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KR101315726B1 - a distance control system and the method for a car - Google Patents

a distance control system and the method for a car Download PDF

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KR101315726B1
KR101315726B1 KR1020070128599A KR20070128599A KR101315726B1 KR 101315726 B1 KR101315726 B1 KR 101315726B1 KR 1020070128599 A KR1020070128599 A KR 1020070128599A KR 20070128599 A KR20070128599 A KR 20070128599A KR 101315726 B1 KR101315726 B1 KR 101315726B1
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KR20090061696A (en
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오원현
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현대자동차주식회사
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • 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
    • B60W40/105—Speed
    • 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
    • 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
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
    • B60W2050/001—Proportional integral [PI] controller
    • 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
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

본 발명은 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법에 관한 것으로서, 보다 상세하게는 운전자가 차량을 정속 주행하기 위해 크루즈 콘트롤을 작동시킬 때 차량 연비를 향상시키면서 차간 거리 유지를 할 수 있도록 한 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법에 관한 것이다.

본 발명의 목적은, 크루즈 컨트롤 시스템에서 차간거리제어를 할 때에도 연비를 고려하여 차간거리제어를 하게 됨으로써, 경제 운전 효과를 극대화시킬 수 있도록 한 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법을제공함에 있다.

상기한 목적을 실현하기 위하여 본 발명은, 현재 차량의 자동변속기 기어단수 그래프와 차속의 교차점을 제한 TPS값을 연산하는 제한TPS연산부와, 상기한 제한TPS값에 해당하는 연비 구간에서 연비운전 요구TPS값을 연산하는 요구TPS연산부와, 상기한 제한TPS값과 요구TPS값에서 각각 요구가속도제한값과 경제운전요구가속도값을 연산하여 출력하는 PI제어기와, 상기한 제한TPS값으로 차간거리제어기에서 출력된 차간거리제어가속도를 제한하는 요구가속도제한부와, 상기한 요구가속도제한부에서 출력된 가속도값과 요구TPS연산부 및 PI제어기에서 출력된 경제운전요구가속도값을 보정하여 최종 요구가속도를 출력하는 비교부로 구성함을 특징으로 한다.

또한, 본 발명에 따른 제어 방법은, 선행차와의 상대속도와 상대거리를 측정하여 차간거리제어기에서 차간거리를 유지할 수 있는 요구가속도를 연산하여 ESP에서 브레이크와 엔진을 제어하는 자동차의 차간거리 제어 방법에 있어서,

상기한 차간거리제어기에서 연산된 요구가속도를 연비운전에 적합하게 보정하기 위해 현재 기어단수와 현재 차량속도에 따라 차량의 자동변속기 변속맵에서 제한 TPS값 및 이에 따른 요구가속도제한값을 연산하는 단계와,

상기한 요구가속도 제한값에 대해 연비가 우수한 구간으로 연비운전 요구TPS값 및 요구가속도값을 추출하는 단계와,

상기한 연비운전 요구TPS값과 현재 TPS값을 비교하여 그 차이를 PI 제어기에서 연산하여 경제운전 요구가속도를 연산하는 단계와,

상기한 요구가속도값에 경제운전 요구가속도를 보정하여 최종 요구가속도를 연산하는 단계를 포함함을 특징으로 한다.

Figure R1020070128599

경제 운전, 자동차의 경제 운전 방법, 크루즈 콘트롤 제어 방법, 차간거리제어방법

The present invention relates to an inter-vehicle distance control apparatus and a control method suitable for the vehicle for economic driving, and more particularly, to maintain the inter-vehicle distance while improving vehicle fuel economy when the driver operates the cruise control to drive the vehicle at constant speed. It relates to a vehicle inter-vehicle distance control device and an appropriate control method for the economic driving to make it possible.

An object of the present invention is to control the inter-vehicle distance in consideration of fuel economy even when the distance control in the cruise control system, the distance control device of the vehicle for economic driving for maximizing the economic driving effect and the appropriate control In providing a method.

In order to realize the above object, the present invention provides a limit TPS calculation unit for calculating a limit TPS value at the intersection of the current transmission gear stage graph of the vehicle and the vehicle speed, and a fuel efficiency driving request TPS in the fuel economy section corresponding to the limit TPS value. A request TPS operator which calculates a value, a PI controller which calculates and outputs a request acceleration limit value and an economic operation request acceleration value from the above-mentioned limiting TPS value and the requesting TPS value, respectively, and outputs from the distance controller with the limiting TPS value. This is a comparator that outputs the final acceleration by correcting the acceleration value output from the acceleration acceleration limiter and the economic operation demand acceleration value output from the required TPS operator and PI controller. It is characterized by the configuration.

In addition, the control method according to the present invention, by measuring the relative speed and the relative distance with the preceding vehicle to calculate the required acceleration that can maintain the distance between the distance controller, the inter-vehicle distance control of the vehicle controlling the brake and the engine in the ESP In the method,

Calculating a limit TPS value and a required acceleration limit value in an automatic transmission shift map of the vehicle according to the current gear number and the current vehicle speed to correct the required acceleration calculated by the inter-vehicle distance controller according to the present gear speed and the current vehicle speed;

Extracting the fuel economy operation request TPS value and the required acceleration value into a section having excellent fuel economy with respect to the demand acceleration limit value;

Calculating the economic driving demand acceleration by comparing the fuel consumption driving request TPS value with the current TPS value and calculating the difference in the PI controller;

And calculating the final demand acceleration by correcting the economic operation demand acceleration to the demand acceleration value.

Figure R1020070128599

Economic driving, economic driving method of car, cruise control control method, inter-vehicle distance control method

Description

경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법 {a distance control system and the method for a car}Inter-vehicle distance control device and appropriate control method for driving economy {a distance control system and the method for a car}

본 발명은 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법에 관한 것으로서, 보다 상세하게는 운전자가 차량을 정속 주행하기 위해 크루즈 콘트롤을 작동시킬 때 차량 연비를 향상시키면서 차간 거리 유지를 할 수 있도록 한 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법에 관한 것이다.The present invention relates to an inter-vehicle distance control apparatus and a control method suitable for the vehicle for economic driving, and more particularly, to maintain the inter-vehicle distance while improving vehicle fuel economy when the driver operates the cruise control to drive the vehicle at constant speed. It relates to a vehicle inter-vehicle distance control device and an appropriate control method for the economic driving to enable.

일반적으로, 자동차를 운전할 때 장거리를 운행하게 되면 운전자의 피로를 감소시키기 위해 차량이 정속 주행하도록 하는 크루즈 콘트롤 시스템을 작동시키게 된다.In general, driving a long distance when driving a car activates a cruise control system that allows the vehicle to run at constant speed to reduce driver fatigue.

상기한 크루즈 콘트롤 시스템은 앞차와의 차간 거리를 유지하면서 차량이 정속 주행하도록 제어하는 것으로서, 차량의 드로틀 밸브와 브레이크를 제어하면서 차간 거리 유지 및 정속 주행을 하게 되는 것이다.The cruise control system controls the vehicle to run at a constant speed while maintaining the distance between the vehicle in front of the vehicle. The cruise control system maintains the distance between the vehicle and drives at a constant speed while controlling the throttle valve and the brake of the vehicle.

즉, 상기한 크루즈 콘트롤 시스템은 운전자의 세팅값에 의해 속도가 제어되는 정속주행제어와, 선행차와의 거리를 감지하여 일정하게 유지하도록 하는 차간거 리제어에 의해 동작하게 된다.That is, the cruise control system is operated by the constant speed driving control in which the speed is controlled by the driver's setting value, and the inter-vehicle distance control to detect and maintain a constant distance from the preceding vehicle.

특히, 상기한 차간거리제어는 운전자가 정해진 다수의 세팅값을 설정하게 되면 이에 따라 선행차와의 거리를 설정하여 제어하게 되는 바, 상기한 거리에 따라 요구가속도를 계산한 후 이에 따라 ESP에서 브레이크와 드로틀 밸브를 제어하게 되는 것이다.In particular, when the driver sets a plurality of predetermined values, the inter-vehicle distance control sets and controls the distance with the preceding vehicle accordingly. To control the throttle valve.

도5는 크루즈 컨트롤 시스템에서의 차간거리제어 방법을 도시한 블록도로서, 차간거리제어기(50)에 선행차와의 상대속도와 상대거리가 입력되면, 차간거리제어를 위한 요구가속도가 연산된다.FIG. 5 is a block diagram showing the inter-vehicle distance control method in the cruise control system. When the relative speed and the relative distance with the preceding vehicle are input to the inter-vehicle distance controller 50, the required acceleration for the inter-vehicle distance control is calculated.

상기한 요구가속도가 설정되면 이 값에 의해 ESP(51)에서 요구 TPS값을 연산함과 아울러 브레이킹 요구량을 연산하여 ECU(엔진제어)(52)와 BCU(브레이크제어)(53)를 통해 브레이크와 드로틀 밸브를 조절하게 됨으로써, 차량 속도를 조절하여 선행차와의 차간 거리를 일정하게 유지하게 되는 것이다.When the demand acceleration is set as described above, the ESP 51 calculates the required TPS value and calculates the braking demand amount to determine the brake and the brake through the ECU (engine control) 52 and the BCU (brake control) 53. By adjusting the throttle valve, the vehicle speed is adjusted to maintain the distance between the vehicle and the preceding vehicle.

그러나, 상기한 바와 같이 크루즈 컨트롤 시스템에서 차간 거리제어를 위해 선행차와의 상대속도와 상대거리만을 고려하여 요구가속도를 설정하게 되면, 차량의 연비와 관계없이 브레이크와 드로틀 밸브를 제어하기 때문에, 차량 연비가 저하되는 문제점이 있다.However, as described above, when the required acceleration is set in consideration of the relative speed and the relative distance with the preceding vehicle in the cruise control system, the brake and the throttle valve are controlled regardless of the fuel economy of the vehicle. There is a problem that the fuel economy is lowered.

따라서, 본 발명의 목적은 상기한 문제점을 해결하기 위한 것으로서, 크루즈 컨트롤 시스템에서 차간거리제어를 할 때에도 연비를 고려하여 차간거리제어를 하게 됨으로써, 경제 운전 효과를 극대화시킬 수 있도록 한 경제 운전을 위한 자동차의 차간거리 제어 장치 및 이에 적합한 제어 방법을 제공함에 있다.Accordingly, an object of the present invention is to solve the above problems, and even when the inter-vehicle distance control in the cruise control system to control the inter-vehicle distance in consideration of fuel economy, for economic driving to maximize the economic driving effect An apparatus for controlling a distance between vehicles and a control method suitable thereto are provided.

상기한 목적을 실현하기 위하여 본 발명은, 현재 차량의 자동변속기 기어단수 그래프와 차속의 교차점에 의해 제한 TPS값을 연산하는 제한TPS연산부와, 상기한 제한TPS값에 해당하는 연비 구간에서 연비운전 요구TPS값을 연산하는 요구TPS연산부와, 상기한 제한TPS값과 요구TPS값에서 각각 요구가속도제한값과 경제운전요구가속도값을 연산하여 출력하는 PI제어기와, 상기한 제한TPS값으로 차간거리제어기에서 출력된 차간거리제어가속도를 제한하는 요구가속도제한부와, 상기한 요구가속도제한부에서 출력된 가속도값과 요구TPS연산부 및 PI제어기에서 출력된 경제운전요구가속도값을 보정하여 최종 요구가속도를 출력하는 비교부로 구성함을 특징으로 한다.In order to realize the above object, the present invention is a limit TPS calculation unit for calculating a limit TPS value by the intersection of the current gear ratio of the automatic transmission of the vehicle and the vehicle speed, and the fuel economy driving request in the fuel economy section corresponding to the limit TPS value described above. A request TPS operator which calculates a TPS value, a PI controller which calculates and outputs a demand acceleration limit value and an economic operation request acceleration value from the above-mentioned limit TPS value and the request TPS value, and outputs the distance from the distance controller with the limit TPS value. Comparing the demand acceleration limiting unit for limiting the accelerometer distance control acceleration, the acceleration value output from the demand acceleration limiting unit and the economic operation request acceleration value output from the request TPS calculation unit and the PI controller and outputting the final demand acceleration. It is characterized by the configuration of wealth.

또한, 본 발명에 따른 제어 방법은, 선행차와의 상대속도와 상대거리를 측정하여 차간거리제어기에서 차간거리를 유지할 수 있는 요구가속도를 연산하여 ESP에서 브레이크와 엔진을 제어하는 자동차의 차간거리 제어 방법에 있어서,In addition, the control method according to the present invention, by measuring the relative speed and the relative distance with the preceding vehicle to calculate the required acceleration that can maintain the distance between the distance controller, the inter-vehicle distance control of the vehicle controlling the brake and the engine in the ESP In the method,

상기한 차간거리제어기에서 연산된 요구가속도를 연비운전에 적합하게 보정하기 위해 현재 기어단수와 현재 차량속도에 따라 차량의 자동변속기 변속맵에서 제한 TPS값 및 이에 따른 요구가속도제한값을 연산하는 단계와,Calculating a limit TPS value and a required acceleration limit value in an automatic transmission shift map of the vehicle according to the current gear number and the current vehicle speed to correct the required acceleration calculated by the inter-vehicle distance controller according to the present gear speed and the current vehicle speed;

상기한 요구가속도 제한값에 대해 연비가 우수한 구간으로 연비운전 요구TPS값 및 요구가속도값을 추출하는 단계와,Extracting the fuel economy operation request TPS value and the required acceleration value into a section having excellent fuel economy with respect to the demand acceleration limit value;

상기한 연비운전 요구TPS값과 현재 TPS값을 비교하여 그 차이를 PI 제어기에서 연산하여 경제운전 요구가속도를 연산하는 단계와,Calculating the economic driving demand acceleration by comparing the fuel consumption driving request TPS value with the current TPS value and calculating the difference in the PI controller;

상기한 요구가속도값에 경제운전 요구가속도를 보정하여 최종 요구가속도를 연산하는 단계를 포함함을 특징으로 한다.And calculating the final demand acceleration by correcting the economic operation demand acceleration to the demand acceleration value.

이상과 같이 본 발명은 크루즈 컨트롤 시스템에서 차간거리제어기를 통해 연산된 선행차와의 거리 유지에 적절한 요구가속도값을 경제운전요구가속도값으로 보정하고 이를 통해 브레이크와 엔진을 제어하으로써, 크루즈 컨트롤 시스템에서 차간거리유지와 함께 연비를 향상시킬 수 있는 잇점이 있는 것이다.As described above, the present invention corrects the required acceleration value suitable for maintaining the distance with the preceding vehicle calculated by the inter-vehicle distance controller in the cruise control system to the economic driving demand acceleration value and controls the brake and the engine through the cruise control system. In addition to maintaining the distance between cars, there is an advantage to improve fuel economy.

도1은 본 발명에 따른 경제 운전을 위한 자동차의 차간거리 제어 장치를 도시한 블록도로서, 현재 차량의 자동변속기 기어단수 그래프와 차속의 교차점에 의해 제한 TPS값을 연산하는 제한TPS연산부(1)와, 상기한 제한TPS값에 해당하는 연비구간에서 최적의 연비운전 요구TPS값을 연산하는 요구TPS연산부(2)와, 상기한 제한TPS값과 요구TPS값에서 각각 요구가속도제한값과 경제운전요구가속도값을 연산하여 출력하는 PI(비례적분제어)제어기(3)와, 상기한 제한TPS값으로 차간거리제어기(50)에서 출력된 차간거리제어가속도값을 제한하는 요구가속도제한부(4)와, 상기한 요구가속도제한부(4)에서 출력된 가속도값과 요구TPS연산부(2) 및 PI제어기(3)에서 출력된 경제운전요구가속도값을 비교하여 최종 요구가속도를 출력하는 비교부(5)로 이루어져 있다.1 is a block diagram showing an apparatus for controlling a distance between vehicles for economic driving according to the present invention, wherein a limiting TPS calculation unit 1 for calculating a limiting TPS value by an intersection point of an automatic transmission gear stage graph of a current vehicle and a vehicle speed is shown; And a request TPS calculation unit (2) for calculating an optimal fuel efficiency operation request TPS value in the fuel economy section corresponding to the above-mentioned limit TPS value, and the demand acceleration limit value and the economic operation request acceleration from the limit TPS value and the request TPS value, respectively. A PI (proportional integral control) controller 3 which calculates and outputs a value, a request acceleration limiter 4 which limits the inter-vehicle distance control acceleration value output from the inter-vehicle distance controller 50 with the above-mentioned limiting TPS value; A comparison unit 5 for comparing the acceleration value output from the demand acceleration limiting unit 4 with the economic operation demand acceleration values output from the request TPS calculation unit 2 and the PI controller 3 and outputting the final demand acceleration. consist of.

즉, 현재 차량의 TPS값에 비해 동일 차속에서 변속그래프와 차속의 교차점의 연비보다 더 우수한 구간으로 TPS값을 갖도록 요구가속도값을 연산한 후, 이를 차간거리제어기(50)에서의 요구가속도값과 비교하여 경제 운전 TPS값에 따른 최종 가속도값을 ESP(51)로 전송하여 브레이크 및 ECU(52)를 제어하게 됨으로써, 경제 운전이 가능한 차간거리 제어가 이루어지는 것이다.That is, after calculating the required acceleration value so as to have a TPS value in a section superior to the fuel economy of the intersection of the speed change graph and the vehicle speed at the same vehicle speed compared to the current vehicle TPS value, the required acceleration value in the inter-vehicle distance controller 50 and In comparison, the final acceleration value according to the economic driving TPS value is transmitted to the ESP 51 to control the brake and the ECU 52, so that the inter-vehicle distance control capable of economic driving is achieved.

여기서, 상기한 제한TPS 연산부(1)와 요구TPS 연산부(2)가 경제운전 가속도 연산부(6)를 이루게 되고, 상기한 제한TPS값 및 요구TPS값은 자동 변속기에 탑재되어 있는 변속맵에서 구하게 된다.Here, the limiting TPS calculating section 1 and the requesting TPS calculating section 2 constitute the economical driving acceleration calculating section 6, and the limiting TPS value and the requesting TPS value are obtained from the shift map mounted on the automatic transmission. .

도2는 제한TPS값 및 요구TPS값을 변속맵에서 연산하는 것을 도시한 그래프로서, 그래프의 TPS개도율을 a, b, c 구간으로 구분할 수 있는 바, a 구간은 연비우수구간이고, b 구간은 가감속 구간으로서 연비가 a 구간에 비해 저하된 구간이며, c 구간은 급가감속 구간으로서 연비가 가장 나쁜 구간이다.FIG. 2 is a graph illustrating calculation of a limit TPS value and a required TPS value in a shift map, wherein the TPS opening rate of the graph can be divided into a, b, and c sections, in which a section is a fuel economy excellent section and a section b Is an acceleration / deceleration section in which fuel economy is lower than a section, and c section is a rapid acceleration / deceleration section, which is the worst fuel economy section.

상기한 그래프에서 예를 들어 현재 차속이 70㎞/h이고 기어단수가 3단이며 TPS 개도율이 80%라고 가정하면, 현재 차량은 급가감속구간인 c 구간인 바, 3속-2속 그래프와 차속의 교차점에서 제한TPS값이 결정되고, 요구TPS값은 b 구간으로 선정된다.In the above graph, for example, assuming that the current vehicle speed is 70 km / h, the gear stage is three gears, and the TPS opening rate is 80%, the current vehicle is a c section which is a rapid acceleration / deceleration section. The limiting TPS value is determined at the intersection of the vehicle speed, and the required TPS value is selected as b section.

요구TPS값이 현재 TPS값보다 상대적으로 연비가 우수한 b 구간으로 선정되면 여기에서 요구가속도를 연산한 후 적절한 값으로 보정하여 경제운전 요구가속도를 연산하게 되는 것이다. 다시 말하면, 상기한 현재 TPS값이 상기 제한 TPS값보다 높은, 연비가 나쁜 구간, 즉 C구간에 있다면, 현재의 TPS값을 제한 TPS값으로 제한하게 되며, 이 같은 제한 TPS값의 연비구간(b) 내에서 요구 TPS값을 구하게 되는 것이다.If the required TPS value is selected as section b, which has better fuel economy than the current TPS value, the required acceleration is calculated and then corrected to an appropriate value to calculate the economic operation demand acceleration. In other words, if the current TPS value is higher than the limit TPS value and is in a bad fuel section, that is, section C, the current TPS value is limited to the limit TPS value, and the fuel economy section of the limit TPS value b ), The required TPS value is obtained.

상기한 바와 같은 본 발명의 작용 효과를 도3과 도4에 따라 설명하면 차량이 시동(IGNITION ON)되면 제어기가 준비(READY)되고, 이에 따라 소정 센서에 의해 선행차와의 상대속도와 상대거리가 측정된다.3 and 4, the controller is prepared when the vehicle is started, and accordingly, the relative speed and the relative distance with the preceding vehicle are determined by a predetermined sensor. Is measured.

선행차와의 상대속도와 상대거리가 측정되면 이를 차간거리제어기(50)로 전송하여 요구가속도를 구함과 아울러 제한TPS연산부(1)에서 차량의 변속맵에 따른 제한 TPS값을 연산하게 된다.When the relative speed and the relative distance with the preceding vehicle are measured, it is transmitted to the inter-vehicle distance controller 50 to obtain the required acceleration and the limit TPS calculation unit 1 calculates the limit TPS value according to the shift map of the vehicle.

즉, 현재 기어단수와 현재 차량속도에 따라 연비우수구간, 가감속구간, 급가감속구간의 변속점에서 제한TPS값이 설정되는 바, 제한TPS값이 설정되면 이에 따른 요구가속도제한값이 PI 제어기(3)를 통해 연산된다.That is, the limit TPS value is set at the shift points of the fuel efficiency excellent section, the acceleration / deceleration section and the rapid acceleration / deceleration section according to the current gear number and the current vehicle speed. When the limit TPS value is set, the required acceleration limit value is set according to the PI controller (3). Is calculated using

연산된 요구가속도제한값은 요구가속도 제한부(4)에 입력되고, 또한, 제한TPS값에 비해 연비가 우수한 구간에서 연비운전요구TPS값을 추출함과 아울러 현재 차량의 TPS값과 연비운전요구TPS값을 비교하여 그 차이를 통해 경제운전 요구가속도값을 연산하게 된다.The calculated demand acceleration limit value is input to the demand acceleration limiting unit 4, and the fuel economy driving request TPS value is extracted in a section where fuel economy is superior to the limiting TPS value, and the current vehicle TPS value and fuel economy driving request TPS value are also extracted. Comparing with the difference and calculate the economic acceleration demand acceleration value through the difference.

상기한 요구가속도제한부(4)에서 연산된 요구가속도와 경제운전 요구가속도를 대비하여 최적 경제 운전 가속도로 보정하고, 최종 요구가속도를 연산함과 아울러 이를 ESP(51)에 전송하여 브레이크 및 엔진을 제어하게 된다.In contrast to the demand acceleration calculated by the demand acceleration limiter 4 and the economic operation demand acceleration, the correction is performed to the optimum economic operation acceleration, the final demand acceleration is calculated, and transmitted to the ESP 51 to brake and engine. To control.

상기한 바와 같이 기존의 크루즈 컨트롤에서 차간거리 제어기(50)에서 출력된 요구가속도값을, 변속맵상에서 구해진 제한TPS값 및 요구TPS값에 의해 연산된 요구가속도제한값 및 경제운전요구가속도에 의해 보정하여 드로틀 밸브 제어 시 요구TPS값을 낮춤으로써, 선행차와의 차간거리를 유지하면서도 연비 절감 효과가 향상될 수 있는 것이다.As described above, the demand acceleration value output from the inter-vehicle distance controller 50 in the existing cruise control is corrected by the demand acceleration limit value calculated by the limit TPS value and the demand TPS value obtained on the shift map and the economic operation demand acceleration. By lowering the required TPS value when controlling the throttle valve, fuel efficiency can be improved while maintaining the distance between the vehicle and the preceding vehicle.

도 1은 본 발명에 따른 경제 운전을 위한 자동차의 차간거리 제어 장치를 도시한 블럭도,1 is a block diagram showing an apparatus for controlling a distance between vehicles for economic driving according to the present invention;

도 2는 도 1에서 요구 TPS값 및 요구제한 TPS값을 구하는 방법을 나타낸 그래프,FIG. 2 is a graph illustrating a method of obtaining a required TPS value and a required limit TPS value in FIG. 1; FIG.

도 3은 본 발명에 따른 최종 요구가속도를 구하는 방법을 도시한 플로우차트,3 is a flowchart showing a method for obtaining a final demand acceleration according to the present invention;

도 4는 도 3에서 요구가속도를 연산하는 단계를 도시한 플로우차트,4 is a flowchart illustrating a step of calculating a demand acceleration in FIG. 3;

도 5는 일반적인 자동차용 크루즈 컨트롤 시스템에서 차간거리제어 방법을 도시한 블럭도.5 is a block diagram illustrating a method for controlling a distance between vehicles in a general cruise control system for a vehicle.

Claims (3)

현재 차량의 자동변속기 기어단수 그래프와 차속의 교차점에 의해 제한 TPS값을 연산하는 제한TPS연산부와, 상기한 제한TPS값에 해당하는 연비 구간에서 연비운전 요구TPS값을 연산하는 요구TPS연산부와, 상기한 제한TPS값과 요구TPS값에서 각각 요구가속도제한값과 경제운전요구가속도값을 연산하여 출력하는 PI제어기와, 상기한 제한TPS값으로 차간거리제어기에서 출력된 차간거리제어가속도를 제한하는 요구가속도제한부와, 상기한 요구가속도제한부에서 출력된 가속도값과 요구TPS연산부 및 PI제어기에서 출력된 경제운전요구가속도값을 보정하여 최종 요구가속도를 출력하는 비교부로 구성함을 특징으로 하는 경제 운전을 위한 자동차의 차간거리 제어 장치.A limiting TPS calculating section for calculating a limiting TPS value by the intersection of the current gear stage graph of the vehicle and the speed of the vehicle; A PI controller that calculates and outputs a request acceleration limit value and an economic operation request acceleration value from a limit TPS value and a request TPS value, and a request acceleration limit that limits the distance control acceleration output from the distance controller with the limit TPS value. And a comparator for correcting the acceleration value output from the demand acceleration limiting unit and the economic operation request acceleration value output from the request TPS calculation unit and the PI controller and outputting the final demand acceleration. Distance control device of car. 선행차와의 상대속도와 상대거리를 측정하여 차간거리제어기에서 차간거리를 유지할 수 있는 요구가속도를 연산하여 ESP에서 브레이크와 엔진을 제어하는 자동차의 차간거리 제어 방법에 있어서,In the inter-vehicle distance control method of controlling the brake and the engine in the ESP by calculating the required acceleration to maintain the inter-vehicle distance in the inter-vehicle distance controller by measuring the relative speed and relative distance with the preceding vehicle, 상기한 차간거리제어기에서 연산된 요구가속도를 연비운전에 적합하게 보정하기 위해 현재 기어단수와 현재 차량속도에 따라 차량의 자동변속기 변속맵에서 제한 TPS값 및 이에 따른 요구가속도제한값을 연산하는 단계와,Calculating a limit TPS value and a required acceleration limit value in an automatic transmission shift map of the vehicle according to the current gear number and the current vehicle speed to correct the required acceleration calculated by the inter-vehicle distance controller according to the present gear speed and the current vehicle speed; 상기한 요구가속도 제한값에 대해 연비가 우수한 구간으로 연비운전 요구TPS값 및 요구가속도값을 추출하는 단계와,Extracting the fuel economy operation request TPS value and the required acceleration value into a section having excellent fuel economy with respect to the demand acceleration limit value; 상기한 연비운전 요구TPS값과 현재 TPS값을 비교하여 그 차이를 PI 제어기에서 연산하여 경제운전 요구가속도를 연산하는 단계와,Calculating the economic driving demand acceleration by comparing the fuel consumption driving request TPS value with the current TPS value and calculating the difference in the PI controller; 상기한 요구가속도값에 경제운전 요구가속도를 보정하여 최종 요구가속도를 연산하는 단계를 포함함을 특징으로 하는 경제 운전을 위한 자동차의 차간거리 제어 방법.And calculating a final demand acceleration by correcting the economy driving demand acceleration to the demand acceleration value. 제 2항에 있어서, 3. The method of claim 2, 상기한 제한 TPS값과 연비운전 요구TPS값을 구하기 위해 현재 차속에 따른 기어단수의 그래프에서 차속과의 교차점을 제한TPS값으로 설정하는 단계와,Setting an intersection point of the vehicle speed to the limit TPS value in the graph of the gear stage according to the current vehicle speed to obtain the limit TPS value and the fuel efficiency driving required TPS value; 상기한 제한TPS값보다 현재 TPS값이 연비가 나쁜 구간(c)에 있는 경우, 현재TPS값을 제한 TPS값으로 제한하고, 그 제한 TPS값의 연비 구간(b) 내에서 요구TPS값을 추출하는 단계로 구성함을 특징으로 하는 경제 운전을 위한 자동차의 차간거리 제어 방법.When the current TPS value is in a section c in which fuel economy is worse than the above-mentioned limit TPS value, the current TPS value is limited to the limit TPS value, and the required TPS value is extracted within the fuel economy section b of the limited TPS value. Method for controlling the distance between vehicles for economic driving, characterized in that consisting of steps.
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