Device and method for controlling dynamic behavior of vehicle

Abstract

The invention discloses a dynamic behavior control apparatus of a vehicle and a method thereof. The vehicle behavior control device is configured to: recognize detection data including at least one of a traveling state of a host vehicle, an operation signal for the host vehicle, a lateral force acting on the host vehicle due to a lateral wind, or any combination thereof, by using a sensor unit; when the detection data and the intention determination value satisfy a predetermined condition, at least a portion of the detection data is used to identify at least one of a braking control amount, a steering control amount, or an arbitrary combination thereof with respect to the own vehicle, and when the detection data and the intention determination value satisfy the predetermined condition, at least a portion of the detection data is used to identify at least one of the braking control amount, the steering control amount, and the combination thereof. The behavior of the host vehicle can be compensated on the basis of the brake control amount, the steering control amount, or any combination thereof.

Description

Technical Field

[0001] The present invention relates to an apparatus for controlling dynamic behavior of a car and a method thereof, and more particularly to a technology for compensating for vehicle behavior by utilizing at least one of user intention, the driving state of the vehicle, the road surface state, or any combination thereof when the lateral force acting on the vehicle due to lateral wind exceeds a specified intensity. Background Art

[0002] Generally, a vehicle is equipped with an electric power steering (MDPS) system that changes the steering force of a steering wheel based on the vehicle's running speed and provides steering assistance by motor driving to a steering shaft connected to the steering wheel.

[0003] Furthermore, the above-mentioned electric power steering (MDPS) system performs lateral force compensation control for compensating the steering torque in order to prevent the vehicle from tilting due to the lateral load.

[0004] The lateral force compensation control based on the above-mentioned electric power steering (hereinafter referred to as MDPS) system includes: a step of judging in a controller whether actual steering is performed or lateral force is generated based on detection signals of a steering angle sensor, a yaw rate sensor and a vehicle speed sensor; and a step of executing steering torque compensation control in the controller when it is judged that lateral force is generated.

[0005] However, the conventional method has the following problem: when an excessive lateral load (eg, lateral wind of 40 KPH or more) is generated during vehicle travel, the conventional steering torque compensation effect cannot be exerted.

[0006] For example, when excessive lateral force (lateral wind above 40KPH) is generated, the required compensatory steering torque should be above 2Nm, but in reality only a maximum torque compensation of 0.4Nm can be achieved, so there is a problem that the existing steering torque compensation effect cannot be exerted.

[0007] Furthermore, the method based on the prior art has the following problem: when performing compensation control based on the generation of lateral force, the interaction with the user (or driver) is not considered. As a result, the user has the inconvenience of performing unnecessary control intervention. In addition, as the type of control different from the user's intention is performed, there is a problem that the user feels uncomfortable during driving. Summary of the invention

[0008] One embodiment of the present invention provides the following vehicle behavior control device and method: in the process of judging the lateral force acting on the self-vehicle and thereby identifying the control amount used to control the self-vehicle (for example, braking control amount and / or steering control amount), the vehicle behavior pre-compensated by the user is further considered to perform vehicle behavior compensation.

[0009] An embodiment of the present invention provides a vehicle behavior control device and method thereof that further considers parameters related to user intention to determine whether to perform compensation control, thereby performing compensation control only when compensation control based on a control device is actually needed.

[0010] One embodiment of the present invention provides the following vehicle behavior control device and method: the braking control amount and the steering control amount are calculated using the driving state or structure of the vehicle, and the calculated multiple control amounts are used to perform cooperative control, thereby stabilizing the vehicle behavior.

[0011] The technical problems of the present invention are not limited to the technical problems mentioned above, and those skilled in the art can clearly understand other technical problems not mentioned from the following description.

[0012] The vehicle behavior control device according to one embodiment of the present invention may include: a sensor unit including at least one sensor; a memory storing a plurality of instructions; and a control unit operatively connected to the sensor unit and the memory. For example, when the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: using the sensor unit to identify at least one of the detection data including the driving state of the vehicle, the operation signal for the vehicle, the lateral force acting on the vehicle due to the lateral wind, or any combination thereof, using at least a part of the detection data to identify the intention judgment value related to the user's intention, and when the detection data and the intention judgment value meet the specified conditions, using at least a part of the detection data to identify at least one of the braking control amount, the steering control amount, or any combination thereof for the vehicle, and using the braking control amount, the steering control amount, or any combination thereof to compensate for the behavior of the vehicle.

[0013] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: using the above-mentioned sensor unit to obtain raw data including at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal or any combination thereof of the self-vehicle, and identifying the detection data generated by performing offset compensation, filtering processing or at least one of any combination thereof on at least a part of the above-mentioned raw data.

[0014] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: using the above-mentioned sensor unit to identify detection data including at least one of the vehicle speed, sideslip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

[0015] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: when the above-mentioned lateral force is above the specified value: using the lateral stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of the above-mentioned at least one wheel, the second distance from the above-mentioned center of gravity of the self-vehicle to the point of application of the lateral force, or at least one of any combination thereof to identify the above-mentioned required steering angle required to compensate for the above-mentioned lateral force, and identify the compensating steering angle manipulated by the user to control the self-vehicle.

[0016] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: when the above-mentioned lateral force is greater than the lateral force magnitude reference value and the above-mentioned lateral force differential value is greater than the lateral force differential reference value, it is judged that the above-mentioned lateral force in the above-mentioned detection data satisfies the first condition among the above-mentioned specified conditions; when the dynamic behavior index value identified by using the steering angle and steering angular velocity of the own vehicle is less than the preset value and the driving speed of the own vehicle is greater than the specified speed, it is judged that the above-mentioned driving state satisfies the above-mentioned second condition among the above-mentioned specified conditions.

[0017] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: using the above-mentioned sensor unit to identify the required steering angle required to compensate for the above-mentioned lateral force and the compensation steering angle input by the user, identifying the above-mentioned intention judgment value as 1 when the above-mentioned steering torque is below the steering torque reference value, identifying the above-mentioned intention judgment value as 2 when the above-mentioned steering torque exceeds the above-mentioned steering torque reference value and the above-mentioned compensation steering angle is below the compensation steering angle reference value, identifying the above-mentioned intention judgment value as 3 when the above-mentioned compensation steering angle exceeds the above-mentioned compensation steering angle reference value and is less than the above-mentioned required steering angle, and when the above-mentioned intention judgment value is any one of 1 to 3 or when the above-mentioned lateral force is not compensated by the user's operation, it is judged that the above-mentioned intention judgment value satisfies the third condition among the specified conditions.

[0018] Based on one embodiment, the above-mentioned multiple instructions can, when executed by the above-mentioned control unit, enable the above-mentioned vehicle behavior control device to execute: when the above-mentioned lateral force is less than a specified value, or the friction coefficient between the tires of the own vehicle and the driving road is below a critical value, or the lateral inclination and type of the above-mentioned driving road do not meet the critical benchmark, or the yaw rate value of the own vehicle is above the benchmark value, or the sideslip angle change rate exceeds a specified range, or the compensation steering angle is the required steering angle or above, it is judged that the above-mentioned detection data and the above-mentioned intention judgment value do not meet the above-mentioned specified conditions.

[0019] Based on one embodiment, the situation in which the lateral force is not compensated through the user's operation includes: the user is in a hands-off state, or no operation for compensating for the lateral force is received from the user, or the compensation for the lateral force is not achieved through the operation received from the user, or any combination thereof.

[0020] Based on one embodiment, the above-mentioned multiple instructions can, when executed by the above-mentioned control unit, enable the above-mentioned vehicle behavior control device to execute: using the above-mentioned sensor unit to identify the required steering angle required to compensate for the above-mentioned lateral force and the compensation steering angle input by the user, using the steering torque based on the user to determine the distribution ratio for identifying the above-mentioned braking control amount, using the above-mentioned lateral force, the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of the above-mentioned at least one wheel, the second distance from the above-mentioned center of gravity of the self-vehicle to the point of application of the lateral force, the above-mentioned compensation steering angle, the above-mentioned distribution ratio or at least one of any combination thereof to identify the above-mentioned braking control amount, using at least one of the above-mentioned lateral force, the cornering stiffness of the above-mentioned at least one wheel, the above-mentioned wheelbase, the above-mentioned first distance, the above-mentioned second distance, the above-mentioned compensation steering angle, the above-mentioned braking control amount or any combination thereof to identify the above-mentioned steering control amount, and compensating for the behavior of the self-vehicle based on at least one of the above-mentioned braking control amount, the above-mentioned steering control amount or any combination thereof.

[0021] Based on one embodiment, when the above-mentioned multiple instructions are executed by the above-mentioned control unit, the above-mentioned vehicle behavior control device executes: performing post-processing related to at least one of the maximum value, the minimum value, the inclination or any combination thereof on the above-mentioned braking control amount and the above-mentioned steering control amount, identifying the braking pressure corresponding to the front wheels and the rear wheels of the self-vehicle respectively based on the final yaw moment identified by the result of the above-mentioned post-processing, identifying the final steering torque corresponding to the above-mentioned steering control amount by the result of the above-mentioned post-processing, and compensating for the behavior of the self-vehicle by using the above-mentioned braking pressure, the above-mentioned final steering torque or at least one of any combination thereof.

[0022] The vehicle behavior control method based on an embodiment of the present invention may include: a step in which a control unit uses a sensor unit to identify detection data including at least one of the driving state of the own vehicle, an operation signal for the own vehicle, a lateral force acting on the own vehicle due to lateral wind, or any combination thereof; a step in which the control unit uses at least a part of the detection data to identify an intention judgment value related to the user's intention; a step in which the control unit uses at least a part of the detection data to identify at least one of the braking control amount, the steering control amount, or any combination thereof for the own vehicle when the detection data and the intention judgment value meet specified conditions; and a step in which the control unit compensates for the behavior of the own vehicle based on the braking control amount, the steering control amount, or any combination thereof.

[0023] Based on one embodiment, the step of the control unit using the sensor unit to identify the detection data may include: the step of the control unit using the sensor unit to obtain raw data including at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal or any combination thereof of the self-vehicle; and the step of identifying the detection data generated by performing offset compensation, filtering processing or at least one of any combination thereof on at least a part of the raw data.

[0024] Based on one embodiment, the step in which the control unit uses the sensor unit to identify detection data may include: the control unit uses the sensor unit to identify detection data including at least one of the vehicle speed, sideslip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

[0025] Based on one embodiment, the step of the control unit identifying at least one of the braking control amount, the steering control amount or any combination thereof may include: when the lateral force is above a specified value: the control unit uses the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of the above-mentioned at least one wheel, the second distance from the above-mentioned center of gravity of the self-vehicle to the point of application of the lateral force or at least one of any combination thereof to identify the required steering angle required to compensate for the above-mentioned lateral force; and the step of identifying the compensating steering angle manipulated by the user to control the self-vehicle.

[0026] Based on one embodiment, the step of the control unit identifying at least one of the braking control amount, the steering control amount or any combination thereof may include: when the lateral force is above a lateral force magnitude reference value and the differential value of the lateral force is above a lateral force differential reference value, the control unit determines that the lateral force in the detection data satisfies the first condition among the specified conditions; and when the dynamic behavior index value identified by using the steering angle and steering angular velocity of the vehicle is below a preset value and the driving speed of the vehicle is above a specified speed, the control unit determines that the driving state satisfies the second condition among the specified conditions.

[0027] Based on one embodiment, the step of the control unit identifying at least one of the braking control amount, the steering control amount or any combination thereof may include: identifying the intention judgment value as 1 when the steering torque is below the steering torque baseline value, identifying the intention judgment value as 2 when the steering torque exceeds the steering torque baseline value and the compensation steering angle is below the compensation steering angle baseline value, and identifying the intention judgment value as 3 when the compensation steering angle exceeds the compensation steering angle baseline value and is less than the required steering angle; and the step of judging that the intention judgment value satisfies the third condition among the specified conditions when the intention judgment value is any one of 1 to 3 or when the lateral force is not compensated by the user's operation.

[0028] Based on one embodiment, the step of the control unit identifying at least one of the braking control amount, the steering control amount or any combination thereof may include: when the lateral force is less than a specified value, or the friction coefficient between the tires of the self-vehicle and the driving road is below a critical value, or the lateral inclination and type of the driving road do not meet the critical benchmark, or the yaw rate value of the self-vehicle is above a benchmark value, or the sideslip angle change rate exceeds a specified range, or the compensation steering angle is the required steering angle or above, the control unit determines that the detection data and the intention judgment value do not meet the specified conditions.

[0029] Based on one embodiment, the situation in which the lateral force is not compensated through the user's operation includes: the user is in a hands-off state, or no operation for compensating for the lateral force is received from the user, or the compensation for the lateral force is not achieved through the operation received from the user, or any combination thereof.

[0030] Based on one embodiment, the step of the control unit identifying at least one of the braking control amount, the steering control amount, or any combination thereof may include: the control unit identifying the required steering angle required to compensate for the lateral force and the compensation steering angle input by the user using the sensor unit; the control unit determining the distribution ratio for identifying the braking control amount based on the steering torque of the user; and the control unit identifying the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of the at least one wheel, the second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, the compensation steering angle, the distribution ratio, or any combination thereof;

[0031] The control unit comprises a step of identifying the steering control amount by using at least one of the lateral force, the cornering stiffness of the at least one wheel, the wheelbase, the first distance, the second distance, the compensatory steering angle, the braking control amount or any combination thereof; and the control unit comprises a step of compensating for the behavior of the self-vehicle based on at least one of the braking control amount, the steering control amount or any combination thereof.

[0032] Based on one embodiment, the step in which the control unit compensates for the behavior of the self-vehicle based on the braking control amount, the steering control amount or any combination thereof may include: the step in which the control unit performs post-processing on the braking control amount and the steering control amount related to at least one of the maximum value, the minimum value, the inclination or any combination thereof; the step in which the control unit identifies the braking pressure corresponding to the front wheels and the rear wheels of the self-vehicle respectively based on the final yaw moment identified through the result of the post-processing; the step in which the control unit identifies the final steering torque corresponding to the steering control amount through the result of the post-processing; and the step in which the control unit uses the braking pressure, the final steering torque or at least one of the combinations thereof to compensate for the behavior of the self-vehicle.

[0033] The effects of the vehicle behavior control device and method based on the present invention are described as follows.

[0034] According to at least one of the multiple embodiments of the present invention, the vehicle behavior control device defines a dynamic behavior index representing the dynamic behavior level of the vehicle, and determines whether to perform compensation control according to the size of the defined dynamic behavior index, thereby being able to perform vehicle behavior control (or lateral force compensation control) under the condition that the vehicle behavior is stable.

[0035] In addition, according to at least one of the multiple embodiments of the present invention, the user intention is distinguished based on the comparison result between the compensating steering angle of the user (or the driver), the required steering angle actually required to compensate for the lateral force, and the steering torque of the vehicle, and after the result of the distinction is identified as a situation in which the lateral force compensation based on the user is insufficient, vehicle behavior control can be performed under the corresponding situation.

[0036] In addition, according to at least one of the embodiments of the present invention, a control amount actually requiring compensation is identified taking into account compensation control including compensation steering angle based on a user, thereby enabling efficient and highly accurate vehicle behavior control to be performed.

[0037] In addition, according to at least one of the multiple embodiments of the present invention, the following vehicle behavior control function can be provided: performing cooperative control of braking and steering, and determining each control amount used for cooperative control by a specific benchmark (for example: the size of the user's steering torque).

[0038] In addition, various effects directly or indirectly known from the present specification can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Detailed description of the invention is given in detail below.

[0040] Figure 2 Detailed description of the invention is given in detail below.

[0041] Figure 3 This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0042] Figure 4 This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0043] Figure 5 1 is a diagram showing an example of calculating the maximum allowable values ​​of the steering angle and the steering angular velocity using the constant K value by the vehicle behavior control device according to one embodiment of the present invention.

[0044] Figure 6 It is a schematic diagram of the operation of a vehicle behavior control device according to an embodiment of the present invention for determining whether a specified condition for executing lateral force compensation control is satisfied.

[0045] Figure 7 1 is a diagram showing an example in which the vehicle behavior control device according to one embodiment of the present invention uses the driver's steering torque for brake control amount distribution.

[0046] Figure 8This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0047] Fig. 9 A computing system related to a vehicle behavior control method according to an embodiment of the present invention is shown.

[0048] With regard to the description of the drawings, the same or similar reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0049] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. In this specification, for the same or similar parts, no matter in which figure, the same figure mark is attached and the repeated description thereof is omitted. In addition, when describing the embodiments of this specification, when it is judged that the specific description of the known related art may blur the key points of the embodiments included in this specification, the detailed description thereof will be omitted. When describing the parts of the embodiments of the present invention, the terms such as first, second, A, B, (a), (b) can be used. This term is only used to distinguish the part from other parts, and the nature, order or sequence of the corresponding parts will not be limited by the term. In addition, unless there is a different definition, all the terms used herein (including technical terms or scientific terms) have the same meaning as the meaning generally understood by those skilled in the art. The terms identical to the words defined in the commonly used dictionary should be interpreted as having the same meaning as the contextual meaning of the relevant technical field, and should not be interpreted as having an idealized or overly formalized meaning, unless it is clearly defined in this application as having such a meaning.

[0050] Below, refer to Figures 1 to 9 , multiple embodiments of the present invention are described in detail.

[0051] Figure 1 Detailed description of the invention is given in detail below.

[0052] According to an embodiment, the vehicle behavior control device 100 can include at least one of a sensor unit 110 , a memory 120 , a control unit 130 , or any combination thereof. Figure 1 The structure of the vehicle behavior control device 100 shown is exemplary, and the embodiments of the present invention are not limited thereto. For example, the vehicle behavior control device 100 can further include Figure 1 Components not shown in the figure (for example, at least one of an interface unit, a communication unit, a display unit, or any combination thereof).

[0053] According to an embodiment, the sensor unit 110 can acquire (or recognize) various information used in the travel of the own vehicle and / or various information related to the travel state of the own vehicle.

[0054] For example, the sensor unit 110 can include at least one sensor including at least one of a camera, a radar, a LiDAR, or any combination thereof.

[0055] For example, the sensor unit 110 can recognize detection data including at least one of the travel state of the own vehicle, an operation signal for the own vehicle, a lateral force acting on the own vehicle due to lateral wind, or any combination thereof.

[0056] As an example, the sensor unit 110 can identify the steering torque and steering angle of the own vehicle. The steering torque is generated by the user's control and can include a torque value and / or a steering angle used for steering control of the own vehicle.

[0057] As an example, the sensor unit 110 can identify at least one of the wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, or any combination thereof of the vehicle. The sensor unit 110 can obtain raw data including, for example, at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal, or any combination thereof of the vehicle, and can identify detection data generated by performing at least one of offset compensation, filtering processing, or any combination thereof on at least a portion of the raw data.

[0058] As an example, the sensor unit 110 is capable of identifying at least one ADAS (Advanced Driver Assistance System) signal for controlling the self-vehicle. The control unit 130 is capable of determining the priority between at least one ADAS signal and the output signal for vehicle behavior control to determine whether to perform vehicle behavior control. For example, when a portion of at least one ADAS signal has a higher priority than the output signal for vehicle behavior control, the control unit 130 may suspend the execution of vehicle behavior control until the processing of a portion of at least one ADAS signal is completed, even if all specified conditions for vehicle behavior control are met.

[0059] As an example, the sensor unit 110 is capable of identifying detection data including at least one of the vehicle speed, the sideslip angle change rate, the roll angle of the driving road, the road type of the driving road, the degree of danger, the friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

[0060] For example, the sensor unit 110 can recognize an operation signal input by a user to the own vehicle in order to control the own vehicle.

[0061] As an example, the sensor unit 110 can recognize the compensation steering angle input by the user. For example, the compensation steering angle can include an angle corresponding to the amount of operation performed by the user on the steering wheel for steering control of the vehicle.

[0062] For example, the sensor unit 110 can recognize a lateral force acting on the vehicle due to lateral wind.

[0063] As an example, the sensor unit 110 can identify the strength of the lateral force acting on at least one point of the vehicle (eg, the lateral force acting point).

[0064] According to an embodiment, the memory 120 can store commands or data. For example, the memory 120 can store one or more instructions that, when executed by the control unit 130 , cause the vehicle behavior control device 100 to perform various operations.

[0065] For example, the memory 120 can be implemented by the control part 130 and a chipset. The control part 130 can include at least one of a communication processor or a modem.

[0066] For example, the memory 120 can store various information related to the vehicle behavior control device 100. As an example, the memory 120 can store information related to the operation history of the control unit 130. As an example, the memory 120 can store the status and / or operation-related information of multiple components of the self-vehicle (for example, at least one of the ECU (Engine Control Unit), the sensor unit 110, the control unit 130, or any combination thereof).

[0067] For example, the memory 120 can store various information related to the vehicle. As an example, the memory 120 can store at least one of the cornering stiffness of at least one wheel (e.g., front wheel and rear wheel) of the vehicle, the wheel base, the distance from the center of gravity of the vehicle to the center of at least one wheel, or any combination thereof.

[0068] For example, the memory 120 can also store updated information related to the vehicle acquired (or recognized) in real time by the control unit 130 through the sensor unit 110 instead of the above information.

[0069] According to an embodiment, the control unit 130 can be operatively connected to the sensor unit 110 and / or the memory 120. For example, the control unit 130 can control the operation of the sensor unit 110 and / or the memory 120.

[0070] For example, the control unit 130 can use the sensor unit 110 to identify detection data including at least one of the driving state of the vehicle, an operation signal for the vehicle (for example, a signal input by a user), a lateral force acting on the vehicle due to lateral wind, or any combination thereof.

[0071] As an example, the control unit 130 can use the sensor unit 110 to obtain raw data including at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal, or any combination thereof of the vehicle.

[0072] As an example, the control unit 130 can identify the detection data generated by performing at least one of offset compensation, filtering processing, or any combination thereof on at least a portion of the raw data.

[0073] As an example, the control unit 130 can use the sensor unit 110 to identify at least one of the detection data including the vehicle speed, the sideslip angle change rate, the roll angle of the driving road, the road type of the driving road, the degree of danger, the friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

[0074] For example, the control unit 130 can use at least a portion of the detection data to identify an intention judgment value related to the user's intention. For example, the control unit 130 can identify a required steering angle required to compensate for the lateral force and a compensation steering angle input by the user, and use at least one of the steering torque of the vehicle, the required steering angle, the compensation steering angle, or any combination thereof to identify the intention judgment value related to the user's intention.

[0075] As an example, the control unit 130 may use the detection data to identify the required steering angle and the compensation steering angle only when the magnitude of the lateral force is greater than a specified value.

[0076] As an example, the required steering angle may include a steering angle calculated by the control unit 130 to compensate for the lateral force using at least one of the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, a first distance from the center of gravity of the self-vehicle to the center of at least one wheel, a second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, or any combination thereof.

[0077] As an example, the control unit 130 can identify the required steering angle through the following equation 1.

[0078] [Formula 1]

[0079]

[0080] As an example, δ req can be the required steering angle, F w can be the lateral force, l can be the wheelbase, l w It can be the second distance from the center of gravity of the vehicle to the point where the lateral force acts, C f can be the front wheel cornering stiffness of the vehicle, C r , L can be the distance from the center of gravity of the vehicle to the center of the front wheel. f and the distance l from the center of gravity of the vehicle to the center of the rear wheel r The added value, m is the weight of the vehicle, V X can be the speed of the vehicle, and A can be the yaw rate. N It can be a value identified by the following formula 2.

[0081] [Formula 2]

[0082]

[0083] As an example, the control unit 130 may assume that the yaw rate A is 0 and calculate the required steering angle based on the above-mentioned Formula 1. When the yaw rate A is 0, the required steering angle may be identified by the following Formula 3.

[0084] [Formula 3]

[0085]

[0086] As an example, the compensation steering angle can include a steering angle manipulated by a user for control of the vehicle (eg, steering control).

[0087] For example, the control unit 130 can identify the intention determination value related to the user's intention using at least one of the steering torque of the vehicle, the required steering angle, the compensation steering angle, or any combination thereof.

[0088] As an example, when the steering torque is less than the steering torque reference value, the control unit 130 can identify the intention judgment value as 1. For example, the case where the intention judgment value is 1 can include a case where the user is in a hands-off state. As an example, hands-off can include a state where the user does not hold the steering wheel. In other words, the case where the intention judgment value is 1 can include a case where the user does not intend to perform control for compensating for the lateral force acting on the vehicle.

[0089] As an example, when the steering torque exceeds the steering torque reference value and the compensation steering angle is less than the compensation steering angle reference value, the control unit 130 can identify the intention judgment value as 2. For example, the case where the intention judgment value is 2 can include a case where the user does not perform an operation for self-vehicle control (for example: lateral force compensation control). In other words, the case where the intention judgment value is 2 can include a case where the user does not intend to perform a control for compensating for the lateral force acting on the self-vehicle.

[0090] As an example, when the compensation steering angle exceeds the compensation steering angle reference value and is less than the required steering angle, the control unit 130 can identify the intention judgment value as 3. For example, when the intention judgment value is 3, it can indicate that the user does not intend to sufficiently compensate for the lateral force acting on the own vehicle through the user. In other words, the case where the intention judgment value is 3 can include a case where, although the user intends to perform control for compensating for the lateral force acting on the own vehicle, compensation for the lateral force is not achieved through the user's operation (for example, a case where the compensation based on the user's operation is ultimately insufficient to compensate for the lateral force).

[0091] As an example, when the compensation steering angle is the required steering angle or more, the control unit 130 can identify the intention judgment value as 4. This can indicate the user's intention to fully compensate for the lateral force acting on the own vehicle. In other words, the case where the intention judgment value is 4 can include a case where the user intentionally performs control for compensating for the lateral force acting on the own vehicle, and the user's operation ultimately fully compensates for the lateral force.

[0092] Regarding the above-mentioned intention determination value, the case where the intention determination value is any one of 1 to 3 may include a case where the lateral force acting on the own vehicle cannot be sufficiently compensated only by the user's operation.

[0093] For example, the control unit 130 can determine whether the detection data and the intention determination value satisfy at least one of the first condition, the second condition, the third condition, or any combination thereof.

[0094] As an example, the first condition may include a situation where the lateral force acting on the vehicle is greater than the lateral force magnitude reference value and the lateral force differential value is greater than the lateral force differential reference value. For example, the situation where the control unit 130 determines that the first condition is satisfied may include a situation where the lateral force is too large and compensation control based on the vehicle behavior control device 100 is required.

[0095] As an example, the second condition may include a case where a dynamic behavior index value identified by using the steering angle and steering angular velocity of the vehicle is less than a preset value and the driving speed of the vehicle is greater than a specified speed. For example, the control unit 130 determines that the second condition is satisfied when the behavior of the vehicle is sufficiently stable to enable compensation control based on the vehicle behavior control device 100.

[0096] As an example, the third condition may include a case where the intention judgment value indicating the user's intention is less than 3. For example, when the intention judgment value is any one of 1 to 3 (for example, any one of 1, 2, or 3), the control unit 130 may determine that the intention judgment value satisfies the third condition in the specified conditions. For example, when the intention judgment value is 4, the control unit 130 may determine that the intention judgment value does not satisfy the third condition in the specified conditions. As an example, the case where the intention judgment value is 4 may include a case where the compensation steering angle is the required steering angle or above.

[0097] For example, even when the first to third conditions described above are satisfied, the control unit 130 can determine that the detection data and the intention determination value do not satisfy the specified conditions as long as a specific situation is recognized.

[0098] As an example, when the friction coefficient between the tires of the own vehicle and the driving road is below a critical value, or the lateral inclination and type of the driving road do not meet the critical standard, or the yaw rate value of the own vehicle is above the reference value, or the sideslip angle change rate exceeds a specified range, the control unit 130 can determine that the detection data and the intention judgment value do not meet the specified conditions and do not perform vehicle behavior control.

[0099] As an example, the control unit 130 can also determine whether the detection data and / or the intention judgment value meet the specified condition based on the magnitude of the lateral force. For example, when it is determined that the magnitude of the lateral force is less than the specified value, the control unit 130 can determine that the detection data and the intention judgment value do not meet the execution condition. The specified value can be a value smaller than the lateral force magnitude reference value that is the judgment reference of the first condition.

[0100] For example, when the control unit 130 determines that the detection data and the intention determination value satisfy a specified condition, it can use at least a portion of the detection data to identify at least one of the braking control amount, the steering control amount, or any combination thereof for the vehicle.

[0101] As an example, the control unit 130 can determine the allocation ratio for identifying the braking control amount using the steering torque input by the user and used for controlling the vehicle. The description of determining the allocation ratio will be described later in detail. Figure 7 The description is described in detail.

[0102] As an example, the control unit 130 can identify the braking control amount using at least one of lateral force, cornering stiffness of at least one wheel of the vehicle, wheelbase, a first distance from the center of gravity of the vehicle to the center of at least one wheel, a second distance from the center of gravity of the vehicle to the point of application of the lateral force, a compensated steering angle, a distribution ratio, or any combination thereof.

[0103] As an example, the control portion 130 can identify the steering control amount using at least one of lateral force, cornering stiffness of at least one wheel, wheelbase, first distance, second distance, compensation steering angle, braking control amount, or any combination thereof.

[0104] For example, the control unit 130 can compensate for the behavior of the vehicle based on the braking control amount, the steering control amount, or any combination thereof.

[0105] As an example, the control unit 130 can perform post-processing on the braking control amount and the steering control amount related to at least one of the maximum value, the minimum value, the inclination, or any combination thereof. The post-processing can include the following process: judging whether the identified braking control amount and the steering control amount are included between the preset maximum value and the minimum value, and adjusting a part of the control amount based on the judgment result, or judging whether the inclination of the identified braking control amount and the steering control amount is within a preset range, and adjusting a part of the control amount based on the judgment result.

[0106] As an example, the control unit 130 can identify the brake pressures corresponding to the front and rear wheels of the vehicle based on the final yaw moment identified by the post-processing result. The final yaw moment may be, for example, a control amount for braking control of the vehicle determined based on the braking control amount.

[0107] As an example, the control unit 130 can identify the final steering torque corresponding to the steering control amount through the post-processing result. The final steering torque may be, for example, a control amount for steering control of the vehicle determined based on the steering control amount.

[0108] As an example, the control portion 130 may generate an output signal using at least one of the braking pressure, the final steering torque, or any combination thereof, and may compensate (or control) the behavior of the own vehicle based on the output signal.

[0109] As an example, the control unit 130 can determine whether to perform behavior compensation control based on whether control signals of other control devices installed in the vehicle are operable and / or the priority between control signals of other control devices and the output signal of the vehicle behavior control device 100.

[0110] Figure 2 Detailed description of the invention is given in detail below.

[0111] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device 100) can include at least one of a signal input unit 210, a signal processing unit 220, a state estimation unit 230, a lateral wind control unit 240, a signal output unit 250, or any combination thereof.

[0112] Based on an embodiment, the lateral wind control unit 240 can include a lateral wind estimation unit 241, a steering angle calculation unit 242, an intention determination unit 243, a lateral wind determination unit 244 and / or a lateral wind compensation control unit 245. As an example, the lateral wind compensation control unit 245 can include a control amount allocation unit 246, a lateral wind compensation braking control unit 247 and / or a lateral wind compensation steering control unit 248.

[0113] According to one embodiment, Figure 2 At least a portion of the multiple components shown can be used as Figure 1 In other words, the following description of Figure 2 The description of the components can be obtained by Figure 1 This is achieved by the control unit 130.

[0114] According to an embodiment, the signal input unit 210 can receive various types of signals from various components installed in the vehicle based on CAN (Controller Area Network).

[0115] For example, the signal input unit 210 can receive a signal related to at least one of the steering angle, steering angle velocity, wheel speed, lateral acceleration, yaw rate, at least one ADAS (Advanced Driver Assistance System) operation signal of the self-vehicle, or any combination thereof. As an example, the at least one ADAS operation signal can include a control signal output by a control device other than the vehicle behavior control device to control the self-vehicle.

[0116] According to an embodiment, the signal processing unit 220 can perform various post-processing operations on at least a portion of the plurality of signals received by the signal input unit 210 .

[0117] For example, the signal processing portion 220 can apply offset compensation logic to at least one of steering angle, yaw rate, lateral acceleration, or any combination thereof.

[0118] For example, the signal processing unit 220 can perform filtering (eg, low-pass filtering (LPF)) processing on at least one of the steering angle, the yaw rate, the lateral acceleration, the longitudinal acceleration, the wheel speed, or any combination thereof.

[0119] According to one embodiment, the state estimation unit 230 is capable of generating (or identifying) result data estimating at least one of the vehicle state (or driving state) of the own vehicle, the road surface state of the road on which the own vehicle is traveling, or any combination thereof.

[0120] For example, the state estimation unit 230 can identify the driving state of the vehicle (eg, at least one of the vehicle speed, the sideslip angle change rate, or any combination thereof) based on at least a portion of the plurality of signals processed by the signal processing unit 220 .

[0121] For example, the state estimation unit 230 can identify at least one of the bank angle of the driving road, the road type of the driving road, the degree of danger, the friction coefficient between the tires of the vehicle and the driving road, or any combination thereof based on at least a part of the plurality of signals processed by the signal processing unit 220. The road type and the degree of danger may be, for example, index values ​​quantified based on at least one of the road surface state, road width, bank angle, or any combination thereof.

[0122] Based on one embodiment, the lateral wind control unit 240 can utilize various data identified by the signal input unit 210, the signal processing unit 220, and the state estimation unit 230 to estimate the lateral force acting on the vehicle, calculate the required steering angle and the compensation steering angle, determine the user's intention, and can identify the control amount used for lateral force compensation control based on the dynamic behavior index of the vehicle.

[0123] For example, the lateral wind estimation unit 241 can estimate the magnitude of the lateral force acting on the vehicle due to the lateral wind, etc. As an example, the lateral wind estimation unit 241 can estimate the magnitude of the lateral force based on a predefined dynamic model, but this is only exemplary, and the embodiments of the present invention are not limited thereto. For example, the lateral wind estimation unit 241 can also estimate the lateral force using at least one sensor.

[0124] For example, the steering angle calculation unit 242 can identify the required steering angle and the compensation steering angle.

[0125] As an example, the required steering angle may include a steering angle for compensating for lateral force calculated by the steering angle calculation unit 242 using the cornering stiffness of at least one wheel of the vehicle, the wheel base, a first distance from the center of gravity of the vehicle to the center of at least one wheel, a second distance from the center of gravity of the vehicle to the point of application of the lateral force, or any combination thereof.

[0126] As an example, the compensation steering angle may include the steering angle manipulated by the user for controlling the vehicle (eg, steering control). For example, the compensation steering angle may include the steering angle manipulated by the user starting when the lateral force acting on the vehicle is greater than a specified value.

[0127] As an example, the lateral wind control unit 240 may use the steering angle calculation unit 242 to identify the compensation steering angle and the required steering angle only when the magnitude of the lateral force identified by the lateral wind estimation unit 241 is equal to or greater than a specified value.

[0128] For example, the intention determination unit 243 can calculate the intention determination value corresponding to the user's intention using the required steering angle, the compensation steering angle, and the steering torque. Figure 1 's instructions instead.

[0129] For example, when it is determined that the detection data and the intention judgment value meet the specified conditions, the lateral wind compensation control unit 245 can use at least a portion of the detection data to identify at least one of the braking control amount, steering control amount or any combination thereof for the vehicle, and then pass it to the signal output unit 250.

[0130] As an example, the control amount allocating unit 246 can identify the braking control amount and the steering angle control amount for executing the own vehicle control for lateral force compensation based on at least one dynamics model.

[0131] As an example, the control amount distribution unit 246 can determine the distribution ratio for identifying the braking control amount based on the user's steering torque, and can identify the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of at least one wheel, the second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, the compensated steering angle, the distribution ratio, or any combination thereof.

[0132] As an example, the control amount allocating unit 246 can identify the steering control amount using at least one of lateral force, cornering stiffness of at least one wheel, wheelbase, first distance, second distance, compensated steering angle, braking control amount, or any combination thereof.

[0133] As an example, the control amount allocating unit 246 can calculate the braking control amount and the steering control amount based on the following equation 4.

[0134] [Formula 4]

[0135]

[0136] As an example, M Z can be the braking control amount, δ f，ctrl can be the steering control amount, δ comp The description of other parameters can be replaced by the description of formula 1.

[0137] As an example, the control amount allocating unit 246 can use the allocation ratio K to allocate the control amount to the vehicle after assuming that the yaw rate A is 0. b The braking control amount is calculated based on the following formula 5.

[0138] [Formula 5]

[0139]

[0140] As one example, the control amount allocating unit 246 can calculate the steering control amount based on the following equation 6 using the calculated braking control amount.

[0141] [Formula 6]

[0142]

[0143] As an example, the lateral wind compensation braking control unit 247 and the lateral wind compensation steering control unit 248 can perform post-processing related to at least one of the maximum value, the minimum value, the inclination, or any combination thereof on the identified braking control amount and the steering control amount. The post-processing can include the following processes: determining whether the identified braking control amount and the steering control amount are included between the preset maximum value and the minimum value, and adjusting a part of the control amount based on the determination result, or determining whether the inclination of the identified braking control amount and the steering control amount is within a preset range, and adjusting a part of the control amount based on the determination result.

[0144] As an example, the lateral wind compensation braking control unit 247 and the lateral wind compensation steering control unit 248 can identify the braking pressure corresponding to the front wheels and rear wheels of the vehicle respectively based on the final yaw moment identified through the post-processing results, and can identify the final steering torque corresponding to the steering control amount through the post-processing results.

[0145] As an example, the cross-wind compensation brake control unit 247 can identify the brake pressures for the front wheels and the rear wheels based on the following equation 7.

[0146] [Formula 7]

[0147]

[0148]

[0149] As an example, P brk，f can be the front wheel brake pressure, P brk，r can be the rear wheel brake pressure, R t，f can be the dynamic radius of the front tire, R t，r Can be the dynamic radius of the rear tire, K b，f Can be the front wheel brake gain, K b，r Can be rear wheel brake gain, M z，fin can be the final braking control amount (or, the final yaw moment), r f It can be used to distribute the yaw moment to the front wheels.

[0150] As an example, the lateral wind compensation steering control unit 248 can calculate the final steering torque based on the following equation 8.

[0151] [Formula 8]

[0152] T str，fin =K P δ f，ctrl

[0153] As an example, T str，fin can be the final steering torque, K p It can be a control gain or a P gain.

[0154] As an example, the lateral wind compensation control unit 245 can transmit the identified braking pressure and the final steering torque to the signal output unit 250 .

[0155] For example, the signal output unit 250 may output an output signal including a brake pressure and a final steering torque to control the vehicle in order to compensate for the behavior of the vehicle.

[0156] As an example, the signal output unit 250 can determine whether to perform vehicle behavior control by judging the priority between at least one ADAS signal of a plurality of other control devices distinguished from the vehicle behavior control device and the output signal for vehicle behavior control. For example, when a portion of at least one ADAS signal has a higher priority than the output signal for vehicle behavior control, the signal output unit 250 can suspend control of the self-vehicle based on the output signal until processing of a portion of at least one ADAS signal is completed even when all specified conditions for vehicle behavior control are met.

[0157] Figure 3This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0158] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device) can perform Figure 3 For example, the vehicle behavior control device includes multiple components (for example: Figure 1 The sensor unit 110, the memory 120 and / or the control unit 130 and / or Figure 2 At least a portion of the signal input unit 210, the signal processing unit 220, the state estimation unit 230, the lateral wind control unit 240 and / or the signal output unit 250 can be configured to perform Figure 3 work.

[0159] In the following embodiments, although the operations from S310 to S350 can be performed sequentially, they do not have to be performed sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel. Figure 3 , the content corresponding to or repeating the above content can be briefly described or omitted.

[0160] According to an embodiment, the vehicle behavior control device can receive the CAN signal and perform offset compensation and / or filtering processing ( S310 ).

[0161] For example, the vehicle behavior control device can receive various signals using a sensor unit or from various components installed on the vehicle. The vehicle behavior control device can apply offset compensation logic and / or filtering processing to at least a portion of the received signals.

[0162] According to an embodiment, the vehicle behavior control device can estimate (or generate) the vehicle state, the road state, and the lateral force ( S320 ).

[0163] For example, the vehicle behavior control device can generate detection data including at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal, vehicle speed, sideslip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, lateral force, or any combination thereof.

[0164] According to an embodiment, the vehicle behavior control device can use the estimation result to identify the required steering angle and the compensation steering angle (S330).

[0165] For example, the required steering angle may include a steering angle for compensating for lateral force calculated using at least one of the cornering stiffness of at least one wheel of the vehicle, a wheelbase, a first distance from the center of gravity of the vehicle to the center of at least one wheel, a second distance from the center of gravity of the vehicle to the point of application of the lateral force, or any combination thereof.

[0166] For example, the compensation steering angle may include a steering angle manipulated by a user to control the vehicle (eg, steering control).

[0167] According to an embodiment, the vehicle behavior control device can use the required steering angle, the compensation steering angle and the steering torque to determine the user's intention (S340).

[0168] For example, the vehicle behavior control device can use the required steering angle, the compensation steering angle, and the steering torque to determine one of four intention judgment values ​​corresponding to the user's intention. The four intention judgment values ​​are illustrative, and the embodiments of the present invention are not limited thereto. For example, the vehicle behavior control device can determine one of more than four intention judgment values ​​by other (or more) distinction criteria.

[0169] According to an embodiment, the vehicle behavior control device can determine whether to identify a control amount for self-vehicle compensation control using at least one of lateral force, vehicle state, road state, user intention, or any combination thereof ( S350 ).

[0170] For example, when the lateral force, vehicle state, road surface state and / or user intention meet the specified conditions, the vehicle behavior control device can determine to identify the control amount for the self-vehicle compensation control. At this time, the vehicle behavior control device can perform the following steps. Figure 4 The S410 in.

[0171] Figure 4 This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0172] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device) can perform Figure 4 For example, the vehicle behavior control device includes multiple components (for example: Figure 1 The sensor unit 110, the memory 120 and / or the control unit 130 and / or Figure 2 At least a portion of the signal input unit 210, the signal processing unit 220, the state estimation unit 230, the lateral wind control unit 240 and / or the signal output unit 250 can be configured to perform Figure 4 work.

[0173] In the following embodiments, although the operations from S410 to S440 can be performed sequentially, they do not have to be performed sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel. Figure 4 , the contents corresponding to or repeating the above contents can be briefly described or omitted.

[0174] For example, Figure 4 The work can be Figure 3 The S350 then performs the work of the vehicle behavior control device.

[0175] According to an embodiment, the vehicle behavior control device can identify a braking control amount and a steering control amount ( S410 ).

[0176] For example, the vehicle behavior control device can determine the distribution ratio for identifying the braking control amount based on the user's steering torque, and can identify the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of at least one wheel, the second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, the compensated steering angle, the distribution ratio, or any combination thereof.

[0177] For example, the vehicle behavior control device can identify the steering control amount using at least one of lateral force, cornering stiffness of at least one wheel, wheelbase, first distance, second distance, compensation steering angle, braking control amount, or any combination thereof.

[0178] According to an embodiment, the vehicle behavior control device can identify the final yaw moment using the brake control amount, and can identify the brake pressure corresponding to the final yaw moment ( S420 ).

[0179] For example, the vehicle behavior control device can perform post-processing on the braking control amount related to at least one of the maximum value, the minimum value, the inclination, or any combination thereof, and can identify the braking pressures corresponding to the front and rear wheels of the vehicle respectively based on the final yaw moment identified through the result of the post-processing.

[0180] According to an embodiment, the vehicle behavior control device can identify a final steering torque corresponding to the steering control amount ( S430 ).

[0181] For example, the vehicle behavior control device can perform post-processing on the steering control amount related to at least one of the maximum value, the minimum value, the inclination, or any combination thereof, and can identify the final steering torque corresponding to the steering control amount through the result of the post-processing.

[0182] According to an embodiment, the vehicle behavior control device can determine whether to perform the self-vehicle compensation control based on the braking pressure and the final steering torque ( S440 ) in consideration of the priority with other controllers.

[0183] For example, the vehicle behavior control device can determine the priority between at least one ADAS signal and the output signal for vehicle behavior control to determine whether to execute vehicle behavior control.

[0184] For example, when a portion of at least one ADAS signal has a higher priority than the output signal for vehicle behavior control, the vehicle behavior control device can suspend execution of vehicle behavior control until processing of the portion of at least one ADAS signal is completed even if all specified conditions for vehicle behavior control are met.

[0185] For example, when a portion of at least one ADAS signal has a lower priority than the output signal for vehicle behavior control or the ADAS signal cannot be recognized, the vehicle behavior control device can perform vehicle behavior control based on the brake pressure and the final steering torque.

[0186] Figure 5 1 is a diagram showing an example of calculating the maximum allowable values ​​of the steering angle and the steering angular velocity using the constant K value by the vehicle behavior control device according to one embodiment of the present invention.

[0187] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device 100) can identify the state of the vehicle (or the driving state) and determine whether the identification result is within a specified range.

[0188] According to one embodiment, when the speed of the vehicle is greater than or equal to the specified speed and the dynamic behavior index is less than or equal to the preset value (K), the vehicle behavior control device can determine that the state of the vehicle satisfies the second condition in the specified conditions (for example: Figure 6 denoted by S620).

[0189] For example, the vehicle behavior control device can use the steering angle δ of the vehicle f and steering angular velocity To identify the dynamic behavior index I dyn . Dynamic Behavior Index I dyn For example, it may be a numerical value indicating the potential of the vehicle causing a dynamic state.

[0190] For example, the vehicle behavior control device can identify the dynamic behavior index I by the following formula 9: dyn .

[0191] [Formula 9]

[0192]

[0193] For example, the vehicle behavior control device can use the steering angle δ f , Steering angular velocity Steering angle weight r 1 and steering angular velocity weight r 2 To identify the dynamic behavior index I dyn .

[0194] For example, the vehicle behavior control device can determine the dynamic behavior index I dyn Is it below the preset value (K). Based on the dynamic behavior index I dyn and the preset value (K), the vehicle behavior control device can identify the maximum steering angle δ by the following formula fmax And the maximum steering angular velocity

[0195] For example, the vehicle behavior control device can identify the maximum steering angle δ by the following equation 10: fmax And the maximum steering angular velocity

[0196] [Formula 10]

[0197]

[0198] Reference Figure 5 , based on an embodiment, the x-axis and y-axis in the figure can represent the absolute values ​​of the steering angle and the steering angular velocity, respectively.

[0199] For example, the vehicle behavior control device can use the maximum steering angle δ based on reference numeral 510 fmax and the maximum steering angular velocity based on reference numeral 520 To identify whether the dynamic behavior index of the vehicle is below the preset value (K). For example, the curve based on reference numeral 530 can be set with respect to the preset value (K) The steering angle δ f , Steering angular velocity Steering angle weight r 1 and steering angular velocity weight r 2 The vehicle behavior control device can define the region based on reference numeral 500 as a region where the dynamic behavior index of the vehicle is less than or equal to a preset value (K).

[0200] Figure 6 It is a working schematic diagram of a vehicle behavior control device according to an embodiment of the present invention for determining whether a specified condition for lateral force compensation control is satisfied.

[0201] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device 100) is capable of determining whether the detection data and / or the intention determination value satisfies the conditions based on the reference numerals S610, S620, S630 and S640.

[0202] Referring to reference numeral S610 , according to one embodiment, the vehicle behavior control device can determine whether the lateral wind force (or the lateral force acting on the own vehicle due to the lateral wind) is greater than a specified value.

[0203] For example, when the magnitude of the lateral force is greater than the lateral force magnitude reference value and the magnitude of the differential value of the lateral force is greater than the lateral force differential reference value, the vehicle behavior control device can determine that the lateral force in the detection data satisfies the first condition of the specified conditions.

[0204] Referring to reference numeral S620 , according to an embodiment, the vehicle behavior control device can determine whether the vehicle state satisfies a specified condition.

[0205] For example, the dynamic behavior index value identified by using the steering angle and steering angular velocity of the vehicle is a preset value (for example: Figure 5 K) is below and the driving speed of the vehicle is above the specified speed, the vehicle behavior control device can determine that the driving state in the detection data satisfies the second condition in the specified conditions.

[0206] Referring to reference numeral S630 , according to an embodiment, the vehicle behavior control device can determine whether the steering state of the driver (or user) satisfies a specified condition.

[0207] For example, the vehicle behavior control device can identify the intention judgment value related to the user's intention using at least one of the steering torque of the own vehicle, the required steering angle, the compensation steering angle, or any combination thereof.

[0208] For example, when the steering torque is below the steering torque reference value, the vehicle behavior control device can identify the intention judgment value as 1; when the steering torque exceeds the steering torque reference value and the compensation steering angle is below the compensation steering angle reference value, the vehicle behavior control device can identify the intention judgment value as 2; when the compensation steering angle exceeds the compensation steering angle reference value and is less than the required steering angle, the vehicle behavior control device can identify the intention judgment value as 3; and when the compensation steering angle is the required steering angle or above, the vehicle behavior control device can identify the intention judgment value as 4.

[0209] For example, when the intention determination value is 3 or less, the vehicle behavior control device can determine that the intention determination value satisfies the third condition among the designated conditions.

[0210] According to an embodiment, the vehicle behavior control device can identify at least one of the braking control amount, the steering control amount, or any combination thereof for the own vehicle only when all the conditions based on the reference numerals S610, S620, and S630 are satisfied.

[0211] For example, even when all the conditions based on reference numerals S610, S620, and S630 are satisfied, the vehicle behavior control device may not recognize at least one of the braking control amount, the steering control amount, or any combination thereof for the self-vehicle when the conditions related to the self-vehicle, the road surface, and / or the user are included in at least one of the conditions based on reference numeral S640. In other words, in this case, the vehicle behavior control device may not perform the vehicle behavior compensation control.

[0212] Referring to reference numeral S640, according to an embodiment, the vehicle behavior control device can determine whether the behavior of the own vehicle is excessive, the state of the driving road of the own vehicle, etc. Although not shown, the vehicle behavior control device can also determine an intention determination value related to the user's intention.

[0213] For example, when the friction coefficient between the tires of the vehicle and the road being traveled is below a critical value, or the lateral inclination and type of the road being traveled do not meet the critical criteria, or the yaw rate value of the vehicle is above a benchmark value, or the sideslip angle change rate exceeds a specified range, the vehicle behavior control device can determine that the detection data and the intention judgment value do not meet the specified conditions.

[0214] Referring to reference numeral S650 , according to an embodiment, the vehicle behavior control device can generate a lateral wind determination flag.

[0215] For example, when the signs based on reference numerals S610, S620, and S630 are in the ON (or, satisfied) state and the sign based on reference numeral S640 is in the OFF state, the vehicle behavior control device can generate the lateral wind judgment flag as the ON state and perform subsequent work (for example: identifying the braking control amount and the steering control amount).

[0216] For example, when at least one of the signs based on reference numerals S610, S620 and S630 is in the OFF (or, not satisfied) state, or the sign based on reference numeral S640 is in the ON state, the vehicle behavior control device can generate the lateral wind judgment flag as the OFF state and suspend subsequent work execution.

[0217] Figure 7 1 is a diagram showing an example in which the vehicle behavior control device according to one embodiment of the present invention uses the driver's steering torque for the distribution of the braking control amount.

[0218] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device 100 can determine the allocation ratio (K) for identifying the braking control amount based on the steering torque of the user (or the driver). b ).

[0219] For example, when the user steering torque is 0 to t N·m, the vehicle behavior control device can change the distribution ratio (K b ) is determined as r. r is a value between 0 and 1, which can be set or changed by the user and can also be updated in real time by the vehicle behavior control device.

[0220] For example, when the user steering torque is 0.5 to 1 N·m, the vehicle behavior control device can change the distribution ratio (K b ) is determined to be proportional to the user's steering torque. Figure 7 , showing the user's steering torque and distribution ratio (K b ) is in direct proportion based on a linear function form, but this is merely exemplary and the embodiments of the present invention are not limited thereto.

[0221] For example, when the user steering torque is greater than 1 N·m, the vehicle behavior control device can change the distribution ratio (K b ) is determined to be 1. In other words, no matter how large the user's steering torque is, the vehicle behavior control device can adjust the distribution ratio (K b ) is determined to have a maximum value of 1. Figure 7 , although the distribution ratio (K b ) is an integer 1, but this is exemplary and the embodiments of the present invention are not limited thereto. For example, the vehicle behavior control device can change the allocation ratio (K) in real time based on at least one of the vehicle's performance, driving state, road surface state, or any combination thereof. b )'s maximum and / or minimum values.

[0222] Figure 8 This is a working flow chart of a vehicle behavior control device according to an embodiment of the present invention.

[0223] According to one embodiment, a vehicle behavior control device (eg: Figure 1 The vehicle behavior control device) can perform Figure 8 For example, the vehicle behavior control device includes multiple components (for example: Figure 1 The sensor unit 110, the memory 120 and / or the control unit 130 and / or Figure 2 At least a portion of the signal input unit 210, the signal processing unit 220, the state estimation unit 230, the lateral wind control unit 240 and / or the signal output unit 250 can be configured to perform Figure 8 work.

[0224] In the following embodiments, although the operations from S810 to S860 can be performed sequentially, they do not have to be performed sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel. Figure 8 , the contents corresponding to or repeating the above contents can be briefly described or omitted.

[0225] Based on one embodiment, the vehicle behavior control device is able to utilize a sensor unit to identify detection data (S810) including at least one of the driving state of the vehicle, an operation signal for the vehicle, a lateral force acting on the vehicle due to lateral wind, or any combination thereof.

[0226] For example, the step of the vehicle behavior control device using the sensor unit to identify detection data may include: the step of acquiring raw data including at least one of the vehicle's steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, ADAS signal, or any combination thereof; and the step of identifying the detection data generated by performing offset compensation, filtering processing, or at least one of any combination thereof on at least a portion of the raw data.

[0227] For example, the step of the vehicle behavior control device using the sensor unit to identify detection data may include: the step of identifying detection data including at least one of the vehicle speed, sideslip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

[0228] According to an embodiment, the vehicle behavior control device can identify a required steering angle required to compensate for the lateral force and a compensation steering angle input by a user using at least a portion of the detection data ( S820 ).

[0229] For example, the step of the vehicle behavior control device identifying at least one of the braking control amount, the steering control amount, or any combination thereof may include: when the lateral force is above a specified value, the vehicle behavior control device uses the lateral stiffness of at least one wheel of the self-vehicle, the wheel base, the first distance from the center of gravity of the self-vehicle to the center of at least one wheel, the second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, or at least one of any combination thereof to identify the required steering angle required to compensate for the lateral force; and the step of identifying the compensatory steering angle manipulated by the user to control the self-vehicle.

[0230] According to an embodiment, the vehicle behavior control device can identify an intention judgment value related to the user's intention using at least one of the steering torque of the vehicle, the required steering angle, the compensation steering angle, or any combination thereof (S830).

[0231] For example, the vehicle behavior control device can identify the intention judgment value related to the user's intention using at least one of the steering torque of the own vehicle, the required steering angle, the compensation steering angle, or any combination thereof.

[0232] For example, when the steering torque is equal to or less than the steering torque reference value, the vehicle behavior control device can recognize that the intention determination value is 1. For example, the case where the intention determination value is 1 can include a case where the user is in a hands-free state.

[0233] For example, when the steering torque exceeds the steering torque reference value and the compensation steering angle is less than the compensation steering angle reference value, the vehicle behavior control device can identify the intention determination value as 2. For example, the intention determination value of 2 can include a case where the user does not perform an operation for controlling the vehicle.

[0234] For example, when the compensation steering angle exceeds the compensation steering angle reference value and is less than the required steering angle, the vehicle behavior control device can identify the intention judgment value as 3. For example, the intention judgment value of 3 can indicate the user's intention to not fully compensate for the lateral force acting on the vehicle.

[0235] For example, when the compensation steering angle is equal to or greater than the required steering angle, the vehicle behavior control device can recognize that the intention determination value is 4. This can indicate the user's intention to sufficiently compensate for the lateral force acting on the own vehicle.

[0236] According to an embodiment, the vehicle behavior control device can determine whether the detection data and the intention judgment value meet the specified conditions including the first condition to the third condition (S840).

[0237] For example, the vehicle behavior control device can determine whether the above-mentioned Figure 6 The reference numerals S610, S620 and S630 correspond to the first condition, the second condition and the third condition.

[0238] For example, when the detection data and the intention judgment value satisfy the specified conditions including the first condition to the third condition (for example: “Yes” in S840 ), the vehicle behavior control device can execute S850 .

[0239] For example, when the detection data and the intention judgment value do not satisfy the specified conditions including the first condition to the third condition (for example: "No" in S840), the vehicle behavior control device can repeatedly execute S830.

[0240] According to an embodiment, the vehicle behavior control device can use at least a portion of the detection data to identify at least one of a braking control amount, a steering angle control amount, or any combination thereof for the own vehicle (S850).

[0241] For example, the step of the vehicle behavior control device identifying at least one of the braking control amount, the steering control amount, or any combination thereof may include: a step of determining a distribution ratio for identifying the braking control amount based on the steering torque of the user; and a step of identifying the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the self-vehicle, the wheelbase, the first distance from the center of gravity of the self-vehicle to the center of at least one wheel, the second distance from the center of gravity of the self-vehicle to the point of application of the lateral force, the compensated steering angle, the distribution ratio, or any combination thereof.

[0242] For example, the step of the vehicle behavior control device identifying at least one of the braking control amount, the steering control amount, or any combination thereof may include: the step of identifying the steering control amount using at least one of the lateral force, the lateral stiffness of at least one wheel, the wheelbase, the first distance, the second distance, the compensated steering angle, the braking control amount, or any combination thereof.

[0243] According to an embodiment, the vehicle behavior control device can compensate for the behavior of the host vehicle based on the braking control amount, the steering angle control amount, or any combination thereof (S860).

[0244] For example, the step of the vehicle behavior control device compensating for the behavior of the self-vehicle based on the braking control amount, the steering control amount or any combination thereof may include: the step of performing post-processing on the braking control amount and the steering control amount related to at least one of the maximum value, the minimum value, the inclination or any combination thereof; the step of identifying the braking pressure corresponding to the front wheels and the rear wheels of the self-vehicle respectively based on the final yaw moment identified by the post-processing result; the step of identifying the final steering torque corresponding to the steering control amount by the post-processing result; and the step of compensating for the behavior of the self-vehicle by using the braking pressure, the final steering torque or at least one of the any combination thereof.

[0245] Fig. 9 A computing system related to a vehicle behavior control method according to an embodiment of the present invention is shown.

[0246] Reference Fig. 9 The computing system 1000 related to the vehicle behavior control method can include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700 connected via a bus 1200.

[0247] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing on commands stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (read only memory) 1310 and a RAM (random access memory) 1320.

[0248] Therefore, the steps of the methods or algorithms described in connection with the various embodiments disclosed in this specification can be directly implemented by hardware, software modules, or a combination of the two executed by the processor 1100. The software module can also reside in a storage medium (i.e., the memory 1300 and / or the storage device 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM.

[0249] The storage medium illustrated can be connected to the processor 1100, and the processor 1100 can read information from the storage medium and record the information to the storage medium. As another method, the storage medium can also be integrated with the processor 1100. The processor and the storage medium can also reside in an application specific integrated circuit (ASIC). The ASIC can also reside in a user terminal. As another method, the processor and the storage medium can also reside in a user terminal as an independent component.

[0250] The above description is only used to exemplify the technical concept of the present invention, and those skilled in the art can make various modifications and variations without departing from the essential characteristics of the present invention.

[0251] Therefore, the multiple embodiments disclosed in the present invention are not used to limit the technical ideas of the present invention but to illustrate the present invention, and the scope of the technical ideas of the present invention is not limited by such embodiments. The protection scope of the present invention should be interpreted by the claims, and should be interpreted as all technical ideas within the equivalent scope are included in the scope of the claims of the present invention.

Claims

1. A vehicle behavior control device, include: a sensor portion including at least one sensor; a memory storing a plurality of instructions; as well as a control unit operatively connected to the sensor unit and the memory, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: using the sensor unit to identify detection data including at least one of a driving state of the own vehicle, an operation signal for the own vehicle, a lateral force acting on the own vehicle due to lateral wind, or any combination thereof, using at least a portion of the detection data to identify an intention determination value related to the user's intention, When the detection data and the intention judgment value satisfy a specified condition, at least a portion of the detection data is used to identify at least one of a braking control amount, a steering control amount, or any combination thereof for the vehicle. The behavior of the own vehicle is compensated by using the braking control amount, the steering control amount, or any combination thereof.

2. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: The sensor unit is used to obtain raw data including at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal, or any combination thereof of the vehicle. The detection data generated by performing at least one of offset compensation, filtering processing, or any combination thereof on at least a portion of the raw data is identified.

3. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: The sensor unit is used to identify detection data including at least one of the vehicle speed, sideslip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

4. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: When the lateral force is above the specified value: identifying a required steering angle required to compensate for the lateral force using at least one of a cornering stiffness of at least one wheel of the own vehicle, a wheelbase, a first distance from the center of gravity of the own vehicle to the center of the at least one wheel, a second distance from the center of gravity of the own vehicle to a point of application of the lateral force, or any combination thereof, A compensation steering angle manipulated by a user for controlling the vehicle is identified.

5. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: When the lateral force is greater than or equal to the lateral force magnitude reference value and the differential value of the lateral force is greater than or equal to the lateral force differential reference value, it is determined that the lateral force in the detection data satisfies the first condition of the specified conditions. When the dynamic behavior index value identified by using the steering angle and steering angular velocity of the vehicle is less than a preset value and the driving speed of the vehicle is greater than a specified speed, it is determined that the driving state satisfies the second condition among the specified conditions.

6. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: using the sensor unit to identify a required steering angle required to compensate for the lateral force and a compensation steering angle input by a user, When the steering torque is less than a steering torque reference value, the intention judgment value is identified as 1; when the steering torque exceeds the steering torque reference value and the compensation steering angle is less than a compensation steering angle reference value, the intention judgment value is identified as 2; when the compensation steering angle exceeds the compensation steering angle reference value and is less than the required steering angle, the intention judgment value is identified as 3; When the intention determination value is any one of 1 to 3 or when the lateral force is not compensated by the user's operation, it is determined that the intention determination value satisfies the third condition among the specified conditions.

7. The vehicle behavior control device according to claim 6, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: When the lateral force is less than a specified value, or the friction coefficient between the tires of the own vehicle and the driving road is below a critical value, or the lateral inclination and type of the driving road do not meet the critical standard, or the yaw rate value of the own vehicle is above the reference value, or the sideslip angle change rate exceeds a specified range, or the compensation steering angle is the required steering angle or above, it is determined that the detection data and the intention judgment value do not meet the specified conditions.

8. The vehicle behavior control device according to claim 6, in, The situations where the lateral force is not compensated by the user's operation include: The user is in a state of letting go of the device, or no operation for compensating for the lateral force is received from the user, or compensation for the lateral force is not achieved through the operation received from the user, or any combination thereof.

9. The vehicle behavior control device according to claim 1, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: using the sensor unit to identify a required steering angle required to compensate for the lateral force and a compensation steering angle input by a user, determining a distribution ratio for identifying the braking control amount based on a steering torque of a user, The braking control amount is identified using at least one of the lateral force, the cornering stiffness of at least one wheel of the own vehicle, the wheelbase, a first distance from the center of gravity of the own vehicle to the center of the at least one wheel, a second distance from the center of gravity of the own vehicle to a point of application of the lateral force, the compensating steering angle, the distribution ratio, or any combination thereof, identifying the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel, the wheelbase, the first distance, the second distance, the compensated steering angle, the braking control amount, or any combination thereof, The behavior of the own vehicle is compensated based on at least one of the braking control amount, the steering control amount, or any combination thereof.

10. The vehicle behavior control device according to claim 9, in, When the plurality of instructions are executed by the control unit, the vehicle behavior control device executes: performing post-processing on the braking control amount and the steering control amount related to at least one of a maximum value, a minimum value, an inclination, or any combination thereof, identifying the brake pressures corresponding to the front wheels and the rear wheels of the vehicle based on the final yaw moment identified by the result of the post-processing, identifying a final steering torque corresponding to the steering control amount through the result of the post-processing, At least one of the brake pressure, the final steering torque, or any combination thereof is used to compensate for behavior of the host vehicle.

11. A vehicle behavior control method, include: The control unit recognizes detection data including at least one of a driving state of the own vehicle, an operation signal for the own vehicle, a lateral force acting on the own vehicle due to lateral wind, or any combination thereof using the sensor unit; The control unit identifies an intention determination value related to the user's intention using at least a portion of the detection data; The control unit, when the detection data and the intention determination value satisfy a specified condition, uses at least a portion of the detection data to identify at least one of a braking control amount, a steering control amount, or any combination thereof for the vehicle; and The control unit compensates for the behavior of the vehicle based on the braking control amount, the steering control amount, or any combination thereof.

12. The vehicle behavior control method according to claim 11, in, The step of the control unit using the sensor unit to identify the detection data includes: The control unit uses the sensor unit to acquire raw data including at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal, or any combination thereof of the vehicle; and The step of identifying detection data generated by performing at least one of offset compensation, filtering processing, or any combination thereof on at least a portion of the raw data.

13. The vehicle behavior control method according to claim 11, in, The step of the control unit using the sensor unit to identify the detection data includes: The control unit uses the sensor unit to identify detection data including at least one of the vehicle speed, side slip angle change rate, roll angle of the driving road, road type of the driving road, degree of danger, friction coefficient between the tires of the vehicle and the driving road, or any combination thereof.

14. The vehicle behavior control method according to claim 11, in, The step of the control unit identifying at least one of a braking control amount, a steering control amount, or any combination thereof comprises: When the lateral force is above the specified value: The control unit identifies a required steering angle required to compensate for the lateral force using at least one of a cornering stiffness of at least one wheel of the own vehicle, a wheelbase, a first distance from the center of gravity of the own vehicle to the center of the at least one wheel, a second distance from the center of gravity of the own vehicle to a lateral force application point, or any combination thereof; and The step of identifying a compensatory steering angle manipulated by a user for control of the vehicle.

15. The vehicle behavior control method according to claim 14, in, The step of the control unit identifying at least one of a braking control amount, a steering control amount, or any combination thereof comprises: The control unit determines that the lateral force in the detection data satisfies the first condition among the specified conditions when the lateral force is greater than a lateral force magnitude reference value and the differential value of the lateral force is greater than a lateral force differential reference value; and The control unit determines that the driving state satisfies a second condition among the designated conditions when a dynamic behavior index value identified by using a steering angle and a steering angular velocity of the vehicle is less than a preset value and a driving speed of the vehicle is greater than a designated speed.

16. The vehicle behavior control method according to claim 11, in, The step of the control unit identifying at least one of a braking control amount, a steering control amount, or any combination thereof comprises: The step of identifying the intention judgment value as 1 when the steering torque is below a steering torque reference value, identifying the intention judgment value as 2 when the steering torque exceeds the steering torque reference value and the compensation steering angle is below a compensation steering angle reference value, and identifying the intention judgment value as 3 when the compensation steering angle exceeds the compensation steering angle reference value and is less than the required steering angle; and When the intention determination value is any one of 1 to 3 or when the lateral force is not compensated by a user's operation, a step of determining that the intention determination value satisfies a third condition among designated conditions.

17. The vehicle behavior control method according to claim 16, in, In the step of the control unit identifying at least one of the braking control amount, the steering control amount, or any combination thereof, When the lateral force is less than a specified value, or the friction coefficient between the tires of the own vehicle and the driving road is below a critical value, or the lateral inclination and type of the driving road do not meet the critical standard, or the yaw rate value of the own vehicle is above the reference value, or the sideslip angle change rate exceeds a specified range, or the compensation steering angle is the required steering angle or above, the control unit determines that the detection data and the intention judgment value do not meet the specified conditions.

18. The vehicle behavior control method according to claim 16, in, The situations where the lateral force is not compensated by the user's operation include: The user is in a state of letting go of the device, or no operation for compensating for the lateral force is received from the user, or compensation for the lateral force is not achieved through the operation received from the user, or any combination thereof.

19. The vehicle behavior control method according to claim 11, in, The step of the control unit identifying at least one of a braking control amount, a steering control amount, or any combination thereof comprises: the control unit identifying, by the sensor unit, a required steering angle required to compensate for the lateral force and a compensation steering angle input by a user; The control unit determines a distribution ratio for identifying the braking control amount based on a steering torque of a user; The control unit identifies the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the own vehicle, the wheelbase, a first distance from the center of gravity of the own vehicle to the center of the at least one wheel, a second distance from the center of gravity of the own vehicle to a point where the lateral force acts, the compensation steering angle, the distribution ratio, or any combination thereof; The control unit identifies the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel, the wheelbase, the first distance, the second distance, the compensation steering angle, the braking control amount, or any combination thereof; and The control unit compensates for the behavior of the own vehicle based on at least one of the braking control amount, the steering control amount, or any combination thereof.

20. The vehicle behavior control method according to claim 19, in, The step of the control unit compensating the behavior of the vehicle based on the braking control amount, the steering control amount, or any combination thereof includes: The control unit performs post-processing on the braking control amount and the steering control amount in relation to at least one of a maximum value, a minimum value, an inclination, or any combination thereof; The control unit identifies the brake pressures corresponding to the front wheels and the rear wheels of the vehicle, respectively, based on the final yaw moment identified by the result of the post-processing; The control unit identifies a final steering torque corresponding to the steering control amount based on a result of the post-processing; and The control unit compensates for the behavior of the own vehicle by using at least one of the brake pressure, the final steering torque, or any combination thereof.

Images