KR101554324B1 - Vehicle control method - Google Patents

Abstract

According to an embodiment, a vehicle control method controls a vehicle having a steering shaft and a drive shaft using a vehicle control device installed outside the vehicle. The method comprises: an input step of receiving an amount and a direction of a force and a moment when a user applies at least one among the force and the moment to the vehicle control device; a calculation step of calculating the moving direction using the direction of the force, calculating a control speed using the amount of the force, and calculating a center of rotation using the direction and the amount of the force and the moment; and a control step of controlling a steering angle of wheels of the steering shaft based on at least one among the moving direction and the center of rotation to move the vehicle by the control speed.

Description

[0001] VEHICLE CONTROL METHOD [0002]

The present invention relates to a vehicle control method.

Conventionally, since the vehicle control device is disposed in the vehicle, the driver has to control the vehicle inside the vehicle. Therefore, in a situation such as when the vehicle is parked or when driving on an alley, the driver has a problem that it is difficult to confirm all the obstacles around the vehicle from inside the vehicle. In order to solve such a problem, a side mirror, an ultrasonic sensor and a rear camera have been conventionally used. However, since it is difficult to identify all the obstacles by these devices alone and the obstacles are not directly detected by eyes, .

Further, conventionally, in order to control the vehicle, various control devices such as a steering wheel, a shift lever, a brake pedal, and an accelerator pedal have been used to control the vehicle. For example, in order to move the vehicle back to the right, the driver had to figure out where to place the shift lever and figure out which way to turn the steering wheel. Therefore, conventionally, since the vehicle has to be logically controlled, there is a problem that control of the vehicle is not easy in the case of a driver.

Conventionally, since the driver has to control all the various control devices such as the steering wheel, the shift lever, the brake pedal and the accelerator pedal to control the vehicle, the driver does not free both hands and feet while controlling the vehicle, There was a problem that it was difficult to control the vehicle when it was lightly injured.

An object of the present invention is to provide a vehicle control method capable of intuitively confirming obstacles from the outside of a vehicle.

It is an object of the present invention to provide a vehicle control method capable of intuitively moving a vehicle by using a vehicle control device mounted outside the vehicle.

An embodiment of the present invention aims to provide a vehicle control method capable of controlling a vehicle with one hand.

A vehicle control method according to an embodiment is a vehicle control method for controlling a vehicle including a steering shaft and a drive shaft using a vehicle control device mounted outside the vehicle, An input step of inputting the direction of the force, the magnitude of the force, and the moment when one is applied; Calculating a moving direction using the direction of the force, calculating a control speed using the magnitude of the force, and calculating a turning center using the direction of the force, the magnitude of the force, and the moment; And controlling the steering angle of wheels of the steering shaft based on at least one of the moving direction and the turning center to move the vehicle to the control speed. .

Here, the calculating step may include calculating a velocity corresponding to the magnitude of the force, calculating an angular velocity corresponding to the moment, calculating the control velocity using the velocity, and determining a direction of the force, The turning center can be calculated.

The calculating step may adjust the turning center so as to be located on an extension of the driving shaft, if the turning center is not located on the extension line of the driving shaft.

Here, the control step may move the vehicle at a speed lower than the control speed if the turning center is not located on the extension line of the drive shaft.

Here, the moment suitable value is a magnitude of a moment when the turning center is located on the extension line of the drive shaft, and in the control step, when the input moment is smaller than the momentary value, And when the input moment is equal to the moment value, the vehicle is moved to the control speed, and when the input moment is larger than the moment value, the speed of the vehicle is increased to the moment It can be reduced in proportion to the size.

Wherein the control step moves the vehicle at a speed lower than the control speed when the turning center is located beyond the extension line of the driving shaft based on the position of the vehicle control device, And the extension of the drive shaft, the turning center can be positioned on the extension of the drive shaft.

Here, the moment appropriate value is a magnitude of a moment when the turning center is located on the extension line of the drive shaft, and in the control step, when the input moment is smaller than the momentary value, And when the input moment is equal to the moment value or when the input moment is larger than the moment value, the vehicle can be moved to the control speed.

Here, the control step may move the vehicle at a speed lower than the control speed if the turning center deviates from the maximum steering angle of the vehicle.

Here, when the user exerts a force on the vehicle control device, the control step may adjust the steering angles of the wheels equally based on the moving direction.

Here, when the user applies only the moment to the vehicle control device, the calculating step calculates an angular velocity corresponding to the moment, and the control velocity is calculated using the angular velocity, Position.

Here, the vehicle control device may be located closer to the steering shaft than the driving shaft.

Here, it is preferable that the step of confirming whether the vehicle is in the control state before the control step and the next step if the vehicle is in the control state; As shown in FIG.

According to the vehicle control method according to the embodiment, since the vehicle control device is mounted outside the vehicle, it is possible to intuitively confirm the obstacle and the route of the vehicle around the vehicle while controlling the vehicle, It is possible to control the vehicle more easily and more quickly than the conventional method using the steering wheel, the shift lever, the brake pedal, the accelerator pedal, etc., The user can intuitively move the vehicle because the direction of movement of the vehicle is determined in the direction of the vehicle and the speed of the vehicle is determined by the magnitude of the force applied by the user to the vehicle control device.

According to the vehicle control method according to the embodiment, the velocity and the angular velocity corresponding to the magnitude and the moment of the input force are calculated and the vehicle is controlled using the velocity and the angular velocity, so that the control of the vehicle can be made more precise.

According to the vehicle control method according to the embodiment, since the turning center which is not located on the extension line of the drive shaft is located on the extension line, the vehicle can be controlled even if the operation input from the user to the vehicle control apparatus is incorrect.

According to the vehicle control method according to the embodiment, when the moment to be inputted is smaller than the momentary value, the turning center is not located on the extension line of the drive shaft and the vehicle speed is made slower than the control speed. Therefore, If the input moment is larger than the momentary value, the turning center is not positioned on the extension line of the driving shaft, so that the speed of the vehicle can be controlled to the control speed It is possible for the user to recognize that the moment applied at present is greater than the momentary value, and the accident can be prevented by preventing the overspeed of the vehicle.

According to the vehicle control method according to the embodiment, when the input moment is smaller than the momentary value, since the speed of the vehicle is increased in proportion to the magnitude of the moment, the user recognizes that the moment applied at present is smaller than the momentary value The vehicle can be prevented from moving suddenly to prevent an accident, and when the input moment is equal to the moment value, the vehicle is moved to the control speed, so that the vehicle can be controlled at a speed to be controlled by the user When the moment to be inputted is larger than the momentary value, the vehicle speed is reduced in proportion to the magnitude of the moment. Therefore, the user can recognize that the moment applied at present is greater than the momentary value, It can prevent accidents.

According to the vehicle control method according to the embodiment, when the moment to be inputted is smaller than the momentary value, the turning center is located beyond the extension of the drive shaft from the position of the vehicle control device to make the vehicle speed slower than the control speed, The moment can be recognized by the user to be smaller than the momentary value and the accident can be prevented by preventing the vehicle from suddenly moving. If the input moment is larger than the momentary value, the turning center is shifted between the extension line of the drive shaft and the vehicle control device So that the speed of the vehicle can be easily maintained at the control speed and the overspeed of the vehicle can be prevented to prevent the accident.

According to the vehicle control method according to the embodiment, when the input moment is smaller than the momentary value, since the speed of the vehicle is increased in proportion to the magnitude of the moment, the user recognizes that the moment applied at present is smaller than the momentary value When the input moment is equal to the moment value or when the input moment is larger than the moment value, the vehicle is moved to the control speed. Therefore, when the user inputs the moment The vehicle can be controlled at a speed to be controlled, the speed of the vehicle can be easily maintained at the control speed, and the overspeed of the vehicle can be prevented to prevent an accident.

According to the vehicle control method according to the embodiment, when the turning center deviates from the maximum steering angle of the vehicle, the speed of the vehicle is made slow, so that it is possible for the user to recognize that the operation by the user is an erroneous operation, Thereby preventing the accident.

According to the vehicle control method according to the embodiment, even when the user exerts a force on the vehicle control device, the vehicle can be linearly moved in accordance with the direction of the force.

According to the vehicle control method according to the embodiment, even when the user applies only moment to the vehicle control device, the vehicle can be rotated by calculating the position of the vehicle control device at the turning center.

According to the vehicle control method according to the embodiment, since the vehicle control apparatus is positioned closer to the steering shaft than the drive shaft, it is easy to identify the turning center located on the extension line of the drive shaft.

According to the vehicle control method according to the embodiment, since it is confirmed that the vehicle is in a control state that can be controlled by the vehicle control device, it is possible to further prevent the vehicle theft.

1 shows a schematic diagram for controlling a vehicle using a vehicle control device.
Fig. 2 is a block diagram of the vehicle control device shown in Fig. 1. Fig.
3 is a flowchart showing a vehicle control method according to the embodiment.
4 is a view for explaining another example of the vehicle control device shown in Fig.
5 is a conceptual diagram for explaining a vehicle control method according to the first embodiment.
Figs. 6 to 8 are examples for explaining a method of causing the turning center of the vehicle control method according to the first embodiment to be located on the extension line of the drive shaft.
9 is a graph for explaining a method of controlling the speed of the vehicle according to the input moment.
10 is a graph for explaining another method of adjusting the speed of the vehicle according to the input moment.
Fig. 11 is another example of the graph shown in Fig. 10A.
Fig. 12 is another example of the graph shown in Fig. 10B.
13 is a diagram for explaining the maximum steering angle of the vehicle control method according to the first embodiment.
14 is a diagram for explaining the position of the vehicle control device of the vehicle control method according to the first embodiment.
15 is a conceptual diagram for explaining a vehicle control method according to the second embodiment.
16 is a view for explaining a case where a user exerts a force only on the vehicle control device in the vehicle control method according to the second embodiment.
17 is a diagram for explaining a case where a user applies only moments to a vehicle control device in the vehicle control method according to the second embodiment.

The following detailed description refers to the accompanying drawings which illustrate, by way of example, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention may be different but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

<Embodiment>

Fig. 1 shows a schematic view for controlling a vehicle using the vehicle control device according to the embodiment, and Fig. 2 is a block diagram of the vehicle control device shown in Fig.

Referring to Fig. 1, in the embodiment, the vehicle 200 can be controlled using the vehicle control device 100 mounted on the vehicle 200. Fig. Specifically, a user who wants to control the vehicle 200 inputs an input signal using the vehicle control device 100, and the vehicle control device 100 outputs an output signal corresponding to the input signal to the vehicle 200 . Thus, the vehicle 200 is controlled by the output signal.

2, the vehicle control apparatus 100 may include an input unit 110, a control unit 120, and an output unit 130. First, the input unit 110 inputs the direction (x, y) of the force, the magnitude F of the force, and the moment (moment) of the force when the user applies at least one of the force Fx and Fy and the moment to the vehicle control device 100 .

The control unit 120 can calculate the moving direction, the control speed, and the turning center c using the force direction (x, y), the force magnitude (F), and the moment. Specifically, the control unit 120 calculates the moving direction of the vehicle 200 using the force direction (x, y), calculates the control speed using the magnitude F of the force, and calculates the direction of the force x , y), the magnitude of the force (F), and the moment.

Here, the control unit 120 calculates the velocity v corresponding to the magnitude F of the force, calculates the angular velocity o corresponding to the moment, calculates the control velocity using the velocity v, The turning center c can be calculated using the direction (x, y), velocity (v) and angular velocity (?)

At this time, the starting point of the turning center line r is determined as the position of the vehicle control device 100, and the turning center line r is perpendicular to the speeds Vx and Vy. In addition, the length of the turning center line r can be calculated by the following equation.

&Lt; Equation &

Accordingly, the turning center c is located at the end point of the turning center line r.

The output unit 130 outputs the steering angle and the control speed of the wheels of the vehicle 200 to the vehicle 200. More specifically, the output unit 130 outputs the steering angle of the wheels of the steering shaft included in the vehicle 200 to the vehicle 200 based on at least one of the moving direction and the turning center c, As shown in Fig.

Here, the control speed may be slower than the user's walking speed for the sake of the user's safety, and preferably may be slower than the adult's walking speed.

Hereinafter, a vehicle control method according to the embodiment will be described.

3 is a flowchart showing a vehicle control method according to the embodiment.

1 and 3, a vehicle control method according to an embodiment is a method of controlling a vehicle 200 including a steering shaft and a drive shaft using a vehicle control device 100 mounted on the outside of the vehicle 200 (X, y), a magnitude (F), and a moment of a force when the user applies at least one of force Fx and Fy and moment to the vehicle control device 100 (X, y), calculating the control speed using the force magnitude (F), calculating the control direction using the direction of force (x, y), force A calculation step S20 of calculating a turning center c using a magnitude F and a moment and a steering angle of the wheels of the steering shaft based on at least one of a moving direction and a turning center c, And a control step (S30) for shifting to a control speed.

Here, the calculating step calculates the velocity v corresponding to the magnitude F of the force, the angular velocity o corresponding to the moment, calculates the control velocity using the velocity v, and calculating the turning center c using the angular velocity (x, y), the velocity (v), and the angular velocity ([omega]).

As described above, according to the vehicle control method according to the embodiment, since the vehicle control apparatus 100 is mounted outside the vehicle 200, the obstacle around the vehicle 200 from outside the vehicle 200, The route can be intuitively confirmed and the vehicle 200 can be controlled only by the user applying at least one of the forces Fx and Fy and the moment to the vehicle control device 100. Thus, the steering wheel, the shift lever, It is possible to control the vehicle 200 more easily and more quickly than the conventional method using the accelerator pedal or the like and to control the moving direction of the vehicle 200 in the direction x and y of the force applied by the user to the vehicle control device 100 And determines the speed of the vehicle 200 by the magnitude F of the force applied by the user to the vehicle control device 100, there is an advantage that the user can intuitively move the vehicle.

Further, according to the vehicle control method according to the embodiment, since the vehicle 200 is controlled by calculating the velocity v and the angular velocity? Corresponding to the magnitude F of the input force and the moment, , The control of the vehicle 200 can be further precisely performed.

The vehicle control method according to the embodiment may further include a security step to execute the next step if it is confirmed that the vehicle 200 is in a control state that can be controlled by the vehicle control device 100 before the control step. Specifically, a plurality of vehicles may be provided with a port on which the vehicle control apparatus 100 is mounted, and the vehicle control apparatus 100 may be mounted on one of the plurality of vehicles. Therefore, when a person other than the user of the vehicle 200 attempts to control the vehicle 200 by mounting the vehicle control device 100 on the vehicle 200, the vehicle control device 100 confirms whether the vehicle 200 is in the control state . Here, the control state may be a state in which the vehicle key of the vehicle 200 is inserted into the starter slot, and the lock device may be released to the door of the vehicle 200.

Here, the method for confirming whether the vehicle 200 is in the control state that can be controlled by the vehicle control device 100 is not limited thereto, and may be set by various methods desired by the user.

As described above, according to the vehicle control method according to the embodiment, since it is confirmed that the vehicle 200 is in the control state that can be controlled by the vehicle control device 100, there is an advantage that it is possible to further prevent the vehicle theft .

4 is a view for explaining another example of the vehicle control device shown in Fig.

4, the vehicle control apparatus 100 may include a fixing unit 150 and a main body 160. [ Specifically, the fixing portion 150 may be located on the vehicle 200, and the body 160 may be located on the exterior of the vehicle 200. Here, the input unit 110, the control unit 120, and the output unit 130 shown in FIG. 2 may be included in the main body 160. At this time, the fixing unit 150 and the main body 160 can be wirelessly connected to transmit signals. Therefore, the main body 160 transmits a signal to the fixed portion 150, and the fixed portion 150 can output a signal to the vehicle 200. [ The main body 160 may be located within a predetermined distance (for example, a distance at which radio communication is possible) with the fixed portion 150 located on the vehicle 200. Here, the wireless connection may include all known wireless communication technologies. Here, the starting point of the turning center line r is the position of the fixing portion 150. [

Hereinafter, the first and second embodiments will be described for explaining that the vehicle control method according to the embodiment can be used for various vehicles.

&Lt; Embodiment 1 >

5 is a conceptual diagram for explaining a vehicle control method according to the first embodiment.

Referring to Fig. 5, the vehicle 300 according to the first embodiment includes a steering shaft 310 and a drive shaft 320. Fig.

The steering shaft 310 connects the steering wheel (not shown) and the front wheel 350. The steering shaft 310 rotates the front wheel 350 to the right or left in accordance with the rotation of the steering motor.

The drive shaft 320 connects the rear wheel 360 and a drive motor (not shown). The driving shaft 320 transmits the rotational power generated by the driving motor to the rear wheel 360.

The turning center c in the vehicle control method according to the first embodiment is located only on the extension line 330 of the drive shaft 320. [ Thus, in the vehicle control method according to the first embodiment, when the turning center c is not located on the extension line 330 due to an incorrect operation of the user, the process of making the turning center c be positioned on the extension line 330 . &Lt; / RTI &gt;

Hereinafter, various examples for causing the turning center c to be positioned on the extension line 330 will be described.

Figs. 6 to 8 are examples for explaining a method of causing the turning center of the vehicle control method according to the first embodiment to be located on the extension line of the drive shaft.

6A and 6B, if the turning center c1 is not located on the extension line 330, the length of the turning center line r can be increased or decreased. 6A, if the turning center line c1 is not located on the extension line 330, the length of the turning center line r is extended and then the intersection point of the turning center line r and the extension line 330 So that the turning center c2 can be positioned. 6B, if the turning center line c1 is not located on the extension line 330, the length of the turning center line r is reduced and then the turning center line r is extended to the intersection point where the turning center line r and the extension line 330 meet The turning center c2 can be positioned.

7A and 7B, if the turning center c1 is not located on the extension line 330, the arc with the radius of the turning center line r can be drawn. Specifically, if the turning center c1 is not located on the extension line 330, an arc with the radius of the turning center line r is drawn so that the turning center c2 is located at the intersection of the arc and the extension line 330 can do.

As shown in FIG. 8, if the turning center c1 is not located on the extension line 330, a vertical line perpendicular to the extension line 330 can be drawn from the turning center c1. Specifically, if the turning center c1 is not located on the extension line 330, a vertical line perpendicular to the extension line 330 is drawn from the turning center c1, and then the turning center c2 ) Can be located.

As described above, according to the vehicle control method of the first embodiment, since the turning center can be positioned on the extension line 330 if the turning center is not located on the extension line 330 of the drive shaft 320, There is an advantage that the vehicle 300 can be controlled even if the operation input to the vehicle control device 100 is incorrect.

Hereinafter, a method of controlling the speed of the vehicle according to the moment input in the vehicle control method according to the first embodiment will be described.

FIG. 9 is a schematic view for explaining a method of controlling a vehicle speed according to an input moment, and FIG. 10 is a graph for explaining a method of controlling a vehicle speed according to an input moment.

In the vehicle control method according to the first embodiment, when the turning center c is not located on the extension line 330, the speed of the vehicle 300 can be made slower than the control speed.

Specifically, when the moment input to the vehicle control device 100 is smaller than the momentary value and the turning center c1 is located beyond the extension line 330 with respect to the position of the vehicle control device 100 as shown in FIG. 9A, (300) is slower than the control speed. Here, the moment suitable value is the magnitude of the moment when the turning center is located on the extension line 330. When the moment input to the vehicle control device 100 is equal to the momentary value, the vehicle 300 is moved to the control speed when the turning center c1 becomes the turning center c2 located on the extension line 330. [ 9B, when the turning center c1 is positioned between the position of the vehicle control device 100 and the extension line 330, the moment 300, which is input to the vehicle control device 100, is larger than the momental value, Move it slower than the control speed.

As described above, according to the vehicle control method according to the first embodiment, if the input moment is smaller than the momentary value, the turning center is not located on the extension line 330, and the speed of the vehicle 300 is made slower than the control speed , It is possible for the user to recognize that the moment applied at present is smaller than the momentary value, and the accident can be prevented by preventing the vehicle 300 from moving suddenly. If the input moment is larger than the momentary value, the turning center is not located on the extension line 330, so that the speed of the vehicle 300 is made slower than the control speed. Therefore, There is an advantage that it is possible to prevent an overspeed of the vehicle 300 and to prevent an accident.

In the vehicle control method according to the first embodiment, when the moment input to the vehicle control device 100 is smaller than the momentary value, the speed of the vehicle 300 is increased in proportion to the magnitude of the moment, When the moment input to the vehicle control device 100 is equal to the momentary value, the vehicle 300 is moved to the control speed, and when the moment input to the vehicle control device 100 is larger than the momentary value, It can be reduced in proportion to the magnitude of the moment.

Specifically, referring to Fig. 10A, when the moment input to the vehicle control device 100 is smaller than the momentary value, the length of the turning center line r1 is longer than the length of the turning center line r2 as shown in Fig. 9A / r2 > 1), the vehicle control apparatus 100 increases the speed of the vehicle 300 in proportion to the magnitude of the moment. Further, when the moment input to the vehicle control device 100 increases and becomes equal to the momentary value (r1 / r2 = 1), the vehicle control device 100 moves the vehicle 300 at the control speed. 9B, the length of the turning center line r1 is shorter than the length of the turning center line r2 (0 < r1 / r2), as shown in Fig. 9B, when the moment input to the vehicle control device 100 further increases and is larger than the moment value. &Lt; 1), the vehicle control apparatus 100 reduces the speed of the vehicle 300 in proportion to the magnitude of the moment.

As described above, according to the vehicle control method according to the first embodiment, when the input moment is smaller than the momentary value, since the speed of the vehicle 300 is increased in proportion to the magnitude of the moment, It is possible for the user to recognize that the vehicle 300 is smaller than the threshold, and the accident can be prevented by preventing the vehicle 300 from suddenly moving. Further, when the input moment is equal to the moment value, the vehicle 300 is moved at the control speed, so that the user can control the vehicle 300 at a speed to be controlled, The speed of the vehicle 300 is reduced in proportion to the magnitude of the moment, so that the user can recognize that the moment applied at present is greater than the momentary value, There is an advantage that can be prevented.

In the vehicle control method according to the first embodiment, when the turning center c is located beyond the extension line 330 with respect to the position of the vehicle control device 100, the speed of the vehicle 300 is made slower than the control speed, If the turning center c is located between the position of the vehicle control apparatus 100 and the extension line 330, the turning center c can be positioned on the extension line 300. [

Specifically, when the moment input to the vehicle control device 100 is smaller than the momentary value and the turning center c1 is located beyond the extension line 330 with respect to the position of the vehicle control device 100 as shown in FIG. 9A, (300) is slower than the control speed. The moment input to the vehicle control device 100 is equal to the momentary value and the turning center c1 becomes the turning center c2 located on the extension line 330 or the moment input to the vehicle control device 100 becomes When the turning center c1 is positioned between the position of the vehicle control device 100 and the extension line 330 as shown in FIG. 9B, the turning center c1 is positioned at the turning center c2, ) To the control speed.

As described above, according to the vehicle control method of the first embodiment, when the input moment is smaller than the momentary value, the turning center c is located beyond the extension line 330 from the position of the vehicle control device 100, 300 is slower than the control speed, it is possible for the user to recognize that the moment applied at present is smaller than the momentary value, thereby preventing sudden movement of the vehicle 300 and preventing an accident. When the input moment is larger than the momentary value, since the turning center c is located between the extension line 330 and the vehicle control device 100 and the turning center c is positioned on the extension line 330, 300 can be maintained at a control speed, and an overspeed of the vehicle 300 can be prevented, and an accident can be prevented.

In the vehicle control method according to the first embodiment, when the moment input to the vehicle control device 100 is smaller than the momentary value, the speed of the vehicle 300 is increased in proportion to the magnitude of the moment, When the moment input to the vehicle control device 100 is equal to the momentary value or when the moment input to the vehicle control device 100 is larger than the momentary value, the vehicle 300 is moved to the control speed.

Specifically, referring to FIG. 10B, when the moment input to the vehicle control device 100 is smaller than the momentary value, the length of the turning center line r1 is longer than the length of the turning center line r2 (r1 / r2 > 1), the vehicle control apparatus 100 increases the speed of the vehicle 300 in proportion to the magnitude of the moment. When the moment input to the vehicle control device 100 increases to equal the moment value or (r1 / r2 = 1) and when the moment value is larger than 0 (r1 / r2 < Move to control speed.

As described above, according to the vehicle control method according to the first embodiment, when the input moment is smaller than the momentary value, since the speed of the vehicle 300 is increased in proportion to the magnitude of the moment, It is possible for the user to recognize that the vehicle 300 is smaller than the threshold, and the accident can be prevented by preventing the vehicle 300 from suddenly moving. Further, when the input moment is equal to the moment value or the input moment is larger than the moment value, the vehicle 300 is moved at the control speed, so that the user can control the vehicle 300 at a speed to be controlled And it is easy to keep the speed of the vehicle 300 at the control speed, and it is possible to prevent the accident of the vehicle 300 by preventing over speed.

Fig. 11 is another example of the graph shown in Fig. 10A, and Fig. 12 is another example of the graph shown in Fig. 10B.

Referring to Figs. 11A and 11B and Figs. 12A and 12B, the vehicle control method according to the first embodiment is not necessarily limited to the graphs shown in Figs. 10A and 10B to control the speed of the vehicle 300, 11a, 11b, 12a and 12, as well as the speed of the vehicle 300 corresponding to the moments input by these and other various methods.

13 is a diagram for explaining the maximum steering angle of the vehicle control method according to the first embodiment.

The maximum steering angle of the vehicle 300 according to the first embodiment may be limited to an angle of 30 degrees, for example, as shown in Fig. That is, the vehicle 300 may have a steering angle of 0 to 30 degrees. At this time, assuming that the turning center c is located at an angle of 60 degrees deviating from the maximum steering angle, the vehicle control apparatus 100 sets the turning center c to the turning center c corresponding to the maximum steering angle (30 degrees) And the speed of the vehicle 300 can be reduced to half (50%).

More specifically, the vehicle control apparatus 100 sets the speed of the vehicle 300 to an angle of 30 to 90 degrees to 100 to 0%, and when the position of the turning center c corresponds to 45 degrees, the vehicle 300 If the position of the turning center c corresponds to 60 degrees, the speed of the vehicle 300 is reduced to 50%, and if the position of the turning center c corresponds to 75 degrees, the speed of the vehicle 300 ) Can be reduced to 25%.

As described above, according to the vehicle control method of the first embodiment, since the turning center c is adjusted so as to match the maximum steering angle when the turning center c deviates from the maximum steering angle of the vehicle 300, It is possible for the user to recognize that the operation of the user is an erroneous operation because the vehicle 300 can be controlled even if the erroneous operation is performed and the speed of the vehicle 300 is slowed when the turning center c is out of the maximum steering angle of the vehicle 300 Thereby, there is an advantage that accident can be prevented by preventing the movement of the vehicle due to erroneous operation of the user.

The vehicle control method according to the first embodiment receives the direction of force x and y and the magnitude F of force when the user applies force Fx and Fy to vehicle control device 100 only. At this time, in the vehicle control method according to the first embodiment, the moving direction is calculated using only the force direction y, the control speed is calculated using the force magnitude F, and the vehicle 300 , The vehicle 300 can be moved forward or backward in accordance with the moving direction.

As described above, according to the vehicle control method according to the first embodiment, when the user applies only the force Fx, Fy to the vehicle control device 100, the vehicle 300 is advanced or retracted corresponding to the direction y of the force There is an advantage that can be made.

14 is a diagram for explaining the position of the vehicle control device of the vehicle control method according to the first embodiment.

Referring to FIG. 14, the vehicle control apparatus 100 may be positioned closer to the steering shaft 310 than the drive shaft 320. The distance D1 between the vehicle control apparatus 100 and the steering shaft 310 may be closer to the distance D2 between the vehicle control apparatus 100 and the drive shaft 320. [ This is because the direction (x, y) of the force can be set to be wider as the vehicle control device 100 is closer to the steering shaft 310 and the movement of the vehicle 200 can be confirmed more accurately. The vehicle control apparatus 100 can be positioned closer to the steering shaft 310 than the drive shaft 320 and can easily identify the turning center c located on the extension line 330.

If the vehicle control device 100 is positioned closer to the drive shaft 320 than the steering shaft 310, the movement of the opposite side of the vehicle control device 100 becomes relatively large, so that collision with an obstacle located on the opposite side in a narrow space The possibility may increase.

Hereinafter, the vehicle control method according to the second embodiment will be described.

&Lt; Embodiment 2 >

15 is a conceptual diagram for explaining a vehicle control method according to the second embodiment.

Referring to Fig. 15, the vehicle 400 according to the second embodiment includes a steering shaft 410 and a steering shaft 420. As shown in Fig.

The steering shaft 410 connects the steering wheel (not shown) and the front wheel 450. The steering shaft 410 rotates the front wheel 450 to the right or left in accordance with the rotation of the steering motor.

The steering shaft 420 connects the steering wheel (not shown) and the rear wheel 460. The steering shaft 420 rotates the rear wheel 460 to the right or left in accordance with the rotation of the steering motor.

Here, at least one of the steering shaft 410 and the steering shaft 420 is connected to a drive motor (not shown). The steering shaft 410 and the steering shaft 420 connected to the driving motor transmit rotational power generated by the driving motor to at least one of the front wheel 450 and the rear wheel 460.

At this time, at least one of the steering shaft 410 and the steering shaft 420 connected to the driving motor may be referred to as a driving shaft.

Since the steering shaft 410 and the steering shaft 420 are both connected to the steering motor, the front wheel 450 and the rear wheel 460 can be rotated right and left. Therefore, in the vehicle control apparatus according to the second embodiment, since the steering angles of the front wheels 450 and the rear wheels 460 are adjusted, the turning center c can be located at various places.

16 is a view for explaining a case where a user exerts a force only on the vehicle control device in the vehicle control method according to the second embodiment.

The vehicle control method according to the second embodiment receives only the force direction (x, y) and the force magnitude F when the user applies force Fx, Fy to the vehicle control device 100 only. At this time, in the vehicle control method according to the second embodiment, the moving direction is calculated using only the force direction y, the control speed is calculated using the force magnitude F, It is possible to move the vehicle 400 in accordance with the moving direction after adjusting the steering angles of the wheels of the vehicle 400 to the same direction.

As described above, according to the vehicle control method of the second embodiment, when the user applies only the force Fx, Fy to the vehicle control device 100, Can be moved.

17 is a diagram for explaining a case where a user applies only moments to a vehicle control device in the vehicle control method according to the second embodiment.

In the vehicle control method according to the second embodiment, when the user applies only the moment to the vehicle control device 100, only the moment is input. At this time, in the vehicle control method according to the second embodiment, the angular speed? Corresponding to the moment is calculated, the control speed is calculated by the angular speed?, The position of the vehicle control device 100 is set as the turning center c, And controls the steering angles of all the wheels according to the turning center c as shown in FIG. 17, and then rotates the vehicle 400 at the control speed. Here, the rotational direction of the vehicle 400 is determined by the angular speed?.

As described above, according to the vehicle control method according to the second embodiment, when the user applies only moment to the vehicle control device 100, the position of the vehicle control device 100 can be calculated as the turning center and the vehicle 400 can be rotated have.

As described above, the vehicle control method according to the embodiment can be applied to both the case where the steering shaft is one or the case where the steering shaft is two, as in the first and second embodiments.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill 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 appended claims. It can be understood that The features, structures, effects and the like described in the embodiments are included in at least one embodiment of the present invention and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects and the like illustrated in the embodiments can be combined and modified by other persons skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

100: vehicle control device 110: input unit
120: control unit 130: output unit
150: Fixing portion 160: Body
200: vehicle

Claims (12)

A vehicle control method for controlling a vehicle including a steering shaft and a drive shaft using a vehicle control device mounted outside the vehicle,
An input step of inputting the direction of the force, the magnitude of the force, and the moment when the user applies at least one of a force and a moment to the vehicle control device;
Calculating a moving direction using the direction of the force, calculating a control speed using the magnitude of the force, and calculating a turning center using the direction of the force, the magnitude of the force, and the moment; And
Controlling the steering angle of wheels of the steering shaft based on at least one of the moving direction and the turning center to move the vehicle to the control speed; To the vehicle. The method according to claim 1,
Wherein the calculating step calculates a velocity corresponding to the magnitude of the force, calculates an angular velocity corresponding to the moment, calculates the control velocity using the velocity, and uses the direction of the force, the velocity, and the angular velocity Thereby calculating the turning center. The method according to claim 1,
Wherein said calculating step causes said turning center to be located on an extension of said drive shaft if said turning center is not located on an extension of said drive shaft. The method according to claim 1,
Wherein the control step moves the vehicle at a speed lower than the control speed if the turning center is not located on an extension line of the drive shaft. The method according to claim 1,
The moment suitable value is a magnitude of a moment when the turning center is located on the extension line of the drive shaft,
Wherein the control step increases the speed of the vehicle in proportion to the magnitude of the moment when the input moment is smaller than the momentary value,
And when the input moment is equal to the momentary value, moves the vehicle to the control speed,
And decreases the speed of the vehicle in proportion to the magnitude of the moment when the input moment is larger than the momentary value. The method according to claim 1,
Wherein the control step moves the vehicle at a speed lower than the control speed when the turning center is located beyond an extension of the drive shaft with respect to the position of the vehicle control device,
And if the turning center is located between the position of the vehicle control device and the extension line of the driving shaft, the turning center is positioned on an extension of the driving shaft. The method according to claim 1,
The moment proper value is a moment magnitude when the turning center is located on the extension line of the drive shaft,
Wherein the control step increases the speed of the vehicle in proportion to the magnitude of the moment when the input moment is smaller than the momentary value,
And when the input moment is equal to or greater than the momentary value, and the input moment is greater than the momentary value, the vehicle is moved to the control speed. The method according to claim 1,
Wherein the control step moves the vehicle at a speed lower than the control speed when the turning center is out of the maximum steering angle of the vehicle. The method according to claim 1,
When the user applies only the force to the vehicle control device,
Wherein the controlling step equally adjusts the steering angles of the wheels based on the moving direction. The method according to claim 1,
When the user applies only the moment to the vehicle control device,
Wherein said calculation step calculates an angular velocity corresponding to said moment, said control velocity is calculated using said angular velocity, and said turning center is calculated as a position of said vehicle control device. The method according to claim 1,
Wherein the vehicle control device is located closer to the steering shaft than the drive shaft. 12. The method according to any one of claims 1 to 11,
Confirming that the vehicle is in a control state in which the vehicle can be controlled by the vehicle control device before the control step, and executing the next step if the vehicle is in the control state; Further comprising the steps of:

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