METHOD FOR CONTROLLING COUNTER STEERING OF VEHICLE
The invention relates to a counter steering control method is provided, more particularly a motor during traveling counter steering section song in linear beta-lactam formation without delay to improve steering angle formed to operate the counter steering control method are disclosed. Well as it is known, a vehicle body and cruise control for a device, such as ABS and be mounted on the VDC. The ABS (Antilock Braking System) prevent (locking) wheel if necessary by means of a brake fluid pressure control metnod of labeling one of the transfer devices are disclosed. The VDC (Vehicle Dynamic Control) is traveling or random length or a snow comb of winter when stopping, the rpm sensing of non-uniform america it comes to pull or each sheave, each sheave brake individually by adjusting, secure a safety of vehicle rollover prevention and safety device of labeling one and, also referred to as ESC (Electronic Stability Control) covalently substrate. Such ABS VDC according to traveling condition is individually operated but, turning section and counter steering section or the like cooperate with control combustion chamber. The ABS reference on VDC control as an example, a motor when traveling over steer (over steer), audio in outer ring turning of the braking pressure i.e., coordinated control turning outer ring to increase braking pressure in terms of audio. When a motor is output from the ABS new [thu[thu] steer situation (reference 1 also), VDC control to increase braking pressure in an audio system turning outer control particles is formed, braking control moment is generated checked body posture. While, when a motor over steer situation in addition to ABS is operated through coordinated control VDC (reference 1 also), increasing braking pressure in an audio system turning outer ring body posture control moment is generated deflect simultaneously reduced. The reference 2 also, a motor (e.g., lane changing) in roh distant [su[su] mote [e[e] section enters the node counter steer section, a roof steer control counter steering combustion chamber. The, the roh distant [su[su] mote [e[e] interval in a tire lateral force (reduced rear before tire lateral force) and ABS + VDC decreased with width power reference control, counter steering section of a tire lateral force (before tire lateral force reduced lateral force) and ABS + VDC reference control reduced deform 4. opposite each other. However, the counter steering period over steer control ring to pivot when increasing braking pressure, saturated ABS braking friction force (reference graph of Figure 3) deform while slip enhanced target lateral acceleration by the reduced, counter steering for steering direction waveform formed song, intended steering behavior and the actual vehicle behavior control by counter steering in a discordance 2.0. The present invention relates to outputs such as the evaporator is, a motor during traveling over steer control steering period counter, counter steering wheel subject to ABS operation (turning outer audio) voice alarm pressure level (target slip increase before) top and bottom lateral force it to maintain optimum slip ratio, song without delay counter steering for linear beta-lactam formation direction to operate the counter steering control method can improve a steering angle by which the pin is. For achieving the purposes of the present invention certain embodiments include: i) a motor determining whether during travel over steer situation; ii) over steer situation determining whether counter steering section enters; and iii) enter the counter steering sections over steer situation determination unit for determining, without intervention VDC, counter steering wheel braking pressure subject optimum slip ratio at a level as a step which consists of ABS wheel pressure control; characterized by comprising a vehicle counter steering control rejections. The iii) step, equalizing steer situation is not entering the counter steering section determination unit for determining, over steer for control characterized by a frequency control wheel pressure VDC. One embodiment of the present invention, the ii) step: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; reference value calculated counter steer index is less than 0 made determination counter steering process; and the processing advances to. In particular, one embodiment of the present invention, the iii) prior to, (a) based on the steering angle and beta-lactam counter steering discriminates whether a predicted; and (b) the occurrence of the predicted steering counter, counter steering wheel braking pressure subject optimum slip ratio at a level as wheel pressure control step which consists of ABS; characterized proceeds. Preferably, the (a) step includes: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; calculated counter steer index with a reference value ((near 0 as small price, greater than 0 water) compared to, counter steering occurs is below reference value is expected to be induced process; progress is characterized. Or, the (a) step includes: over steer in situations where steering angle and steering angle senses the rate of change step; a sensing result, steering angle absolute value larger than that in the steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change reference value to determine whether the steering angle steering angle absolute value step; judgment result, steering angle absolute value steering angle reference value and, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change of absolute value greater than a steering angle steering angle reference value, counter steering is process is expected to be induced; progress is characterized. Preferably, the ABS control calculates a target slip amount increase of counter steering object for wheel pressure VDC characterized by applying braking pressure consists of a counter steer slip multiplied by the gain. For the other embodiments of the present invention is characterized: i) a motor determining whether during travel over steer situation; ii) based on the steering angle and beta-lactam counter steering discriminates whether a predicted; and iii) counter steering the occurrence of the predicted, counter steering wheel braking pressure subject optimum slip ratio at a level as wheel pressure control step which consists of ABS; characterized by comprising a vehicle counter steering control rejections. Another embodiment of the present invention, the ii) step: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; calculated counter steer index with a reference value ((near 0 as small price, greater than 0 water) compared to, counter steering occurs is below reference value is expected to be induced process; progress is characterized. Another embodiment of the present invention, the ii) step: steering angle and steering angle senses the rate of change over steer in the context of step; a sensing result, steering angle absolute value larger than that in the steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change reference value to determine whether the steering angle steering angle absolute value step; judgment result, steering angle absolute value steering angle reference value and, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change of absolute value greater than a steering angle steering angle reference value, counter steering is process is expected to be induced; progress is characterized. Another embodiment of the present invention, calculates a target slip amount increase of the ABS control counter steering subject wheel pressure VDC for applying braking pressure consists of a count steer slip gain multiplied by the characterized. Whether through the solution, the present invention relates to the target is performed. First, a motor during traveling over steer control enters the counter steering section, counter steering wheel brake pressure control object (for example, audio system turning outer ring) ABS optimum slip ratio level (braking force and a second, rear reduction level which does not generated) can be by applying lateral force near, thereby song formation without delay counter steering direction formed for linear beta-lactam can be improve steering performance. Second, counter steering section to predicted whether over steer situation enters, actual counter steering section smoothly so that optimum slip control is desired ABS, rear (opposite lateral force acting in the pivoting direction) can be more reduced to prevent, counter steering for the generator can be formed in a linear direction [ley[ley] [thu[thu] further improve performance. Figure 1 shows a describing concept also a motor traveling over steer situation, Figure 2 shows a counter steer section describing concept also a motor vehicle body, Figure 3 counter steering section ABS operation in the reduced graph deform polarized beam, Figure 4 shows a counter steering control is inserted order therefore vehicles, Figure 5 shows a counter steering control methods are also drives the counter steering prediction process shown specifically order, Figure 6 shows a counter steering section also made to explain the concept, Figure 7 according to the invention vehicle counter steering control method for simulation testing result graph. Below, a preferred embodiment of the present invention detailed with reference to appended herewith to less than 1000. Figure 4 shows a counter steering control method therefore according to the preface is one example for indicating the order disclosed. A node from the ABS during braking is used for process (S101) and hydraulic traveling vehicle roh distant [su[su] mote [e[e] section VDC (Intervention) (S102) coordinated control intervention process is equal to ABS + VDC according to need. Then, a motor traveling over steer situation and determine whether it is (S103), ABS + VDC over steer control coordinated control combustion chamber. The entrepreneur according to step S102 or less over [su[su] mote [e[e] counter steering intervention allows selectively VDC. Subsequent, equalizing steer situation (S104) determining counter steering section the yes or no which do entering therein. I.e., VDC over steer in situations when intervention, while the ABS control situation corresponding wheel (for example, audio system turning outer ring) counter steering is made to determine whether or not other. Next, the counter steering sections deactivate determination unit for determining, subject counter steering wheel brake pressure (for example, audio system turning outer ring) optimum slip ratio at a level as ABS control i.e., the slip ratio control (S105) consisting of an optimal control wheel pressure by ABS. The, the optimum slip ratio is obtained, the slip ratio of the previous reference target slip ratio increase (λ *) 3 also means other. On the other hand, ABS (S101) during ABS braking operation according such as in Figure 4, when VDC period counter steering intervention, to pivot the outer increase over steer control braking pressure, reduced braking force without increasing deform (reference graph of Figure 3), counter steering for steering direction forming a delay within the song 2000. Thus, in preferred embodiments of the present invention counter steering sections deactivate during ABS braking determination unit for determining, without intervention VDC, the step S105 subject (for example, audio system turning outer ring) such as counter steering wheel braking pressure by ABS optimum slip ratio level (braking force is retained and, rear reduction generated as a level which does not, target slip ratio previous levels) automatically controlling the characterized. Through, due to unnecessary VDC involvement from the lateral force (acting in the pivoting direction opposite lateral force) can be reduced to prevent, counter steering for [ley[ley] [thu[thu] improve steering performance can be formed in a linear direction. Wherein, the counter steering intervals for determining whether a mobile terminal (S104) residual one embodiments as follows. The counter steering section includes a rear direction signals to i.e. vehicle steering shaft in opposite directions, corresponding to the opposite direction when tire [ley[ley] [thu[thu] and deform and swiveling direction of the vehicle, (b) in Figure 6 - section of inflection point between objects are disclosed. The, equalizing steer situation enters into a counter steering section publisher, product water is pushed when [ley[ley] [thu[thu] andwidth power opposite [ < 0 (song × rear)], or width powerhorizontal SLIP angle tire direction is determined and then enters a counter steering section when [(song × tire horizontal SLIP angle) > 0] can be determination. Preferably, a decision in a vehicle easily, a yaw sensor and steering angle sensor outputs a relatively accurate signal song signal steering angle signal, counter steering section entry to determine if the substrate. I.e., each of the counter steer index over steer situation is calculated using a steering angle signal and a yaw signal, calculating result [counter steer index (song × wheel steering angle) < 0] or [counter steer index (song × steering angle) < 0] when, counter steering been made into an error flag. The, over steer situation it is determined steering angle be made using counter steering [ley[ley] [thu[thu] and related to HRV (S201) counter steer index (index value and the current count steering has been made). Then, counter steer index is calculated reference value zero (0) determines that other (S202) made counter steering of a vehicle. With reference to, the reference value zero (0) (water) and the counter-steering (negative) is roh distant [su[su] mote [e[e] ring between steering neutral value. The final block counter steering over steer situation determination, then counter steering wheel braking pressure subject (for example, audio system turning outer ring) optimum slip ratio at a level as ABS control i.e., ABS (S203) consisting of an optimum slip ratio control by wheel pressure control. As described above, the slip ratio control consisting of ABS control by the target slip amount increase VDC wheel pressure optimal counter steer (counter steer) multiplied by applying braking pressure consisting of slip gain. In this way, counter steering very little over steer situation, intervention (for example, audio system turning outer ring) subject VDC without counter steering wheel braking pressure optimum slip ratio at a level as ABS control particles is formed, prevent lateral force (acting in the pivoting direction opposite lateral force) can be reduced, counter steering for [ley[ley] [thu[thu] improve steering performance can be formed in a linear direction. On the other hand, counter steering (recognition) progress after determining optimum slip control of the ABS can fall faster counter steering is whether the spirit. More particularly, each of the counter steering determining when optimum slip ratio control after ABS, ABS ABS for operating hydraulic responsiveness and interface communication delay such as optimum slip ratio control and the second electrical connection up, counter steering generating predicted by, actual counter steering section preferably has an optimum slip control if the desired ABS. Wherein, the counter steering section enters a step residual predicted whether one embodiments as follows. An embodiment of the present invention for generating predicted steering counter, the counter steer index (song=steering angle *) with a reference value (near 0 as small price, for water greater than 0) in comparison with the earlier counter steering is to be made can be predictive. More specifically, steering angle counter steering very little over steer situation after counter steer computing [ley[ley] [thu[thu] price multiplied, calculated counter steer index with a reference value (as near small price 0, 0 for water greater than) the reference value compared (near 0 as small price, for water greater than 0) is below be made by determining counter steering, more than the reference value (zero (0)) can be quickly determines that counter steering has been made. The block counter steering over steer situation is predicted, then each of the object (for example, audio system turning outer ring) counter steering wheel braking pressure optimum slip ratio at a level as ABS control i.e., ABS (S203) consisting of an optimum slip ratio control by wheel pressure control. Wherein, the counter steering section enters the predicting step also whether residual 5 by reference to the other embodiments as follows. The counter steering for another embodiment of the present invention originates predicted and calculating steps are utilized to intended by the operator of the steering angle reference flag and the processing advances. The reason for computing a driver intended flag using likewise, counter steering determining when optimum slip ratio control after ABS, ABS and the second ABS for operating hydraulic responsiveness and interface communication delay such as an electrical connection for an optimum slip ratio control are disclosed. To this end, the counter steering generating a predicted rate of change for another embodiment of the steering angle and steering angle using a light which bar, since forward in an opposite direction when the steering wheel is supplied (for example, one person forward large steering angle in an opposite direction when large steering angle change rate), counter steering generating can be predicted are disclosed. First, over steer in situations where steering angle and steering angle to one side steering angle sensor senses the rate of change other. The sensed result, steering angle absolute value larger than that in the steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, steering angle rate of change (S301) judges whether or not the absolute value steering angle rate of change reference value S.. The result of the determination, and steering angle absolute value steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change greater than a reference value steering angle steering angle absolute value, by the driver and determining other (S302) (TRUE) substances can be flag counter steer intended. Then, each of the counter steering generated after expected and decisive process, once again by the driver and counter steer intended flag is exiting and determine, since regulating counter steering section judges whether the right and to the admitted that it disclosed. The, current steering angle (for example, counter steering in steering angle) and a previous steering angle (e.g., over steering in situations steering angle) multiplied by zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) to determine if the other (S303) less than collocations. The result of the determination, the product from the previous current steering angle steering angle zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) if it is less than, admitted that the regulating counter steering section by shut and false flag (FALSE) determined (S304) intended counter steer, otherwise continue counter steering generating section selects a predetermined counter steer intended vehicle (TRUE) substances can be flag is maintained. The, the counter steer intended flag is false (FALSE) is determined, according to the counter steering as counter steer index structures for the previous described by a counter steer intervals based on optimum slip rate continuously to ambient ABS wheel pressure control combustion chamber. The occurrence of the predicted over steer situation counter steering, i.e. intended by the driver and the second step (S202) or flag counter steer determined that, if maintained, then counter steering wheel brake pressure (for example, audio system turning outer ring) subject optimum slip ratio at a level as ABS control i.e., by ABS wheel pressure (S203) slip control consisting of an optimal control. Thus, the present invention predicted counter steering sections over steer situation whether a mobile terminal on the basis of one embodiment of and in another embodiment, the occurrence of the predicted steering counter, counter steering wheel brake pressure (for example, audio system turning outer ring) subject optimum slip ratio at a level as the ABS control is, to maintain the optimum slip control is desired ABS actual counter steering section smoothly, rear (opposite lateral force acting in the pivoting direction) can be more reduced to prevent, counter steering for the generator can be formed in a linear direction [ley[ley] [thu[thu] further improve performance. On the other hand, therefore the rotating Figure 7 shows a counter steering control method for simulation testing result as vehicle graph, in a straight rake response i.e., 140→each acceleration 210 deg/s is2 To is also used for can be improved, this counter steering section formed in linear [ley[ley] [thu[thu] song formed without delay means are disclosed. The present invention relates to a method for controlling counter steering of a vehicle, and more specifically, to a method for controlling counter steering of a vehicle, forming a linear yaw rate without delay of forming a yaw rate in a counter steering section while a vehicle is driven and turned, thereby improving steering performance. According to a method for controlling counter steering of a vehicle, in a counter steering section for controlling over-steering while a vehicle is driven and turned, brake pressure in accordance with the operation of an anti-skid braking system (ABS) with respect to a wheel (a front axial turning outer wheel) for counter steering is maintained in an optimum slip rate level (before increasing a target slip), thereby preventing reduction of side force. A linear yaw rate is formed in a direction for counter steering, so steering performance is improved. COPYRIGHT KIPO 2017 I) determining whether ABS braking during vehicle turning a over steer situation; ii) over steer situation determining whether counter steering section enters; and iii) enter the counter steering sections over steer situation determination unit for determining, without intervention VDC, counter steering wheel braking pressure subject optimum slip ratio at a level as wheel pressure control step which consists of ABS; characterized by comprising a vehicle counter steering control method. According to Claim 1, the iii) step, equalizing steer situation is not entering the counter steering section determination unit for determining, over steer for control by VDC vehicle counter steering control method characterized wheel pressure controls. According to Claim 1, the ii) step: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; reference value calculated counter steer index is less than 0 made determination counter steering process; progress in a lengthy direction counter steering control method. According to Claim 1, the iii) prior to, (a) based on the steering angle and beta-lactam counter steering discriminates whether a predicted; and (b) the occurrence of the predicted steering counter, counter steering wheel braking pressure subject optimum slip ratio at a level as wheel pressure control step which consists of ABS; progress is a lengthy direction counter steering control method. According to Claim 4, the (a) step includes: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; calculated counter steer index with a reference value (near 0 as small price, greater than 0 water) compared to, counter steering occurs is below reference value is expected to be induced process; progress in a lengthy direction counter steering control method. According to Claim 4, the (a) step includes: over steer in situations where steering angle and steering angle senses the rate of change step; a sensing result, steering angle absolute value larger than that in the steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change reference value to determine whether the steering angle steering angle absolute value step; judgment result, steering angle absolute value steering angle reference value and, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change of absolute value greater than a steering angle steering angle reference value, counter steering is process is expected to be induced; progress in a lengthy direction counter steering control method. According to Claim 6, the counter steering occurs after process is expected to be induced, the product from the previous current steering angle steering angle zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) and must determine whether less than collocations; judgment result, the product from the previous current steering angle steering angle zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) if it is less than, the determination counter steering made, counter steering wheel braking pressure subject optimum slip ratio at a level as ABS control is in progress of wheel pressure processes; further progress in a lengthy direction counter steering control method. According to Claim 1 or Claim 4, calculates a target slip amount of the ABS wheel pressure control counter steering subject to increase by applying braking pressure consists of a VDC CS slip gain multiplied by a lengthy direction counter steering control method. I) determining whether ABS braking during vehicle turning a over steer situation; ii) based on the steering angle and beta-lactam counter steering discriminates whether a predicted; and iii) counter steering the occurrence of the predicted, counter steering wheel braking pressure subject optimum slip ratio at a level as wheel pressure control step which consists of ABS; characterized by comprising a vehicle counter steering control method. According to Claim 9, the ii) step: over steer situation very little [ley[ley] [thu[thu] price steering angle counter in step multiplied by counter steer computing steering; calculated counter steer index with a reference value (near 0 as small price, greater than 0 water) compared to, counter steering occurs is below reference value is expected to be induced process; progress in a lengthy direction counter steering control method. According to Claim 9, the ii) step: steering angle and steering angle senses the rate of change over steer in the context of step; a sensing result, steering angle absolute value larger than that in the steering angle reference value, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change reference value to determine whether the steering angle steering angle absolute value step; judgment result, steering angle absolute value steering angle reference value and, steering angle steering angle rate of change multiplied by zero (0) than, the rate of change of the rate of change of absolute value greater than a steering angle steering angle reference value, counter steering is process is expected to be induced; progress in a lengthy direction counter steering control method. According to Claim 11, expected to be made after the counter steering process, the product from the previous current steering angle steering angle zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) and must determine whether less than collocations; judgment result, the product from the previous current steering angle steering angle zero (0) smaller than or, previous steering angle rate of change current steering angle and the rate of change multiplied by zero (0) if it is less than, the determination counter steering made, counter steering wheel braking pressure subject optimum slip ratio at a level as ABS control is in progress of wheel pressure processes; further progress in a lengthy direction counter steering control method. According to Claim 9, calculates a target slip amount increase of the ABS wheel pressure control counter steering subject VDC for CS in a lengthy direction by applying braking pressure multiplied by the gain slip consists of a counter steering control method.
