Collaborative Control Device for Vehicles and Control Method Therefor

• Main Authors: KWON JAE JOON, JEON JAE HONG, PARK HAE KWON, KIM BYEUNG SU
• Format: Patent
• Language: English; Korean
• Published: 17.05.2023
• Subjects: ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OFVEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRAILERS; TRANSPORTING; VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES; VEHICLES IN GENERAL

According to an embodiment of the present disclosure, a method for controlling a collaborative control device for a vehicle, for the backup steering of an electric steering system, comprises: a monitoring process of monitoring, in real time, whether an electric steering system breaks down; a calculation process of using a steering angle sensor and a steering torque sensor to determine the steering intention of a driver and calculate yaw moment intended by the driver; and a collaborative control process of controlling steering based on the yaw moment calculated in the calculation process, when it is determined that the electric steering system has broken down in the monitoring process. The collaborative control process includes: a braking collaboration control process of controlling the pressure of a plurality of wheel brakes; and a driving collaboration control process of controlling engine torque. Therefore, the collaborative control device for a vehicle can control the steering of a vehicle by using both a brake controller and a driving controller when the electric steering system breaks down. 본 개시의 일 실시예에 의하면, 전동식 조향시스템의 백업 조향을 위한 차량용 협조제어장치의 제어방법에 있어서, 전동식 조향시스템의 고장 여부를 실시간으로 모니터링하는 모니터링 과정(monitoring process); 조향각센서 및 조향토크센서를 이용하여 운전자의 조향 의도를 판단하고 운전자가 의도한 요모멘트(intended yaw moment)를 계산하는 계산과정(calculation process); 및 모니터링 과정에서 전동식 조향시스템의 고장이 발생했고 판단한 경우, 계산과정에서 계산한 요모멘트를 기초로 조향을 제어하는 협조 제어과정(collaborative control process)를 포함하되, 협조 제어과정은 복수의 휠브레이크의 압력을 제어하는 제동 협조 제어과정 및 엔진 토크를 제어하는 구동 협조 제어과정을 포함하는 것을 특징으로 하는 차량용 협조제어장치의 제어방법을 제공한다.