The present invention relates to a computer-implemented method which is executed in a vehicle control unit (130, 140) provided to control the motion of a weight vehicle (100). The method comprises: (S1) acquiring a vehicle motion request displaying a target curvature (c_req) and a target acceleration (a_req); (S2) determining a motion support device (MSD) control allotment (T_i, λ_i, ω_i, δ_i) based on the vehicle motion request; (S3) determining a dynamic wheel slip angle limit (α_lim) which increases according to the decreasing target acceleration (a_req) based on the vehicle motion request; and (S4) controlling the motion of the weight vehicle (100) based on the MSD control allotment which is restricted by the dynamic wheel slip angle limit (α_lim).

    중량 차량(100)의 모션을 제어하기 위한 차량 제어 유닛(130, 140)에서 수행되는 컴퓨터-구현 방법으로서, 상기 방법은, 타겟 곡률(creq) 및 타겟 가속도(areq)를 나타내는 차량 모션 요청을 얻는 것(S1)과, 상기 차량 모션 요청에 기반하여 모션 서포트 디바이스(MSD) 제어 할당 (Ti, λi, ωi, δi)을 결정하는 것(S2)과, 상기 차량 모션 요청에 기반하여, 감소하는 타겟 가속도(areq)에 따라 증가하는 다이내믹 휠 슬립 각 미리트(αlim)를 결정하는 것(S3)과, 상기 다이내믹 휠 슬립 각 리미트(αlim)에 의하여 제약되는 상기 MSD 제어 할당에 기반하여 상기 중량 차량(100)의 상기 모션을 제어하는 것(S4)를 포함한다.


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    Title :

    VEHICLE CONTROL BASED ON A DYNAMICALLY CONFIGURED SIDESLIP LIMIT


    Additional title:

    동적으로 구성된 사이드슬립 리미트에 기반한 차량 제어


    Contributors:

    Publication date :

    2023-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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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