Disclosed is a method of controlling the driving of a vehicle through the estimation of a road surface friction coefficient. The method includes the following steps of: enabling a controller to perform torque distribution for front and rear wheels such that required torque for driving can be satisfied, in regard to a four-wheel-drive vehicle equipped with front and rear wheel driving devices; enabling the controller to perform torque excitation control increasing torque applied to one of the front and rear wheels, for which the torque distribution has been performed, during the driving of the vehicle, while varying torque applied to the other one of the front and rear wheels such that the sum of the front wheel torque and the rear wheel torque satisfies the required torque; and, during the performance of the torque excitation control, enabling the controller to, when sensing a slip from the front or rear wheel, estimate a friction coefficient of a road surface, with which the corresponding wheel comes in contact, from a normal force and the torque of the wheel, from which the slip has been sensed. Therefore, the present invention is capable of effectively preventing excessive slippage or dangerous vehicle behavior.
전륜 구동장치와 후륜 구동장치를 탑재한 4륜 구동 차량에서, 제어기에 의해, 주행을 위한 요구 토크를 충족하도록 전륜과 후륜에 대한 토크 분배가 수행되는 단계; 제어기에 의해, 차량 주행 중 토크 분배가 이루어진 전륜와 후륜 중 하나에 인가되는 토크를 증가시키는 동시에, 전륜 토크과 후륜 토크의 합이 요구 토크를 충족하도록 상기 전륜과 후륜 중 나머지 하나에 인가되는 토크를 변화시키는 토크 익사이테이션 제어가 수행되는 단계; 및 상기 토크 익사이테이션 제어가 수행되는 동안, 제어기에 의해, 전륜 또는 후륜의 슬립이 감지되면, 슬립이 감지된 차륜의 토크와 수직항력으로부터 해당 차륜이 접지하고 있는 노면의 마찰계수가 추정되는 단계를 포함하는 노면 마찰계수 추정을 통한 차량의 주행 제어 방법이 개시된다.
Vehicle driving control method using friction coefficient estimating of road surface
노면 마찰계수 추정을 통한 차량의 주행 제어 방법
2021-06-16
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 |
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