KR101172115B1 - Rough Road Detection Method and Transmission Control Method using the Detection Result - Google Patents
Rough Road Detection Method and Transmission Control Method using the Detection Result Download PDFInfo
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- KR101172115B1 KR101172115B1 KR1020090014182A KR20090014182A KR101172115B1 KR 101172115 B1 KR101172115 B1 KR 101172115B1 KR 1020090014182 A KR1020090014182 A KR 1020090014182A KR 20090014182 A KR20090014182 A KR 20090014182A KR 101172115 B1 KR101172115 B1 KR 101172115B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
- B60W10/023—Fluid clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
- B60W10/107—Infinitely variable gearings with endless flexible members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0021—Differentiating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—Clutches
- B60W2710/025—Clutch slip, i.e. difference between input and output speeds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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Abstract
본 발명은 신속하고 정확하게 노면의 상태를 검출하여 도로의 상태가 험로인지의 여부를 검출해낼 수 있도록 함과 아울러, 이와 같이 검출된 도로의 상태에 따라 변속기를 제어하여, 벨트와 풀리 사이의 슬립 및 마모의 발생을 방지함으로써 변속기의 내구성을 증대시킬 수 있도록 한다.The present invention can detect the state of the road quickly and accurately to detect whether the road condition is a rough road, and control the transmission in accordance with the detected road state, so that the slip between the belt and the pulley By preventing the occurrence of wear it is possible to increase the durability of the transmission.
험로, 벨트, 풀리, 슬립, 마모, 저크 Roughness, belt, pulley, slip, wear, jerk
Description
본 발명은 차량의 험로 검출 방법 및 그에 따른 변속기 제어방법에 관한 것으로서, 보다 상세하게는 차량이 주행하고 있는 도로의 험로 여부를 검출하는 기술과, 검출된 험로 여부의 상태에 따라 벨트와 풀리를 사용하는 무단변속기를 제어하여 벨트와 풀리 사이의 슬립 및 마모를 방지하도록 하는 기술에 관한 것이다.The present invention relates to a method for detecting a vehicle's rough road and a transmission control method according to the present invention. More specifically, the present invention relates to a technology for detecting whether the vehicle is traveling on a rough road and a belt and a pulley according to the detected path. It relates to a technique to control the continuously variable transmission to prevent slip and wear between the belt and the pulley.
벨트와 풀리를 사용하는 무단변속기는 벨트와 풀리 사이의 슬립 및 마모가 발생하지 않도록 하여야 한다.CVTs using belts and pulleys shall be free from slippage and wear between the belt and pulleys.
상기 벨트와 풀리 사이의 슬립 및 마모는 예측되지 못한 구동풀리와 종동풀리 사이의 거동에 의해 발생되기 쉬운데, 특히 차량의 험로 주행시 구동륜으로부터 역으로 인가되는 토크는 이와 같은 벨트와 풀리 사이의 슬립 및 마모를 발생시키는 주요한 요인으로 작용한다.Slip and wear between the belt and the pulley are likely to be caused by unpredictable behavior between the driving pulley and the driven pulley. In particular, the torque applied back from the driving wheel during driving of the vehicle's rough road is such a slip and wear between the belt and the pulley. It acts as a major factor in generating.
따라서, 차량이 현재 주행하고 있는 도로의 상태를 파악하여 그에 따라 적절 한 대응을 하면, 상기와 같은 벨트와 풀리 사이의 슬립 및 마모를 줄일 수 있게 된다.Therefore, if the state of the road on which the vehicle is currently driving and the appropriate response accordingly, the slip and wear between the belt and the pulley as described above can be reduced.
종래에도 차량이 주행하고 있는 도로의 상태를 검출하여 변속기뿐만 아니라 기타 다양한 장치들을 제어하는 데에 활용하도록 하고 있는바, 그 주요한 방법으로는 차체의 횡방향 및 수직방향 가속도 센서의 센싱값을 활용하여 노면 상태를 검출하는 방법과, 차속의 변화량을 활용하여 노면상태를 검출하는 방법 등이 있는데, 이들 종래의 방법들은 그 응답성 및 정확성이 미흡한 실정이다.Conventionally, the vehicle is used to detect the state of the road on which the vehicle is driving and to control not only the transmission but also various other devices. The main method is to use the sensing values of the lateral and vertical acceleration sensors of the vehicle body. There are a method for detecting a road surface condition and a method for detecting a road surface condition using a change amount of a vehicle speed, and these conventional methods have insufficient response and accuracy.
본 발명은 종래 보다 신속하고 정확하게 노면의 상태를 검출하여 도로의 상태가 험로인지의 여부를 검출해낼 수 있도록 함과 아울러, 이와 같이 검출된 도로의 상태에 따라 변속기를 제어하여, 벨트와 풀리 사이의 슬립 및 마모의 발생을 방지함으로써 변속기의 내구성을 증대시킬 수 있도록 한 차량의 험로 검출 방법 및 그에 따른 변속기 제어방법을 제공함에 그 목적이 있다.The present invention enables to detect whether the road condition is a bad road by detecting the road condition more quickly and accurately, and controls the transmission according to the detected road condition, and thus, between the belt and the pulley. It is an object of the present invention to provide a method for detecting a rough road of a vehicle and a transmission control method according to the vehicle, which can increase durability of a transmission by preventing slip and wear.
상기한 바와 같은 목적을 달성하기 위하여 안출된 본 발명 차량의 험로 검출 방법은Hazard detection method of the vehicle of the present invention devised to achieve the object as described above
차량의 전후 방향 가속도를 측정하는 종가속도센서의 출력값을 입력 받는 센서값획득단계와; A sensor value obtaining step of receiving an output value of a longitudinal acceleration sensor for measuring forward and backward acceleration of the vehicle;
상기 종가속도센서의 출력값을 미분하여 차량의 가감속 성분 및 경사 성분을 제거하여 저크를 계산하는 센서값미분단계와;A sensor value differential step of calculating the jerk by differentiating the output value of the longitudinal acceleration sensor to remove the acceleration / deceleration component and the gradient component of the vehicle;
상기 계산된 저크에 따라 험로인지의 여부를 판단하는 험로판단단계;A bad road determination step of determining whether or not it is a bad road according to the calculated jerk;
를 포함하여 구성된 것을 특징으로 한다.And a control unit.
상기 험로판단단계는The career path determination step
상기 센서값미분단계에서 계산된 저크의 절대값을 구하는 절대값계산단계와;An absolute value calculation step of obtaining an absolute value of the jerk calculated in the sensor value differential step;
단위 시간당 상기 절대값이 취해진 저크가 소정의 제1기준값을 초과하는 회수를 카운트하는 카운트단계와;A counting step of counting the number of times the jerk whose absolute value is taken per unit time exceeds a predetermined first reference value;
상기 카운트된 횟수가 소정의 제2기준값을 초과하면 험로를 주행중인 것으로 판단하도록 하는 횟수판단단계;Determining the number of times when the counted number exceeds a predetermined second reference value to determine that the vehicle is traveling on a bad road;
를 포함하여 구성될 수 있다.As shown in FIG.
또한, 본 발명에 따른 변속기 제어방법은 In addition, the transmission control method according to the present invention
차량이 험로를 주행 중인 경우에는, If the vehicle is driving on a bad road,
엔진에서 발생되는 토크를 제한하는 엔진토크제한단계와;An engine torque limiting step of limiting torque generated in the engine;
벨트와 구동풀리 및 종동풀리를 구비한 무단변속기와 엔진 사이의 동력을 단속하도록 설치된 클러치를 슬립제어하는 클러치슬립제어단계와;A clutch slip control step of slip control of a clutch provided to control the power between the continuously variable transmission having a belt, a driving pulley and a driven pulley and an engine;
상기 풀리들의 전달 가능 토크를 증대하여, 상기 벨트와 풀리들의 마모 및 슬립을 방지하도록 하는 풀리제어단계;A pulley control step of increasing the transferable torque of the pulleys to prevent wear and slip of the belt and pulleys;
를 수행하여 변속기를 보호하도록 하는 것을 특징으로 한다.It characterized in that to perform the transmission to protect the transmission.
상기 클러치슬립제어단계는 The clutch slip control step
엔진과 구동풀리 사이의 목표슬립량을 결정하는 슬립량결정단계와; A slip amount determination step of determining a target slip amount between the engine and the drive pulley;
상기 목표슬립량을 형성하도록 현재의 구동풀리 속도에 대한 엔진의 목표속도를 설정하는 엔진목표속도설정단계와;An engine target speed setting step of setting a target speed of the engine with respect to a current drive pulley speed to form the target slip amount;
상기 엔진목표속도설정단계에서 설정된 엔진의 목표속도를 추종하도록 상기 클러치를 제어하는 유압을 저감시켜 클러치의 슬립을 발생시키는 슬립발생단계를The slip generation step of generating a slip of the clutch by reducing the hydraulic pressure to control the clutch to follow the target speed of the engine set in the engine target speed setting step
포함하여 구성될 수 있다.It can be configured to include.
상기 풀리제어단계에서는In the pulley control step
상기 풀리압력안전율을 일반적인 주행 상태에서 보다 상승시켜서 풀리의 전달 가능 토크를 증대시키도록 할 수 있다.The pulley pressure safety factor may be increased to increase the transferable torque of the pulley in a normal driving state.
또한, 본 발명에 따른 차량의 험로 검출 방법 및 그에 따른 변속기 제어방법은In addition, the method of detecting the rough road of the vehicle according to the present invention and the transmission control method according to the
차량의 전후 방향 가속도를 측정하는 종가속도센서의 출력값을 입력 받는 센서값획득단계와;A sensor value obtaining step of receiving an output value of a longitudinal acceleration sensor for measuring forward and backward acceleration of the vehicle;
상기 종가속도센서의 출력값을 미분하여 차량의 가감속 성분 및 경사 성분을 제거하여 저크를 계산하는 센서값미분단계와;A sensor value differential step of calculating the jerk by differentiating the output value of the longitudinal acceleration sensor to remove the acceleration / deceleration component and the gradient component of the vehicle;
상기 계산된 저크에 따라 험로인지의 여부를 판단하는 험로판단단계와;A bad road determination step of determining whether or not it is a bad road according to the calculated jerk;
상기 험로판단단계 수행결과, 차량이 험로를 주행 중인 경우에는, As a result of performing the bad road determination step, when the vehicle is driving on the bad road,
엔진에서 발생되는 토크를 제한하는 엔진토크제한단계와;An engine torque limiting step of limiting torque generated in the engine;
벨트와 구동풀리 및 종동풀리를 구비한 무단변속기와 엔진 사이의 동력을 단속하도록 설치된 클러치를 슬립제어하는 클러치슬립제어단계와;A clutch slip control step of slip control of a clutch provided to control the power between the continuously variable transmission having a belt, a driving pulley and a driven pulley and an engine;
상기 풀리들의 전달 가능 토크를 증대하여, 상기 벨트와 풀리들의 마모 및 슬립을 방지하도록 하는 풀리제어단계;A pulley control step of increasing the transferable torque of the pulleys to prevent wear and slip of the belt and pulleys;
를 수행하여 변속기를 보호하도록 하는 것을 특징으로 한다.It characterized in that to perform the transmission to protect the transmission.
본 발명은 신속하고 정확하게 노면의 상태를 검출하여 도로의 상태가 험로인지의 여부를 검출해낼 수 있도록 함과 아울러, 이와 같이 검출된 도로의 상태에 따라 변속기를 제어하여, 벨트와 풀리 사이의 슬립 및 마모의 발생을 방지함으로써 변속기의 내구성을 증대시킬 수 있도록 한다.The present invention can detect the state of the road quickly and accurately to detect whether the road condition is a rough road, and control the transmission in accordance with the detected road state, so that the slip between the belt and the pulley By preventing the occurrence of wear it is possible to increase the durability of the transmission.
도 1을 참조하면, 본 발명 실시예는 차량의 전후 방향 가속도를 측정하는 종가속도센서의 출력값을 입력 받는 센서값획득단계(S10)와; 상기 종가속도센서의 출력값을 미분하여 차량의 가감속 성분 및 경사 성분을 제거하여 저크를 계산하는 센서값미분단계(S20)와; 상기 계산된 저크에 따라 험로인지의 여부를 판단하는 험로판단단계(S30)와; 상기 험로판단단계(S30) 수행결과, 차량이 험로를 주행 중인 경우에는, 엔진에서 발생되는 토크를 제한하는 엔진토크제한단계(S40)와; 벨트와 구동풀리 및 종동풀리를 구비한 무단변속기와 엔진 사이의 동력을 단속하도록 설치된 클러치를 슬립제어하는 클러치슬립제어단계(S50)와; 상기 풀리들의 전달 가능 토크를 증대하여, 상기 벨트와 풀리들의 마모 및 슬립을 방지하도록 하는 풀리제어단계(S60)를 수행하여 변속기를 보호하도록 구성된다.1, the embodiment of the present invention and the sensor value acquisition step (S10) for receiving the output value of the longitudinal acceleration sensor for measuring the front and rear acceleration of the vehicle; A sensor value differential step (S20) of calculating the jerk by removing the acceleration / deceleration component and the slope component of the vehicle by differentiating the output value of the longitudinal acceleration sensor; A bad road determination step (S30) for determining whether or not it is a bad road according to the calculated jerk; An engine torque limiting step (S40) of limiting torque generated from the engine when the vehicle is driving on the rough road as a result of performing the bad road determination step (S30); A clutch slip control step (S50) for slip control of a clutch provided to control power between the continuously variable transmission having a belt, a drive pulley and a driven pulley and an engine; It is configured to protect the transmission by increasing the transferable torque of the pulleys, and performing a pulley control step (S60) to prevent wear and slip of the belt and pulleys.
상기 험로판단단계(S30)는 상기 센서값미분단계(S20)에서 계산된 저크의 절대값을 구하는 절대값계산단계(S31)와, 단위 시간당 상기 절대값이 취해진 저크가 소정의 제1기준값을 초과하는 회수를 카운트하는 카운트단계(S32)와, 상기 카운트된 횟수가 소정의 제2기준값을 초과하면 험로를 주행중인 것으로 판단하도록 하는 횟수판단단계(S33)를 포함하여 구성된다.The rough path determination step (S30) is an absolute value calculation step (S31) for obtaining an absolute value of the jerk calculated in the sensor value differential step (S20), and the jerk in which the absolute value is taken per unit time exceeds a predetermined first reference value. A counting step (S32) for counting the number of times to be made, and a number determining step (S33) for determining that the rough road is running when the counted number exceeds a predetermined second reference value.
즉, 차량의 전후방향의 가속도를 측정하는 종가속도센서의 출력값을 시간에 대하여 다시 미분함으로써, 상기 종가속도센서의 출력값으로부터 차량의 가속 및 감속에 대한 성분과 차량이 경사로를 주행하고 있는 상태에 대한 성분을 제거한 저크(JERK)를 구하고, 상기 저크의 절대값을 취한 후, 상기 절대값 취해진 저크가 단위 시간당 몇 번 상기 제1기준값을 초과하는가를 카운트하여, 그 카운트된 횟수가 상기 제2기준값을 초과하면 차량이 험로를 주행하고 있는 것으로 판단하는 것이다.That is, by differentiating the output value of the longitudinal acceleration sensor for measuring the acceleration in the front-rear direction of the vehicle again with respect to time, the component about acceleration and deceleration of the vehicle and the state in which the vehicle is traveling on the slope from the output value of the longitudinal acceleration sensor. After calculating the jerk from which the component has been removed, taking the absolute value of the jerk, it is counted how many times the absolute taken jerk exceeds the first reference value per unit time, and the counted number of times corresponds to the second reference value. If it exceeds, it is determined that the vehicle is driving on a bad road.
여기서, 상기 제1기준값과 제2기준값은 차량의 시험 및 해석 등에 의하여 적절히 선정되는 값들로서, 이들 기준값들을 조정하여 험로에 대한 검출 민감도 등을 조절할 수 있다.Here, the first reference value and the second reference value are values that are appropriately selected by the test and analysis of the vehicle, and the like may be adjusted to adjust the detection sensitivity to the bad road by adjusting these reference values.
예컨대, 도 2에서는 제일 상측의 종가속도센서의 출력값에 대해, 그 하측과 같이 상기 종가속도 출력값을 미분한 저크의 절대값이 구해지고, 상기 저크의 절대값이 상기 제1기준값을 넘는 경우들이 그 하측에 그래프로 표현되고, 상기 제1기준값들을 넘는 횟수가 제2기준값을 넘는 경우에 그 하측에 표시된 바와 같이 험로 플래그를 발생시켜서, 상기 험로 플래그에 의해 차량의 험로 주행에 따른 각종 제어가 이루어질 수 있도록 하는 것이다.For example, in FIG. 2, with respect to the output value of the longitudinal acceleration sensor on the uppermost side, the absolute value of the jerk obtained by differentiating the longitudinal acceleration output value is obtained as in the lower side thereof, and the cases where the absolute value of the jerk exceeds the first reference value are shown. When the number of times exceeding the first reference value is displayed as a graph on the lower side and the second reference value is exceeded, a rough path flag is generated as shown on the lower side, and the various paths of the vehicle are controlled by the rough path flag. To ensure that
본 발명에서는 상기와 같은 험로 여부의 판단에 따라 변속기를 보호하기 위한 제어를 수행하는 바, 도 3에 도시된 바와 같이 차량이 험로 주행중인 것으로 판단되면, 엔진의 토크를 제한하고, 클러치를 슬립제어하며, 풀리의 전달토크를 증대하여 풀리과 벨트 사이의 슬립 및 마모를 방지함으로써, 변속기를 보호하도록 한다.According to the present invention, the control is performed to protect the transmission in accordance with the determination of whether the road is as described above. When it is determined that the vehicle is running on the road as shown in FIG. 3, the torque of the engine is limited and the clutch is slip controlled. In addition, the transmission torque of the pulley is increased to prevent slip and wear between the pulley and the belt, thereby protecting the transmission.
여기서, 상기 클러치슬립제어단계(S50)는 엔진과 구동풀리 사이의 목표슬립량을 결정하는 슬립량결정단계와, 상기 목표슬립량을 형성하도록 현재의 구동풀리 속도에 대한 엔진의 목표속도를 설정하는 엔진목표속도설정단계와, 상기 엔진목표 속도설정단계에서 설정된 엔진의 목표속도를 추종하도록 상기 클러치를 제어하는 유압을 저감시켜 클러치의 슬립을 발생시키는 슬립발생단계를 포함하여 구성된다.Here, the clutch slip control step (S50) is a slip amount determination step of determining the target slip amount between the engine and the drive pulley, and setting the target speed of the engine with respect to the current drive pulley speed to form the target slip amount. And a slip generation step of generating a slip of the clutch by reducing an oil pressure controlling the clutch so as to follow the target speed of the engine set in the engine target speed setting step.
즉, 도 4에 도시된 바와 같이 험로플래그가 온 상태가 되면, 미리 정해진 목표슬립량을 사용하거나 현재 차량의 주행상태에 따라 계산된 목표슬립량을 사용하여, 현재의 구동풀리속도보다 상기 목표슬립량 만큼 높은 엔진의 목표속도를 설정하고, 상기 엔진의 목표속도를 추종하도록 상기 클러치에 제공되는 유압을 조절하도록 하여, 상기 클러치에 슬립이 발생하도록 하여, 구동륜으로부터 역으로 입력되는 충격적인 토크성분이 흡수 및 소멸될 수 있도록 하는 것이다.That is, when the rough road flag is turned on as shown in FIG. 4, the target slip is used more than the current driving pulley speed by using a predetermined target slip amount or using a target slip amount calculated according to the driving state of the current vehicle. By setting the target speed of the engine as high as the amount, by adjusting the hydraulic pressure provided to the clutch to follow the target speed of the engine, the slip occurs in the clutch, the shock torque component input from the driving wheel reversely absorbed And to be extinguished.
한편, 상기 풀리제어단계(S60)에서는 상기 풀리압력안전율(Sf)을 일반적인 주행 상태에서 보다 상승시켜서 풀리의 전달 가능 토크를 증대시키도록 한다.On the other hand, in the pulley control step (S60) to increase the pulley pressure safety factor (Sf) in the normal driving state to increase the transferable torque of the pulley.
즉, 도 5에 도시된 바와 같이, 변속기로 입력되는 토크에 대한 벨트와 풀리의 전달 가능토크의 비로 표현되는 풀리압력안전율(Sf)이 보통의 일반 주행시에 예컨대 1.3이라면, 상기 험로플래그가 온 된 상태에서는 예컨대 1.5로 증가시킴으로써, 결과적으로는 변속기 컨트롤러에서 그에 상응하여 구동풀리 및 종동풀리로 제공되는 압력을 상승시키게 되므로, 풀리의 전달 가능 토크를 증대시켜서 풀리와 벨트의 슬립을 방지하는 효과를 거두게 되는 것이다.That is, as shown in Figure 5, if the pulley pressure safety factor (Sf) expressed as a ratio of the transmission torque of the belt and the pulley to the torque input to the transmission is, for example, 1.3 in normal driving, the hum flag is turned on In the state, for example, increasing to 1.5 results in a corresponding increase in the pressure provided to the drive pulley and driven pulley in the transmission controller, thereby increasing the transferable torque of the pulley to prevent slippage of the pulley and belt. Will be.
도 1은 본 발명에 따른 차량의 험로 검출 방법 및 그에 따른 변속기 제어방법을 예시한 순서도,1 is a flowchart illustrating a method of detecting a rough road of a vehicle and a transmission control method according to the present invention;
도 2는 본 발명에 따른 험로 검출 방법을 설명한 그래프,2 is a graph illustrating a rough path detection method according to the present invention;
도 3은 본 발명에 따른 변속기 보호 방법을 설명한 그래프, 3 is a graph illustrating a transmission protection method according to the present invention;
도 4는 클러치슬립제어를 설명한 그래프,4 is a graph illustrating clutch slip control;
도 5는 풀리제어단계를 설명한 그래프이다.5 is a graph illustrating a pulley control step.
<도면의 주요 부분에 대한 부호의 간단한 설명><Brief description of symbols for the main parts of the drawings>
S10; 센서값획득단계 S20; 센서값미분단계S10; Sensor value acquisition step S20; Sensor value differential step
S30; 험로판단단계 S40; 엔진토크제한단계S30; Career judgment step S40; Engine torque limit step
S50; 클러치슬립제어단계 S60; 풀리제어단계S50; Clutch slip control step S60; Pulley Control Stage
S21; 절대값계산단계 S22; 카운트단계S21; Absolute value calculating step S22; Count step
S23; 횟수판단단계 S23; Counting Step
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| JP2001108055A (en) * | 1999-10-08 | 2001-04-20 | Toyota Motor Corp | Vehicle torque limiter |
| JP2003269591A (en) * | 2002-03-14 | 2003-09-25 | Toyota Motor Corp | Road surface condition detection device and control device for continuously variable transmission |
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| JP2001108055A (en) * | 1999-10-08 | 2001-04-20 | Toyota Motor Corp | Vehicle torque limiter |
| JP2003269591A (en) * | 2002-03-14 | 2003-09-25 | Toyota Motor Corp | Road surface condition detection device and control device for continuously variable transmission |
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