스프링 하부 상태 검출부(140)는, 인 휠 모터(30)의 회전각을 검출하는 리졸버 회전각 센서(40)가 출력하는 검출 각도(φ)와, 모터 회전각의 추정 각도(φ')의 차이의 크기인 변동량(X)(=|φ-φ'|)을 계산한다(S11∼S13). 추정 각도(φ')는, 1연산 주기 전에 검출 각도(φ)에, 1연산 주기의 동안에 모터(30)가 회전하였다고 추정되는 각도를 가산하여 산출할 수 있다. 스프링 하부 상태 검출부(140)는, 변동량(X)이 노면 판정 임계치(Xref)보다 큰 경우에는, 차량(1)이 주행하고 있는 주행로를 험한 길이라고 판정한다(S14, S15). 이것에 의해, 회전각 센서(40)를 이용하여, 노면 판정을 행할 수 있다.
An unsprung state detection part (140) calculates a variation amount X (=|(Õ-Õ'|), which is a magnitude of a difference between a detected angle Õ output from a resolver rotational angle sensor (40) for detecting a rotational angle of an in-wheel motor (30) and an estimated angle Õ' of a motor rotational angle (S11 to S13). The estimated angle Õ' can be calculated by adding an estimated angle of the rotation of the motor (30) in one calculation cycle to a detected angle Õn-1 of the previous calculation cycle. When the variation amount X is more than a road surface determination threshold Xref, the unsprung state detection part (140) determines that the travel road on which a vehicle (1) is traveling is a rough road (S14, S15). As a result, the road surface determination can be made by using the rotational angle sensor (40).
VEHICLE STATE DETECTION DEVICE
차량의 상태 검출 장치
2016-10-24
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / H02K Dynamoelektrische Maschinen , DYNAMO-ELECTRIC MACHINES / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern |
Vehicle state detection method and vehicle state detection device
European Patent Office | 2015
|