System and procedure for controlling the starting of a vehicle

Abstract

A system for controlling the starting of a vehicle, comprising: a wheel speed sensor (11) which detects the rotational speed of at least one wheel under the wheels of the vehicle, a vehicle speed detector (12) which detects a vehicle speed, an acceleration detector (13) which detects vehicle acceleration, a vertical acceleration sensor (14) which detects a vertical acceleration of the vehicle, a wheel torque detector (15) which calculates a wheel torque, an ambient temperature sensor (16) which detects an ambient temperature, and a control device (20) which calculates a wheel slip amount based on the rotational speed of at least one wheel, the vehicle speed and the vehicle acceleration, determines whether wheel slip occurs by comparing the wheel slip amount with a first predetermined wheel slip amount, determines a road condition based on the ambient temperature and the vertical acceleration of the vehicle when the wheel slip occurs, and performs a start-up control according to the road condition, wherein the control device (20) determines the road condition as a slippery road in a state in which wheel slippage occurs, unless the road condition is an icy road, an uneven road or an unpaved road, and wherein the control device (20) performs the starting control according to the uneven road or the unpaved road when the road condition is the uneven road or the unpaved road.

Description

Background of the invention; Field of the invention

[0001] The present invention relates to a system and a method for controlling the starting of a vehicle. In particular, the present invention relates to a system and a method for controlling the starting of a vehicle, which perform a starting control of the vehicle according to a road condition. Description of the related technology

[0002] In general, a starting control system is a control mechanism for the internal combustion engine and transmission that is executed when the vehicle begins to move from a standstill. Serious problems do not occur when the vehicle starts moving on a normal road; however, wheel slippage and locking of a wheel can often occur when the vehicle starts moving on a low-friction, icy, or uneven road surface.

[0003] In a conventional launch control system, regardless of road conditions, a transmission is controlled with a predetermined gear position using a predetermined shift pattern, and the internal combustion engine torque is controlled using a predetermined torque filter. Therefore, when a conventional vehicle starts moving on a low-friction, icy, or uneven road, the driver changes the transmission mode to manual mode and manually operates the gearshift, activates a snow mode, or activates and deactivates traction control. In this case, because the driver must know the appropriate operation for each road condition, it is difficult for an inexperienced driver to start the vehicle under specific road conditions. Furthermore, if the driver operates the system incorrectly for each road condition, accidents can occur.Therefore, it is necessary to differentiate the starting control according to the road conditions.

[0004] The information disclosed in this section “Background of the Invention” is provided solely for a better understanding of the general background of the invention and should not be construed as an affirmation or any form of suggestion that this information constitutes the prior art already known to the person skilled in the art.

[0005] For example, DE 10 2006 033 446 A1 discloses a system and a method for traction control of a vehicle, the system comprising: a wheel speed sensor which detects a rotational speed of at least one wheel under the wheels of the vehicle, a vehicle speed detector which detects a vehicle speed, an acceleration detector which detects a vehicle acceleration, an ambient temperature sensor which detects an ambient temperature, and a control device.

[0006] Furthermore, a device for estimating a road friction coefficient is known from JP 3 424 456 B2, and an all-wheel drive control system is known from KR 10 2010 0 052 874 A. Additionally, US 2015 / 0 057 883 A1 discloses a driver guidance system for a vehicle. Explanation of the invention

[0007] The present invention was made in an effort to provide a system and a method for controlling the starting of a vehicle which, by performing a suitable starting control according to a road condition, has the advantages of safe and comfortable driving of the vehicle.

[0008] A system for controlling the starting of a vehicle according to numerous aspects of the present invention comprises: a wheel speed sensor which detects the rotational speed of at least one wheel under the wheels of the vehicle, a vehicle speed detector which detects the vehicle speed, an acceleration detector which detects the vehicle acceleration, a vertical acceleration sensor which detects the vertical acceleration of the vehicle, a wheel torque detector which calculates a wheel torque, an ambient temperature sensor which detects an ambient temperature, and a control device which calculates a wheel slip amount based on the rotational speed of at least one wheel, the vehicle speed and the vehicle acceleration, and determines whether wheel slip occurs by comparing the wheel slip amount with a first predetermined wheel slip amount.Based on the ambient temperature and the vehicle's vertical acceleration, a road condition is determined as any of an icy road, an uneven road, an unpaved road, or a slippery road when wheel slip occurs, and a starting control is executed depending on the determined road condition.

[0009] The first predetermined wheel slip value can be set according to the wheel torque. In a state where wheel slip occurs, the control device can execute the starting control according to an icy road condition if the road condition is indeed icy. In a state where wheel slip occurs, the control device can determine that the road condition is icy if the wheel slip value is greater than or equal to a second predetermined wheel slip value and the ambient temperature is less than or equal to a predetermined temperature. The second predetermined wheel slip value can be set according to the wheel torque.

[0010] The control device can execute the start-up control according to a rough road or unpaved road condition if the road condition is rough or unpaved. The control device can determine that the road condition is rough or unpaved in a condition where wheel slip occurs if the road condition is not icy and the number of times an absolute value of the third derivative of the vehicle's vertical acceleration exceeds a predetermined value is greater than or equal to a predetermined number during a predetermined time. In a condition where wheel slip occurs, the control device can execute the start-up control according to a slippery road condition if the road condition is neither icy nor rough or unpaved.

[0011] A method for controlling the starting of a vehicle according to numerous aspects of the present invention may include: acquiring data for a starting control, calculating a wheel slip amount based on the data, determining whether wheel slip occurs based on the wheel slip amount, determining whether a road condition is an icy road when the wheel slip occurs, and executing the starting control according to the icy road if the road condition is an icy road.

[0012] It can be determined that wheel slip occurs when the wheel slip amount exceeds a first predetermined wheel slip amount. This first predetermined wheel slip amount can be set according to a wheel torque.

[0013] In a situation where wheel slip occurs, it can be determined that the road condition is icy if the wheel slip value is greater than or equal to a second predetermined wheel slip value and the ambient temperature is less than or equal to a predetermined temperature. The second predetermined wheel slip value can be set according to a wheel torque.

[0014] In the starting control according to the icy road, a transmission can be controlled using a normal shift pattern, a gear shift stage can be controlled to be higher than or equal to a second forward gear, and an internal combustion engine torque can be controlled using a first torque filter which is smaller than a normal torque filter.

[0015] If the road condition is not icy, the procedure may further include: determining whether the road condition is uneven or unpaved, and executing the start-up control accordingly if the road condition is uneven or unpaved. It may also include, in a condition where wheel slip occurs, determining that the road condition is uneven or unpaved if the road condition is not icy and the number of times an absolute value of the third derivative of the vehicle's vertical acceleration is greater than or equal to a predetermined number during a predetermined time.

[0016] In the starting control according to the uneven road or the unpaved road, a transmission can be controlled using a stop shift pattern, a gear shift stage can be controlled to be higher than or equal to a second forward gear, and an internal combustion engine torque can be controlled using a first torque filter which is smaller than a normal torque filter.

[0017] If the road condition is not uneven or unpaved, the procedure can continue to include starting control according to a slippery road scenario. In slippery road starting control, a transmission can be controlled using a stop shift pattern, a gear shift can be controlled to be a first forward gear, and internal combustion engine torque can be controlled using a second torque filter, which is smaller than a normal torque filter and larger than a first torque filter.

[0018] The methods and devices of the present invention have other features and advantages, which will become clear from the accompanying drawings included herein and the following detailed description, which together serve to explain certain principles of the present invention, or which are explained in more detail therein. Brief description of the drawings Fig. Figure 1 is a block diagram of a system for controlling the starting of a vehicle according to the present invention. Fig. Figure 2 is a flowchart of a method for controlling the starting of a vehicle according to the present invention. Fig. Figure 3 is a table of the first predetermined wheel slip amount and the second predetermined wheel slip amount, which are determined according to a wheel torque. Fig. Figure 4 is a table showing a starting control system according to the present invention. Detailed description

[0019] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. Although the invention is described in connection with the exemplary embodiments, it is clear that the present description is not intended to limit the invention to these exemplary embodiments.

[0020] The Fig. Figure 1 is a block diagram of a system for controlling the starting of a vehicle according to numerous embodiments of the present invention. As shown in the Fig. Figure 1 shows a system for controlling the starting of a vehicle comprising a data detector 10, a control device 20, an internal combustion engine 30 and a transmission 40.

[0021] The data detector 10 acquires data for vehicle start-up control, and the data acquired by the data detector 10 is transmitted to the control device 20. The data detector 10 includes a wheel speed sensor 11, a vehicle speed detector 12, an acceleration detector 13, a vertical acceleration sensor 14, a wheel torque detector 15, and an ambient temperature sensor 16.

[0022] The wheel speed sensor 11 is mounted on each wheel of the vehicle and detects the rotational speed of each wheel. In this description, the wheel speed can be a value that is converted into a vehicle speed. That is, the wheel speed can be defined by multiplying the rotational speed of each wheel by the radius of each wheel. In a typical vehicle, the wheel speed sensors 11 are mounted on the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel, respectively. Here, the rotational speed of the front left wheel is referred to as wheel speed. FL , refers to the rotational speed of the front right wheel as wheel speed FR , refers to the rotational speed of the rear left wheel as wheel speed RL and the rotational speed of the rear right wheel is referred to as wheel speed. RR .

[0023] The vehicle speed detector 12 calculates the vehicle speed based on the wheel rotation speed, which is detected by the wheel speed sensor 11. Here, the vehicle speed can be defined by the average of several wheel rotation speeds. That is, the wheel rotation speed VS is calculated in the case of a typical vehicle using the equation below. VS=(Wheel speedFL+Wheel speedFR+Wheel speedRL+Wheel speedRR)4

[0024] However, the detection of vehicle speed is not limited to calculating the vehicle speed based on the wheel speed; the vehicle speed can also be detected by an additional speed sensor.

[0025] The acceleration detector 13 calculates the vehicle acceleration based on the vehicle speed. The vehicle acceleration is calculated using the rate of change of the vehicle speed. That is, the vehicle speed is calculated based on the equation below. Ai=VSi−VSi−1P

[0026] Here, A refers to i the vehicle acceleration in an i-th time period, VS i denotes the vehicle speed in an i-th period, the wheel speed xx,i denotes the wheel speed in an i-th period and P denotes the period. In general, the period P means the period in which the wheel speed sensor 10 records the wheel speed.

[0027] However, the detection of vehicle acceleration is not limited to calculating the vehicle acceleration based on the vehicle speed; the vehicle acceleration can also be detected by an additional acceleration sensor.

[0028] The vertical acceleration sensor 14 detects the vertical acceleration of the vehicle. In cases where a vehicle is equipped with an electronic stability program (ESP), the vertical acceleration sensor 14 is usually installed. However, an additional vertical acceleration sensor 14 may be installed on the vehicle if necessary.

[0029] The wheel torque detector 15 calculates the torque exerted on the wheel. The wheel torque can be calculated based on the internal combustion engine torque and the currently engaged gear; however, the calculation is not limited to this. The wheel torque can also be calculated by attaching an additional sensor to the wheel.

[0030] The ambient temperature sensor 16 detects the ambient temperature of the vehicle.

[0031] The control device 20 is electrically connected to the wheel speed sensor 11, the vehicle speed detector 12, the acceleration detector 13, the vertical acceleration sensor 14, the wheel torque detector 15, and the ambient temperature sensor 16. Based on the data acquired by the data detector 10, the control device 20 determines whether wheel slip is occurring, identifies the road condition when wheel slip occurs, and executes the starting control by controlling the internal combustion engine 30 and / or the transmission 40 according to the determined road condition. For these purposes, the control device 20 can be implemented with one or more processors activated by a predetermined program, and the predetermined program can be programmed to execute each step of a method for starting a vehicle according to numerous embodiments of the present invention.

[0032] The following refers to the Fig. 2 to Fig. 4. A method for controlling the starting of a vehicle according to numerous embodiments of the present invention is described in detail. Fig. Figure 2 is a flowchart of a method for controlling the starting of a vehicle according to numerous embodiments of the present invention, which Fig. Figure 3 is a table of the first predetermined wheel slip amount and the second predetermined wheel slip amount, which are determined according to a wheel torque, and the Fig. Figure 4 is a table showing a starting control according to numerous embodiments of the present invention.

[0033] As in the Fig. Figure 2 shows a method for controlling the starting of a vehicle according to numerous embodiments of the present invention, beginning at step S110 with the acquisition of data for a starting control system. That is, the wheel speed sensor 10 detects the wheel speed, the vehicle speed detector 12 detects the vehicle speed, the acceleration detector 13 detects the acceleration, the vertical acceleration sensor 14 detects the vertical acceleration, the wheel torque detector 15 detects the wheel torque, and the ambient temperature sensor 16 detects the ambient temperature.

[0034] When the data detector 10 acquires the data and transmits it to the control device 20, the control device 20 calculates a wheel slip amount during acceleration at step S120. The wheel slip amount is calculated based on the wheel rotational speed, the vehicle speed, and the vehicle acceleration. That is, the wheel slip amount is calculated by subtracting the sum of an (i-1)th vehicle speed and an (i-1)th acceleration from an i-th wheel rotational speed. The wheel slip amount is calculated for each wheel in the vehicle. Furthermore, the wheel slip can only be calculated if the vehicle speed is lower than a predetermined vehicle speed.

[0035] When the wheel slip amount is calculated, the control device 20 determines at step S130 whether wheel slip occurs. It determines that wheel slip occurs if the wheel slip amount is greater than a first predetermined wheel slip amount WS.Schlupf, y This means it is determined that wheel slippage occurs when any of the following equations are satisfied. Wheel speedFL,i−(VSi−1+Ai−1)>WSSlip,y or Wheel speedFR,i−(VSi−1+Ai−1)>WSSlip,y or Wheel speedRL,i−(VSi−1+Ai−1)>WSSlip,y or Wheel speedRR,i−(VSi−1+Ai−1)>WSSlip,y

[0036] Furthermore, it can be used as in the Fig. 3. The first predetermined wheel slip amount shown is determined according to the wheel torque.

[0037] If step S130 determines that wheel slip is not occurring, the control device 20 proceeds to step S190. If step S130 determines that wheel slip is occurring, the control device 20 determines the road condition. It is explained in this description and the drawings that the road condition is determined to be an icy road, an uneven road or an unpaved road, and a slippery road in a named order, but the order of determination is not limited to the named order.

[0038] First, at step S140, the control device 20 determines whether the road condition is icy. That is, in a state where wheel slip occurs, the control device 20 determines that the road condition is icy if the amount of wheel slip is greater than or equal to a second predetermined amount of wheel slip WS. vereist, yThe ambient temperature is lower than or equal to a predetermined ambient temperature. That is, in a state where the ambient temperature is lower than or equal to the predetermined temperature, the road condition is determined to be icy if any of the following equations are satisfied. Wheel speedFL,i−(VSi−1+Ai−1)>WSiced,y or Wheel speedFR,i−(VSi−1+Ai−1)>WSiced,y or Wheel speedRL,i−(VSi−1+Ai−1)>WSiced,y or Wheel speedRR,i−(VSi−1+Ai−1)>WSicy,y

[0039] The one like in the Fig. The second predetermined wheel slip amount shown in Figure 3 can be set according to the wheel torque. Additionally, the predetermined temperature can be 0°C.

[0040] If, at step S140, it is determined that the road condition is icy, the control device 20 performs the start-up control according to the icy road condition at step S160. As described in the Fig. Figure 4 shows that, in the launch control system for the icy road, the transmission is controlled using a normal shift pattern, a gear shift stage is controlled to be higher than or equal to a second forward gear, and the internal combustion engine torque is controlled using a first torque filter that is lower than a normal torque filter. Here, the normal shift pattern refers to the shift pattern used when the vehicle is driving on a normal road. According to the normal shift pattern, a downshift is performed when an accelerator pedal position value increases at a predetermined engine speed, and an upshift is performed when the engine speed increases at a predetermined accelerator pedal position value.Furthermore, the torque filter means a rise with which the torque increases or decreases towards a target torque, and the normal torque filter means the torque filter that is usually fixed in the vehicle.

[0041] If, at step S140, it is determined that the road condition is not icy, the control device 20 determines at step S150 whether the road condition is uneven or unpaved. That is, in a state where wheel slip occurs, the control device 20 determines that the road condition is uneven or unpaved if the road condition is not icy and the number of times an absolute value of the third derivative of the vehicle's vertical acceleration is greater than a predetermined value is greater than or equal to a predetermined number during a predetermined time.

[0042] If, at step S150, it is determined that the road condition is uneven or unpaved, the control device 20 executes the start-up control according to the uneven or unpaved road condition at step S170. As described in the Fig. Figure 4 shows that, in the starting control mode, depending on the uneven or unpaved road surface, the transmission is controlled using a stop shift pattern. The gear selection is controlled to be higher than or equal to second forward gear, and the internal combustion engine torque is controlled using the first torque filter, which is lower than the normal torque filter. According to the stop shift pattern, downshifting is not performed, even if the accelerator pedal position value increases to a specific value at a predetermined engine speed. That is, shifting does not occur until the accelerator pedal position value changes significantly according to the stop shift pattern.

[0043] If, at step S150, it is determined that the road condition is not uneven or unpaved, the control device 20 determines at step S180 that the road condition is slippery and executes the starting control accordingly. That is, in a state where wheel slip occurs, the control device 20 determines that the road condition is slippery if the road condition is not icy, uneven, or unpaved.

[0044] As in the Fig.Figure 4 shows that the transmission is controlled in the start-up control according to the slippery road using the stop shift pattern, the gear shift stage is controlled to be a first forward gear, and the internal combustion engine torque is controlled using a second torque filter that is smaller than the normal torque filter and larger than the first torque filter.

[0045] In step S190, the control device 20 determines, during the execution of the road-condition-based start-up control, whether a road-condition-based start-up control release condition is met. The road-condition-based start-up control release condition can be met if the vehicle speed is greater than or equal to a predetermined vehicle speed, or if the number of times wheel slip does not occur continuously during the execution of the road-condition-based start-up control due to the occurrence of wheel slip is greater than or equal to a predetermined number.

[0046] If, at step S190, the release condition of the starting control is not met according to the road conditions, the control device 20 proceeds to step S110. Conversely, if, at step S190, the release condition of the starting control is met according to the road conditions, the control device 20 releases the starting control according to the road conditions at step S200 and terminates the starting control procedure according to numerous embodiments. Therefore, the control device 20 controls the internal combustion engine 30 and the transmission 40 normally. That is, the control device 20 controls the transmission 40 using the normal shift pattern and controls the internal combustion engine 30 using the normal torque filter and a normal torque map.

[0047] As described above, safety can be improved by adapting the starting control to the road conditions. Furthermore, since a user does not have to learn the appropriate action for every road condition, user satisfaction can be improved.

Claims

[1] A system for controlling the starting of a vehicle, comprising: a wheel speed sensor (11) which detects the rotational speed of at least one wheel under the wheels of the vehicle, a vehicle speed detector (12) which detects a vehicle speed, an acceleration detector (13) which detects vehicle acceleration, a vertical acceleration sensor (14) which detects a vertical acceleration of the vehicle, a wheel torque detector (15) which calculates a wheel torque, an ambient temperature sensor (16) which detects an ambient temperature, and a control device (20) which calculates a wheel slip amount based on the rotational speed of at least one wheel, the vehicle speed and the vehicle acceleration, determines whether wheel slip occurs by comparing the wheel slip amount with a first predetermined wheel slip amount, determines a road condition based on the ambient temperature and the vertical acceleration of the vehicle when the wheel slip occurs, and performs a start-up control according to the road condition, wherein the control device (20) determines the road condition as a slippery road in a state in which wheel slippage occurs, unless the road condition is an icy road, an uneven road or an unpaved road, and wherein the control device (20) performs the starting control according to the uneven road or the unpaved road when the road condition is the uneven road or the unpaved road. [2] The system according to claim 1, wherein the first predetermined wheel slip amount is determined according to the wheel torque. [3] The system according to claim 1, wherein the control device (20) performs the starting control according to the icy road when the road condition is the icy road. [4] The system according to claim 3, wherein in a state in which wheel slip occurs the control device (20) determines that the road condition is the icy road if the wheel slip amount is greater than or equal to a second predetermined wheel slip amount and the ambient temperature is less than or equal to a predetermined temperature. [5] The system according to claim 4, wherein the second predetermined wheel slip amount is determined according to the wheel torque. [6] The system according to claim 1, wherein in a state in which wheel slip occurs the control device (20) determines that the road condition is the uneven road or the unpaved road, if the road condition is not the icy road and the number of times on which an absolute value of the third derivative of the vertical acceleration of the vehicle is greater than a predetermined value is greater than or equal to a predetermined number during a predetermined time. [7] The system according to claim 1, wherein in a state in which wheel slip occurs the control device (20) performs the starting control according to the slippery road, if the road condition is not the icy road, the uneven road or the unpaved road. [8] A method of controlling the starting of a vehicle, comprising: Acquisition (S110) of data for a starting control system, Calculate (S120) a wheel slip amount based on the data, Determine (S130) whether wheel slip occurs, based on the amount of wheel slip, Determine (S140) whether a road condition is an icy road when wheel slip occurs, wherein in a condition in which wheel slip occurs the road condition is determined to be a slippery road if the road condition is not an icy road and an uneven road or an unpaved road, wherein, if the road condition is not the icy road, further exhibiting: Determine (S150) whether the road condition is the uneven road or the unpaved road, Perform (S160) the start control according to the icy road, when the road condition is an icy road, and Perform (S170) the start control according to the uneven road or the unpaved road, if the road condition is the uneven road or the unpaved road. [9] The method according to claim 8, wherein it is determined (S130) that wheel slip occurs when the wheel slip amount is greater than a first predetermined wheel slip amount. [10] The method according to claim 9, wherein the first predetermined wheel slip amount is determined according to a wheel torque. [11] The method according to claim 8, wherein in a state in which wheel slip occurs it is determined (S150) that the road condition is the icy road if the wheel slip amount is greater than or equal to a second predetermined wheel slip amount and an ambient temperature is lower than or equal to a predetermined temperature. [12] The method according to claim 11, wherein the second predetermined wheel slip amount is determined according to a wheel torque. [13] The method according to claim 8, wherein in the starting control according to the icy road a transmission (40) is controlled using a normal shift pattern, a gear shift stage is controlled to be higher than or equal to a second forward gear, and an internal combustion engine torque is controlled using a first torque filter which is smaller than a normal torque filter. [14] The method according to claim 8, wherein in a state in which wheel slip occurs it is determined (S150) that the road condition is the uneven road or the unpaved road, if the road condition is not the icy road and the number of times on which an absolute value of the third derivative of the vertical acceleration of the vehicle is greater than a predetermined value is greater than or equal to a predetermined number during a predetermined time. [15] The method according to claim 8, wherein in the starting control according to the uneven road or the unpaved road a transmission (40) is controlled using a stop shift pattern, a gear shift stage is controlled to be higher than or equal to a second forward gear, and a Internal combustion engine torque is controlled using a first torque filter, which is smaller than a normal torque filter. [16] The method according to claim 8, if the road condition is not the uneven road or the unpaved road, further comprising performing (S180) the starting control according to the slippery road. [17] The method according to claim 16, wherein in the starting control according to the slippery road a transmission (40) is controlled using a stop shift pattern, a gear shift stage is controlled to be a first forward gear, and an internal combustion engine torque is controlled using a second torque filter which is smaller than a normal torque filter and larger than a first torque filter.

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