DEVICE AND METHOD FOR CONTROLLING THE DYNAMIC BEHAVIOR OF A VEHICLE

Abstract

A device (100) for controlling behavior of a vehicle identifies sensor data including at least one of a driving state of a host vehicle, an operation signal for the host vehicle, a lateral force caused by a crosswind acting on the host vehicle, or any combination thereof, using a sensor (110). The device (100) further identifies an intention determination value concerning an intention of a user using at least some of the sensor data. The device (100) further identifies at least one of a braking control amount, a steering control amount for the host vehicle, or any combination thereof, using at least some of the sensor data when the sensor data and the intention determination value satisfy predetermined conditions.The device (100) also compensates for a behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination.

Description

Technical field

[0001] The present disclosure and invention relate to an apparatus and method for controlling the dynamic behavior of a vehicle. More specifically, the present disclosure and invention relate to a technology for compensating vehicle behavior using a user's intention, a driving state of a host vehicle, or a road surface condition, or any combination thereof, when a lateral force acting on the host vehicle due to crosswind exceeds a certain magnitude. background

[0002] Typically, a vehicle is equipped with a motor-driven power steering (MDPS) system. The MDPS system varies the steering force of a steering wheel depending on the vehicle speed and provides steering assist force through a motor (e.g., an electric motor) that drives a steering shaft connected to the steering wheel.

[0003] In addition, the Motor Driven Power Steering (MDPS) system performs lateral force compensation control to compensate for steering torque and prevent the vehicle from pulling in one direction due to lateral force.

[0004] The lateral force compensation control by the MDPS system is constituted by a process of determining, by a controller, whether actual steering has occurred or a lateral force has been generated based on sensor signals from a steering angle sensor, a yaw rate sensor, and a vehicle speed sensor. The MDPS system is also constituted by a process of performing, by the controller, steering torque compensation control when it is determined that a lateral load has been generated.

[0005] However, a prior art method has the problem that the conventional steering torque compensation control is not exercised when an excessive side load (e.g., cross wind with a speed equal to or higher than 40 km / h) occurs during driving.

[0006] For example, when excessive lateral force (the cross wind with the speed of 40 km / h or more) occurs, a required compensation steering torque should be equal to or greater than 2 Nm, but only torque compensation with a maximum value of about 0.4 Nm is achieved, so the conventional steering torque compensation effect is not exerted.

[0007] Furthermore, the prior art method has the problem that interaction with a user (or driver) is not considered when performing compensation control based on the generation of lateral force. Accordingly, it is disadvantageous that the user is required to perform unnecessary control interventions. Furthermore, since control is performed in a manner different from the user's intention, the user experiences a sense of heterogeneity during driving. Brief explanation

[0008] The present disclosure or invention is intended to solve the above-mentioned problems of the prior art while retaining the advantages achieved by the prior art.

[0009] Aspects of the present disclosure (hereinafter also referred to as "disclosure") provide an apparatus and method for controlling a behavior of a vehicle that determines a lateral force acting on a host vehicle. The apparatus and method also perform compensation for the vehicle behavior, taking into account a vehicle behavior that has been compensated in advance by a user in a process of identifying a control amount (e.g., a braking control amount and / or a steering control amount) for controlling the host vehicle.

[0010] Further aspects of the present disclosure provide an apparatus and method for controlling a vehicle behavior that performs compensation control only in a situation where the compensation control is actually required by a control device, by determining whether to perform the compensation control by considering other parameters related to an intention of a user.

[0011] Further aspects of the present disclosure provide a vehicle behavior control apparatus and method that stabilize the vehicle behavior by calculating a braking control amount and a steering control amount using a driving state of a host vehicle, a structure of the host vehicle, or the like. The apparatus and method also perform cooperative control using the calculated control amounts.

[0012] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems. Any other technical problems not mentioned here should be more clearly understood by those skilled in the art to which the present disclosure relates from the following description.

[0013] According to one aspect of the present disclosure, an apparatus for controlling (e.g., regulating) a behavior of a vehicle (e.g., a motor vehicle, in particular a passenger car) comprises: a sensor having at least one sensor, a memory storing instructions, and a controller operatively connected (e.g., operatively connected, in particular, communicatively and / or electrically connected) to the sensor and the memory. For example, the instructions, when executed by the controller, cause the apparatus to identify sensor data comprising at least one of a driving condition of a host vehicle, an operating signal for the host vehicle, a side force caused by crosswind acting on the host vehicle, and / or any combination, using the sensor.The device is also caused to identify an intention determination value relating to a user's intention using at least some of the sensor data. The device is also caused to identify at least one of a braking control amount (e.g., braking control amount), a steering control amount (e.g., steering control amount) for the host vehicle, and / or any combination using at least some of the sensor data when the sensor data and the intention determination value satisfy predetermined conditions. The device is also caused to compensate or offset a behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination.

[0014] In one embodiment, the instructions, when executed by the controller, may cause the device to obtain raw data comprising at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, a host vehicle ADAS signal, and / or any combination using the sensor. The device may also be caused to identify the sensor data generated by performing at least one of offset compensation, filter processing, and / or any combination on at least some of the raw data.

[0015] In one embodiment, the instructions, when executed by the controller, may cause the device to identify the sensor data comprising at least one of a vehicle speed of the host vehicle, a slip angle change rate, a lateral bank angle (e.g., a roll and / or bank angle) of a road, a road type, a hazard level, a friction coefficient between a tire of the host vehicle and the road, and / or any combination, using the sensor.

[0016] In one embodiment, the instructions, when executed by the controller, may cause the device to: if the lateral force is equal to or greater than a predetermined value, identify a required steering angle required to compensate for the lateral force using at least one of a cornering stiffness (e.g., cornering stiffness) of at least one wheel of the host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center point of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force application point (e.g., a point at which the lateral force acts), and / or any combination. The device may also be caused to identify the compensating steering angle by the user for controlling the host vehicle.

[0017] In one embodiment, the instructions, when executed by the controller, may cause the device to determine (e.g., determine, establish) that the lateral force among the sensor data satisfies a first condition under the predetermined conditions when the lateral force is equal to or greater than a reference lateral force and a differential value (e.g., the value of a time derivative) of the lateral force is equal to or greater than a reference differential value. The device may also be caused to determine (e.g., determine, establish) that the driving condition satisfies a second condition under the predetermined conditions when a dynamic behavior index value identified using a steering angle and a steering angular velocity of the host vehicle is equal to or less than a preset value and when a traveling speed of the host vehicle is equal to or higher than a predetermined speed.

[0018] In one embodiment, the instructions, when executed by the controller, may cause the device to determine a requested steering angle required to compensate for the lateral force and a user-inputted compensation steering angle using the sensor. The device may also be caused to identify the intention determination value as 1 when a steering torque is equal to or less than a reference steering torque. The device may also be caused to identify the intention determination value as 2 when the steering torque exceeds the reference steering torque and the compensation steering angle is equal to or less than a reference compensation steering angle. The device may also be caused to identify the intention determination value as 3 when the compensation steering angle exceeds the reference compensation steering angle and is less than the requested steering angle.The device may also be caused to determine (e.g., determine, ascertain) that the intention determination value satisfies a third condition among the predetermined conditions if the intention determination value is one of the values ​​1, 2 or 3 or if the lateral force cannot be compensated by an operating intervention (e.g., also called manipulation) of the user.

[0019] In one embodiment, the instructions, when executed by the controller, may cause the device to determine that the sensor data and the intention determination value do not meet the predetermined conditions when the lateral force is less than a predetermined value, when a friction coefficient between a tire of the host vehicle and a road is equal to or less than a threshold value, when a body roll angle and a type of road do not meet a threshold criterion, when a yaw rate value of the host vehicle is equal to or greater than a reference value, when a slip angle change rate exceeds a predetermined range, or when the compensation steering angle is equal to or greater than the required steering angle.

[0020] In one embodiment, a case that the lateral force cannot be compensated by the user's operation includes: a first case that the user is in a hands-off state (e.g., a state in which the hands are removed from a steering wheel), a second case that the user's operation to compensate for the lateral force (e.g., the user-originated operation) is not received, a third case that the lateral force is not compensated by the user's operation received from / originating from the user, or any combination thereof.

[0021] In one embodiment, the instructions, when executed by the controller, may cause the device to determine a requested steering angle required to compensate for the lateral force and a compensation steering angle input by the user using the sensor. The device may also be caused to determine a distribution ratio for determining the braking control amount using a steering torque input by the user.The device may also be caused to determine the braking control amount using at least one of the lateral force, a cornering stiffness of at least one wheel of the host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center point of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force application point, the compensation steering angle, the distribution ratio, and / or any combination. The device may also be caused to identify the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the first distance, the second distance, the compensation steering angle, the braking control amount, or any combination.The device may also be caused to compensate for the behavior of the host vehicle based on the amount of braking control, the amount of steering control, and / or any combination.

[0022] In one embodiment, the instructions, when executed by the controller, may cause the device to perform post-processing relating to at least one of a maximum value, a minimum value, a gradient, and / or any combination thereof, on the braking control amount and the steering control amount. The device may also be caused to determine braking pressures corresponding to a front wheel and a rear wheel of the host vehicle, respectively, based on a final yaw moment determined by a result of the post-processing. The controller may also be caused to identify a final steering torque corresponding to (e.g., belonging to / corresponding to) the steering control amount via the result of the post-processing.The device may also be caused to compensate for the behavior of the host vehicle using at least one of the brake pressures or the final steering torque and / or any combination.

[0023] According to another aspect of the present disclosure, a method for controlling the behavior of a vehicle comprises: identifying, by a controller, sensor data including at least one of a driving state of a host vehicle, an operation signal for the host vehicle, a lateral force acting on the host vehicle due to crosswinds, and / or any combination, using a sensor. The method also comprises identifying, by the controller, an intention determination value related to an intention of a user using at least some of the sensor data.The method also includes identifying, by the controller, at least one of a braking control amount, a steering control amount for the host vehicle, and / or any combination using at least some of the sensor data when the sensor data and the intent determination value meet predetermined conditions. The method also includes compensating (e.g., balancing), by the controller, a behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination.

[0024] In one embodiment, identifying, by the controller, the sensor data using the sensor may comprise: obtaining, by the controller, raw data comprising at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal of the host vehicle, and / or any combination, using the sensor. Identifying, by the controller, the sensor data using the sensor may also comprise identifying the sensor data generated by performing at least one of offset compensation, filter processing, and / or any combination on at least some of the raw data.

[0025] In one embodiment, identifying, by the controller, the sensor data using the sensor may comprise: identifying, by the controller, the sensor data comprising at least one of a vehicle speed of the host vehicle, a slip angle change rate, a roll angle of a road, a type of road, a hazard level, a friction coefficient between a tire of the host vehicle and the road, and / or any combination, using the sensor.

[0026] In one embodiment, identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: when the lateral force is equal to or greater than a predetermined value, identifying, by the controller, a required steering angle required to compensate for the lateral force using at least one of a cornering stiffness (e.g., a cornering force) of at least one wheel of the host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force application point, and / or any combination.Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: when the lateral force is equal to or greater than a predetermined value, identifying a compensation steering angle by the user for controlling the host vehicle (e.g., a compensation steering angle set by the user (e.g., by means of an operator intervention) for controlling the host vehicle).

[0027] In one embodiment, identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: determining (e.g., determining, ascertaining) by the controller that the lateral force among the sensor data satisfies a first condition among the predetermined conditions when the lateral force is equal to or greater than a reference lateral force and a differential value of the lateral force is equal to or greater than a reference differential value of the lateral force. Determining, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may also include: determining (e.g.,Determining, establishing) by the control device that the driving state satisfies a second condition among the predetermined conditions when a dynamic behavior index value determined using a steering angle and a steering angular speed of the host vehicle is equal to or less than a preset value and a driving speed of the host vehicle is equal to or greater than a predetermined speed.

[0028] In one embodiment, identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: identifying the intention determination value as 1 when a steering torque is equal to or less than a reference steering torque, as 2 when the steering torque exceeds the reference steering torque and a compensation steering angle is equal to or less than a reference compensation steering angle, and as 3 when the compensation steering angle exceeds the reference compensation steering angle and is less than a required steering angle. Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: determining (e.g.Determine, establish) that the intention determination value satisfies a third condition under the specified conditions if the intention determination value is one of the values ​​1 to 3 or if the lateral force cannot be compensated by an operating intervention (e.g., manipulation) of the user.

[0029] In one embodiment, identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: determining, by the controller, that the sensor data and the intention determination value do not meet the predetermined conditions when the lateral force is less than a predetermined value, when a friction coefficient between a tire of the host vehicle and a road is equal to or less than a threshold value, when a body roll angle and a type of road do not meet a threshold criterion, when a yaw rate value of the host vehicle is equal to or greater than a reference value, when a slip angle change rate exceeds (e.g., exceeds) a predetermined range, or when the compensation steering angle is equal to or greater than the required steering angle.

[0030] In one embodiment, a case in which the lateral force cannot be compensated by an operation (e.g., an operating intervention, a manipulation) of the user comprises: a first case in which the user is in a hands-off state (e.g., a state in which the hands are removed from a steering wheel), a second case in which the operating intervention for compensating the lateral force is not received from the user (e.g., the operating intervention originating from the user), a third case in which the lateral force is not compensated by the operating intervention received from / originating from the user, or any combination thereof.

[0031] In one embodiment, identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may include: identifying, by the controller, a requested steering angle required to compensate for the lateral force and a compensation steering angle input by the user using the sensor. Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may also include determining, by the controller, a distribution ratio for identifying the braking control amount using the user's steering torque.Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may also include: identifying, by the controller, the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the host vehicle, the wheelbase, the first distance between the center of gravity of the host vehicle and the center of the at least one wheel, the second distance between the center of gravity of the host vehicle and the lateral force application point, the compensation steering angle, the distribution ratio, and / or any combination.Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may also include: identifying, by the controller, the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the first distance, the second distance, the compensation steering angle, the braking control amount, and / or any combination. Identifying, by the controller, at least one of the braking control amount, the steering control amount, and / or any combination may also include: compensating (e.g., balancing), by the controller, the behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination.

[0032] In one embodiment, compensating, by the controller, the behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination may include: performing, by the controller, post-processing that affects at least one of a maximum value, a minimum value, a gradient, and / or any combination, on the braking control amount and the steering control amount. Compensating, by the controller, the behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination may also include: identifying, by the controller, brake pressures corresponding to a front wheel and a rear wheel of the host vehicle, respectively, based on a final yaw moment identified via a result of the post-processing.Compensating, by the controller, the behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination may also include: identifying, by the controller, a final steering torque corresponding to (e.g., belonging to / corresponding to) the steering control amount through the result of the post-processing. Compensating, by the controller, the behavior of the host vehicle based on the braking control amount, the steering control amount, and / or any combination may also include: compensating, by the controller, the behavior of the host vehicle using at least one of the braking pressures, the final steering torque, and / or any combination. Short description of the drawings

[0033] The above and other objects, features and advantages of the present disclosure should become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: Fig. 1 is a block diagram showing components of a vehicle behavior control device according to an embodiment of the present disclosure, Fig. 2 is a block diagram showing components of a vehicle behavior control device according to an embodiment of the present disclosure, Fig. 3 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure, Fig. 4 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure, Fig. 5 is a table showing an example in which a vehicle behavior control device according to an embodiment of the present disclosure calculates maximum allowable values ​​of a steering angle and a steering angular velocity using a constant K value, Fig. 6 is a conceptual diagram showing a process in which a vehicle behavior control device according to an embodiment of the present disclosure determines whether predetermined conditions for performing lateral force compensation control are satisfied, Fig. 7 is a table showing an example in which a vehicle behavior control device according to an embodiment of the present disclosure uses a driver steering torque to distribute a brake control amount, Fig. 8 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure, and Fig. 9 shows a data processing system associated with a vehicle behavior control method according to an embodiment of the present disclosure.

[0034] With regard to the description of the drawings, the same or similar reference numerals may be used for the same or similar elements. Detailed description

[0035] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the drawings. When adding reference numerals to the components of each drawing, it should be noted that the same or equivalent components are denoted by the same reference numerals even if the components are illustrated in different drawings. Furthermore, in describing the embodiments of the present disclosure, a detailed description of the related known structures or functions has been omitted when it was determined that the detailed description would obscure the understanding of the embodiments of the present disclosure.

[0036] In describing the components of the embodiments according to the present disclosure, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are merely used to distinguish the components from other components, and the terms do not limit the type, order, or sequence of the components. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art to which the present disclosure belongs.It is further understood that terms as defined in commonly used dictionaries should be construed to have a meaning consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or overly formal sense, unless expressly defined herein. When a component, device, element, or the like of the present disclosure is described as having a purpose or performing an operation, function, or the like, the component, device, element, or the like should be considered herein as being "configured" to fulfill that purpose or perform that operation or function. Each component, device, element, and the like may separately comprise a processor and a memory, such asa non-transitory computer-readable medium, as part of it, or be contained therein. It should also be understood that when reference is made to an "amount" below, this is not limited to an absolute value, but can include any value.

[0037] Hereinafter, embodiments of the present disclosure will be described with reference to the Fig. 1 to 9 described in detail.

[0038] Fig. 1 is a block diagram showing the components of a vehicle behavior control device according to an embodiment of the present disclosure.

[0039] According to one embodiment, a vehicle behavior control device 100 may include at least one of a sensor element 110, a memory 120, a controller 130, or any combination thereof. Fig. The configuration of the vehicle behavior control device 100 shown in Figure 1 is exemplary, and the embodiments of the present disclosure are not limited thereto. For example, the vehicle behavior control device 100 may include other Fig. 1 may contain components not shown (e.g., at least one of an interface, a communication device, a display device, or any combination thereof).

[0040] According to one embodiment, the sensor element 110 can obtain (or identify) various information used for the travel of a host vehicle (also called subject vehicle, e.g., a motor vehicle, in particular a passenger car) and / or various information related to a travel state of the host vehicle.

[0041] For example, the sensor element 110 may include at least one sensor, which includes at least one camera, a radar, a LiDAR, or any combination thereof.

[0042] For example, the sensor element 110 may identify sensor data (e.g., sensing data) comprising at least one of the driving state of the host vehicle, an operating signal for the host vehicle, a lateral force caused by crosswind acting on the host vehicle, or any combination thereof.

[0043] For example, the sensor element 110 can determine a steering torque and a steering angle of the host vehicle. The steering torque can be generated by a user's control (e.g., an operating intervention or manipulation, in particular, a steering wheel manipulation) and can include a torque value and / or a steering angle used to control the host vehicle.

[0044] For example, the sensor element 110 may identify or determine at least one of a wheel speed, a yaw rate, a lateral acceleration, or a longitudinal acceleration of the host vehicle, or any combination thereof. For example, the sensor element 110 may obtain raw data comprising at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal of the host vehicle, or any combination thereof. The sensor 110 may also identify the sensor data generated by performing at least one of offset compensation or filter processing, or any combination of at least some of the raw data.

[0045] For example, the sensor element 110 may identify at least one ADAS (Advanced Driver Assistance System) signal used to control the host vehicle. The controller 130 may determine whether vehicle behavior control (e.g., vehicle behavior regulation) should be performed by determining a priority between the at least one ADAS signal and an output signal for the vehicle behavior control. For example, if some of the at least one ADAS signal have a higher priority than the output signal for the vehicle behavior control, then, even if all predetermined conditions for the vehicle behavior control are met, the controller 130 may suspend the vehicle behavior control until processing of some of the at least one ADAS signal is complete.

[0046] For example, the sensor element 110 may identify the sensor data comprising at least one of a vehicle speed of the host vehicle, a slip angle change rate (e.g., sideslip angle change rate), a roll angle (e.g., a bank and / or bank angle) of a road, a type of road (e.g., road type), a hazard level, a friction coefficient between a tire of the host vehicle and the road, or any combination thereof.

[0047] For example, the sensor element 110 can identify the control signal for the host vehicle (e.g., generated as a result of a user's control intervention) which is input by the user to control the host vehicle.

[0048] For example, the sensor element 110 may identify a compensation steering angle input by the user. For example, the compensation steering angle may comprise an angle corresponding to an amount of manipulation of the user's steering wheel to control the host vehicle.

[0049] The sensor element 110 can, for example, identify or determine the lateral force acting on the host vehicle due to the crosswind.

[0050] For example, the sensor element 110 may identify or determine a magnitude of the lateral force acting on at least one point (e.g., a lateral force point of action) of the host vehicle.

[0051] According to one embodiment, memory 120 may store instructions or data. For example, memory 120 may store one or more instructions that, when executed by controller 130, cause vehicle behavior control device 100 to perform various operations.

[0052] For example, memory 120 and controller 130 may be implemented as a single chipset. Controller 130 may include at least one of a communications processor or a modem.

[0053] For example, memory 120 may store various information related to vehicle behavior control device 100. For example, memory 120 may store information about an operating history of controller 130. For example, memory 120 may store information related to states and / or operations of components (e.g., at least one of the engine control unit (ECU), sensor element 110, controller 130, or any combination thereof) of the host vehicle.

[0054] For example, memory 120 may store various information about the host vehicle. For example, memory 120 may store at least one of a cornering stiffness (e.g., cornering stiffness) of each of at least one wheel (e.g., a front wheel and a rear wheel) of the host vehicle, a wheelbase, a distance from a center of gravity of the host vehicle to a center point of each of the at least one wheel, or any combination thereof.

[0055] For example, the memory 120 may replace the above-described information with update information about the host vehicle obtained (or identified) by the controller 130 in real time using the sensor element 110, and may store the update information.

[0056] According to one embodiment, the control device 130 may be operatively connected (e.g., operatively connected, in particular communicatively and / or electrically connected) to the sensor element 110 and / or the memory 120. For example, the control device 130 may control the operation of the sensor element 110 and / or the memory 120.

[0057] For example, the controller 130 may identify the sensor data including at least one of the driving state of the host vehicle, the operation signal (e.g., the signal input by the user) of the host vehicle, the lateral force acting on the host vehicle by the crosswind, or any combination thereof using the sensor element 110.

[0058] For example, the controller 130 may obtain the raw data comprising at least one of the steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, the ADAS signal of the host vehicle, or any combination thereof using the sensor element 110.

[0059] For example, the controller 130 may identify the sensor data generated by performing at least one of offset compensation or filter processing, or any combination of these operations, on at least some of the raw data.

[0060] For example, the controller 130 may identify the sensor data including at least one of the vehicle speed of the host vehicle, the slip angle change rate, the roll angle of the road, the type of road, the hazard level, the friction coefficient between the tire of the host vehicle and the road, or any combination thereof using the sensor element 110.

[0061] For example, the controller 130 may determine a required steering angle required to compensate for the lateral force and the compensation steering angle input by the user using at least some of the sensor data.

[0062] For example, the controller 130 may identify or determine an intention determination value related to a user's intention. For example, the controller 130 may identify or determine the requested steering angle required to compensate for the lateral force and the compensation steering angle input by the user. The controller 130 may determine an intention determination value related to a user's intention using at least one of the steering torque, the requested steering angle, the compensation steering angle of the user, or any combination thereof.

[0063] For example, the requested steering angle may include a steering angle calculated by the controller 130 to compensate for the lateral force using at least one of the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, a first distance from the center of gravity of the host vehicle to the center of the at least one wheel, a second distance from the center of gravity of the host vehicle to the lateral force application point, or any combination thereof.

[0064] For example, the controller 130 can identify or determine the required steering angle using the following mathematical equation 1. A=(Fw(lN+lW)(Cf+Cr)+CfCrLδreq)Vxl2CfCr[1−m(lfCf−lrCr)l2CfCrVx2]

[0065] For example, δ req can be the required steering angle, Fw can be the lateral force, “l” can be the wheelbase, l can wthe second distance between the center of gravity of the host vehicle and the lateral force point, C f the cornering stiffness of a front wheel of the host vehicle and can be C r be the cornering stiffness of a rear wheel of the host vehicle. Furthermore, “L” can be a sum of the distance l f between the center of gravity of the host vehicle and the center of the front wheel and the distance l r , between the center of gravity of the host vehicle and the center of the rear wheel. In addition, "m" can be the weight of the host vehicle, "V X “ may be the vehicle speed of the host vehicle and “A” may be the yaw rate. For example, l N be a value determined by the mathematical equation 2 below. lN=lfCf−lrCr(Cf+Cr)

[0066] As an example, the controller 130 may calculate the requested steering angle based on mathematical equation 1, assuming that the yaw rate "A" is 0. When the yaw rate "A" is 0, the requested steering angle may be identified or determined using mathematical equation 3 below. δreq=−Fw(lN+lW)(Cf+Cr)(CfCrL)

[0067] As an example, the compensation steering angle may include a user's steering angle for controlling the host vehicle (e.g., the user's steering control or steering wheel manipulation).

[0068] For example, the controller 130 may identify or determine an intention determination value related to a user's intention using at least one of the user's steering torque, the requested steering angle, the compensation steering angle, or a combination thereof.

[0069] For example, the controller 130 may identify the intention determination value as 1 when the steering torque is equal to or less than a reference steering torque. For example, the case where the intention determination value is 1 may include a case where the user is in a hands-off state. The hands-off state may include, for example, a state where the user is not gripping the steering wheel. In other words, the case where the intention determination value is 1 may include a case where the user does not intend to control the lateral force compensation that the user's vehicle allows.

[0070] For example, the controller 130 may identify the intention determination value as 2 when the steering torque exceeds a reference steering torque and the compensation steering angle is equal to or smaller than a reference compensation steering angle. For example, the case where the intention determination value is 2 may include a case where the user does not perform the operation (e.g., lateral force compensation control) for controlling the host vehicle. In other words, the case where the intention determination value is 2 may include a case where the user does not intend to perform control for compensating the lateral force acting on the vehicle.

[0071] As an example, the controller 130 may identify the intention determination value as 3 when the compensation steering angle exceeds a reference compensation steering angle and is smaller than the required steering angle. For example, the case where the intention determination value is 3 may indicate a user's intention that the compensation of the lateral force acting on the host vehicle is not sufficiently performed by the user. In other words, the case where the intention determination value is 3 may include a case where the user intends to perform control to compensate for the lateral force acting on the vehicle, but the lateral force is not (e.g., not completely) compensated by the user's operation.For example, the case where the intention determination value is 3 may include a situation where the compensation by the user's operation is not sufficient to compensate or balance the lateral force.

[0072] As an example, the controller 130 may identify the intention determination value as 4 when the compensation steering angle is equal to or greater than the required steering angle. The case where the intention determination value is 4 may indicate a user's intention that the compensation of the lateral force acting on the host vehicle is sufficiently performed by the user. In other words, the case where the intention determination value is 4 may include a case where the user intends to perform control to compensate for the lateral force acting on the vehicle, and the user's operation is sufficient to compensate for the lateral force as a result.

[0073] With regard to the intention determination value described above, the case where the intention determination value is one of the values ​​1, 2 or 3 may include a situation in which the lateral force acting on the own vehicle cannot be sufficiently compensated by the user's operation alone.

[0074] For example, the controller 130 may determine whether the sensor data and the intent determination value satisfy the predetermined conditions, which include at least one of a first condition, a second condition, a third condition, or any combination thereof.

[0075] The first condition may include, for example, a case where the lateral force acting on the host vehicle is equal to or greater than a reference lateral force, and a differential value (e.g., a time derivative value) of the lateral force is equal to or greater than a reference differential value of the lateral force. A case where the controller 130 determines that the first condition is satisfied may include, for example, a case where compensation control by the vehicle behavior control device 100 is required because the magnitude of the lateral force is excessive.

[0076] For example, the second condition may include a case where a dynamic behavior index value identified using the steering angle and steering angular velocity of the host vehicle is equal to or less than a preset value, and the traveling speed of the host vehicle is equal to or greater than a predetermined speed. For example, a case where the controller 130 determines that the second condition is satisfied may include a case where a behavior of the host vehicle is stable enough to enable compensation control by the vehicle behavior control device 100.

[0077] As an example, the third condition may include a case where the intention determination value representing the user's intention is equal to or less than 3. For example, if the intention determination value is one of 1 to 3 (e.g., one of 1, 2, and 3), the controller 130 may determine (e.g., determine, establish) that the intention determination value satisfies the third condition under the predetermined conditions. For example, if the intention determination value is 4, the controller 130 may determine (e.g., determine, establish) that the intention determination value does not satisfy the third condition under the predetermined conditions. For example, the case where the intention determination value is 4 may include a case where the compensation steering angle is equal to or greater than the required steering angle.

[0078] For example, even if the first condition to the third condition described above are satisfied, the controller 130 may determine that the sensor data and the intention determination value do not satisfy the predetermined conditions when a predetermined situation is identified or recognized.

[0079] For example, the controller 130 may determine that the sensor data and the intention determination value do not meet the predetermined conditions and may not perform the vehicle behavior control. The controller 130 may do this when the lateral force is equal to or less than the predetermined value, when the friction coefficient between the host vehicle's tire and the road is equal to or less than a threshold value, when the body roll angle and road type do not meet a threshold criterion, when the host vehicle's yaw rate value is equal to or greater than a reference value, or when the slip angle change rate exceeds (e.g., exceeds) a predetermined range.

[0080] For example, the controller 130 may determine, based on the magnitude of the lateral force, whether the sensor data and / or the intent determination value satisfy a predetermined condition. For example, if it is determined that the magnitude of the lateral force is less than a predetermined value, the controller 130 may determine that the sensor data and the intent determination value do not satisfy a predetermined condition. The predetermined value may, for example, be a value that is less than the criterion for the magnitude of the lateral force, which is the criterion for determining the first condition described above.

[0081] For example, if it is determined that the sensor data and the intention determination value satisfy the predetermined conditions, the controller 130 may determine at least one of a braking control amount (e.g., braking control amount), a steering control amount (e.g., steering control amount) for the host vehicle, or any combination thereof using at least some of the sensor data.

[0082] For example, the controller 130 may determine a distribution ratio for identifying / determining the brake control amount using the steering torque input by the user and used to control the host vehicle. A description of the determination of the distribution ratio may be given later with reference to Fig. 7 below in more detail.

[0083] As an example, the controller 130 may identify or determine the braking control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force application point, the compensation steering angle, the distribution ratio, or any combination thereof.

[0084] For example, the controller 130 may determine 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.

[0085] For example, the controller 130 may compensate the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof.

[0086] For example, the controller 130 may perform post-processing concerning at least one of a maximum value, a minimum value, a gradient (e.g., a time derivative), or any combination thereof with respect to the braking control amount and the steering control amount. The post-processing may include, for example, a process of determining whether the identified braking control amount and steering control amount are between the preset maximum value and minimum value, and adjusting some of the control amounts based on the determination result. Alternatively, the post-processing may include, for example, a process of determining whether the gradients of the identified braking control amount and steering control amount are within a preset range, and adjusting some of the control amounts based on the determination result.

[0087] For example, the controller 130 may identify brake pressures corresponding to the front wheel and the rear wheel of the host vehicle, respectively, based on a final yaw moment identified from the result of the post-processing. The final yaw moment may be, for example, a control amount for brake control (e.g., a control amount for brake control) of the host vehicle determined based on the brake control amount.

[0088] For example, the controller 130 may determine a final steering torque corresponding to the steering control amount based on the result of the post-processing. The final steering torque may be, for example, a control amount for the steering control (e.g., a control amount for the steering control) of the host vehicle, which is determined based on the steering control amount.

[0089] For example, the controller 130 may generate an output signal using at least one of the brake pressure, the final steering torque, or any combination thereof, and compensate (or control) the behavior of the host vehicle based on the output signal.

[0090] For example, the controller 130 may determine whether the behavior compensation control should be performed based on whether control signals of other control devices installed in the host vehicle are activated and / or on a priority between the control signals of other control devices and the output signal of the vehicle behavior control device 100.

[0091] Fig. 2 is a block diagram showing components of a vehicle behavior control device according to an embodiment of the present disclosure.

[0092] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device 100 in Fig. 1) at least one of a signal input device 210, a signal processor 220, a state determination device (e.g., state estimation device) 230, a crosswind control device 240, a signal output device 250, or any combination thereof.

[0093] According to one embodiment, the crosswind control device 240 may include a crosswind estimator 241, a steering angle calculator 242, an intention determination device 243, a crosswind determination device 244, and / or a crosswind compensation control device 245. The crosswind compensation control device 245 may, for example, include a control amount distribution device 246, a crosswind compensation braking control device 247, and / or a crosswind compensation steering control device 248.

[0094] According to one embodiment, at least some of the Fig. 2 as at least a part of the control device 130 in Fig. 1. In other words, descriptions of the components in Fig. 2, which occur later, by the control device 130 in Fig. 1 should be implemented.

[0095] According to one embodiment, the signal input device 210 can receive various types of signals based on a CAN network (CAN = English "Controller Area Network") from various components installed in the host vehicle.

[0096] For example, the signal input device 210 may receive signals relating to at least one of the steering angle, the steering angular velocity, the wheel speed, the lateral acceleration, the yaw rate, at least one ADAS (Advanced Driver Assistance System) operating signal of the host vehicle, or any combination thereof. For example, the at least one ADAS operating signal may include a control signal output by control devices other than the vehicle behavior control device to control the host vehicle.

[0097] According to one embodiment, the signal processor 220 may perform numerous post-processing operations on at least some of the signals received from the signal input device 210.

[0098] For example, the signal processor 220 may apply offset compensation logic for at least one of the steering angle, yaw rate, lateral acceleration, or any combination thereof.

[0099] For example, the signal processor 220 may apply filtering (e.g., low-pass filter, LPF) to at least one of the steering angle, yaw rate, lateral acceleration, longitudinal acceleration, wheel speed, or any combination thereof.

[0100] According to one embodiment, the state determination device 230 may generate (or identify) result data for estimating or determining at least one of a vehicle state (or the driving state) of the host vehicle, a road surface state (eg, also lane state) of the road on which the host vehicle is traveling, or any combination thereof.

[0101] For example, the state determination device 230 may identify or determine the driving state (e.g., at least one of the vehicle speed, the slip angle change rate, or any combination thereof) of the host vehicle based on at least some of the signals processed by the signal processor 220.

[0102] For example, the condition determination device 230 may identify or determine at least one of the side slope angle (e.g., a bank angle) of the road, the type of road, the hazard level, the friction coefficient between the host vehicle's tire and the road, or any combination thereof based on at least some of the signals processed by the signal processor 220. The type of road and the hazard level may be index values ​​digitized, for example, based on at least one of the road surface condition, a road width, a side slope angle of the road, or any combination thereof.

[0103] According to one embodiment, the crosswind control device 240 can estimate or determine the lateral force acting on the host vehicle using various data obtained via the signal input device 210, the signal processor 220, and the state determination device 230. The crosswind control device 240 can also calculate the requested steering angle and the compensation steering angle. The crosswind control device 240 can also determine the user's intention. The crosswind control device 240 can also identify or determine a control amount for the lateral force compensation control based on the dynamic behavior index of the host vehicle.

[0104] For example, the crosswind estimator 241 may estimate the magnitude of the lateral force acting on the host vehicle due to the crosswind or the like. For example, the crosswind estimator 241 may estimate the magnitude of the lateral force based on a predefined dynamic model, but this is only an example and the embodiments of the present disclosure are not limited thereto. For example, the crosswind estimator 241 may estimate the lateral force using at least one sensor.

[0105] For example, the steering angle calculation device 242 can identify or determine the required steering angle and the compensation steering angle.

[0106] The requested steering angle may, for example, comprise a steering angle (e.g., be such a steering angle) calculated by the steering angle calculator 242 to compensate for the lateral force using at least one of the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force application point, or any combination thereof.

[0107] The compensation steering angle may, for example, comprise the steering angle used by the user to control (e.g., for steering control) the host vehicle (e.g., be such a steering angle). For example, the compensation steering angle may comprise a steering angle used by the user when the lateral force acting on the host vehicle is equal to or greater than the specified value (e.g., be such a steering angle).

[0108] As an example, the crosswind control means 240 may identify / determine the compensation steering angle and the required steering angle using the steering angle calculation means 242 only when the magnitude of the lateral force identified / determined using the crosswind estimation means 241 is equal to or greater than the predetermined value.

[0109] For example, the intention determination device 243 may calculate the intention determination value corresponding to the user's intention using the required steering angle, the compensation steering angle, and the steering torque. A description of an embodiment in which the intention determination device 243 calculates the intention determination value can be obtained by the above description of Fig. 1 be replaced.

[0110] For example, if it is determined that the sensor data and the intention determination value satisfy the predetermined conditions, the crosswind compensation control device 245 may determine at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof using at least some of the sensor data and then transmit it to the signal output device 250.

[0111] For example, the control amount distribution device 246 may identify the brake control amount and a steering angle control amount for performing the control of the host vehicle to compensate for the lateral force based on at least one dynamic model.

[0112] For example, the control amount distribution device 246 may determine the distribution ratio for identifying the braking control amount using the user's steering torque. The control amount distribution device 246 may determine the braking control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force acting point, the compensation steering angle, the distribution ratio, or any combination thereof.

[0113] For example, the control amount distribution device 246 may identify or determine 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 brake control amount, or any combination thereof.

[0114] For example, the control amount distribution means 246 may calculate the braking control amount and the steering control amount based on the following mathematical equation 4. A=((FW(lN+lW)+Mz(Cf+Cr)+(CfCrL)(δf,ctrl+δcomp))Vxl2CfCr[1−m(lfCf−lrCr)l2CfCrVx2]

[0115] For example, M z the brake control amount, δ f,ctrl the steering control amount and can be δ compthe compensation steering angle. The descriptions of the remaining parameters can be replaced by the description of mathematical equation 1.

[0116] For example, the control amount distribution means 246 may calculate the brake control amount based on the following mathematical equation 5 using a distribution ratio K b after assuming that the yaw rate “A” is equal to 0. Mz=−Kb(Fw(lN+lW)+CfCrLCf+Crδcomp

[0117] For example, the control amount distribution means 246 may calculate the steering control amount based on the following mathematical equation 6 using the calculated braking control amount. δf,ctrl=−(Fw(lN+lW)+CfCrLCf+Crδcomp+Mz)(Cf+Cr)(CfCrL)

[0118] For example, the crosswind compensation braking controller 247 and the crosswind compensation steering controller 248 may perform post-processing concerning at least one of the maximum value, the minimum value, the gradient, or any combination thereof with respect to the identified braking control amount and / or steering control amount. The post-processing may include, for example, the process of determining whether the identified braking control amount and steering control amount are between the preset maximum value and the minimum value, and adjusting some of the control amounts based on the determination result.Alternatively, the post-processing may include, for example, the process of determining whether the gradients of the identified braking control amount and steering control amount are within the preset range and adjusting some of the control amounts based on the determination result.

[0119] For example, the crosswind compensation brake controller 247 and the crosswind compensation steering controller 248 may identify the brake pressures corresponding to the front and rear wheels of the host vehicle, respectively, based on the final yaw moment identified from the post-processing result. The crosswind compensation brake controller 247 and the crosswind compensation steering controller 248 may identify the final steering torque corresponding to the steering control amount based on the post-processing result.

[0120] For example, the crosswind compensation brake controller 247 may identify the brake pressures for the front wheel and the rear wheel, respectively, based on the following mathematical equation 7. Pbrk,f=2Rt,fKb,fTfMz,finrfPbrk,r=2Rt,rKb,rTrMz,fin(1−rf)

[0121] For example, P brk,f the brake pressure of the front wheel, P brk,r the brake pressure of the rear wheel, R t,f the dynamic radius of a front tire, R t,r the dynamic radius of a rear tire, K b,f a brake boost of the front wheel, K b,r a brake booster of the rear wheel, M z,fin a final brake control amount (or the final yaw moment), and can r f a front wheel distribution ratio of a yaw moment.

[0122] For example, the crosswind compensation steering controller 248 may calculate the final steering torque based on the following mathematical equation 8. Tstr,fin=KPδf,ctrl

[0123] T str,fin can be, for example, the final steering torque, and K p can be a P-gain (e.g. a proportional element) of a control gain.

[0124] For example, the crosswind compensation control device 245 can transmit the determined brake pressure and the final steering torque to the signal output device 250.

[0125] For example, the signal output device 250 may control (e.g., regulate) the host vehicle by outputting the output signal including the brake pressure and the final steering torque to compensate or balance the behavior of the host vehicle.

[0126] For example, the signal output device 250 may determine whether to perform vehicle behavior control by determining the priority between the at least one ADAS signal from other control devices other than the vehicle behavior control device and the vehicle behavior control output signal. For example, if some of the at least one ADAS signal has a higher priority than the vehicle behavior control output signal, the signal output device 250 may suspend control of the host vehicle based on the output signal until processing of some (e.g., some) of the at least one ADAS signal is completed, even if all predetermined conditions for vehicle behavior control are met.

[0127] Fig. 3 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure.

[0128] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device in Fig. 1) the Fig. 3. For example, at least some of the components (e.g., the sensor element 110, the memory 120, and / or the controller 130 in Fig. 1 and / or the signal input device 210, the signal processor 220, the state determination device 230, the crosswind control device 240 and / or the signal output device 250 in Fig. 2), which are present in the vehicle behavior control device, are designed to control the operations in Fig. 3 to be carried out.

[0129] In a subsequent embodiment, the operations from S310 to S350 may be executed sequentially, but do not necessarily have to be executed sequentially. For example, an order of operations may be changed, or at least two operations may be executed in parallel. In addition, contents corresponding to the above-described contents with respect to Fig. 3 or repeat them, are briefly described or omitted.

[0130] According to one embodiment, the vehicle behavior control device may receive a CAN signal and perform the offset compensation and / or the filter processing (S310).

[0131] For example, the vehicle behavior control device may receive various signals via the sensor element or receive various signals from the various components installed in the host vehicle. The vehicle behavior control device may apply offset compensation logic and / or filter processing to at least some of the received signals.

[0132] According to one embodiment, the vehicle behavior control device may estimate (or generate) the vehicle state, the road surface state, and the lateral force (S320).

[0133] For example, the vehicle behavior control device may generate the sensor data including at least one of the steering angle of the host vehicle, the wheel speed, the yaw rate, the lateral acceleration, the longitudinal acceleration, the ADAS signal, the vehicle speed of the host vehicle, the slip angle change rate, the roll angle of the road, the type of road, the hazard level, the friction coefficient between the tire of the host vehicle and the road, or the lateral force, or any combination thereof.

[0134] According to one embodiment, the vehicle behavior control device may identify or determine the required steering angle and the compensation steering angle based on the estimation result (S330).

[0135] For example, the requested steering angle may include the steering angle calculated to compensate for the lateral force using at least one of the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force application point, or any combination thereof.

[0136] The compensation steering angle may, for example, include the steering angle used by the user to control (e.g., for steering control) the host vehicle.

[0137] According to one embodiment, the vehicle behavior control device may determine the user's intention using the requested steering angle, the compensation steering angle, and the steering torque (S340).

[0138] For example, the vehicle behavior control device may determine one of the four intention determination values ​​corresponding to the user's intention using the requested steering angle, the compensation steering angle, and / or the steering torque. The four intention determination values ​​are exemplary, and the embodiments of the present disclosure are not limited thereto. For example, the vehicle behavior control device may determine one intention determination value among four or more intention determination values ​​using different (or more) discrimination criteria.

[0139] According to one embodiment, the vehicle behavior control device may determine whether to identify the control amount for the compensation control of the host vehicle based on at least one of the lateral force, the vehicle state, the road surface state, the user's intention, or any combination thereof (S350).

[0140] For example, the vehicle behavior control device may determine that the control amount for the compensation control of the host vehicle is to be determined when the lateral force, the vehicle state, the road surface condition, and / or the user's intention meet the predetermined conditions. In this case, the vehicle behavior control device may perform operation S410 in Fig. 4, which is described below.

[0141] Fig. 4 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure.

[0142] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device in Fig. 1) the Fig. 4. For example, at least some of the components (e.g., the sensor element 110, the memory 120, and / or the controller 130 in Fig. 1 and / or the signal input device 210, the signal processor 220, the state determination device 230, the crosswind control device 240 and / or the signal output device 250 in Fig. 2) which are present in the vehicle behavior control device are set to control the operations in Fig. 4 carry out.

[0143] In a following embodiment, the operations from S410 to S440 may be executed sequentially, but do not necessarily have to be executed sequentially. For example, the order of the operations may be changed, or at least two operations may be executed in parallel. In addition, contents corresponding to the contents described above with respect to Fig. 4 or repeat them, are briefly described or omitted.

[0144] For example, the processes in Fig. 4 such operations of the vehicle behavior control device which, after the operation S350 in Fig. 3 are executed.

[0145] According to one embodiment, the vehicle behavior control device may identify the braking control amount and the steering control amount (S410).

[0146] For example, the vehicle behavior control device may determine the distribution ratio for identifying the braking control amount using the user's steering torque. The vehicle behavior control device may also determine the braking control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance between the center of gravity of the host vehicle and the center of the at least one wheel, the second distance between the center of gravity of the host vehicle and the lateral force acting point, the compensation steering angle, the distribution ratio, or any combination thereof.

[0147] For example, the vehicle behavior control device may determine 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.

[0148] According to one embodiment, the vehicle behavior control device may determine the final yaw moment based on the brake control amount and identify or determine the brake pressure associated with (eg, corresponding to) the final yaw moment (S420).

[0149] For example, the vehicle behavior control device may perform post-processing with respect to at least one of the maximum value, the minimum value, the gradient, or any combination thereof on the braking control amount. The vehicle behavior control device may also identify the braking pressures corresponding to the front wheel and the rear wheel of the host vehicle based on the final yaw moment identified by the result of the post-processing.

[0150] According to one embodiment, the vehicle behavior control device may determine the final steering torque corresponding to (e.g., belonging to / corresponding to) the steering control amount (S430).

[0151] For example, the vehicle behavior control device may perform post-processing on the steering control amount with respect to at least one of the maximum value, the minimum value, the gradient, or any combination thereof. The vehicle behavior control device may also determine the final steering torque corresponding to the steering control amount based on the result of the post-processing.

[0152] According to one embodiment, the vehicle behavior control device may determine whether to execute the compensation control of the host vehicle based on the brake pressure and the final steering torque, taking into account the priority over other control devices (S440).

[0153] For example, the vehicle behavior control device may determine whether to execute the vehicle behavior control by determining the priority between the at least one ADAS signal and the output signal for the vehicle behavior control.

[0154] For example, if some of the at least one ADAS signal has a higher priority than the output signal for the vehicle behavior control, the vehicle behavior control device may suspend the vehicle behavior control until the processing of the some of the at least one ADAS signal is completed, even in the situation in which all predetermined conditions for the vehicle behavior control are met.

[0155] For example, if some of the at least one ADAS signal have a lower priority than the output signal for the vehicle behavior control or if the ADAS signal is not identified, the vehicle behavior control device may perform the vehicle behavior control based on the brake pressure and the final steering torque.

[0156] Fig. 5 is a table showing an example in which a vehicle behavior control device according to an embodiment of the present disclosure calculates maximum allowable values ​​of a steering angle and a steering angular velocity using a constant K value.

[0157] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device 100 in Fig. 1) Identify the state (or driving state) of the host vehicle and then determine whether the identification result is within the specified range.

[0158] According to one embodiment, the vehicle behavior control device may determine (e.g., determine, ascertain) that the state of the host vehicle satisfies the second condition (e.g., reference symbol S620 in Fig. 6) is satisfied under the specified conditions when the vehicle speed of the host vehicle is equal to or higher than the specified speed and the dynamic behavior index is equal to or less than the preset value “K”.

[0159] For example, the vehicle behavior control device may use the dynamic behavior index I dyn based on the steering angle δ f and the steering angle velocity ̇δ̇ f of the host vehicle. The dynamic behavior index I dynFor example, it can be a numerical value representing a potential of the host vehicle to cause a dynamic condition.

[0160] The vehicle behavior control device can determine the dynamic behavior index I dyn For example, identify or determine using the following mathematical equation 9. Idyn=r1|δf|+r2|δ˙f|

[0161] For example, the vehicle behavior control device may use the dynamic behavior index I dyn based on the steering angle δ f , the steering angle velocity δ̇̇ f , a steering angle weight r 1 and a steering angle velocity weight r 2 identify or determine.

[0162] For example, the vehicle behavior control device may determine whether the dynamic behavior index I dyn is equal to or less than the preset value “K”. Based on the dynamic behavior index Idyn and the preset value “K”, the vehicle behavior control device can set a maximum steering angle value δ fmax and a maximum steering angle speed value δ fmax identify or determine using the following mathematical equation.

[0163] For example, the vehicle behavior control device may use the dynamic behavior index I dyn identify or determine using the following mathematical equation 10. δfmax=Kr1, δ˙fmax=Kr2

[0164] Referring to Fig. 5, an x-axis and a y-axis of the table can respectively represent absolute values ​​of the steering angle and the steering angular velocity.

[0165] For example, the vehicle behavior control device can use the steering angle maximum value δ fmax based on a reference number 510 and the steering angular velocity maximum value δ fmaxdetermine whether the dynamic behavior index of the host vehicle is equal to or less than the preset value "K" based on a reference numeral 520. A curve based on a reference numeral 530 may, for example, be a curve in which the steering angle δ f , the steering angle speed δ f , the steering angle weight r 1 and the steering angle velocity weight r 2 are set relative to the preset value "K". The vehicle behavior control device may designate (e.g., define) a range based on a reference numeral 500 as a range in a case where the dynamic behavior index of the host vehicle is equal to or less than the preset value "K". In other words, the hatched area indicated by reference numeral 500 represents the range in which the dynamic behavior index of the host vehicle is equal to or less than the preset value "K".

[0166] Fig. 6 is a conceptual diagram showing a process in which a vehicle behavior control device according to an embodiment of the present disclosure determines whether predetermined conditions for performing lateral force compensation control are satisfied.

[0167] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device 100 in Fig. 1) Determine whether the sensor data and / or the intention determination value satisfy conditions based on reference symbols S610, S620, S630 and S640.

[0168] Referring to reference symbol S610, the vehicle behavior control device according to one embodiment may determine whether a crosswind force (or the side force acting on the host vehicle by the crosswind) is equal to or greater than a predetermined value.

[0169] For example, the vehicle behavior control device may determine (e.g., determine) that the lateral force among the sensor data satisfies the first condition under the predetermined conditions when the magnitude of the lateral force is equal to or greater than the reference lateral force and the magnitude of the differential value of the lateral force is equal to or greater than the reference differential value of the lateral force.

[0170] Referring to reference symbol S620, the vehicle behavior control device according to an embodiment may determine whether the vehicle state satisfies the predetermined conditions.

[0171] For example, the vehicle behavior control device may determine that the driving state among the sensor data satisfies the second condition under the predetermined conditions (e.g., determine, establish) when the dynamic behavior index value identified using the steering angle and the steering angular velocity of the host vehicle is equal to or less than the preset value (e.g., value “K” in Fig. 5) and the driving speed of the host vehicle is equal to or greater than the specified speed.

[0172] Referring to reference symbol S630, the vehicle behavior control device according to an embodiment may determine whether the steering state of the driver (or the user) satisfies the predetermined conditions.

[0173] For example, the vehicle behavior control device may identify or determine the intention determination value concerning the user's intention using at least one of the steering torque, the requested steering angle, the compensation steering angle of the host vehicle, or any combination thereof.

[0174] For example, the vehicle behavior control device may identify the intention determination value as 1 when the steering torque is equal to or less than the reference steering torque. The vehicle behavior control device may identify the intention determination value as 2 when the steering torque exceeds the reference steering torque and the compensation steering angle is equal to or less than the reference compensation steering angle. The vehicle behavior control device may identify the intention determination value as 3 when the compensation steering angle exceeds the reference compensation steering angle and is less than the required steering angle. The vehicle behavior control device may identify the intention determination value as 4 when the compensation steering angle is equal to or greater than the required steering angle.

[0175] For example, when the intention determination value is equal to or less than 3, the vehicle behavior control device may determine (e.g., determine) that the intention determination value satisfies the third condition under the predetermined conditions.

[0176] According to one embodiment, the vehicle behavior control device may identify or determine at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof only when all of the conditions based on reference symbols S610, S620, and S630 are satisfied.

[0177] For example, even if all conditions based on reference symbols S610, S620, and S630 are met, the vehicle behavior control device may not identify at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof if situations related to the host vehicle, the road surface, and / or the user correspond to at least one of the situations based on reference symbol S640. In other words, in this case, the vehicle behavior control device may not perform the vehicle behavior compensation control.

[0178] Referring to reference numeral S640, the vehicle behavior control device according to one embodiment may determine whether the behavior of the host vehicle is excessive (e.g., the vehicle exhibits excessive behavior), determine the surface condition (e.g., road surface condition) of the road on which the host vehicle is traveling, and the like. Although not shown, the vehicle behavior control device may also determine the intention determination value related to the user's intention.

[0179] For example, the vehicle behavior control device may determine that the sensor data and the intention determination value do not meet the predetermined conditions when the friction coefficient between the tire of the host vehicle and the road is equal to or less than the threshold value, when the body roll angle and the type of road do not meet the threshold criterion, when the yaw rate value of the host vehicle is equal to or greater than the reference value, or when the slip angle change rate exceeds the specified range.

[0180] Referring to reference numeral S650, the vehicle behavior control device according to one embodiment may generate a cross-wind determination flag.

[0181] For example, when flags based on reference symbols S610, S620, and S630 are in an ON state (or a satisfied state) and a flag based on reference symbol S640 is in an OFF state, the vehicle behavior control device may generate the crosswind determination flag in the ON state and perform subsequent operations (e.g., identifying the braking control amount and the steering control amount).

[0182] For example, when at least one of the flags based on reference symbols S610, S620, and S630 is in the OFF state (or a non-satisfied state) or when the flag based on reference symbol S640 is in the ON state, the vehicle behavior control device may generate the crosswind determination flag in the OFF state and suspend the execution of the subsequent operations.

[0183] Fig. 7 is a table showing an example in which a vehicle behavior control device according to an embodiment of the present disclosure uses a driver steering torque to distribute a braking control amount.

[0184] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device 100 in Fig. 1) the distribution ratio K b to identify the braking control amount using the user's (or driver's) steering torque.

[0185] For example, when the user's steering torque is in a range of 0 to t Nm, the vehicle behavior control device can adjust the distribution ratio K b as "r." The value "r" is a value in the range of 0 to 1, can be set or changed by the user, and can be updated in real time by the vehicle behavior control device.

[0186] For example, when the user's steering torque is in the range of t to 1 Nm, the vehicle behavior control device can adjust the distribution ratio K b so that it is proportional to the user's steering torque. In Fig. 7 are the user's steering torque and the distribution ratio K b represented as directly proportional, based on a linear functional form. However, this is only an example, and the embodiments of the present disclosure are not limited thereto.

[0187] For example, the vehicle behavior control device may adjust the distribution ratio K b than 1 when the user's steering torque is equal to or greater than 1 Nm. In other words, the vehicle behavior control device can determine a maximum value of the distribution ratio K b than 1, regardless of the actual steering torque of the user. With reference to Fig. 7 is the maximum value of the distribution ratio K b with the integer 1, but this is only an example, and the embodiments of the present disclosure are not limited thereto. For example, the vehicle behavior control device may determine the maximum value and / or a minimum value of the distribution ratio K b change in real time based on at least one of vehicle performance, driving condition, road surface condition, or any combination thereof.

[0188] Fig. 8 is an operational flowchart of a vehicle behavior control device according to an embodiment of the present disclosure.

[0189] According to one embodiment, a vehicle behavior control device (e.g., the vehicle behavior control device in Fig. 1) the Fig. 8. For example, at least some of the components (e.g., the sensor element 110, the memory 120, and / or the controller 130 in Fig. 1 and / or the signal input device 210, the signal processor 220, the state determination device 230, the crosswind control device 240 and / or the signal output device 250 in Fig. 2), which are present in the vehicle behavior control device, are designed to control the operations in Fig. 8 to be carried out.

[0190] In a following embodiment, the operations from S810 to S860 may be executed sequentially, but do not necessarily have to be executed sequentially. For example, the order of the operations may be changed, or at least two operations may be executed in parallel. In addition, content corresponding to the above-described content with respect to Fig. 8 or repeat them, are briefly described or omitted.

[0191] According to one embodiment, the vehicle behavior control device may identify (S810) using a sensor the sensor data including at least one of the driving state of the host vehicle, the operation signal for the host vehicle, the lateral force acting on the host vehicle by the crosswind, or any combination thereof.

[0192] For example, identifying, by the vehicle behavior control device, the sensor data using a sensor may include obtaining the raw data comprising at least one of the host vehicle's steering angle, wheel speed, yaw rate, lateral acceleration, longitudinal acceleration, the ADAS signal, or any combination thereof. Identifying, by the vehicle behavior control device, the sensor data using a sensor may also include identifying the sensor data generated by performing at least one of offset compensation, filter processing, or any combination thereof on at least some of the raw data.

[0193] For example, identifying, by the vehicle behavior control device, the sensor data using the sensor element may include identifying the sensor data including at least one of the vehicle speed of the host vehicle, the slip angle change rate, the roll angle of the road, the type of road, the degree of danger, the friction coefficient between the tire of the host vehicle and the road, or any combination thereof.

[0194] According to one embodiment, the vehicle behavior control device may identify or determine the required steering angle required to compensate / balance the lateral force and the compensation steering angle input by the user based on at least some sensor data (S820).

[0195] For example, identifying, by the vehicle behavior control device, at least one of the braking control amount, the steering control amount, or any combination thereof may include: when the lateral force is equal to or greater than the predetermined value, identifying, by the vehicle behavior control device, the requested steering angle, the requested steering angle required to compensate for the lateral force using at least one of the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force action point, or any combination thereof.Identifying, by the vehicle behavior control device, at least one of the braking control amount, the steering control amount, or any combination thereof may also include identifying the compensation steering angle of the steering operation by the user for controlling the host vehicle.

[0196] According to one embodiment, the vehicle behavior control device may identify or determine the intention determination value related to the user's intention using at least one of the steering torque, the requested steering angle, the compensation steering angle of the host vehicle, or any combination thereof (S830).

[0197] For example, the vehicle behavior control device may identify or determine the intention determination value concerning the user's intention using at least one of the user's steering torque, the requested steering angle, or the compensation steering angle, or any combination thereof.

[0198] For example, the vehicle behavior control device may identify the intention determination value as 1 when the steering torque is equal to or less than the reference steering torque. For example, the case where the intention determination value is 1 may include the case where the user is in the hands-off state.

[0199] For example, the vehicle behavior control device may identify the intention determination value as 2 when the steering torque exceeds the reference steering torque and the compensation steering angle is equal to or less than the reference compensation steering angle. The case where the intention determination value is 2 may include, for example, the case where the user does not perform the operation to control the host vehicle.

[0200] For example, the vehicle behavior control device may identify the intention determination value as 3 when the compensation steering angle exceeds the reference compensation steering angle and is smaller than the required steering angle. For example, the case where the intention determination value is 3 may indicate the user's intention that the compensation of the lateral force acting on the host vehicle is not sufficiently performed.

[0201] For example, the vehicle behavior control device may identify the intention determination value as 4 when the compensation steering angle is equal to or greater than the required steering angle. If the intention determination value is 4, it may indicate the user's intention to sufficiently compensate for the lateral force acting on the host vehicle.

[0202] According to one embodiment, the vehicle behavior control device may determine whether the sensor data and the intention determination value satisfy the predetermined conditions including the first condition to the third condition (S840).

[0203] For example, the vehicle behavior control device may determine whether the first condition, the second condition, and the third condition, respectively indicated by the above-described reference symbols S610, S620, and S630 in Fig. 6 correspond, are fulfilled.

[0204] For example, if the sensor data and the intention determination value satisfy the predetermined conditions including the first condition to the third condition (e.g., operation S840 - Yes), then the vehicle behavior control device may perform operation S850.

[0205] For example, if the sensor data and the intention determination value do not satisfy the predetermined conditions including the first condition to the third condition (e.g., operation S840 - No), then the vehicle behavior control device may repeat operation S830.

[0206] According to one embodiment, the vehicle behavior control device may identify or determine at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof using at least some of the sensor data (S850).

[0207] For example, identifying, by the vehicle behavior control device, at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof may include determining the distribution ratio for identifying the braking control amount using the user's steering torque and identifying the braking control amount. The braking control amount may be identified using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the wheelbase, the first distance from the center of gravity of the host vehicle to the center of the at least one wheel, the second distance from the center of gravity of the host vehicle to the lateral force action point, the compensation steering angle, the distribution ratio, or any combination thereof.

[0208] For example, identifying, by the vehicle behavior control device, at least one of the braking control amount, the steering control amount for the host vehicle, or any combination thereof may include 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 compensation steering angle, the braking control amount, or any combination thereof.

[0209] According to one embodiment, the vehicle behavior control device may compensate or balance the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof (S860).

[0210] For example, compensating, by the vehicle behavior control device, the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof may include performing post-processing with respect to the maximum value, the minimum value, the gradient, or any combination thereof on the braking control amount and the steering control amount. Compensating, by the vehicle behavior control device, the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof may also include identifying the braking pressures corresponding to the front wheel and the rear wheel of the host vehicle, respectively, based on the final yaw moment identified via the result of the post-processing.Compensating, by the vehicle behavior control device, the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof may also include identifying the final steering torque corresponding to the steering control amount based on the result of the post-processing. Compensating, by the vehicle behavior control device, the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination thereof may also include compensating the behavior of the host vehicle using at least one of the braking pressure, the final steering control amount, or any combination thereof.

[0211] Fig. 9 shows a data processing system associated with a vehicle behavior control method according to an embodiment of the present disclosure.

[0212] Referring to Fig. 9, a data processing device (e.g., a computer device, computing device) 1000 associated with the vehicle behavior control method may include at least one of a processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a (data) storage device (e.g., a mass storage device) 1600, and a network interface 1700, which are interconnected via a bus 920.

[0213] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

[0214] Accordingly, the operations of the method or algorithm described in connection with the embodiments disclosed herein may be implemented directly in hardware, a software module executed by processor 1100, or a combination thereof. The software module may be located on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, register, hard disk, removable disk, and CD-ROM.

[0215] The storage medium is connected to the processor 1100, which can read information from and write information to the storage medium. In another approach, the storage medium can be integrated with the processor 1100. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). The ASIC can be located in the user terminal. In another approach, the processor and the storage medium can be located as separate components in the user terminal.

[0216] The above description merely illustrates the technical idea of ​​the present disclosure, and various modifications and variations can be made by those skilled in the art without departing from the essential features of the present disclosure.

[0217] Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical idea of ​​the present disclosure, but to illustrate the present disclosure. The scope of the technical idea of ​​the present disclosure is not limited by the embodiments. The scope of the present disclosure should be construed as being covered by the scope of the appended claims, and all technical ideas falling within the scope of the claims should be construed as being included in the scope of the present disclosure.

[0218] Effects of the vehicle behavior control apparatus and method according to the present disclosure will be described below.

[0219] According to at least one embodiment of the present disclosure, the vehicle behavior control device can define the dynamic behavior index representing a level of the dynamic behavior of the vehicle and can determine whether to perform compensation control based on the level of the dynamic behavior index. Thus, the vehicle behavior control (or the lateral force compensation control) can be performed in a stable situation.

[0220] Furthermore, according to at least one embodiment of the present disclosure, the user's intention can be classified based on the result of the comparison between the compensation steering angle by the user (or the driver), the requested steering angle actually required to compensate for the lateral force, and the steering torque of the host vehicle. The situation in which the user's lateral force compensation is insufficient can be detected. Then, vehicle behavior control can be performed in the corresponding situation.

[0221] Furthermore, according to at least one of the embodiments of the present disclosure, the efficient and highly accurate vehicle behavior control can be performed by identifying the control amount to be actually compensated in consideration of the compensation control including the compensation steering angle by the user.

[0222] Furthermore, according to at least one of the embodiments of the present disclosure, the cooperative control may be performed for braking and steering, and a vehicle behavior control function may be provided that determines each control amount for the cooperative control via a specific criterion (e.g., the magnitude of the user's steering torque).

[0223] In addition, numerous effects identified directly or indirectly by this document can be provided.

[0224] Although the present disclosure has been described with reference to embodiments and the accompanying drawings, it is not limited thereto. The present disclosure may be modified and altered in numerous ways by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure and invention as claimed in the following claims. List of reference symbols 100 Vehicle behavior control device 110 Sensor element 120 storage 130 Control device 210 Signal input device 220 signal processor 230 Condition determination device 240 Crosswind control device 241 Crosswind estimation device 242 Steering angle calculation device 243 Intent Determination Facility 244 Crosswind detection device 245 Crosswind compensation control device 246 Control amount distribution device 247 Crosswind compensation brake control device 248 Crosswind compensation steering control device 250 signal output device

Claims

[1] A device (100) for controlling a behavior of a vehicle, the device comprising: a sensor element (110) with at least one sensor, a memory (120) configured to store instructions, and a control device (130) which is operatively connected to the at least one sensor and the memory (120), wherein the instructions, when executed by the control device (130), cause the device (100) to Identify sensor data comprising at least one of a driving condition of a host vehicle, an operating signal for the host vehicle, a lateral force caused by crosswind acting on the host vehicle, or any combination thereof using the at least one sensor, identify an intent determination value relating to a user’s intention using at least some of the sensor data, identify at least one of a braking control amount, a steering control amount for the host vehicle, or any combination using at least some of the sensor data when the sensor data and the intention determination value satisfy predetermined conditions, and to compensate for a host vehicle's behavior based on the amount of braking control, the amount of steering control, or any combination. [2] The device (100) of claim 1, wherein the instructions, when executed by the controller (130), cause the device (100) to: Obtain raw data comprising at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal of the host vehicle, or any combination thereof using the at least one sensor, and to identify the sensor data generated by performing at least one of offset compensation, filter processing, or any combination thereof on at least some of the raw data. [3] The device (100) of claim 1 or 2, wherein the instructions, when executed by the controller (130), cause the device (100) to identify the sensor data comprising at least one of a vehicle speed of the host vehicle, a slip angle change rate, a roll angle, in particular a lateral and / or bank angle, a road, a road type, a hazard level, a friction coefficient between a tire of the host vehicle and the road, or any combination, using the at least one sensor. [4] The device (100) of any one of claims 1 to 3, wherein the instructions, when executed by the controller (130), cause the device (100) to: if the lateral force is equal to or greater than a given value, to identify 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 host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force point, or any combination, and to identify a compensation steering angle by the user to control the host vehicle. [5] The device (100) of any one of claims 1 to 4, wherein the instructions, when executed by the controller (130), cause the device (100) to: to determine that the lateral force among the sensor data satisfies a first condition under the specified conditions when the lateral force is equal to or greater than a reference lateral force and a differential value of the lateral force is equal to or greater than a reference differential value, and to determine that the driving state satisfies a second condition among the predetermined conditions when a dynamic behavior index value identified using a steering angle and a steering angular speed of the host vehicle is equal to or less than a preset value and when a traveling speed of the host vehicle is equal to or higher than a predetermined speed. [6] The device (100) of any one of claims 1 to 5, wherein the instructions, when executed by the controller (130), cause the device (100) to: to determine a required steering angle, which is necessary to compensate the lateral force, and a compensation steering angle entered by the user using the at least one sensor, to identify the intention determination value as 1 if a steering torque is equal to or less than a reference steering torque, as 2 if the steering torque exceeds the reference steering torque and the compensation steering angle is equal to or less than a reference compensation steering angle, and as 3 if the compensation steering angle exceeds the reference compensation steering angle and is less than the required steering angle, and to determine that the intention determination value satisfies a third condition under the specified conditions when the intention determination value is one of the values ​​1, 2 or 3 or when the lateral force cannot be compensated by user intervention. [7] The device (100) of claim 6, wherein the instructions, when executed by the controller (130), cause the device (100) to: to determine that the sensor data and the intention determination value do not meet the specified conditions when the lateral force is less than a specified value, when a friction coefficient between a tire of the host vehicle and a road is equal to or less than a threshold value, when a side roll angle, in particular a lateral and / or bank angle, and a type of road do not meet a threshold criterion, when a yaw rate value of the host vehicle is equal to or greater than a reference value, when a slip angle change rate exceeds a specified range, or when the compensation steering angle is equal to or greater than the required steering angle. [8] Device (100) according to claim 6 or 7, wherein a case that the lateral force cannot be compensated by the user's operation comprises: a first case where the user is in a hands-off state, a second case where the operator input to compensate for the lateral force is not received from the user, a third case where the lateral force is not compensated by the operator input received from the user, or any combination thereof. [9] The device (100) of any one of claims 1 to 8, wherein the instructions, when executed by the controller (130), cause the device (100) to: to identify a required steering angle required to compensate the lateral force and a compensation steering angle entered by the user using the at least one sensor, to determine a distribution ratio for determining the brake control amount using a steering torque by the user, to identify the brake control amount using at least one of the lateral force, a cornering stiffness of at least one wheel of the host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force application point, the compensation steering angle, the distribution ratio, or any combination, to identify the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the first distance, the second distance, the compensation steering angle, the braking control amount, or any combination, and to compensate the behavior of the host vehicle based on the amount of braking control, the amount of steering control, or any combination. [10] The device (100) of claim 9, wherein the instructions, when executed by the controller (130), cause the device (100) to: perform post-processing affecting at least one of a maximum value, a minimum value, a gradient, or any combination thereof on the braking control amount and the steering control amount, Identify brake pressures corresponding to a front wheel and a rear wheel of the host vehicle based on a final yaw moment determined by a post-processing result, to identify a final steering torque corresponding to the steering control amount via the result of the post-processing, and to compensate the behavior of the host vehicle using at least one of the brake pressures or the final steering torque or any combination. [11] A method for controlling the behavior of a vehicle, the method comprising: Identifying, by a controller (130), sensor data comprising at least one of a driving condition of a host vehicle, an operating signal for the host vehicle, a lateral force acting on the host vehicle due to crosswind, or any combination, using a sensor (110), Identifying, by the control device (130), an intention determination value relating to an intention of a user using at least some of the sensor data Identifying, by the control device (130), at least one of a braking control amount, a steering control amount for the host vehicle, or any combination using at least some of the sensor data when the sensor data and the intention determination value satisfy predetermined conditions, and Compensating, by the controller (130), a behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination. [12] The method of claim 11, wherein identifying, by the controller (130), the sensor data using the sensor (110) comprises: Obtaining, by the controller (130), raw data comprising at least one of a steering angle, a wheel speed, a yaw rate, a lateral acceleration, a longitudinal acceleration, an ADAS signal of the host vehicle, or any combination, using the sensor (110), and Identifying the sensor data generated by performing at least one of offset compensation, filter processing, or any combination on at least some of the raw data (S310). [13] The method of claim 11 or 12, wherein identifying, by the controller (130), the sensor data using the sensor (110) comprises: Identifying, by the controller (130), the sensor data comprising at least one of a vehicle speed of the host vehicle, a slip angle change rate, a roll angle, in particular a lateral and / or bank angle, a road, a type of road, a degree of hazard, a coefficient of friction between a tire of the host vehicle and the road, or any combination, using the sensor (110). [14] The method of any one of claims 11 to 13, wherein identifying, by the controller (130), at least one of the braking control amount, the steering control amount, or any combination comprises: if the lateral force is equal to or greater than a given value, Identifying (S330), by the control device (130), 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 host vehicle, a wheelbase, a first distance from a center of gravity of the host vehicle to a center of the at least one wheel, a second distance from the center of gravity of the host vehicle to a lateral force application point, or any combination, and Identifying (S330) a compensation steering angle by the user for controlling the host vehicle. [15] The method of claim 14, wherein identifying, by the controller (130), at least one of the braking control amount, the steering control amount, or any combination comprises: Determining by the control device (130) that the lateral force among the sensor data satisfies a first condition under the predetermined conditions when the lateral force is equal to or greater than a reference lateral force and a differential value of the lateral force is equal to or greater than a reference differential value of the lateral force, Determining, by the control device (130), that the driving state satisfies a second condition among the predetermined conditions when a dynamic behavior index value determined using a steering angle and a steering angular speed of the host vehicle is equal to or less than a preset value and a driving speed of the host vehicle is equal to or greater than a predetermined speed. [16] The method of any one of claims 11 to 15, wherein identifying, by the controller (130), at least one of the braking control amount, the steering control amount, or any combination comprises: Identifying the intention determination value as 1 when a steering torque is equal to or less than a reference steering torque, as 2 when the steering torque exceeds the reference steering torque and a compensation steering angle is equal to or less than a reference compensation steering angle, and as 3 when the compensation steering angle exceeds the reference compensation steering angle and is less than a required steering angle, and Determine that the intention determination value satisfies a third condition under the specified conditions when the intention determination value is one of the values ​​1 to 3 or in the case that the lateral force cannot be compensated by a user's operation. [17] The method of claim 16, wherein identifying, by the controller (130), at least one of the braking control amount, the steering control amount, or any combination comprises: Determining by the control device (130) that the sensor data and the intention determination value do not meet the predetermined conditions if the lateral force is less than a predetermined value, if a friction coefficient between a tire of the host vehicle and a road is equal to or less than a threshold value, if a lateral inclination angle, in particular a transverse and / or banked inclination angle, and a type of road do not meet a threshold criterion, if a yaw rate value of the host vehicle is equal to or greater than a reference value, if a slip angle change rate exceeds a predetermined range, or if the compensation steering angle is equal to or greater than the required steering angle. [18] Method according to claim 16 or 17, wherein the case that the lateral force cannot be compensated by an operation of the user comprises: a first case where the user is in a hands-off state, a second case where the operator input to compensate for the lateral force is not received from the user, a third case where the lateral force is not compensated by the operator input received from the user, or any combination thereof. [19] The method of any one of claims 11 to 18, wherein identifying, by the controller (130), at least one of the braking control amount, the steering control amount, or any combination comprises: Identifying, by the control device (130), a required steering angle required to compensate for the lateral force and a compensation steering angle entered by the user using the sensor (110), Determining, by the control device (130), a distribution ratio for identifying the brake control amount using a steering torque by the user, Identifying, by the control device (130), the braking control amount using at least one of the lateral force, the cornering stiffness of at least one wheel of the host vehicle, the wheelbase, the first distance between the center of gravity of the host vehicle and the center of the at least one wheel, the second distance between the center of gravity of the host vehicle and the lateral force action point, the compensation steering angle, the distribution ratio, or any combination, Identifying, by the controller (130), the steering control amount using at least one of the lateral force, the cornering stiffness of the at least one wheel of the host vehicle, the first distance, the second distance, the compensation steering angle, the braking control amount, or any combination, and Compensating, by the controller (130), the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination. [20] The method of claim 19, wherein compensating, by the controller (130), the behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination comprises: Performing, by the control device (130), a post-processing which affects at least one of a maximum value, a minimum value, a gradient or any combination thereof, on the braking control amount and the steering control amount, Identifying (S420), by the control device (130), brake pressures respectively belonging to a front wheel and a rear wheel of the host vehicle based on a final yaw moment identified via a result of the post-processing, Identifying (S430), by the control device (130), a final steering torque corresponding to the steering control amount by the result of the post-processing, Compensating (S440), by the controller, the behavior of the host vehicle using at least one of the brake pressures, the final steering torque, or any combination.

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