KR101694014B1 - Safety apparatus for operating pedal of autonomous driving vehicle - Google Patents

Safety apparatus for operating pedal of autonomous driving vehicle Download PDF

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Publication number
KR101694014B1
KR101694014B1 KR1020150088242A KR20150088242A KR101694014B1 KR 101694014 B1 KR101694014 B1 KR 101694014B1 KR 1020150088242 A KR1020150088242 A KR 1020150088242A KR 20150088242 A KR20150088242 A KR 20150088242A KR 101694014 B1 KR101694014 B1 KR 101694014B1
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KR
South Korea
Prior art keywords
pedal
guide
driver
vehicle
pedal guide
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KR1020150088242A
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Korean (ko)
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KR20170000013A (en
Inventor
김은식
민정선
최창무
김재연
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현대자동차주식회사
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Priority to KR1020150088242A priority Critical patent/KR101694014B1/en
Publication of KR20170000013A publication Critical patent/KR20170000013A/en
Application granted granted Critical
Publication of KR101694014B1 publication Critical patent/KR101694014B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

The present invention relates to a pedal operation safety device for an autonomous vehicle, and in the autonomous mode of a vehicle, a pedal guide (10) covers the pedal (1) So that it is possible to prevent the driver from erroneously operating the pedal 1.

Description

TECHNICAL FIELD [0001] The present invention relates to a pedal operation safety device for an autonomous driving vehicle,

The present invention relates to a pedal operation safety device for an autonomous vehicle, and more particularly, to a pedal operation safety device for an autonomous vehicle that can prevent a driver from erroneously operating the pedal in an autonomous running situation.

A self-propelled vehicle refers to a smart car that incorporates self-propelled technology applied to aircraft and ships, such as a car that travels to its destination without requiring the driver to operate the steering wheel, accelerator pedal, or brake.

In order to realize the autonomous driving of the vehicle, it is necessary to use a highway driving assist (HDA) technology, a lane departure warning system (LDWS), a lane keeping assistance system (LKAS) In addition to vehicle technologies such as Blind Spot Detection (BSD), Advanced Smart Cruise Control (ASCC), and Autonomous Emergency Braking (AEB), communications technologies between vehicles and base stations, communications between vehicles and satellites And various other advanced technologies are needed.

On the other hand, in the autonomous driving situation, the driver does not operate the pedal (accelerator pedal or brake pedal) of the vehicle. If the driver operates the pedal during autonomous driving, the vehicle controller ends the autonomous driving of the driver, It is determined that the operation is desired and the control for the autonomous running is terminated.

However, since the pedal of the vehicle is installed so as to be exposed in the lower space of the driver's seat, there is a possibility that the driver unconsciously operates the pedal in the autonomous driving situation (the pedal is erroneously operated) There is a possibility of occurrence.

Therefore, it is required to develop a technique that can prevent the pedal misoperation by the driver in the autonomous driving situation.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

Korean Patent Publication No. 10-2010-0005362

The present invention makes it possible to operate the pedal by the driver in a situation in which the driver directly drives the pedal, and to prevent the pedal from being erroneously operated by the driver in the autonomous driving situation. Further, in the autonomous driving situation, And it is an object of the present invention to provide a pedal operation safety device for an autonomous driving vehicle that can be mounted comfortably.

In order to accomplish the above object, the present invention provides a pedal operation safety device for a self-propelled vehicle, which is installed facing a pedal of a vehicle located in a lower space of a driver's seat, and covers a pedal of the vehicle so that a pedal can not be operated by a driver A pedal guide that operates so as to be capable of releasing the cover of the pedal so that the driver can operate the pedal in a manual driving situation; And an actuator connected to the pedal guide to operate the pedal guide.

A vehicle controller for controlling an operation of the actuator; And a traveling mode switch for generating and transmitting an autonomous traveling signal or a manual traveling signal to the vehicle controller by an operation of the driver.

A base cover is fixedly mounted on a vehicle body panel or a cowl crossbar forming the driver's seat lower space; An upper end of the pedal guide is installed on the base cover so as to be rotatable about the hinge axis in the longitudinal direction, and the actuator is fixed.

The pedal guide is formed with a plurality of guide holes to prevent interference with the pedal when the pedal guide is operated.

The actuator is a linear motor in which the mover moves in a straight line; And the mover of the linear motor and the upper end of the pedal guide are connected through the motor rod.

When the lower end of the pedal guide rotates to the rear with the driver, the pedal guide is located at the same height as the maximum protruding surface of the pedal or further protrudes rearward to cover the pedal; When the lower end of the pedal guide rotates forward, the pedal passes through the guide hole and is exposed to the driver, and at the same time, the covering by the pedal guide is released.

The lower end of the pedal guide is curved so as to protrude toward the front side of the pedal from the upper end with respect to the base cover so that the foot space of the driver can be secured while minimizing the infiltration of the driver's seat lower space by the pedal guide .

A rod hole through which the motor rod passes is formed at the upper end of the pedal guide; And the rod hole is formed as a slot hole extending vertically so as to absorb a linear movement locus of the motor rod.

The pedal guide is the same as the maximum protruding surface of the pedal or further protrudes rearward so that the pedal as a reference when the pedal is covered is a brake pedal.

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According to the present invention, the pedal guide covers the pedal in the autonomous mode of the vehicle, thereby preventing the driver from erroneously operating the pedal. As a result, the running safety of the vehicle is further improved, There is an effect that can be prevented.

Further, according to the present invention, a driver can rest on a pedal guide covering a pedal in an autonomous driving mode, thereby resting comfortably.

1 to 3 are a perspective view, a front view and a side view of a vehicle pedal in which a safety device according to the present invention is installed,
4 is an enlarged view of an upper end portion of a pedal guide provided with the motor loader of the present invention,
FIG. 5 is a diagram showing the manual mode state of the embodiment of the present invention,
6 is a flowchart for explaining a pedal operation safety method for an autonomous vehicle according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a safety device and method for operating a pedal for an autonomous vehicle according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

The pedal operation safety device for an autonomous vehicle according to the present invention is installed so as to face a pedal 1 of a vehicle located in a lower space of a driver's seat as shown in Figs. 1 to 5, A pedal guide (10) which operates so as to cover the pedal (1) of the vehicle and operates so as to release the covering of the pedal (1) so that the driver can operate the pedal in a manual driving situation; And an actuator 20 connected to the pedal guide 10 to operate the pedal guide 10.

The pedal 1 is based on an accelerator pedal 1a and a brake pedal 1b, and includes a clutch pedal (not shown), if necessary.

The manual driving situation refers to a situation where the driver directly operates the pedal and the handle.

Further, the embodiment according to the present invention may further comprise: a vehicle controller (30) for controlling the operation of the actuator (20); And a traveling mode switch 40 for generating an autonomous traveling signal or a manual traveling signal by the operation of the driver and delivering it to the vehicle controller 30.

The vehicle controller 30 is an ECU provided in the vehicle, and the traveling mode switch 40 may be configured as any one of a button switch, a dial switch, and a lever switch.

The driving mode switch 40 may be mounted on a console, a center pace, a steering wheel or the like so that the driver can easily operate the vehicle. For example, if the driver pushes the button switch to turn on the switch, It can be configured to be in the manual running mode by switching off (OFF), or to be able to operate in the opposite direction.

The base cover 50 is fixed to the vehicle body panel 3 or the cowl crossbar 5 forming the lower space of the driver's seat, The base cover 50 is provided with the upper end 11 of the pedal guide 10 so as to be rotatable about the hinge axis 60 in the forward and backward directions and to fix the actuator 20 thereto.

The pedal guide 10 positioned above the base cover 50 with respect to the base cover 50 serves as the upper end 11 of the pedal guide 10 and the lower portion of the base cover 50 And becomes the lower end portion 12 of the pedal guide 10.

The pedal guide 10 is provided with a plurality of pedals 10 so as to prevent the pedal guide 10 from interfering with the pedal 1 when the pedal guide 10 rotates about the hinge axis 60 in the front- Guide holes 13 are formed.

If the pedal guide 10 interferes with the pedal 1 when the pedal guide 10 is rotated in the forward and backward direction, erroneous operation of the pedal 1 may occur. In order to prevent this, A plurality of guide holes 13 which are the same as the number of the pedals 1 are formed in the guide 10 and one pedal is provided for each of the guide holes 13, So that the pedal 1 can be prevented from being erroneously operated.

It is preferable that the actuator 20 is a linear motor in which the mover 21 linearly moves and the mover 21 of the linear motor and the upper end 11 of the pedal guide 10 are connected to the motor rod 22 So that it becomes a connected structure.

The upper end portion 11 of the pedal guide 10 is rotated forward about the hinge axis 60 and the pedal guide 10 is rotated about the hinge axis 60. Accordingly, when the mover 21 moves forward, the motor rod 22 moves forward, The pedal 1 is covered by the lower end portion 12 of the pedal guide 10. At this time, the lower end portion 12 of the pedal 10 rotates about the hinge shaft 60 as shown in FIG.

The motor rod 22 moves rearward when the mover 21 has moved forward and then moves backward so that the upper end 11 of the pedal guide 10 is moved rearward about the hinge shaft 60 And the lower end portion 12 of the pedal guide 10 rotates forward about the hinge shaft 60. At this time, the covering of the pedal 1 by the pedal guide 10 is released.

3, when the lower end portion 12 of the pedal guide 10 rotates rearward with the driver, the lower end portion 12 of the pedal guide 10 is located at the same position as the maximum protruding surface of the pedal 1, The foot 7 of the driver does not come into contact with the pedal and the lower end 12 of the pedal guide 10 does not come into contact with the pedal 1 even if the foot 7 of the driver is positioned on the side of the pedal 1. [ The driver can prevent the undesired operation of the pedal 1 in the autonomous running mode and furthermore the driver can put the foot 7 in the lower end portion 12 of the pedal guide 10 and relax in a relaxed state You can take it.

5, when the lower end portion 12 of the pedal guide 10 is rotated forward, the pedal 1 is exposed to the driver through the guide hole 13, and at the same time, the pedal 1 Is closed. At this time, the driver enters the manual driving mode in which the pedal 1 is directly operated.

The pedal guide 10 is formed such that the lower end 12 of the pedal guide 10 is bent and protruded toward the front side of the pedal 1 more than the upper end 11 with respect to the base cover 50, It is possible to minimize the inflow of the lower space of the driver's seat by the lower end portion 12 of the guide 10, and furthermore, the foot space 9 of the driver can be sufficiently secured.

A rod hole 14 through which the motor rod 22 passes is formed in the upper end 11 of the pedal guide 10 so that the rod hole 14 absorbs the linear movement locus of the motor rod 22 And is formed as a slot hole extending up and down.

That is, the pedal guide 10 is configured to rotate about the hinge shaft 60, and the rod hole 14 is formed as a garden having the same diameter as the motor rod 22, or as a garden having a slightly larger diameter The rod hole 14 according to the present invention does not function properly because the motor rod 22 is caught in the rod hole 14 during the linear movement of the motor rod 22, A slot hole extending upward and downward so as to be able to absorb the magnetic force.

The lower pedal 10 is positioned at the lower end 12 of the pedal 1 so as to be positioned at the same height as the maximum protruding surface of the pedal 1 or further protruded rearward to cover the pedal 1, ).

In other words, since the driver must brake the brake pedal 1b in an emergency, the conventional vehicle is constructed so that the brake pedal 1b is projected more toward the rear side of the driver than the accelerator pedal 1a. The embodiment according to the present invention is characterized in that when the lower end portion 12 of the pedal guide 10 covers the pedal 1, the maximum protruding surface of the brake pedal 1b, Or to be further projected rearward.

1 to 6, when the driver operates the traveling mode switch 40 in the starting ON state of the vehicle, the automatic traveling mode of the vehicle A traveling mode selecting step of selecting a manual traveling mode; And a pedal covering step for covering the pedal 1 by operating the pedal guide 10 installed in the lower space of the driver's seat so that the pedal 1 of the vehicle can not be directly operated by the driver when the driver selects the autonomous mode .

In the present invention, when the driver selects the manual driving mode, the pedal guide 10 is operated in a direction opposite to the pedal covering step, and the pedal 1 of the vehicle is released from the pedal guide 10 so that the pedal operation And releasing the pedal covering releasing step.

Further, the present invention further includes a pedal state judging step of judging whether the pedal 1 is abnormal at the same time that the starting of the vehicle is ON, and in the pedal state judging step, the pedal 1 is judged as a normal state The operation of the traveling mode switch 40 is controlled so that the traveling mode selection step is realized only when the traveling mode is selected.

Further, in the pedal state determining step, when the pedal 1 is determined to be in an abnormal state, the abnormal state of the pedal 1 is notified to the driver through a warning sound, a warning light or a message, and at the same time, .

Hereinafter, the operation of the embodiment of the present invention will be described.

When the starting of the vehicle is ON (step S1), the vehicle controller 30 receives the signal of the pedal switch to judge whether the pedal 1 of the vehicle is in a normal state or in an abnormal state (failure state) S2). If the pedal 1 is determined to be in an abnormal state, the driver is notified of the state at this time through an alarm sound or a warning light or a message (step S3), and at the same time, (Step S4)

Conversely, when the pedal 1 is determined to be in a normal state, the vehicle controller 30 controls the operation of the traveling mode switch 40 so that the traveling mode selecting step is realized.

Accordingly, when the driver operates the traveling mode switch 40, the vehicle controller 30 determines whether or not the vehicle is in the autonomous mode (step S5). When the vehicle controller 30 determines that the vehicle is in the autonomous mode, And controls the operation to cover the pedal 1 using the pedal guide 10. (Step S6)

That is, when the mover 21 of the actuator 20 is moved forward by the control of the vehicle controller 30, the motor rod 22 is moved forward and the upper end 11 of the pedal guide 10 is moved The lower end portion 12 of the pedal guide 10 rotates about the hinge axis 60 and the pedal guide 10 rotates about the hinge axis 60. The lower end portion 12 of the pedal guide 10 rotates about the hinge axis 60, 1 are covered.

The driver's foot 7 does not come into contact with the pedal even if the foot 7 of the driver is positioned on the side of the pedal 1 in the state where the pedal 1 is covered by the pedal guide 10, It is possible to prevent the undesired operation of the pedal 1 in the autonomous running mode and furthermore the driver can prevent the undesired operation of the pedal guide 10 at the lower end portion 12 of the pedal guide 10 12), resting comfortably on the floor.

When the vehicle controller 30 determines that the vehicle is in the manual driving mode by operating the driving mode switch 40 of the driver, the vehicle controller 30 controls the operation of the actuator 20, (1) releases the covering. (Step S7)

That is, when the mover 21 that has moved forward by the control of the vehicle controller 30 moves backward again, the motor rod 22 moves backward, and the upper end 11 of the pedal guide 10 is moved to the rear The lower end portion 12 of the pedal guide 10 rotates about the hinge axis 60 forward and the covering of the pedal 1 by the pedal guide 10 Is released.

The pedal 1 is exposed through the guide hole 13 of the pedal guide 10 to the driver when the covering of the pedal 1 by the pedal guide 10 is released. The manual traveling mode in which the pedal 1 is directly operated can be performed.

As described above, according to the embodiment of the present invention, there is no risk of the driver erroneously operating the pedal 1 in the autonomous mode of the vehicle, so that the running safety of the vehicle is further improved, There are advantages to be able to.

Further, according to the present invention, the driver can take a rest on the pedal guide 10 covering the pedal 1 in the autonomous driving mode, thereby resting comfortably.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

1 - Pedal 10 - Pedal Guide
20 - actuator 30 - vehicle controller
40 - Travel mode switch 50 - Base cover
60 - Hinge axis

Claims (13)

It is installed facing the pedal of the vehicle located in the lower space of the driver's seat. It operates so as to cover the pedal of the vehicle so that the driver can not operate the pedal in the autonomous driving situation. A pedal guide operable to be released; And
And an actuator connected to the pedal guide to operate the pedal guide;
When the lower end of the pedal guide rotates to the rear with the driver, the pedal guide is located at the same height as the maximum protruding surface of the pedal or further protrudes rearward to cover the pedal;
Wherein when the lower end of the pedal guide rotates forward, the pedal passes through the guide hole and is exposed to the driver and simultaneously the covering by the pedal guide is released. The method according to claim 1,
A vehicle controller for controlling an operation of the actuator; And
And a traveling mode switch for generating an autonomous traveling signal or a manual traveling signal by an operation of the driver and delivering the autonomous traveling signal or the manual traveling signal to the vehicle controller. The method according to claim 1,
A base cover is fixedly mounted on a vehicle body panel or a cowl crossbar forming the driver's seat lower space;
Wherein an upper portion of the pedal guide is rotatably mounted on the base cover in a forward and backward direction about a hinge axis and an actuator is fixedly installed. The method according to claim 1,
Wherein the pedal guide has a plurality of guide holes formed therein to prevent the pedal guide from interfering with the pedal when the pedal guide is operated. The method according to claim 1,
The actuator is a linear motor in which the mover moves in a straight line;
Wherein the mover of the linear motor and the upper end of the pedal guide are connected through a motor rod. delete The method of claim 3,
Wherein the pedal guide is bent and protruded toward the front side of the pedal with respect to the base cover with respect to the base cover so that the foot space of the driver can be secured while minimizing the infiltration of the driver's seat lower space by the pedal guide Pedal operation safety device for autonomous vehicle. The method of claim 5,
A rod hole through which the motor rod passes is formed at the upper end of the pedal guide;
Wherein the rod hole is formed as a slot hole extending vertically so as to absorb a linear movement locus of the motor rod. The method according to claim 1,
Wherein the pedal guide is the same as the maximum protruding surface of the pedal, or further protrudes rearward so that the pedal as a reference when covering the pedal is a brake pedal. delete delete delete delete
KR1020150088242A 2015-06-22 2015-06-22 Safety apparatus for operating pedal of autonomous driving vehicle KR101694014B1 (en)

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JP2020131923A (en) * 2019-02-20 2020-08-31 本田技研工業株式会社 Occupant attitude adjustment device and pedal device
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KR20220164863A (en) * 2021-06-04 2022-12-14 현대자동차주식회사 Foldable pedal apparatus for autonomous driving vehicle and operating controlling method thereof
US11613295B1 (en) 2021-09-30 2023-03-28 Ford Global Technologies, Llc Interior system of a vehicle
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US10889226B1 (en) 2019-10-14 2021-01-12 Ford Global Technologies, Llc Vehicle pedal cover

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