Method and apparatus for optimal control of driving torque for smooth ride on uneven road
AssigneeHyundai Kefico Corporation
InventorJin Ho Jang
Life of this patent
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Abstract
In one aspect, an apparatus for control of a driving torque for smooth riding on an uneven road is provided that comprises a pitch motion reduction objective function, a longitudinal acceleration reduction objective function, and a jerk reduction objective function are calculated using an acceleration value and a jerk constraint of a vehicle, and weights are reflected in these objective functions to calculate a final driving torque and applied to the vehicle, thereby reducing pitch motion, longitudinal acceleration, and jerk.
Claims16
A method of controlling torque of a vehicle, the method comprising steps of:
- a) calculating a torque candidate group from an estimated pitch rate;
- b) generating a pitch motion reduction objective function from the torque candidate group;
- c) estimating a vehicle acceleration candidate group corresponding to the torque candidate group generated in step a);
- d) generating a longitudinal acceleration reduction objective function by synthesizing a predetermined acceleration constraint and the estimated vehicle acceleration candidate group;
- e) estimating a jerk candidate group by calculating a current acceleration value obtained from a sensor installed in the vehicle, the jerk candidate group being estimated by subtracting the current acceleration value from an estimated longitudinal acceleration vector and dividing by a sampling period;
- f) generating a jerk reduction objective function by synthesizing a preset jerk constraint and the jerk candidate group;
- g) selecting a candidate having the smallest value among the objective functions and determining a driving torque of the vehicle corresponding to the selected candidate;
- and
- h) generating the driving torque to apply the control.
An apparatus for controlling torque of a vehicle, the apparatus comprising:
- a driving torque candidate group generation unit configured to calculate a torque candidate group from an estimated pitch rate from a pitch rate estimation unit;
- a pitch reduction-related objective function generation unit configured to generate a pitch motion reduction objective function from the generated torque candidate group;
- an acceleration reduction objective function generation unit configured to generate a longitudinal acceleration reduction objective function by estimating a vehicle acceleration candidate group each corresponding to one of the torque candidate group generated by the driving torque candidate group generation unit and synthesizing a preset acceleration constraint and the estimated vehicle acceleration candidate group;
- a jerk reduction objective function generation unit configured to generate a jerk reduction objective function by estimating a jerk candidate group by calculating a current acceleration value obtained from a longitudinal acceleration sensor installed in the vehicle, the jerk candidate group being estimated by subtracting the current acceleration value from an estimated longitudinal acceleration vector and dividing by a sampling period, and synthesizing a preset jerk constraint and the jerk candidate group;
- and
- a final objective function determination unit configured to select a candidate having the smallest value among objective functions, determine a driving torque of the vehicle corresponding to the selected candidate, and generate the driving torque to apply the control.
Dependencies are inferred from the claim text.