LANE ASSISTANCE SYSTEM USING AN IN-WHEEL SYSTEM

• US 20130030602A1
• Filed: 12/08/2011
• Published: 01/31/2013
• Est. Priority Date: 07/28/2011
• Status: Abandoned Application

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Joeng, Ji Yoel
• Application Number:
  US13/314,870
• Publication Number:
  US 20130030602A1
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2720/30 Wheel torque
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60Y 2300/82 Torque vectoring
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A lane assistance system using an in-wheel system according to an exemplary embodiment of the present invention may include determining a lane deviation danger of a vehicle whether a vehicle is in danger of deviating from a lane, calculating a necessary yaw rate to assist a driver in maintaining a the vehicle in the intended lane of travel, calculate a demand yaw rate through a difference between the calculated necessary yaw rate and an actual yaw rate, and calculate a distribution amount of a driving torque of torque vectoring for achieving the demand yaw rate. In doing so, the lane assistance system controls the torque selectively applied to each wheel according to the above calculations.

Claims

1. A method for maintaining a vehicle in an intended lane, comprising:

determining, by a controller, whether a vehicle is in danger of deviating from an intended lane of travel;

calculating, by the controller, a necessary yaw rate for assisting a driver in staying within the intended lane of travel;

calculating, by the controller, a demand yaw rate based on a difference between the calculated necessary yaw rate and an actual yaw rate; and

calculating, by the controller, a distribution amount of a driving torque of torque vectoring to calculate the demand yaw rate.

2. The method of claim 1, wherein determining whether the vehicle is in danger of deviating from its intended lane is determined by an increment of a lateral displacement or a relative yaw angle.

3. The method of claim 2, wherein determining whether the vehicle is in danger of deviating from its intended lane is determined by the relative yaw angle and a speed of a vehicle in a case of the relative yaw angle.

4. The method of claim 1, wherein the necessary yaw rate is calculated by calculating a predicted deviation amount caused by the lateral displacement and the relative yaw angle.

5. The method of claim 1, wherein the demand yaw rate is calculated by an equation below:

6. The method of claim 1, wherein the distribution amount of the torque vectoring driving torque is set by adding a distribution amount of a driving torque of torque vectoring through a deviation amount and a driving torque of torque vectoring through a road curvature.

7. The method of claim 6, wherein the distribution amount of a driving torque of a torque vectoring through the deviation amount is calculated by the equation below:

8. The method of claim 6, wherein the driving torque distribution amount of torque vectoring through the road curvature is calculated by a road curvature and a vehicle speed.

9. The method of claim 1, wherein control timing is determined by the demand yaw rate.

10. The method of claim 9, wherein the control timing is determined when that the vehicle speed is more than 40 km/h.

11. The method of claim 1, wherein the control timing is determined when the demand yaw rate is larger than a predetermined value.

12. A computer readable medium containing executable program instructions executed by a control device, comprising:

program instructions that determine whether a vehicle is in danger of deviating from an intended lane of travel;

program instructions that calculate a necessary yaw rate for assisting a driver in staying within the intended lane of travel;

program instructions that calculate a demand yaw rate based on a difference between the calculated necessary yaw rate and an actual yaw rate; and

program instructions that calculate a distribution amount of a driving torque of torque vectoring to calculate the demand yaw rate.

13. A lane assistance system, comprising:

a controller configured to determine whether a vehicle is in danger of deviating from an intended lane of travel, calculate a necessary yaw rate for assisting a driver in staying within the intended lane of travel, calculate a demand yaw rate based on a difference between the calculated necessary yaw rate and an actual yaw rate, and calculate a distribution amount of a driving torque of torque vectoring to calculate the demand yaw rate; and

a plurality of motors operably connected to each wheel of the vehicle and each motor of the plurality of motors configured to selectively apply a torque to each wheel of the vehicle depending upon the calculated distribution amount.

14. The lane assistance system of claim 13, wherein determining whether the vehicle is in danger of deviating from its intended lane is determined by an increment of a lateral displacement or a relative yaw angle.

15. The lane assistance system of claim 14, wherein determining whether the vehicle is in danger of deviating from its intended lane is determined by the relative yaw angle and a speed of a vehicle in a case of the relative yaw angle.

16. The lane assistance system of claim 13, wherein the necessary yaw rate is calculated by calculating a predicted deviation amount caused by the lateral displacement and the relative yaw angle.

17. The lane assistance system of claim 13, wherein the demand yaw rate is calculated by an equation below:

18. The lane assistance system of claim 13, wherein the distribution amount of the torque vectoring driving torque is set by adding a distribution amount of a driving torque of torque vectoring through a deviation amount and a driving torque of torque vectoring through a road curvature.

19. The lane assistance system of claim 18, wherein the distribution amount of a driving torque of a torque vectoring through the deviation amount is calculated by the equation below:

20. The lane assistance system of claim 18, wherein the driving torque distribution amount of torque vectoring through the road curvature is calculated by a road curvature and a vehicle speed.

21. The lane assistance system of claim 13, wherein control timing is determined by the demand yaw rate.

22. The lane assistance system of claim 21, wherein the control timing is determined when the vehicle speed is more than 40 km/h.

23. The traffic lane assistance system of claim 13, wherein the control timing is determined when the demand yaw rate is larger than a predetermined value.