KR102227037B1 - Apparatis and method for motion control autonomous vehicle - Google Patents

Abstract

The present invention relates to an autonomous driving vehicle control apparatus and method for controlling a vehicle by reflecting motion control characteristics customized to a driver′s driving tendency. According to the present invention, the autonomous driving vehicle control apparatus, preferably, comprises: a target control value calculation unit for calculating a target control value required for autonomous driving; a target control value changing unit configured to change the target control value calculated by the target control value calculation unit based on a driver mode selected by a driver; and a vehicle motion control unit configured to control a motion of a vehicle based on the target control value changed by the target control value changing unit.

Description

Self-driving vehicle motion control device and method {APPARATIS AND METHOD FOR MOTION CONTROL AUTONOMOUS VEHICLE}

The present invention relates to an apparatus and method for controlling a motion of an autonomous vehicle, and more particularly, to an apparatus and method for controlling an autonomous vehicle motion capable of controlling a vehicle suitable for a driver's driving tendency.

An autonomous vehicle refers to a vehicle that can drive to a target point by recognizing the driving environment by itself even if the driver does not manipulate the vehicle.

As the level of self-driving vehicles increases, drivers are freed from the obligation to manipulate driving and look forward, and free activities such as watching movies, reading, and meetings are possible in the vehicle in autonomous driving.

Passengers, including drivers in such autonomous vehicles, may experience motion sickness due to differences in information processed by the vestibular organ and the visual organ and may feel uncomfortable.

As described above, as an issue of motion sickness of an autonomous vehicle occupant arises, there is a demand for elaboration of motion control that can minimize motion sickness.

Korean Laid-Open Patent Publication No. 10-2019-0101926 (published on 2019.09.02.)

The present invention was conceived in accordance with such a demand, and provides an autonomous vehicle motion control apparatus and method that enables a vehicle to be controlled by reflecting a motion control characteristic tailored to a driver's driving tendency when driving in an autonomous driving mode. There is a purpose.

An autonomous vehicle motion control apparatus according to an embodiment of the present invention for achieving the above object includes: a target control value calculating unit for calculating a target control value required for autonomous driving; A target control value changing unit for changing the target control value calculated by the target control value calculating unit based on a driver mode selected by a driver; And a vehicle motion controller configured to control a motion of the vehicle based on the target control value changed by the target control value changing unit.

In an embodiment of the present invention, the target control value changing unit, when the driver mode selected by the driver is a sports mode, changes the target steering angle based on Equation 1 below, and when the driver mode selected by the driver is a mild mode , It is preferable to change the target steering angle based on Equation 2 below.

[Equation 1]

과

는 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정되고,In Equation 1, the gain

and

Is set in proportion to the motion characteristic value input from the driver,

[Equation 2]

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

는 운전자로부터 입력받은 모션 특성 값에 비례하여 설정된다.In Equation 2, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver.

In an embodiment of the present invention, the target control value changing unit, when the driver mode selected by the driver is a mild mode, changes the target torque value based on Equation 3 below, and the driver mode selected by the driver is a mild mode. If so, it is preferable to change the target torque value based on Equation 4 below.

[Equation 3]

과

은 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정되고,In Equation 3, the gain

and

Is set in proportion to the motion characteristic value input from the driver,

[Equation 4]

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

은 운전자로부터 입력받은 모션 특성 값에 비례하여 설정된다.In Equation 4, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver.

An autonomous vehicle motion control apparatus according to another embodiment of the present invention calculates a driving tendency index in real time by quantifying a driver's driving tendency, and determines the driving tendency of the driver based on the calculated driving tendency index. part; A target control value calculation unit that calculates a target control value required for autonomous driving; A target control value changing unit for changing the target control value calculated by the target control value calculating unit based on the driving tendency determined by the driving tendency determining unit; And a vehicle motion controller configured to control a motion of the vehicle based on the target control value changed by the target control value changing unit.

In another embodiment of the present invention, the target control value changing unit predicts the lateral acceleration and the vertical acceleration using the changed control value, and the changed target so that the predicted lateral acceleration and vertical acceleration do not exceed a preset reference value. It is preferable that the control value is limited and adjusted, and the vehicle motion controller controls the motion of the vehicle based on the target control value limited and adjusted by the target control value changing unit.

An autonomous vehicle motion control method according to an embodiment of the present invention includes: calculating, by a target control value calculating unit, a target control value required for autonomous driving; Changing, by a target control value changing unit, a target control value calculated by the target control value calculating unit based on a driver mode selected from a driver; And controlling, by the vehicle motion controller, the motion of the vehicle based on the changed target control value.

In one embodiment of the present invention, the step of changing the target control value calculated by the target control value calculation unit based on the driver mode selected by the driver comprises: if the driver mode selected by the driver is a sport mode, a target steering angle is performed. If the driver mode selected by the driver is a mild mode and the driver mode is changed based on Equation 1 of Equation 1, it is preferable that the target steering angle is changed based on Equation 2 below.

[Equation 1]

과

는 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정되고,In Equation 1, the gain

and

Is set in proportion to the motion characteristic value input from the driver,

[Equation 2]

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

는 운전자로부터 입력받은 모션 특성 값에 비례하여 설정된다.In Equation 2, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver.

In one embodiment of the present invention, the step of changing the target control value calculated by the target control value calculating unit based on the driver mode selected by the driver may include: if the driver mode selected by the driver is a mild mode, the target torque value is If the driver mode selected by the driver is the mild mode, and the driver mode selected by the driver is changed based on Equation 3 below, it is preferable to change the target torque value based on Equation 4 below.

[Equation 3]

과

은 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정되고,In Equation 3, the gain

and

Is set in proportion to the motion characteristic value input from the driver,

[Equation 4]

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

은 운전자로부터 입력받은 모션 특성 값에 비례하여 설정된다.In Equation 4, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver.

In the autonomous vehicle motion control method according to another embodiment of the present invention, the driving propensity determination unit quantifies the driving propensity of the driver, calculates the driving propensity index in real time, and calculates the driving propensity of the driver based on the calculated driving propensity index. Judging; Calculating, by a target control value calculating unit, a target control value required for autonomous driving; Changing, by a target control value changing unit, a target control value calculated by the target control value calculating unit based on the driving tendency determined by the driving tendency determining unit; And controlling, by the vehicle motion controller, the motion of the vehicle based on the changed target control value.

In the autonomous driving vehicle motion control apparatus and method of the present invention, when driving in the autonomous driving mode, the vehicle is controlled by reflecting motion control characteristics tailored to the driver's driving tendency, thereby improving the ride comfort and satisfaction of passengers.

1 is a view schematically showing the configuration of an autonomous vehicle motion control apparatus according to an embodiment of the present invention.
2 and 3 are views exemplarily showing changes in the vehicle yaw rate when the motion of the vehicle is controlled based on the target control value changed according to the present invention.
4 is a processing diagram illustrating a method of controlling an autonomous vehicle according to an embodiment of the present invention.
5 is a processing diagram illustrating a method of controlling an autonomous vehicle according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The detailed description of the present invention described below refers to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in connection with one embodiment. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if appropriately described, is limited only by the appended claims, along with all ranges equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

Hereinafter, an apparatus and method for controlling a motion of an autonomous vehicle according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view schematically showing the configuration of an autonomous vehicle motion control apparatus according to an embodiment of the present invention.

1, the autonomous vehicle motion control apparatus 100 according to an embodiment of the present invention includes a driving tendency determination unit 110, a target control value calculation unit 120, and a target control value change unit 140. ), a vehicle motion control unit 150 may be included.

In such a configuration, the driving propensity determination unit 110 quantifies the driving propensity of the driver to calculate the driving propensity index in real time, and may determine the driving propensity of the driver based on the calculated driving propensity index.

Specifically, the driving tendency determination unit 110 includes various types of driving information detected by a sensor unit (not shown) (for example, a yaw rate sensor value, an acceleration position sensor (APS) value, a vertical/lateral acceleration sensor). Value, steering angle sensor value, wheel speed sensor value, IMU (Inertial Measurement Unit) sensor value, curvature value, etc.) The driving propensity index can be calculated through the Exponentially Weighted Moving Average (EWMA) technique that calculates the average value by assigning it, and the driving propensity of the driver can be detected based on the calculated driving propensity index.

The target control value calculation unit 120 may calculate a target steering angle, a target driving torque, a target braking torque, and the like, which are target control values required for autonomous driving.

Specifically, the target control value calculation unit 120 recognizes the current location of the vehicle using GPS, etc., and recognizes the overall driving environment of the route to the destination with a camera that monitors the surrounding environment such as lanes and signals through a laser scanner, etc. After that, it is possible to calculate target control values necessary for autonomous driving, such as speed and steering angle, based on the target path.

The target control value changing unit 140 may change the target control value calculated by the target control value calculating unit 120 based on the driver's driving tendency.

As an example, when the driver mode is selected from the driver through the driver mode input unit 130 in the autonomous driving mode, the target control value changing unit 140, based on the driver mode selected by the driver, the target control value calculating unit 120 You can change the target control value calculated in.

The driver can select the sport mode if he wants sporty autonomous driving, the mild mode if he wants comfortable autonomous driving, and the normal mode if he wants normal autonomous driving.

After selecting the driver mode, the driver can set the motion characteristic value in the selected driver mode. The driver may set a motion characteristic value within a preset range (eg, 0 to 10), and the higher the set motion characteristic value, the stronger the motion characteristic corresponding to the selected driver mode may appear.

For example, if the driver mode selected by the driver is a sport mode, the target control value changing unit 140 may change the target steering angle from among the target control values calculated by the target control value calculating unit 120 based on Equation 1. have.

과

는 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정될 수 있다.In Equation 1, the gain

and

May be set in proportion to the motion characteristic value input from the driver, respectively.

과

는 운전자로부터 입력받은 모션 특성 값에 선형적으로 비례하여 설정되는 값으로,

은 1~1.25 사이에서 설정되고,

는 0~0.1 사이에서 설정될 수 있다.Here, the gain

and

Is a value set linearly in proportion to the motion characteristic value input from the driver,

Is set between 1 and 1.25,

Can be set between 0 and 0.1.

은 1,

는 0으로 설정될 수 있으며, 스포츠 모드에서 나타낼 수 있는 가장 약한 횡방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 0,

Is 1,

May be set to 0, and may represent the weakest transverse control characteristic that can be exhibited in the sport mode.

은 1,25,

는 0.1로 설정될 수 있으며, 스포츠 모드에서 나타낼 수 있는 가장 강한 횡방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 10,

Is 1,25,

May be set to 0.1, and may represent the strongest transverse control characteristic that can be exhibited in the sport mode.

Meanwhile, if the driver mode selected by the driver is the mild mode, the target control value change unit 140 may change the target steering angle from among target control values calculated by the target control value calculation unit 120 based on Equation (2).

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

는 운전자로부터 입력받은 모션 특성 값에 비례하여 설정될 수 있다.In Equation 2, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

May be set in proportion to the motion characteristic value input from the driver.

은 운전자로부터 입력받은 모션 특성 값에 선형적으로 반비례하여 설정되는 값으로, 0.75~1 사이에서 설정될 수 있다.Here, the gain

Is a value set linearly in inverse proportion to the motion characteristic value input from the driver, and may be set between 0.75 and 1.

는 운전자로부터 입력받은 모션 특성 값에 선형적으로 비례하여 설정되는 값으로,

는 0.05~0.15 사이에서 설정될 수 있다.

Is a value set linearly in proportion to the motion characteristic value input from the driver,

Can be set between 0.05 and 0.15.

은 1,

는 0.05로 설정될 수 있으며, 마일드 모드에서 나타낼 수 있는 가장 강한 횡방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 0,

Is 1,

May be set to 0.05, and may represent the strongest transverse control characteristic that can be exhibited in the mild mode.

은 0.75,

는 0.15로 설정될 수 있으며, 마일드 모드에서 나타낼 수 있는 가장 약한 횡방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 10,

Silver 0.75,

May be set to 0.15, and may represent the weakest transverse control characteristic that can be exhibited in the mild mode.

In addition, when the driver mode selected by the driver is a sport mode, the target control value change unit 140 may be configured to provide a target torque value (a target driving torque value or a target braking torque value) among the target control values calculated by the target control value calculating unit 120. ) Can be changed based on Equation 3.

과

은 운전자로부터 입력받은 모션 특성 값에 비례하여 각각 설정될 수 있다.In Equation 3, the gain

and

May be set respectively in proportion to the motion characteristic value input from the driver.

와

은 운전자로부터 입력받은 모션 특성 값에 선형적으로 비례하여 설정되는 값으로,

는 1~1.5 사이에서 설정되고,

은 0~0.2 사이에서 설정될 수 있다.Here, the gain

Wow

Is a value set linearly in proportion to the motion characteristic value input from the driver,

Is set between 1 and 1.5,

Can be set between 0 and 0.2.

는 1,

은 0으로 설정될 수 있으며, 스포츠 모드에서 나타낼 수 있는 가장 약한 종방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 0,

Is 1,

May be set to 0, and may represent the weakest longitudinal control characteristic that can be exhibited in the sport mode.

는 1,5,

은 0.2로 설정될 수 있으며, 스포츠 모드에서 나타낼 수 있는 가장 강한 종방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 10,

Is 1,5,

May be set to 0.2, and may represent the strongest longitudinal control characteristic that can be exhibited in the sport mode.

On the other hand, if the driver mode selected by the driver is the mild mode, the target control value changing unit 140 may be configured to a target torque value (target driving torque value or target braking torque value) among target control values calculated by the target control value calculating unit 120 ) Can be changed based on Equation 4.

은 운전자로부터 입력받은 모션 특성 값에 반비례하여 설정되고,

은 운전자로부터 입력받은 모션 특성 값에 비례하여 설정된다.In Equation 4, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver.

은 운전자로부터 입력받은 모션 특성 값에 선형적으로 반비례하여 설정되는 값으로, 0.5~1 사이에서 설정될 수 있다.Here, the gain

Is a value set linearly in inverse proportion to the motion characteristic value input from the driver, and may be set between 0.5 and 1.

은 운전자로부터 입력받은 모션 특성 값에 선형적으로 비례하여 설정되는 값으로,

은 0.05~0.25 사이에서 설정될 수 있다.

Is a value set linearly in proportion to the motion characteristic value input from the driver,

Can be set between 0.05 and 0.25.

은 1,

은 0.05로 설정될 수 있으며, 마일드 모드에서 나타낼 수 있는 가장 강한 종방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 0,

Is 1,

May be set to 0.05, and may represent the strongest longitudinal control characteristic that can be exhibited in the mild mode.

은 0.5,

은 0.25로 설정될 수 있으며, 마일드 모드에서 나타낼 수 있는 가장 약한 종방향 제어 특성을 나타낼 수 있다.If the motion characteristic value input from the driver is 10,

Silver 0.5,

May be set to 0.25, and may represent the weakest longitudinal control characteristic that can be exhibited in the mild mode.

As another example, when the user selects the automatic mode in the autonomous driving mode, the target control value changing unit 140 is calculated by the target control value calculating unit 120 based on the driving propensity determined by the driving propensity determination unit 110 The set target control value can be changed.

Specifically, when the driving tendency determined by the driving tendency determining unit 110 corresponds to the sport mode, the target control value changing unit 140 calculates a target steering angle from among the target control values calculated by the target control value calculating unit 120. Can be changed based on 1.

과

는 운전성향 판단부(110)에서 산출된 운전성향지수에 비례하여 각각 설정될 수 있다.In Equation 1, the gain

and

May be set in proportion to the driving tendency index calculated by the driving tendency determining unit 110, respectively.

과

는 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 비례하여 설정되는 값으로,

은 1~1.25 사이에서 설정되고,

는 0~0.1 사이에서 설정될 수 있다.In Equation 1, the gain

and

Is a value set in linear proportion to the driving tendency index calculated by the driving tendency determining unit 110,

Is set between 1 and 1.25,

Can be set between 0 and 0.1.

The lower the driving propensity index calculated by the driving propensity determination unit 110 is, the weaker the lateral control characteristics may be, and the higher the driving propensity index calculated by the driving propensity determination unit 110 is, the stronger the transverse control characteristics may be. have.

On the other hand, if the driving tendency determined by the driving tendency determining unit 110 corresponds to the mild mode, the target control value changing unit 140 calculates the target steering angle from among the target control values calculated by the target control value calculating unit 120 You can change it based on 2.

은 운전성향 판단부(110)에서 산출된 운전성향지수에 반비례하여 설정되고,

는 운전성향 판단부(110)에서 산출된 운전성향지수에 비례하여 설정될 수 있다.In Equation 2, the gain

Is set in inverse proportion to the driving tendency index calculated by the driving tendency determining unit 110,

May be set in proportion to the driving tendency index calculated by the driving tendency determining unit 110.

은 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 반비례하여 설정되는 값으로, 0.75~1 사이에서 설정될 수 있다.In Equation 2, the gain

Is a value set linearly in inverse proportion to the driving tendency index calculated by the driving tendency determining unit 110, and may be set between 0.75 and 1.

는 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 비례하여 설정되는 값으로,

는 0.05~0.15 사이에서 설정될 수 있다.

Is a value set in linear proportion to the driving tendency index calculated by the driving tendency determining unit 110,

Can be set between 0.05 and 0.15.

The lower the driving propensity index calculated by the driving propensity determination unit 110 is, the weaker the lateral control characteristics may be, and the higher the driving propensity index calculated by the driving propensity determination unit 110 is, the stronger the transverse control characteristics may be. have.

In addition, when the driving tendency determined by the driving tendency determining unit 110 corresponds to the sport mode, the target control value changing unit 140 may determine the target torque value (target torque value) among the target control values calculated by the target control value calculating unit 120. The driving torque value or the target braking torque value) may be changed based on Equation 3.

과

은 운전성향 판단부(110)에서 산출된 운전성향지수에 비례하여 각각 설정될 수 있다.In Equation 3, the gain

and

May be set in proportion to the driving tendency index calculated by the driving tendency determining unit 110, respectively.

와

은 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 비례하여 설정되는 값으로,

는 1~1.5 사이에서 설정되고,

은 0~0.2 사이에서 설정될 수 있다.In Equation 3, the gain

Wow

Is a value set in linear proportion to the driving tendency index calculated by the driving tendency determining unit 110,

Is set between 1 and 1.5,

Can be set between 0 and 0.2.

The lower the driving propensity index calculated by the driving propensity determination unit 110 is, the weaker longitudinal control characteristics may be indicated, and the higher the driving propensity index calculated by the driving propensity determination unit 110, the stronger the longitudinal control characteristics. have.

On the other hand, if the driving tendency determined by the driving tendency determining unit 110 corresponds to the mild mode, the target control value changing unit 140 may determine the target torque value (the target torque value among the target control values calculated by the target control value calculating unit 120). The driving torque value or the target braking torque value) may be changed based on Equation 4.

은 운전성향 판단부(110)에서 산출된 운전성향지수에 반비례하여 설정되고,

은 운전성향 판단부(110)에서 산출된 운전성향지수에 비례하여 설정된다.In Equation 4, the gain

Is set in inverse proportion to the driving tendency index calculated by the driving tendency determining unit 110,

Is set in proportion to the driving tendency index calculated by the driving tendency determining unit 110.

은 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 반비례하여 설정되는 값으로, 0.5~1 사이에서 설정될 수 있다.In Equation 4, the gain

Is a value set linearly in inverse proportion to the driving tendency index calculated by the driving tendency determining unit 110, and may be set between 0.5 and 1.

은 운전성향 판단부(110)에서 산출된 운전성향지수에 선형적으로 비례하여 설정되는 값으로,

은 0.05~0.25 사이에서 설정될 수 있다.

Is a value set in linear proportion to the driving tendency index calculated by the driving tendency determining unit 110,

Can be set between 0.05 and 0.25.

The lower the driving propensity index calculated by the driving propensity determination unit 110 is, the weaker longitudinal control characteristics may be indicated, and the higher the driving propensity index calculated by the driving propensity determination unit 110, the stronger the longitudinal control characteristics. have.

Meanwhile, the target control value change unit 140 determines that the road surface of the road driven through the road surface determination unit (not shown) is a low-friction road surface (for example, a rain road, an ice road, a curve road, etc.), or In the autonomous driving mode, when the driver selects the driver mode or the automatic mode, and when a high lateral acceleration, high lateral acceleration, or a limited mode limiting lateral deceleration is selected, the lateral acceleration and the vertical price are changed using the changed target control value. It is possible to predict the speed and limit and adjust the changed target control value so that the predicted lateral acceleration and vertical acceleration do not exceed a preset reference value.

에서 수학식 5와 같은 횡방향 모델 계산을 통해 산출된 값을 수학식 6에 대입하여 예측 횡가속도를 도출할 수 있다.Specifically, the target control value changing unit 140 is a specific longitudinal speed

In Equation 6, the predicted lateral acceleration may be derived by substituting the value calculated through the lateral model calculation as in Equation 5 into Equation 6.

는 차량의 슬립각이고,

는 차량 요레이트이다.In Equation 5,

Is the vehicle slip angle,

Is the vehicle yaw rate.

을 제한할 수 있다.The target control value changing unit 140 is a steering angle so that the predicted lateral acceleration derived through Equations 5 and 6 does not exceed a preset acceleration.

Can be limited.

에서 토크가

만큼 증가할 때 수학식 8을 통해 종방향 가속도 변화량을 예측하고, 예측된 종방향 가속도 변화량을 수학식 9에 대입시켜 예측 종가속도를 도출할 수 있다. 수학식 8에서,

는 종감속비 및 변속기 감속비이고,

는 타이어 동방경이고,

은 차량 질량이다.In addition, the target control value changing unit 140 is the current longitudinal torque

Talk in

When it increases by, the longitudinal acceleration change amount is predicted through Equation 8, and the predicted longitudinal acceleration change amount is substituted into Equation 9 to derive the predicted longitudinal acceleration. In Equation 8,

Is the final reduction ratio and the transmission reduction ratio,

Is the east view of the tire,

Is the vehicle mass.

를 제한할 수 있다.The target control value changing unit 140 drives (or braking) torque so that the predicted longitudinal acceleration derived through Equations 8 and 9 does not exceed a preset acceleration.

Can be limited.

The target control value change unit 140 includes a target steering angle and target torque change unit 141 that changes the target control value calculated by the target control value calculation unit 120 based on the driver’s driving tendency, and changes the target steering angle and target torque. Based on the target steering angle and target torque changed in the unit 141, the predicted lateral acceleration and the predicted vertical acceleration are calculated, and the target steering angle and target torque change unit ( The target steering angle and target torque limiting unit 143 that limits the target steering angle and target torque changed in 141), and the predicted lateral acceleration or predicted lateral acceleration calculated by the target steering angle and target torque limiting unit 143 do not exceed a preset value. The target steering angle and target torque final change calculation unit 145 may be included to change the target steering angle and target torque changed by the target steering angle and target torque change unit 141 to prevent the target steering angle and target torque from being changed.

The vehicle motion controller 150 may control the motion of the vehicle based on the target control value changed by the target control value changing unit 140.

When the target control value is limited and adjusted by the target control value changing unit 140, the vehicle motion controller 150 may control the motion of the vehicle based on the limited adjusted target control value.

변환에 따른 차량 요레이트의 변화를 예시적으로 보인 도면이고, 도 3은 게인

변환에 따른 차량 요레이트의 변화를 예시적으로 보인 도면이다.2 and 3 are views illustrating a change in the vehicle yaw rate when the motion of the vehicle is controlled based on the target control value changed according to the present invention, and FIG. 2 is a gain

A diagram showing a change in the vehicle yaw rate according to the conversion as an example, and FIG. 3 is a gain

It is a diagram showing a change in the vehicle yaw rate according to the conversion by way of example.

과

가 커질수록 차량 요레이트가 커지는 것을 알 수 있다.Gain as shown in Figs. 2 and 3

and

It can be seen that the larger the is, the larger the vehicle yaw rate.

4 is a processing diagram illustrating a method of controlling an autonomous vehicle according to an embodiment of the present invention.

Since the autonomous vehicle control method according to an embodiment of the present invention proceeds on substantially the same configuration as the autonomous vehicle control device 100 shown in FIG. 1, the same configuration as the autonomous vehicle control device 100 of FIG. 1 The same reference numerals are assigned to the elements, and repeated descriptions will be omitted.

First, the target control value calculation unit 120 may calculate a target control value required for autonomous driving (S110).

In the above-described step S110, the target control value calculation unit 120 may calculate a target steering angle, a target driving torque, a target braking torque, and the like, which are target control values required for autonomous driving.

Thereafter, the target control value changing unit 140 may change the target control value calculated by the target control value calculating unit 120 based on the driver mode selected by the driver (S120).

If the driver mode selected from the driver through the driver mode input unit 130 is a sports mode, the target control value changing unit 140 in the above step S120 is the target control value calculating unit 120 Among the target control values calculated from, the target steering angle may be changed based on Equation 1.

In addition, if the driver mode selected by the driver is the mild mode, the target control value changing unit 140 may change the target steering angle among target control values calculated by the target control value calculating unit 120 based on Equation (2).

In addition, when the driver mode selected by the driver is a sport mode, the target control value change unit 140 may be configured to provide a target torque value (a target driving torque value or a target braking torque value) among the target control values calculated by the target control value calculating unit 120. ) Can be changed based on Equation 3.

In addition, if the driver mode selected by the driver is the mild mode, the target control value change unit 140 includes a target torque value (a target driving torque value or a target braking torque value) among the target control values calculated by the target control value calculating unit 120 ) Can be changed based on Equation 4.

When the target control value is changed through the above-described step S120, the vehicle motion controller 150 may control the motion of the vehicle based on the changed target control value through the above-described step S120 (S130).

5 is a processing diagram illustrating a method of controlling an autonomous vehicle according to another embodiment of the present invention.

The autonomous driving vehicle control method according to another embodiment of the present invention proceeds on substantially the same configuration as the autonomous driving vehicle control device 100 shown in FIG. 1, and thus the same configuration as the autonomous driving vehicle control device 100 of FIG. 1. The same reference numerals are assigned to the elements, and repeated descriptions will be omitted.

First, the driving propensity determination unit 110 quantifies the driving propensity of the driver to calculate the driving propensity index in real time, and may determine the driving propensity of the driver based on the calculated driving propensity index (S210).

In addition, the target control value calculating unit 120 may calculate a target control value required for autonomous driving (S220).

In the above-described step S220, the target control value calculating unit 120 may calculate a target steering angle, a target driving torque, a target braking torque, and the like, which are target control values required for autonomous driving.

Thereafter, the target control value changing unit 140 may change the target control value calculated by the target control value calculating unit 120 based on the driving tendency determined by the driving tendency determining unit 110 (S230).

In the above step S230, the target control value changing unit 140, when the user selects the automatic mode in the autonomous driving mode, based on the driving tendency determined by the driving tendency determining unit 110, the target control value calculating unit 120 You can change the target control value calculated in.

Specifically, when the driving tendency determined by the driving tendency determining unit 110 corresponds to the sport mode, the target control value changing unit 140 calculates a target steering angle from among the target control values calculated by the target control value calculating unit 120 Can be changed based on 1.

And if the driving tendency determined by the driving tendency determining unit 110 corresponds to the mild mode, the target control value changing unit 140 calculates the target steering angle among the target control values calculated by the target control value calculating unit 120 by Equation 2 Can be changed based on

In addition, when the driving tendency determined by the driving tendency determining unit 110 corresponds to the sport mode, the target control value changing unit 140 may determine the target torque value (target torque value) among the target control values calculated by the target control value calculating unit 120. The driving torque value or the target braking torque value) may be changed based on Equation 3.

In addition, if the driving tendency determined by the driving tendency determining unit 110 corresponds to the mild mode, the target control value changing unit 140 includes a target torque value (target driving) among the target control values calculated by the target control value calculating unit 120. The torque value or the target braking torque value) may be changed based on Equation 4.

Thereafter, the target control value changing unit 140 calculates the predicted lateral acceleration and the predicted vertical acceleration based on the target steering angle and the target torque changed through the above-described step S230, and the calculated predicted lateral acceleration or predicted vertical acceleration is a preset value. The target steering angle and target torque changed by the target steering angle and target torque change unit 141 may be limited and adjusted so as not to exceed (S240).

The step S240 of limiting and adjusting the target steering angle and target torque changed by the target steering angle and target torque change unit 141 may be selectively performed only when a limit mode is selected by the driver.

Thereafter, when the target control value is changed through step S230 or step S240, the vehicle motion controller 150 controls the motion of the vehicle based on the target control value finally changed through step S230 or step S240. It can be done (S250).

The method for controlling an autonomous vehicle according to the present invention may be implemented as an application or implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, and the like alone or in combination.

The program instructions recorded on the computer-readable recording medium may be specially designed and constructed for the present invention, and may be known and usable to those skilled in the computer software field.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks. media), and a hardware device specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the processing according to the present invention, and vice versa.

Although the above has been described with reference to embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the following claims I will be able to.

110. Driving propensity judgment unit,
120. Target control value calculation unit,
130. Driver mode input,
140. Target control value change unit,
141. Target steering angle and target torque change section,
143. Target steering angle and target torque limiter,
145. Target steering angle and target torque final change calculation unit
150. Vehicle Motion Control Unit

Claims (9)

A target control value calculation unit that calculates a target control value required for autonomous driving;
A target control value changing unit for changing the target control value calculated by the target control value calculating unit based on a driver mode selected by a driver; And
Includes; a vehicle motion control unit for controlling the motion of the vehicle based on the target control value changed by the target control value changing unit,
The target control value changing unit,
If the driver mode selected by the driver is a sport mode,
Change the target steering angle based on Equation 1 below,
If the driver mode selected by the driver is mild mode,
An autonomous vehicle motion control device for changing a target steering angle based on Equation 2 below.
[Equation 1]

In Equation 1, the gain

and

Is set in proportion to the motion characteristic value input from the driver,
[Equation 2]

In Equation 2, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver. delete The method of claim 1,
The target control value changing unit,
If the driver mode selected by the driver is a sport mode,
Change the target torque value based on Equation 3 below,
If the driver mode selected by the driver is mild mode,
An autonomous vehicle motion control device that changes a target torque value based on Equation 4 below.
[Equation 3]

In Equation 3, the gain

and

Is set in proportion to the motion characteristic value input from the driver,
[Equation 4]

In Equation 4, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver. A driving propensity determination unit that quantifies the driving propensity of the driver to calculate the driving propensity index in real time, and determines the driving propensity of the driver based on the calculated driving propensity index;
A target control value calculation unit that calculates a target control value required for autonomous driving;
A target control value changing unit for changing the target control value calculated by the target control value calculating unit based on the driving tendency determined by the driving tendency determining unit; And
Includes; a vehicle motion control unit for controlling the motion of the vehicle based on the target control value changed by the target control value changing unit,
The target control value changing unit,
If the driving tendency determined by the driving tendency determining unit is a sport mode,
Change the target steering angle based on Equation 1 below,
If the driving tendency determined by the driving tendency determining unit is a mild mode,
An autonomous vehicle motion control device for changing a target steering angle based on Equation 2 below.
[Equation 1]

In Equation 1, the gain

and

Are respectively set in proportion to the driving tendency index calculated by the driving tendency determination unit,
[Equation 2]

In Equation 2, the gain

Is set in inverse proportion to the driving tendency index calculated by the driving tendency determination unit,

Is set in proportion to the driving tendency index calculated by the driving tendency determining unit. The method of claim 4,
The target control value changing unit,
If the driving tendency determined by the driving tendency determining unit is a sport mode,
Change the target torque value based on Equation 3 below,
If the driving tendency determined by the driving tendency determining unit is a mild mode,
An autonomous vehicle motion control device that changes a target torque value based on Equation 4 below.
[Equation 3]

In Equation 3, the gain

and

Is each set in proportion to the driving tendency index calculated by the driving tendency determining unit,
[Equation 4]

In Equation 4, the gain

Is set in inverse proportion to the driving tendency index calculated by the driving tendency determination unit,

Is set in proportion to the driving tendency index calculated by the driving tendency determining unit. Calculating, by a target control value calculating unit, a target control value required for autonomous driving;
Changing, by a target control value changing unit, a target control value calculated by the target control value calculating unit based on a driver mode selected from a driver; And
Including, by the vehicle motion controller, controlling the motion of the vehicle based on the changed target control value,
The step of changing the target control value calculated by the target control value calculation unit based on the driver mode selected by the driver,
If the driver mode selected by the driver is a sport mode,
Change the target steering angle based on Equation 1 below,
If the driver mode selected by the driver is mild mode,
An autonomous vehicle motion control method, which is a step of changing a target steering angle based on Equation 2 below.
[Equation 1]

In Equation 1, the gain

and

Is set in proportion to the motion characteristic value input from the driver,
[Equation 2]

In Equation 2, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver. delete The method of claim 6,
The step of changing the target control value calculated by the target control value calculation unit based on the driver mode selected by the driver,
If the driver mode selected by the driver is a sport mode,
Change the target torque value based on Equation 3 below,
If the driver mode selected by the driver is mild mode,
An autonomous vehicle motion control method, which is a step of changing a target torque value based on Equation 4 below.
[Equation 3]

In Equation 3, the gain

and

Is set in proportion to the motion characteristic value input from the driver,
[Equation 4]

In Equation 4, the gain

Is set in inverse proportion to the motion characteristic value input from the driver,

Is set in proportion to the motion characteristic value input from the driver. Calculating a driving tendency index in real time by quantifying the driving tendency of the driver, and determining the driving tendency of the driver based on the calculated driving tendency index;
Calculating, by a target control value calculating unit, a target control value required for autonomous driving;
Changing, by a target control value changing unit, a target control value calculated by the target control value calculating unit based on the driving tendency determined by the driving tendency determining unit; And
Including, by the vehicle motion controller, controlling the motion of the vehicle based on the changed target control value,
The step of changing the target control value calculated by the target control value calculating unit based on the driving tendency determined by the driving tendency determining unit,
If the driving tendency determined by the driving tendency determining unit is a sport mode,
Change the target steering angle based on Equation 1 below,
If the driving tendency determined by the driving tendency determining unit is a mild mode,
An autonomous vehicle motion control method, which is a step of changing a target steering angle based on Equation 2 below.
[Equation 1]

In Equation 1, the gain

and

Are respectively set in proportion to the driving tendency index calculated by the driving tendency determination unit,
[Equation 2]

In Equation 2, the gain

Is set in inverse proportion to the driving tendency index calculated by the driving tendency determination unit,

Is set in proportion to the driving tendency index calculated by the driving tendency determining unit.

Images