KR101193798B1 - Method and Apparatus for Automatic Steering Control for Vehicle - Google Patents

Abstract

The present invention relates to a method for automatically steering a vehicle and an apparatus thereof.

The present invention provides a location information receiver for receiving location information of a vehicle; An electronic control device that receives the position information from the position information receiver and generates a steering command to minimize the error between the position information and a predetermined designated driving path; An EPS control unit for receiving the steering command and generating a steering output; A steering output control unit configured to control the steering output so that the overshoot is attenuated and output; And a steering motor which receives the steering output to steer the vehicle.

According to the present invention, the vehicle automatically runs the driving route specified by the automatic steering control using the position information with a minimum trajectory error, and in addition to the automatic steering, steering generated due to the overshoot by the automatic steering control. There is an effect of reducing the vibration of the wheel.

Unmanned vehicles, automatic driving, vibration reduction, GPS

Description

Vehicle steering method and apparatus therefor {Method and Apparatus for Automatic Steering Control for Vehicle}

The present invention relates to a method for automatically steering a vehicle and an apparatus thereof. More specifically, the vehicle automatically runs the driving route specified by the automatic steering control using the position information with a minimum trajectory error, and in addition to the automatic steering, steering generated due to the overshoot by the automatic steering control. The present invention relates to a vehicle automatic steering method and apparatus for reducing vibration of a wheel.

For the convenience of the driver in driving the vehicle, and in some cases, it is possible to drive by automatically applying driving assistance to the electric power steering (EPS) system even if the driver is not riding. How to drive a vehicle.

The conventional method of using a sensor such as a vision sensor in detecting a driving route in auto steering requires a large amount of computation to analyze the data required to determine the route, so that a vehicle traveling fast requires a high performance processor and a high memory capacity. The problem arises.

In addition, when driving by an auto steering control using an unmanned vehicle, in some cases, an error such as lane recognition error or obstacle recognition may cause the vehicle to deviate from a given driving path.

Failure to prevent the vehicle from escaping the route may cause traffic accidents, so the driver should ride and assist in steering to prepare for safety on the route.

1 is a view showing a conventional automatic steering device.

As shown in FIG. 1, a conventional automatic steering apparatus includes an EPS controller 102, an EPS motor 104, a vision sensor 106, and a feedback controller 108.

The feedback controller 108 grasps the driving route of the vehicle, sends a steering command to the EPS controller 102, receives the steering command of the EPS controller 102, generates a steering output, and controls the EPS motor 104 to control the vehicle. Will be performed. The vision sensor 106 detects the position of the vehicle according to the steering result and transmits the detection signal to the feedback control unit 108. The feedback control unit 108 uses the detection signal to grasp the driving path and EPS again the steering command. It is sent to the control unit 102.

2 is a diagram illustrating a steering command and a steering output generated in a conventional automatic steering apparatus.

As illustrated in FIG. 2, the conventional automatic steering apparatus overshoots the steering output of the EPS control unit 102 in preparation for a steering command which grasps the driving trace and feeds back the EPS control unit 102 during the driving control by the automatic steering. And vibration may occur.

Even if the vehicle is steered by the automatic steering method by the automatic control, the driver needs to assist the steering in order to prevent the risk of an accident due to an error in the steering control resulting from the departure of the given driving route.

That is, the steering by the automatic steering and the steering of the driver are overlapped (overriding), so that the driving by the automatic steering is performed and the steering by the driver is also overlapped.

However, when the overshoot and vibration occurs in the steering output of the EPS control unit 102, the vibration is transmitted to the steering wheel, and the driver feels the vibration by hand to feel the discomfort in steering, and the convenience of driving and the vehicle. Problems with safe driving may occur.

In order to solve the above-described problems, the present invention, the vehicle is auto-driving the driving route specified by the automatic steering control using the position information with a minimum trajectory error, in addition to the automatic steering, the over-over by the automatic steering control The purpose is to reduce the vibration of the steering wheel caused by the chute.

In order to achieve the above object, the present invention provides an automatic steering apparatus for a vehicle, comprising: a position information receiver for receiving position information of the vehicle; An electronic control unit (ECU) configured to receive the position information from the position information receiver and generate a steering command to minimize the error between the position information and a predetermined designated driving path; An EPS control unit for receiving the steering command and generating a steering output; A steering output control unit configured to control the steering output so that the overshoot is attenuated and output; And a steering motor which receives the steering output to steer the vehicle.

In order to achieve the above object, the present invention provides a method for automatically steering a vehicle, comprising the steps of: (a) receiving location information of the vehicle; (b) receiving the position information and generating a steering command to minimize the error between the position information and a predetermined designated driving route; (c) receiving a steering command and generating a steering output such that overshoot is attenuated; And (d) steering the vehicle by receiving the steering output.

According to the present invention, the vehicle automatically runs the driving route specified by the automatic steering control using the position information with a minimum trajectory error, and in addition to the automatic steering, steering generated due to the overshoot by the automatic steering control. There is an effect of reducing the vibration of the wheel.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention unclear.

3 is a diagram illustrating an automatic steering device according to an embodiment of the present invention.

As shown in FIG. 3, the automatic steering apparatus according to an embodiment of the present invention includes an EPS controller 102, an EPS motor 104 serving as a steering motor, a steering output controller 302, and a GPS serving as a location information receiver. A receiver 306 and an Electronic Control Unit (ECU) 308.

The GPS receiver 306 receives position information of the host vehicle from the GPS satellites.

The ECU 308 generates a steering command by using the position information received from the GPS receiver 306 to travel so that an error between the position information and the predetermined designated driving path is minimized.

The designated driving path, the P gain map, the H gain map, and the like are stored in the memory of the ECU 308 and may be referred to during steering control.

The section in which the vehicle is to be driven is predetermined, and the entire driving section may consist of a plurality of straight sections and a plurality of turning sections. In the present embodiment, it is assumed that only the straight section is automatically driven, and when the own vehicle enters the turning section, the automatic steering device according to the exemplary embodiment of the present invention stops the operation and waits to enter the straight section. In the turning section, the driver can steer by steering.

 The designated driving route is a preset driving trajectory for the own vehicle to travel, and the designated driving route may include information on the length and driving direction of the straight section for each straight section.

The ECU 308 extracts a path error and a direction error with the designated trajectory from the positional information and generates a steering command to minimize an error with the preset designated trajectory.

The ECU 308 calculates a route error and a direction error using the information received from the GPS receiver 306.

For reference, the ECU 308 may steer the straight line section by feeding back the current position of the host vehicle at every control timing period of the internal processor.

Meanwhile, the steering command may be generated by adding a value obtained by multiplying a path error by a P gain and a value obtained by multiplying a direction error by a H gain. Here, the P gain map may be set to obtain a P gain specified for the calculated path error value, and the H gain map may be set to obtain an H gain specified for the calculated direction error value.

That is, in calculating the steering command according to the formula (steering command = P gain * path error + H gain * direction error), the ECU 308 refers to the P gain map to obtain the P gain and obtains the H gain map. The H gain can be obtained by referring.

The P gain map may have a value of 0 when the path error is 0 and increase in proportion to the path error value. The H gain map may be 0 when there is no error in the progress direction, and then the magnitude of the direction error value. It may be set to have a value that increases in proportion to, and may have a value that is differently tuned according to the type of vehicle. Therefore, when the path error and the direction error are each 0, the steering command may also be commanded to maintain 0, that is, the current steering state.

For example, if the P gain value is set to the direction error * 2, when the driving direction of the vehicle is changed due to the road condition or the like and the direction error becomes 10 degrees, the P gain value due to the direction error becomes 20 and the designated driving path The steering command may be 20 degrees in a direction closer to the driving direction of the vehicle, and the steering command angle may decrease as the direction of the vehicle approaches the driving direction of the original designated driving path.

For example, if the H gain value is set to a path error * 40, when the path of the vehicle has a path error that is 0.5 m away from the designated driving path due to the road condition, the path error may occur. By the H gain value of 20, the steering command may be 20 degrees in a direction closer to the designated driving path, and the steering command angle may decrease as the path of the vehicle approaches the designated driving path.

The EPS controller 102 receives a steering command from the ECU 308 and generates a steering output. The steering output control unit 302 controls the steering output so that the overshoot is attenuated.

If the steering output control unit 302 does not operate, the EPS control unit 102 generates a steering output with a large overshoot, and the steering output control unit 302 controls the steering output current flowing to the EPS motor 104 to be attenuated. Reduce the output overshoot.

The steering output controller 302 adjusts the gain of the steering output in such a manner that a control current is applied to the EPS controller 102 in parallel from the outside or the steering output flowing to the EPS motor 104 does not cause an overshoot. Can be attenuated.

According to an exemplary embodiment, the steering output control unit 302 may be connected in series with the EPS control unit 102 and the EPS motor 104 to reduce the steering output.

4 is a view showing a steering command and a steering output generated in the automatic steering apparatus according to an embodiment of the present invention.

As shown in FIG. 4, the steering output control unit 302 generates a steering output to transmit the EPS motor 104 so that an overshoot does not occur.

The steering output controller 302 adjusts the gain of the steering output in such a manner that a control current is applied to the EPS controller 102 in parallel from the outside or the steering output flowing to the EPS motor 104 does not cause an overshoot. Can be attenuated.

The steering output control unit 302 can determine by experimentally tuning the amount of control current flowing to the EPS control unit 102, and experimentally tuning even when the gain value is determined so as to attenuate (or damper) the steering output. By determining the optimum value, the overshoot of the steering output can be attenuated.

The EPS motor 104 may execute steering of the host vehicle by receiving a steering output from the EPS controller 102 and driving a steering actuator (not shown) of the host vehicle.

The present invention can be applied regardless of whether the EPS system including the EPS control unit 102, the steering output control unit 302 and the steering actuator 104 is a column type (CEPS) or a rack type (REPS).

5 is a flowchart illustrating an automatic steering method according to an embodiment of the present invention.

FIG. 5 illustrates a case in which the driving section is a straight section. If the driving section is not a straight section, the driver directly steers without steering control.

As shown in Figure 5, the automatic steering method according to an embodiment of the present invention, the position information receiving step (S502), path error and direction error calculation step (S504), steering command calculation step (S506), steering output generation step The vehicle may be controlled by performing the steering operation S508 and the steering operation S510.

3, 4 and 5 will be described in detail as follows.

The GPS receiver 306 performs the position information receiving step S502, and the ECU 308 performs the path error and direction error calculating step S504 and the steering command calculating step S506.

The steering output generation step S508 is performed by the EPS control unit 102 and the steering output control unit 302, and the steering step S510 is performed by the EPS motor 104 to drive steering by driving the steering actuator of the own vehicle. .

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

According to the present invention, the vehicle automatically runs the driving route specified by the automatic steering control using the position information with a minimum trajectory error, and in addition to the automatic steering, steering generated due to the overshoot by the automatic steering control. There is an effect of reducing the vibration of the wheel.

1 is a view showing a conventional automatic steering device.

2 is a diagram illustrating a steering command and a steering output generated in a conventional automatic steering apparatus.

3 is a diagram illustrating an automatic steering device according to an embodiment of the present invention.

4 is a view showing a steering command and a steering output generated in the automatic steering apparatus according to an embodiment of the present invention.

5 is a flowchart illustrating an automatic steering method according to an embodiment of the present invention.

Description of the Related Art

102: EPS control unit 104: EPS motor

106: vision sensor 108: feedback control unit

302: steering output control unit 306: GPS receiver

308: ECU

Claims (6)

In the auto steering device of a vehicle, A location information receiver for receiving location information of the vehicle; An electronic control unit (ECU) configured to receive the position information from the position information receiver and generate a steering command to minimize the error between the position information and a predetermined designated driving path; An EPS control unit for receiving the steering command and generating a steering output; A steering output control unit configured to control the steering output so that the overshoot is attenuated and output; And A steering motor for steering the vehicle by receiving the steering output. To include, the electronic control device, A vehicle comprising: extracting a path error and a direction error with the designated driving path from the position information, and adding the value obtained by multiplying P gain by the path error and H gain by the direction error to generate the steering command. Automatic steering device. delete The method of claim 1, The P gain or the H gain, The vehicle's automatic steering apparatus, which is obtained by referring to a map set to calculate a gain value for an input error value. In the auto steering method of the vehicle, (a) receiving location information of the vehicle; (b) receiving the position information and generating a steering command to minimize the error between the position information and a predetermined designated driving route; (c) receiving a steering command and generating a steering output such that overshoot is attenuated; And (d) steering the vehicle by receiving the steering output; It includes, step (b), A vehicle comprising: extracting a path error and a direction error with the designated driving path from the position information, and adding the value obtained by multiplying P gain by the path error and H gain by the direction error to generate the steering command. Auto steering method. delete 5. The method of claim 4, The P gain or the H gain, And a gain value for an input error value is obtained by referring to a map configured to calculate a gain value.

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