

[0012] Specifically, the embodiments of the present invention provide a vehicle and an acceleration limiting control method thereof capable of implementing an acceleration limiting control considering information about a passenger and a slope.

[0013] However, the objects to be achieved by the embodiments are not limited to the above-mentioned objects, and other objects not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0014] To achieve the above and other objects, an acceleration limiting control method according to an embodiment of the present invention can include determining an acceleration limit based on information about a passenger, determining a disturbance torque due to an interference other than a drive source of a vehicle based on at least a slope, determining a torque limit satisfying the acceleration limit based on the disturbance torque, and determining an output torque generated by the drive source based on the torque limit and a requested torque of a driver.

[0015] In addition, a vehicle according to an embodiment of the present invention can include a torque calculation controller configured to determine an acceleration limit based on information about a passenger, determine a disturbance torque due to an interference other than a drive source of a vehicle based on at least a slope, determine a torque limit satisfying the acceleration limit based on the disturbance torque, and determine an output torque generated by the drive source based on the torque limit and a requested torque of a driver, and a drive source controller configured to control the drive source based on the output torque. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0017] Figure 1 An example of a configuration of a torque calculation controller according to an embodiment of the present application is shown;

[0018] Figure 2 An example of a configuration of an interference torque calculator according to an embodiment of the present application is shown;

[0019] Figure 3 An example of a configuration of an acceleration torque limit calculator according to an embodiment of the present application is shown;

[0020] Figure 4 An example of a configuration of an acceleration limit calculator according to an embodiment of the present application is shown;

[0021] Figure 5 A flowchart showing an example of a torque calculation process according to an embodiment of the present application;

[0022] Figure 6 An example of a process of outputting torque according to an embodiment of the present application is shown;

[0023] Figure 7 An example of a configuration of a mode setting menu according to an embodiment of the present application is shown;

[0024] Figure 8 An example of a configuration of a torque calculation controller according to another embodiment of the present application is shown;

[0025] Figure 9 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is shown;

[0026] Figure 10 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is shown;

[0027] Figure 11 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is shown; and

[0028] Figure 12 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] Hereinafter, an embodiment of the present application will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the same. However, the present application can be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description of the present application will be omitted for the sake of clarity. Like reference numerals refer to like elements throughout the specification.

[0030] Throughout the specification, when a certain part "includes" or "comprises" a certain component, this indicates that other components are not excluded and can further include, unless otherwise stated. The same reference numerals refer to the same constituent elements throughout the specification.

[0031] One embodiment of the present application proposes a method of limiting acceleration of a vehicle when the vehicle travels on an uphill road to prevent the vehicle from reversing, and reducing an influence of acceleration according to a driving force of the vehicle on a passenger's body based on information about the passenger.

[0032] Here, the information about the passenger can include information about whether the passenger is an infant, and can further include information about a direction in which a car seat faces when the passenger is an infant.

[0033] Figure 1 An example of a configuration of a torque calculation controller according to an embodiment of the present application is shown.

[0034] Referring to Figure 1 , a vehicle according to an embodiment can include a torque calculation controller 100 that calculates a corrected torque by applying an acceleration limit to a requested torque of a driver in a state in which acceleration limit control is activated, and a drive source controller 200 that controls a drive source (not shown) so that the drive source outputs the corrected torque calculated by the torque calculation controller 100.

[0035] Here, the drive source can be an internal combustion engine, an electric motor, or a combination of an internal combustion engine and an electric motor (for example, for a hybrid electric vehicle). However, this is given by way of example only, and the embodiment is not limited to any particular type of drive source, so long as the drive source is capable of transmitting a driving force to a wheel.

[0036] Further, depending on the drive source, the drive source controller 200 can be an engine management system (EMS), a motor control unit (MCU), etc.

[0037] Further, the torque calculation controller 100 can be implemented as a controller provided separately from the drive source controller 200, or can be implemented as a function of the drive source controller 200. In the case of being implemented as a separate controller, the torque calculation controller 100 can be implemented as an upper controller with respect to the drive source controller 200, similarly to a hybrid control unit (HCU) or a vehicle control unit (VCU) of an electric vehicle. However, the embodiments are not limited thereto.

[0038] Hereinafter, the configuration of the torque calculation controller 100 will be described.

[0039] The torque calculation controller 100 can include an acceleration limit calculator 110, a disturbance torque calculator 120, and an acceleration torque limit calculator 130.

[0040] The acceleration limit calculator 110 can calculate an acceleration limit a limit targeted for acceleration limit control on the basis of a gradient θ.

[0041] The disturbance torque calculator 120 can calculate a disturbance torque wheel on the basis of the gradient θ, a vehicle speed v, and a drive torque T Here, the disturbance torque wheel may be a torque caused by a disturbance that affects the acceleration of the vehicle, in addition to the drive torque T limiter output from the drive source and transmitted to the wheels.

[0042] The acceleration torque limit calculator 130 can calculate a torque limit T limiter by which the acceleration of the vehicle is limited within the acceleration limit a limit calculated by the acceleration limit calculator 110, on the basis of the disturbance torque calculated by the disturbance torque calculator 120.

[0043] The torque calculation controller 100 can output the smaller value between a requested torque T demand of the driver and the torque limit T limiter calculated by the acceleration torque limit calculator 130 as a correction torque. Here, the correction torque can be input to the disturbance torque calculator 120 as the drive torque T wheel .

[0044] Hereinafter, the components of the torque calculation controller 100 will be described in more detail. Figures 2 to 4

[0045] Figure 2 An example of the configuration of the disturbance torque calculator according to the embodiment of the present application is shown.

[0046] ​​To effectively limit the acceleration of the vehicle, the disturbance torque needs to be calculated Disturbance torque It can be calculated in two ways. The first way is to use the rolling resistance and the air resistance in a feedforward manner, which is set in advance according to the vehicle speed v through a coasting test. However, in some cases, this method can not be accurate because it cannot fully apply weather conditions such as wind, rainfall or snowfall, changes in the mass of the vehicle, the air pressure of the tires, and road conditions. The second way is to use the force and acceleration law (F whl = ma) that utilizes the output and the acceleration of the vehicle to obtain the disturbance in a feedback manner in real time. Here, the acceleration can be obtained by differentiating the vehicle speed, and the estimated mass of the vehicle can be used as the mass of the vehicle. The estimated mass can be estimated by adding a predetermined weight to the weight of the empty vehicle, or can be estimated based on the force and acceleration law on a flat road, but embodiments are not limited thereto. In this feedback method, when the vehicle speed is 0, the measured output and the disturbance are the same value, so the error can be large in the stop state and the low speed state.

[0047] To solve the problems of the above two methods, the disturbance torque calculator 120 according to the present embodiment determines the proportion of the feedforward method and the proportion of the feedback method according to the vehicle speed, and adds the results obtained by the two methods.

[0048] To this end, the disturbance torque calculator 120 can include a first gain calculator 121 having a map defining a first gain value k corresponding to the vehicle speed v, a feedback calculator 122 configured to calculate a feedback disturbance , a feedforward calculator 123 configured to calculate a feedforward disturbance , and a low pass filter 124.

[0049] For example, when the vehicle is stopped, the disturbance torque calculator 120 can set the first gain value k to 0, and can use only the feedforward disturbance Thereafter, as the vehicle speed increases, the first gain value k can increase to 1 according to the map of the first gain calculator 121, and the proportion of the feedback disturbance can increase. That is, the map of the first gain calculator 121 can have the following form: where the first gain value k is 0 when the vehicle is stopped (i.e., when the vehicle speed is 0), the first gain value k increases as the vehicle speed increases, and the first gain value k reaches 1 when the vehicle speed reaches a predetermined level or more.

[0050] At this time, since the feedforward disturbance Primarily used at low speeds, it allows for the use of predefined disturbance values ​​in a mapping relative to the gradient θ, achieved through testing that considers climbing / descending resistance and rolling resistance rather than air resistance. Therefore, when starting to drive uphill, the vehicle's acceleration can be effectively limited by appropriately compensating for the disturbance.

[0051] The low-pass filter 124 can prevent sudden changes in disturbance torque from being transmitted to the acceleration torque limit calculator 130.

[0052] Figure 3 An example configuration of an acceleration torque limiting calculator according to an embodiment of the present invention is shown.

[0053] refer to Figure 3 The acceleration torque limit calculator 130 can calculate the vehicle's estimated mass by using the acceleration torque limit calculator 130. and the dynamic radius R of the tire tire The product of the acceleration limit a limit To calculate acceleration torque. The acceleration torque limit calculator can be used with disturbance torque. Calculating the acceleration torque limit T by compensating for acceleration torque limiter Using interference torque The reason for compensating for acceleration torque is as follows.

[0054] If the mass is estimated If the output acceleration torque is accurate and interference-free, the vehicle can accelerate to the acceleration limit 'a'. limit However, due to interference in reality and the estimation of mass... The actual mass may differ from the set mass, making it difficult for the vehicle to accelerate to the set acceleration limit. To address this issue, a disturbance torque is used. Compensating for acceleration torque. Therefore, the vehicle is able to accelerate to the set acceleration limit a. limit Without considering interference or estimating quality Errors in the process.

[0055] Because the acceleration torque limit calculator 130 calculates the acceleration torque limit T by using interference torque to compensate for acceleration torque. limiter Therefore, the torque calculation controller 100 can select the amount of torque T requested by the driver based on the amount of the driver's operation on the accelerator pedal (i.e., the driver's requested torque T corresponding to the value of the accelerator pedal position sensor (APS)). demand ) and acceleration torque limit T limter The minimum value MIN between these two values ​​is used to output the final corrected torque.

[0056] Therefore, only when the vehicle delivers torque T according to the driver's request... demand Accelerate to the set acceleration limit a limitThe above time only limits the torque, so that the acceleration can be effectively limited while preventing the vehicle from reversing on an uphill road.

[0057] Figure 4 An example of a configuration of an acceleration limit calculator according to an embodiment of the present application is shown.

[0058] The acceleration limit calculator 110 according to the present embodiment can determine the acceleration limit a limit based on the slope θ according to a table established in advance with respect to the slope θ (e.g., by testing) Figure 4 Alternatively, as shown, the acceleration limit calculator 110 can be implemented to simultaneously use a value obtained by compensating for the influence of the slope θ with a second gain and an acceleration limit a limit,flat obtained considering the influence of acceleration on the baby on a flat road. limit,fla An appropriate value of the acceleration limit a limit,flat based on a flat road can be determined by testing. For example, the acceleration limit a 2 based on a flat road can be in the range of 1 to 3 m / s limit,flat , but the embodiments are not limited thereto.

[0059] Specifically, when the vehicle travels on an uphill road, the baby seated on the rear-facing car seat is simultaneously affected by the vehicle acceleration and the gravitational acceleration g sin θ, and thus the acceleration limit calculator 110 can calculate the acceleration limit based on the vehicle acceleration and the gravitational acceleration g sin θ. For example, the acceleration limit a limit,flat set considering the influence of acceleration on the baby on a flat road can obtain the maximum acceleration limit, and the slope θ is "a limit,flat -g sin θ". At this time, in order to ensure the acceleration of the vehicle and the driver's perception of the vehicle climbing the slope, compensation can be performed by multiplying the influence of the gravitational acceleration by a second gain k'. In this case, k' can have a value in the range of 0 to 1. Alternatively, k' can be determined by testing for each vehicle model (e.g., ranging from 0.2 to 0.8), or can be set by a user through a user setting menu (USM). However, the embodiments are not limited thereto.

[0060] The calculated acceleration limit a limit is finally determined by selecting a saturation value (i.e., MAX) between the "a limit,flat -g sin θ" value and a minimum value a limit,min preset to prevent reversing and ensure acceleration performance. For example, the preset minimum value a 2 may be in the range of 0.5 to 2 m / s limit , but the embodiments are not limited thereto.

[0061] Reference will be made to the followingFigure 5 The torque calculation process will be described based on the configuration of the torque calculation controller 100 described so far.

[0062] Figure 5 is a flowchart showing an example of the torque calculation process according to the embodiment of the present application.

[0063] Referring to Figure 5 When the infant is in the vehicle, the infant assist function that corrects the output torque of the drive source is activated (Yes in S510). Subsequently, when the rearward setting related to the installation state of the car seat is selected (Yes in S520) and the acceleration limit control function is activated (Yes in S530), the acceleration limit calculator 110 can calculate the acceleration limit a limit (S550).

[0064] The acceleration torque limit calculator 130 can calculate the acceleration torque limit T limit based on the acceleration limit a and the disturbance torque T limiter calculated by the disturbance torque calculator 120 (S560).

[0065] The torque calculation controller 100 outputs the smaller value between the driver's requested torque T demand and the acceleration torque limit T limiter . When the driver's requested torque T demand is greater than the acceleration torque limit T limiter (Yes in S570), the acceleration torque limit T limiter may be finally output to the drive source controller 200 (S580). On the other hand, when the driver's requested torque T demand is not greater than the acceleration torque limit T limiter , the driver's requested torque T demand may be finally output (S590).

[0066] Meanwhile, when the infant assist function is not activated (No in S510), or when the infant assist function is activated (Yes in S510) but the rearward setting is not selected (No in S520), the driver's requested torque T demand may be the output torque of the drive source (S590).

[0067] Alternatively, when the infant assist function and the rearward setting are applied (Yes in S510 and Yes in S520) but the acceleration limit control function is not activated (No in S530), scaling of the rearward-based requested torque can be performed (S540). The specific procedure of performing scaling of the rearward-based requested torque will be described later with reference to Figure 6 .

[0068] Figure 6 An example of processing of output torque according to an embodiment of the present application is shown.

[0069] Referring to Figure 6 Compared to general control, the backward-based request torque scaling can be control to reduce the increase of the output torque of the drive source to below the increase of the APS value during a predetermined APS section. At this time, in order to protect the baby, the scaling can be more intensively performed when the vehicle travels on an uphill road than when the vehicle travels on a downhill road.

[0070] Further, in a state where the acceleration limit control function according to the present embodiment is applied, when the vehicle goes downhill, the acceleration limit a limit,flat but when the vehicle goes uphill, the acceleration limit can be reduced by "gsinθ".

[0071] As described above, when the acceleration limit control function is implemented instead of the APS scaling correction to limit the acceleration, the backward of the vehicle and the excessive operation of the driver on the APS can be prevented, thereby effectively protecting the baby.

[0072] Meanwhile, in the above-described embodiment, the baby assist function, the orientation of the car seat, and the correction degree of the acceleration limit can be set and changed by the user's manipulation of a predetermined menu. This will be described with reference to Figure 7 .

[0073] Figure 7 An example of configuration of a mode setting menu according to an embodiment of the present application is shown.

[0074] Figure 7 The upper drawing in FIG. 11 shows a state where a user setting menu (USM) is called on a display 710 of an audio / video / navigation (AVN) system. When a baby drive mode 711 is selected from the menu items on the left, the user can select an acceleration limit control function 712 from the central sub-menu items. When the acceleration limit control function 712 is selected, the user can select a correction degree of the acceleration limit 713 from the sub-menu items on the right. Here, the correction degree of the acceleration limit 713 can be implemented by changing the minimum value a limit,min of the acceleration limit described above or the second gain value k', but the embodiment is not limited thereto.

[0075] As Figure 7 shown in the lower drawing in FIG. 11, when the baby drive mode 711 is set, information indicating that the corresponding mode is activated can be displayed on an output interface such as an instrument 720.

[0076] Hereinafter, the above-described embodiments will be described with reference to Figures 8 to 12Various modifications of the torque calculation controller according to other embodiments of the present application are described, which are configured differently from the torque calculation controller shown in FIG. 1. Figure 1 The torque calculation controller shown in FIG. 2 differs from the torque calculation controller shown in FIG. 1 only in the method of obtaining the acceleration limit. Therefore, the difference between the torque calculation controller shown in FIG. 2 and the torque calculation controller shown in FIG. 1 will be mainly described. Figures 8 to 12 The torque calculation controller shown in FIG. 3 differs from the torque calculation controller shown in FIG. 1 only in the method of obtaining the acceleration limit. Therefore, the difference between the torque calculation controller shown in FIG. 3 and the torque calculation controller shown in FIG. 1 will be mainly described. Figure 1 The torque calculation controller shown in FIG. 4 differs from the torque calculation controller shown in FIG. 1 only in the method of obtaining the acceleration limit. Therefore, the difference between the torque calculation controller shown in FIG. 4 and the torque calculation controller shown in FIG. 1 will be mainly described.

[0077] Figure 8 An example of the configuration of a torque calculation controller according to another embodiment of the present application is shown.

[0078] Referring to FIG. 5, Figure 8 The acceleration limit calculator 110-1 of the torque calculation controller 100-1 according to another embodiment can have the angle of the car seat as an input value. Although installed at the same position in the indoor space, the baby is more affected by the vehicle acceleration because the inclination angle of the car seat is smaller. Therefore, the acceleration limit calculator 110-1 can be configured to increase the acceleration limit in proportion to the angle of the car seat.

[0079] Figure 9 An example of the configuration of a torque calculation controller according to yet another embodiment of the present application is shown.

[0080] Referring to FIG. 7, Figure 9 The acceleration limit calculator 110-2 of the torque calculation controller 100-2 according to yet another embodiment can have baby information as an input value. Here, the baby information can include at least one of the baby's age in months, weight, or height.

[0081] In the case of a 9-month-old baby, the head weight accounts for an average of 25% of the total weight. In the case of an adult woman, the weight of the head accounts for only 6% of the total weight. That is, as the baby's age in months increases, the proportion of the head to the total weight decreases, and the neck bones become more rigid. Therefore, it can be seen that the lower the baby's age in months, the greater the effect of acceleration on the baby. Therefore, the acceleration limit calculator 110-2 can receive information about the baby's age in months, weight, and height, and when the value included in the received information is small, the correction of the acceleration can be further enhanced.

[0082] Figure 10 An example of the configuration of a torque calculation controller according to yet another embodiment of the present application is shown.

[0083] Referring to FIG. 8, Figure 10 The acceleration limit calculator 110-3 of the torque calculation controller 100-3 according to yet another embodiment can have information about the total distance traveled provided from an odometer as an input value.

[0084] After the vehicle is manufactured, a certain driving period is required for the parts of the vehicle to be properly seated and for the joint parts thereof to operate smoothly. Thus, the initial driving has a great influence on the service life and performance of the new vehicle, and break-in of the new vehicle is essential. According to the manual, it is recommended to avoid sudden acceleration and deceleration before a total distance of 1000 km is traveled and to drive the new vehicle at a speed of 2000 to 4000 rpm of the engine per minute to break in the new vehicle. In addition to not driving the engine of the vehicle at a high speed, it is recommended to smoothly increase and decrease the speed of the engine and to drive the engine of the vehicle in the entire speed range, rather than at a fixed speed. A method of setting an acceleration limit according to the total distance traveled can be used in the break-in mode. For example, when the total distance traveled is short, the acceleration limit calculator 110-3 can further enhance the correction of the acceleration.

[0085] Figure 11 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is illustrated.

[0086] Referring to Figure 11 The acceleration limit calculator 110-4 of the torque calculation controller 100-4 according to still another embodiment can have a vehicle speed v as an input value.

[0087] In the case where the driver is a beginner or drives a new vehicle, the driver can feel a greater sense of acceleration than expected due to improper operation until the driver gets used to the accelerator pedal. To prevent this, the acceleration can be limited according to the vehicle speed based on a value manually set by the driver or a value pre-set by the vehicle manufacturer. For example, when the speed of the vehicle is low, the acceleration limit calculator 110-4 can further enhance the correction of the acceleration.

[0088] Figure 12 An example of a configuration of a torque calculation controller according to still another embodiment of the present application is illustrated.

[0089] Referring to Figure 12 The acceleration limit calculator 110-5 of the torque calculation controller 100-5 according to still another embodiment can have a relative speed of a preceding vehicle and a distance to the preceding vehicle as input values, which are included in information provided from an advanced driver assistance system (ADAS) (e.g., an intelligent cruise control sensor).

[0090] For example, when a traffic light changes from red to green, after the preceding vehicle starts, when the distance to the preceding vehicle is long, the acceleration limit calculator 110-5 can reduce the correction of the acceleration limit to maintain a smooth traffic situation. On the other hand, when the distance to the preceding vehicle is short, the acceleration limit calculator 110-5 can enhance the correction of the acceleration limit.

[0091] As another example, a fixed acceleration limit value can be applied without the acceleration limit calculator. For example, in the case of a rental car shared by many unspecified people, many users have little or no sense of ownership of the rental car, and thus drive the vehicle roughly, for example, sudden acceleration, which causes deterioration in the performance of the vehicle. In this case, the life of the vehicle can be increased by setting an acceleration limit. The acceleration limit can be set directly by a car sharing service provider, or can be set based on a value recommended by the vehicle manufacturer.

[0092] Meanwhile, the acceleration limit control processing according to the embodiments described so far can be temporarily deactivated depending on the situation. For example, an emergency light lighting situation, a turn signal lighting situation, a blind spot warning output situation, a shock detection situation, or a sport mode operation situation correspond to an emergency situation, a passing situation, or a situation requiring high driving force. In this case, the acceleration limit control processing can be deactivated.

[0093] The embodiments of the present application can be implemented as codes that can be written on a computer-readable recording medium and thus read by a computer system. The computer-readable recording medium includes various recording devices in which data readable by a computer system is stored. Examples of the computer-readable recording medium include a hard disk drive (HDD), a solid state drive (SSD), a silicon disk drive (SDD), a read-only memory (ROM), a random access memory (RAM), a compact disk ROM (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0094] As is apparent from the above description, a vehicle configured as described above according to at least one embodiment of the present application can more effectively provide an acceleration limit control function.

[0095] Specifically, the embodiments of the present application can control acceleration so as to minimize the adverse effects of acceleration on the passenger's body, taking into account information about the passenger and the slope.

[0096] However, the effects achievable by the embodiments of the present application are not limited to the above-described effects, and other effects not mentioned herein will be clearly understood by those skilled in the art from the above description.

[0097] It will be apparent to those skilled in the art that various changes can be made to form and details without departing from the spirit and essential characteristics of the application described herein. Therefore, the above detailed description is not intended to be construed in any way as limiting the application, but rather is considered as illustrative in nature. The scope of the application should be determined by reasonable interpretation of the appended claims and all equivalent modifications made without departing from the application. All equivalent modifications made without departing from the application should be included in the appended claims.

Claims

1. An acceleration limit control method comprising: determining an acceleration limit based on information about a passenger; determining a disturbance torque due to a disturbance other than a drive source of a vehicle based on at least a gradient; determining a torque limit satisfying the acceleration limit based on the disturbance torque; and determining an output torque to be generated by the drive source based on the torque limit and a requested torque of a driver, wherein the determination of the disturbance torque includes: obtaining a feedback disturbance torque based on the output torque and a vehicle speed; obtaining a feedforward disturbance torque based on the gradient; and determining the disturbance torque based on the feedback disturbance torque and the feedforward disturbance torque. The determination of the acceleration limit includes determining a condition for execution to be satisfied when a rear-facing car seat is installed in the vehicle.

2. The acceleration limitation control method according to claim 1, wherein The determination of the disturbance torque based on the feedback disturbance torque and the feedforward disturbance torque includes:

3. The acceleration limiting control method according to claim 1, wherein multiplying the feedback disturbance torque by a first gain determined in accordance with the vehicle speed; and multiplying the feedforward disturbance torque by a value obtained by subtracting the first gain from 1.

4. The acceleration limit control method according to claim 3, wherein: the first gain has a value ranging from 0 to 1; the first gain is determined to be 0 when the vehicle is stopped; and the first gain is determined to be 1 when the vehicle is traveling at a predetermined speed or higher. the gradient corresponds to an uphill gradient.

5. The acceleration limiting control method according to claim 1, wherein The determination of the acceleration limit is performed based on a value obtained by subtracting an acceleration in accordance with the gradient from a predetermined first acceleration limit and a second acceleration limit, which is a predetermined minimum acceleration limit.

6. The acceleration limiting control method according to claim 1, wherein A predetermined second gain value is applied to the acceleration in accordance with the gradient before the acceleration in accordance with the gradient is subtracted from the first acceleration limit.

7. The acceleration limitation control method according to claim 6, wherein The first acceleration limit is set based on an effect on a baby's body on a flat road.

8. The acceleration limitation control method according to claim 6, wherein 9. A non-transitory computer-readable recording medium storing a program configured to, when executed by a computer included in the non-transitory computer-readable recording medium, cause the computer to execute the acceleration limit control method according to claim 1.

10. A vehicle comprising: a torque calculation controller configured to: determine an acceleration limit based on information about a passenger; determine a disturbance torque due to a disturbance other than a drive source of the vehicle based on at least a gradient; determine a torque limit satisfying the acceleration limit based on the disturbance torque; determine an output torque to be generated by the drive source based on the torque limit and a requested torque of a driver, obtain a feedback disturbance torque based on the output torque and a vehicle speed; obtain a feedforward disturbance torque based on the gradient; and determine the disturbance torque based on the feedback disturbance torque and the feedforward disturbance torque; and a drive source controller configured to control the drive source based on the output torque. The torque calculation controller is configured to determine a condition for execution of the determination of the acceleration limit to be satisfied when a rear-facing car seat is installed in the vehicle. ​ 11. The vehicle of claim 10, wherein, ​ 12. The vehicle of claim 10, wherein, The torque calculation controller is configured to determine the disturbance torque based on a value obtained by multiplying the feedback disturbance torque by a first gain determined in accordance with the vehicle speed and a value obtained by multiplying the feedforward disturbance torque by a value obtained by subtracting the first gain from 1.

13. The vehicle according to claim 12, wherein: the first gain has a value ranging from 0 to 1; the first gain is determined to be 0 when the vehicle is stopped; and the first gain is determined to be 1 when the vehicle is traveling at a predetermined speed or higher.

14. The vehicle of claim 10, wherein, the slope corresponds to an uphill slope.

15. The vehicle of claim 10, wherein, The torque calculation controller is configured to determine the acceleration limit based on a value obtained by subtracting an acceleration in accordance with the slope from a predetermined first acceleration limit and a second acceleration limit, the second acceleration limit being a predetermined minimum acceleration limit.

16. The vehicle of claim 15, wherein, A predetermined second gain value is applied to the acceleration in accordance with the slope before subtracting the acceleration in accordance with the slope from the first acceleration limit.

17. The vehicle of claim 15, wherein, The first acceleration limit is set based on an effect on a baby's body on a flat road.

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