KR100308946B1 - System and method for controlling speed change of unmanned vehicle - Google Patents

Abstract

PURPOSE: A system and a method for controlling the speed change of an unmanned vehicle are provided to offer convenience to a driver by automatically changing a speed range to a target speed range. CONSTITUTION: A vehicle travel state sensing unit(10) outputs a specific electrical signal by receiving a signal outputted depending on the travel state of a vehicle. A control unit(20) outputs a control signal for automatically or manually changing a speed range to a target speed range by automatically operating a clutch pedal depending on the choice of a driver. A drive unit(30) automatically drives a clutch by receiving the control signal outputted from the control unit and automatically or manually drives a speed range.

Description

Shift control device and method of driverless vehicle

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle, and more particularly, to a shift control apparatus and a method of a driverless vehicle capable of manually and automatically operating a shift operation in accordance with a driver's choice in a vehicle in which a shift stage is operated in an unmanned manner.

In general, a vehicle means that the shift stage is selected by the driver for the power obtained by a gasoline engine, a diesel engine, or an LPG engine, or the shift stage is automatically set by the vehicle speed and the opening amount of the throttle valve. Achieve.

However, as the times change and the development of the vehicle becomes more active, certain outputs are output according to various driving conditions such as the distance and speed between vehicles by sensors attached to the vehicle, without the driver directly driving according to the driver's choice. By driving the vehicle unattended by a computer mounted on the vehicle such that the driver directly drives the vehicle by determining the signals of the driver, an unmanned vehicle capable of driving convenience and safe driving of a driver has been developed.

Therefore, conventionally, a method in which a driver can perform mechanical automatic operation without performing an operation of a shift stage in an unmanned vehicle operating as described above is described in 'Korean Patent Application No. 96-21679 (Title: Automatic Transmission System of Manual Transmission Vehicle'). This is described in detail.

However, in the prior art, when the driver attempts to operate the gear shift stage while driving, the driver must step on the clutch pedal so that the shift stage automatically shifts to the target shift stage, thereby failing to realize a completely unmanned vehicle. There was this.

SUMMARY OF THE INVENTION An object of the present invention is a method of manually operating a shift stage without stepping on a clutch pedal according to a driver's shift stage manual / automatic shift selection in an unmanned vehicle, and the shift stage is automatically shifted to a shift stage that automatically targets the shift stage according to the vehicle speed. The present invention provides an unmanned vehicle shift control apparatus and method for increasing driver convenience, enhancing stability, and developing a completely unmanned vehicle.

In order to achieve the above object, the present invention provides an unmanned vehicle in which a driver can travel to a target point without directly driving a vehicle, and receives a signal that is varied and output according to a driving state of the vehicle as a predetermined electric signal. Vehicle driving state sensing means for outputting; Receives and reads the electric signal output from the vehicle driving state sensing means and automatically operates the clutch pedal according to the driver's shift operation selection. The shift operation is a predetermined control for automatically or manually shifting to a target shift stage. Control means for outputting a signal; It is characterized in that it comprises a drive means for automatically driving the clutch by receiving a signal from the control signal output from the control means, and automatically or manually drive the shift stage to the target shift stage.

In addition, the present invention in order to achieve the above object in the shift control method of the unmanned vehicle that can be driven to a target point without the driver directly driving the vehicle, the mode for shifting by the driver to the manual shift mode Determining an operation state of the clutch and outputting a predetermined control signal for operation of the clutch to a clutch actuator as a driving means when the operation state of the clutch is not in an on state;

Determining the position of the shifting stage shifted by the driver when the clutch is automatically turned on by the control signal output to the clutch actuator, and determining whether the shifting position is at the same shifting stage as the shifting lever; And outputting a predetermined control signal to the clutch actuator as a driving means for automatically releasing the operation state of the clutch when the position of the shift stage shifted by the driver and the position of the shift lever are the same. It features.

1 is a block diagram of a shift control apparatus of an unmanned vehicle according to an exemplary embodiment of the present invention.

2 is a configuration of a clutch actuator of an unmanned vehicle according to an embodiment of the present invention.

3 is a flowchart illustrating a shift control method for an unmanned vehicle according to an exemplary embodiment of the present invention.

Figure 4 is a block diagram of a transmission of an unmanned vehicle according to an embodiment of the present invention.

Figure 5 is a porter interrupter configuration of the driverless vehicle transmission apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. While many specific details, such as the following description and the annexed drawings, are shown to provide a more general understanding of the invention, these specific details are illustrated for the purpose of explanation of the invention and are not meant to limit the invention thereto. And a detailed description of known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

1 is a block diagram of a shift control apparatus of an unmanned vehicle according to an exemplary embodiment of the present invention. 2 is a configuration of a clutch actuator of an unmanned vehicle according to an embodiment of the present invention. 3 is a flowchart illustrating a shift control method of an unmanned vehicle according to an exemplary embodiment of the present invention. 4 is a configuration diagram of a transmission of an unmanned vehicle according to an exemplary embodiment of the present invention. 5 is a configuration diagram of a porter interrupter of the driverless vehicle transmission apparatus according to the exemplary embodiment of the present invention.

Referring to Figure 1, the configuration of the shift control apparatus of an unmanned vehicle according to an embodiment of the present invention,

A vehicle driving state sensing means 10 which receives a signal that is variable and output according to a driving state of the vehicle and outputs the signal as a predetermined electric signal;

To receive and read the electric signal output from the vehicle driving state detection means 10 to automatically operate the clutch pedal operation according to the driver's shift operation selection so that the shift operation is automatically or manually shifted to the target shift stage. Control means 20 for outputting a predetermined control signal;

It is composed of a driving means 30 for automatically driving the clutch by receiving the control signal output from the control means 20, and automatically or manually driving the gear shift stage to the target gear shift stage.

In the above, the vehicle driving state detection means 10,

As shown in FIG. 5, the X-axis photo interrupter 11 outputs a predetermined signal when the position is changed according to the X-axis operating state;

A Y-axis photo interrupter 12 for outputting a predetermined signal when the position is changed according to the Y-axis operating state;

An automatic / manual switching switch 13 for outputting a predetermined signal by changing an automatic / manual position according to a driver switching operation state;

A clutch switch 14 for comparing a value that is variable and output according to the operation state of the clutch to determine a clutch operation on / off state and outputting a predetermined clutch operation signal;

A vehicle speed detector 15 which detects a signal output according to a vehicle traveling speed and outputs a predetermined electric signal;

The clutch air pressure sensor 16 detects air pressure that varies according to the operation state of the clutch and outputs a predetermined electric signal.

Also in the above, the drive means 30 is

An X-axis drive motor 31 for moving the shift stage to the X-axis of the target shift stage by the shift control signal output from the control means 20;

A Y-axis drive motor 32 for moving the shift stage to the Y-axis of the target shift stage by the shift control signal output from the control means 20;

It consists of a clutch actuator 33 for operating the clutch on / off by the control signal output from the control means 20.

In the above, the clutch actuator 33 is

As shown in FIG. 2, the main vacuum tank 3 and the auxiliary vacuum tank 4 are connected to each other so that an operation state is changed by a control signal output from the control means 20 to vacuum the master cylinder 1. A third solenoid valve 5 for turning on the clutch;

A second solenoid valve 6 which changes the operation state according to the control signal output from the control means 20 when the speed change is completed and instantaneously introduces a large amount of atmospheric pressure into the master cylinder 1 in a vacuum state;

After the variable operation of the second solenoid valve 6 is changed according to the control signal output from the control means 20, the first solenoid valve for turning off the operation of the clutch by gradually introducing atmospheric pressure into the master cylinder 1. It consists of (7).

A shift control method of a shift control apparatus for an unmanned vehicle having the above configuration will be described with reference to FIG. 3.

When power is supplied to the unmanned vehicle, all used variables are initialized, and the control means 20 reads and switches the position of the shift selector switch located in the shift lever shown in FIG. 4 to determine the driver's driving operation state. It is determined whether the state of the switch is a manual shift state (S100).

When the driver performs the manual shift, when it is determined that the state of the shift selector switch is set to the manual shift state to drive, the control means 20 determines that the driver's driving intention is the manual shift driving intention and is attached to FIG. 2. The clutch operation state is detected by the signal output from the illustrated clutch air pressure sensing unit 16 to determine whether the clutch operation state is on (S110).

If it is determined that the clutch operating state is not in the above state, that is, the clutch operating state is determined to be in the off state, the control means 20 outputs a predetermined control signal to the driving means 30 to turn on the clutch (S120). .

The driving means 30 varies the operating state of the third solenoid valve 5 of the clutch actuator 33 shown in FIG. 2 by the predetermined control signal output from the control means 20. Atmospheric pressure introduced into the master cylinder 1 is expelled by the main vacuum tank 3 and the auxiliary vacuum tank 4 to maintain a vacuum state.

As the master cylinder 1 is maintained in a vacuum state, the piston 2 located in the master cylinder 1 is operated to turn on the clutch located between the engine and the transmission to block power transmitted from the engine.

At this time, the driver operates the shift lever 40 shown in FIG. 4 to change the shift stage to a shift stage suitable for the driving vehicle speed.

Accordingly, as the shift stage is moved from the previous shift stage to the target shift stage, the positions of the photo interrupt 11 of the X-axis and the photo interrupt 12 of the Y-axis shown in FIG. 5 are changed to provide a predetermined signal. Output to the control means 20.

Therefore, the control means 20 receives the signals output from the porter interrupt 11 of the X-axis and the porter interrupt 12 of the Y-axis of the vehicle driving state sensing means 10 to determine the position of the shift gear stage. By reading 1, the current position of the shift lever 40 is read to determine whether the positions of the shift stage and the shift lever are the same (S130 and S140).

If it is determined that the position of the shift lever 40 and the position of the shifting stage in operation are the same, the control means 20 outputs a control signal for releasing the operation-on state of the clutch to the driving means 30 (S150). .

When a control signal for releasing the operation on state of the clutch is output from the control means 20, the clutch actuator 33, which is the driving means 30, causes the second solenoid valve 6 to instantly change the operating state to be vacuumed. A large amount of atmospheric pressure (e.g. 80%) flows into the master cylinder 1 which is in a state, and the operating state of the first solenoid valve 7 is gradually changed to provide atmospheric pressure (e.g. 20%) to the master cylinder 1. By slowly supplying, the driver completely releases the vacuum state in the master cylinder 1 in the same state as maintaining the anti-clutch operation state, operates the clutch located between the engine and the transmission, turns off the clutch, and is transmitted from the engine. Transmits power to the transmission.

As described above, the method of releasing the vacuum state in the master cylinder 1 is applied only in the step of shifting the shift stage from the neutral state to the first speed to start the vehicle.

When the other vehicle starts and the shift stage is changed to one speed or more, the control means 20 controls only the operation of the second solenoid valve 6 of the clutch actuator 33, and the operation of the first solenoid valve 7 Do not control.

However, if the position of the shift lever 40 and the position of the shift stage are not the same in step S140, the control means 20 returns to the step of reading the position of the shift stage and rereads the position of the current shift stage. To judge the current position of the shift lever 40 and the current position of the shift stage.

In addition, when the operating state of the clutch is in the operating state in the step (S110), the control means 20 performs the step (S130) of reading the position of the shift stage according to the above Table 1.

However, in the step S100, when the driver sets the shift switching switch to not in the manual position, that is, in the automatic position, the control means 20 determines that the driver's shift intention is an automatic shift intention and according to the vehicle driving state. The output vehicle speed is read (S101).

It is determined whether the vehicle speed of the traveling vehicle read above is equal to the set reference vehicle speed according to the shift stage stored in the memory of the control means 20 (S102).

The vehicle speed according to the shift stage stored in the memory may be set, for example, as shown in Table 2 below.

That is, in the case where the vehicle speed is 22 km while the driving speed is 1 speed, the control means 20 sets the speed 2, which is the speed corresponding to 22 km in the memory.

Therefore, the control means 20 outputs a predetermined control signal to the clutch actuator 33 of the driving means 30 in order to shift the speed change stage to two speeds (S103).

The clutch actuator 33 receives a signal output from the control means 20 to vary the operation of the third solenoid valve 5 to turn on the clutch, and to maintain the master cylinder 1 in a vacuum state so as to operate the engine. The clutch located between the gearbox and the transmission is turned on to cut off the power transmitted from the engine.

At this time, the control means 20 is the X-axis drive motor 31 and the Y-axis drive motor 32 of the drive means 30 shown in FIG. In step S104, a predetermined control signal is outputted.

By the predetermined control signal output from the control means 20, the X-axis drive motor 31 and the Y-axis drive motor 32 are driven to shift the gear stage to the target shift position.

As the X-axis drive motor 31 and the Y-axis drive motor 32 are driven to the target shift position, the X-axis photo interrupter 11 and the Y-axis photo interrupter shown in FIG. The position of 12 is varied and supplied to the control means 20.

The position of the shift stage of the photo interrupt signal supplied above is determined by Table 1.

Therefore, the control means 20 performs the step (S130) of reading the shift stage position after outputting the driving signal to the shift stage converting motor in the step S104, and is the position of the traveling shift stage and the shift lever 40 the same? When the driving shift stage and the shift lever 40 have the same position, the control signal for releasing the operation on state of the clutch is output to the driving means 30.

The above embodiments are described as the most preferred embodiments, and the present invention is not limited thereto, and the embodiments can be easily described from the above embodiments.

As described above, it is possible to provide an unmanned vehicle capable of shifting the shift stage manually or automatically according to the driver's selection according to the present invention, thereby increasing driver convenience, promoting stability and developing a completely unmanned vehicle. It has an effect.

Claims (13)

In an unmanned vehicle in which a driver can drive to a target point without driving the vehicle directly, Vehicle driving state detection means for receiving a signal that is variable and output according to the driving state of the vehicle and outputs the signal as a predetermined electric signal; Receives and reads the electric signal output from the vehicle driving state sensing means and automatically operates the clutch pedal according to the driver's shift operation selection. The shift operation is a predetermined control for automatically or manually shifting to a target shift stage. Control means for outputting a signal; Shift control of an unmanned vehicle, characterized in that it comprises a drive means for automatically driving the clutch by receiving a control signal output from the control means, and automatically or manually drive the shift stage to the target shift stage. Device. According to claim 1, Vehicle driving state detection means An X-axis photo interrupter for outputting a predetermined signal when the position is changed according to the X-axis operating state; A Y-axis photo interrupter for outputting a predetermined predetermined signal when the position is changed according to the Y-axis operating state; An automatic / manual switching switch for outputting a predetermined signal by changing an automatic / manual position according to a switch switching operation state of a driver; A clutch switch that compares a value that is variable and output according to an operation state of the clutch to determine a clutch operation on / off state and outputs a predetermined clutch operation signal; A vehicle speed detector configured to detect a signal output according to a vehicle traveling speed and output a predetermined electric signal; And a clutch air pressure sensing unit configured to output a predetermined electric signal by sensing an air pressure variable according to an operation state of the clutch. The method of claim 1, wherein the driving means An X-axis drive motor for moving the shift stage to the X axis of the target shift stage by a shift control signal output from the control means; A Y-axis drive motor for moving the shift stage to the Y-axis of the target shift stage by the shift control signal output from the control means; And a clutch actuator for operating the clutch on / off by the control signal output from the control means. 4. The clutch actuator of claim 3 wherein the clutch actuator is A third solenoid valve connected to the main vacuum tank and the auxiliary vacuum tank so that an operation state is changed by a control signal output from the control means to vacuum the master cylinder to operate the clutch; A second solenoid valve configured to change a state of operation according to a control signal output from the control means when a shift is completed, to instantly introduce a large amount of atmospheric pressure into a master cylinder in a vacuum state; The operation state is changed after the variable operation of the second solenoid valve by the control signal output from the control means to gradually introduce atmospheric pressure into the master cylinder, characterized in that it comprises a first solenoid valve for turning off the clutch Shift control of unmanned vehicles. In a shift control method of an unmanned vehicle that can be driven to a target point without the driver directly driving the vehicle, When the mode for shifting is changed to the manual shift mode by the driver, the clutch determines the operation state of the clutch and outputs a predetermined control signal for the operation of the clutch to the clutch actuator as the driving means when the operation state of the clutch is not in the on state. Making a step; Determining the position of the shifting stage shifted by the driver when the clutch is automatically turned on by the control signal output to the clutch actuator, and determining whether the shifting position is at the same shifting stage as the shifting lever; And outputting a predetermined control signal for automatically releasing the operation state of the clutch to the clutch actuator as the driving means when the position of the shift stage shifted by the driver in the above step is the same as the position of the shift lever. Shift control method for an unmanned vehicle characterized in that. 6. The driverless vehicle according to claim 5, wherein the driver determines the position of the shift stage after shifting the shift stage with the shift lever when the operation state of the clutch is in the on state. Shift control method. The method of claim 5, wherein the operation state of the clutch actuator is operated by the predetermined control signal outputted from the control means to change the operating state of the third solenoid valve so as to discharge the atmospheric pressure inside the master cylinder by the main vacuum tank and the auxiliary vacuum tank. And maintaining a vacuum state to operate a piston to turn on a clutch located between the engine and the transmission to block power transmitted from the engine. The method of claim 5, wherein the shift position of the shift stage is determined by shifting the position of the photo interrupt on the X-axis and the photo interrupt on the Y-axis according to the operation of the gear shift. A shift control method for an unmanned vehicle comprising the step of determining the end position.

The master cylinder according to claim 5, wherein the method of releasing and releasing the clutch is to change the operation state of the second solenoid valve instantaneously in a vacuum state when a predetermined control signal output from the control means is output to the clutch actuator as the driving means. At the same time, a large amount of atmospheric pressure is introduced, and the operating state of the first solenoid valve is gradually changed to gradually return the piston in the master cylinder to its original position, and at the same time, the vacuum state is completely released to couple the clutch located between the engine and the transmission to the engine. And driving the vehicle by transmitting the power transmitted from the engine to the transmission. 9. The variable operation of claim 8, wherein the variable operation of the first solenoid valve of the clutch actuator during the clutch operation off is variably operated only at the step of coupling the shift stage to the first speed when the vehicle starts in the shift stage neutral state. In the shift control method of the unmanned vehicle, characterized in that it comprises a variable operation of the clutch by operating only the third solenoid valve and the second solenoid valve. The method of claim 5, further comprising: determining a vehicle speed of the vehicle in operation when the driver switches the shift mode to the automatic conversion mode, and setting a target shift stage according to the vehicle speed of the vehicle being driven; Outputting a predetermined control signal to a clutch actuator as a driving means for operating the clutch to shift the shift stage to the target shift stage as the target shift stage is set in the step; Outputting a drive signal to a shift stage converting motor for shifting the shift stage to the target shift stage when the control signal is output to the clutch actuator in the step and the clutch is turned on; Determining whether the shifting stage is the same as that of the shift lever when the shift stage is shifted to the target shift stage by outputting a motor driving signal for converting the shift stage to the target shift stage in the step; ; And outputting a predetermined control signal for turning off the operation state of the clutch when the shift position of the shift stage and the shift lever position are the same at the step. 12. The method of claim 11, wherein the method for setting a target shift stage of the shift stage according to the traveling speed includes setting a shift stage to shift the target shift stage when the driving vehicle speed is within a vehicle speed range of the shift stage set in the memory. A shift control method for an unmanned vehicle comprising the step of outputting a control signal. 12. The method of claim 11, wherein the method for shifting the gear shift stage to the target gear shift stage is performed by driving an X-axis drive motor and a Y-axis drive motor which are driving means by a predetermined control signal output from the control means. A shift control method for an unmanned vehicle comprising the step of varying the shift gear to a position to complete the shift.

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