KR101924497B1 - Apparatus for maintaining traffic lane and method thereof - Google Patents

Apparatus for maintaining traffic lane and method thereof Download PDF

Info

Publication number
KR101924497B1
KR101924497B1 KR1020110090406A KR20110090406A KR101924497B1 KR 101924497 B1 KR101924497 B1 KR 101924497B1 KR 1020110090406 A KR1020110090406 A KR 1020110090406A KR 20110090406 A KR20110090406 A KR 20110090406A KR 101924497 B1 KR101924497 B1 KR 101924497B1
Authority
KR
South Korea
Prior art keywords
torque
lane
steering
steering torque
step
Prior art date
Application number
KR1020110090406A
Other languages
Korean (ko)
Other versions
KR20130026937A (en
Inventor
이형명
Original Assignee
현대모비스 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020110090406A priority Critical patent/KR101924497B1/en
Publication of KR20130026937A publication Critical patent/KR20130026937A/en
Application granted granted Critical
Publication of KR101924497B1 publication Critical patent/KR101924497B1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Abstract

The present invention relates to improving the initial responsiveness of motor-driven power steering (MDPS) in a lane-keeping assist system (LKAS), wherein lane departure is prevented by supplementing the initial MDPS response delay by adding feed- And more particularly, to a lane keeping apparatus and a lane keeping method. The present invention has the effect of preventing the lane departure by improving the initial responsiveness by supplementing the initial MDPS response delay by adding the feed forward torque at the initial stage in the LKAS control, By adding the torque value, the MDPS has a quick response so as to smooth the steering feeling while preventing the vehicle from leaving the lane.

Description

[0001] APPARATUS FOR MAINTAINING TRAFFIC LANE AND METHOD THEREOF [0002]

The present invention relates to improvement of initial responsiveness of motor driven power steering (MDPS) in a lane keeping assist system (LKAS). In the initial LKAS control, a feed forward torque is added to an initial MDPS And more particularly to a lane keeping apparatus and method for preventing a lane departure by compensating for a response delay.

In the conventional lane keeping apparatus, an MDPS initial reaction delay occurs during the LKAS control, causing a phenomenon that the lane departs from the lane. The reason why the MDPS initial reaction delay occurs is that the influence of the initial stopping frictional force for moving the MDPS is large.

Accordingly, if the lane departure prevention is performed by advancing the control intervention time by the MDPS initial reaction delay, there is a problem that the control intervention situation frequently occurs, causing a sense of heterogeneity to the driver.

The background art of the present invention is disclosed in Korean Patent Publication No. 10-2011-0067197 (June 22, 2011).

The present invention provides a lane keeping apparatus and a lane keeping apparatus for preventing lane departure by enhancing an initial response by supplementing an initial MDPS response delay by adding feed forward torque at the initial stage of LKAS control, The purpose of the method is to provide.

It is another object of the present invention to provide a lane keeping apparatus and method for preventing a vehicle from leaving a lane with a quick response of an MDPS by adding a feed forward torque value while maintaining the same LKAS control intervention point.

The lane keeping method according to one aspect of the present invention includes a first step of detecting whether an initial torque applying period is present; A second step of detecting a high torque period or a low torque period if the initial torque is applied according to the detection result; A third step of inputting a preset feedforward torque if the detected torque is in a low torque period according to the detection result; And a fourth step of continuously applying the feedforward torque until the feedforward torque enters a preset high torque period.

Here, the first step is performed when an LKAS (Lane Keeping Assist System) steering torque is input and an Active flag == 1.

Here, the determination of the torque interval is determined by comparing the torque value with a specific torque value and determining whether the torque interval is larger or smaller than the torque value.

The specific torque value is 0.5 Nm.

The present invention has the effect of preventing the lane departure by enhancing the initial responsiveness by supplementing the initial MDPS response delay by adding the feedforward torque at the initial stage in the LKAS control.

Further, the present invention has the effect of softening the steering feeling while preventing the vehicle from leaving the lane due to the quick response of the MDPS by adding the feedforward torque value while maintaining the same LKAS control intervention timing.

1 is a block diagram showing a configuration of a lane keeping apparatus according to an embodiment of the present invention;
FIG. 2 is an exemplary diagram for explaining a method of applying a feed-forward torque signal according to the present invention; FIG.
3 is a graph showing improved MDPS initial response responsiveness by applying the feedforward torque control method according to the present invention;
4 is a flowchart for explaining a lane keeping method according to an embodiment of the present invention;

Hereinafter, an embodiment of a lane keeping apparatus and method according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a block diagram illustrating a configuration of a lane keeping apparatus according to an embodiment of the present invention. As shown in FIG. 1, the lane departure detecting unit 101 detects lane departure, A steering torque signal generator 102 for calculating a steering torque to the steering torque sensor 102 and generating a steering torque signal for the calculated steering torque, and a steering torque sensor 102 for applying the generated steering torque signal to a steering system (For example, 0.5 Nm or more) or a low-torque period (for example, less than 0.5 Nm) in the running state of the vehicle, And a control unit (100) for controlling the feed forward torque value to be additionally applied.

The torque value 0.5 Nm for dividing the torque section into the high torque section and the low torque section is a torque value at which the steering angle (SAS angle) is changed in the load state during running of the vehicle to change the behavior of the vehicle. And it is not necessarily limited to 0.5 Nm.

The steering torque signal generation unit 102 generates a steering torque signal for the calculated steering torque by calculating a steering torque based on the magnitude and direction for preventing lane departure according to the degree of the sensed lane departure. And further generates a feed forward torque signal under the control of the controller 100. [ Or the steering torque signal including the feedforward torque value.

The steering torque signal application unit 103 applies the steering torque signal generated by the steering torque signal generation unit 102 to a steering system (not shown).

However, even if the steering torque signal is applied, there is a time region in which the steering angle hardly changes due to mechanical clearance or friction near the center of the steering wheel. In this case, the controller 100 may apply the feed forward torque value at the start of the zone to maintain the lane. That is, the present invention adds a feedforward torque value while maintaining the same LKAS control intervention point, so that a quick response of the MDPS occurs.

As shown in FIG. 2, the controller 100 controls the feedforward torque signal to be applied for a preset specific time only at the initial point of time when the LKAS Active flag is generated, and then the existing torque signal is applied .

As described above, in the present MDPS, when a certain torque value (for example, 0.5 Nm) or more is applied in the running state under load, the change of the steering angle (SAS angle) causes a change in the behavior of the vehicle. Based on this value, the feedforward torque release time is determined.

In other words, the control unit 100 causes the feedforward torque value to be further applied as shown in FIG. 3 at a low torque period in which the torque demand value is less than a specific torque value (e.g., 0.5 Nm) 0.5 Nm), the feedforward torque value is canceled and the torque demand value calculated in the LKAS is controlled to be applied.

Figure 3 is a graph showing the results of applying MDPS initial response responsiveness substantially to a vehicle using the feedforward torque control concept described above.

As shown in the figure, when the required torque value is 1 Nm, the MDPS exhibits initial reactivity after 0.6 to 0.7 [sec]. The torque signal having the required torque value is applied due to the delay, but the lane can not be maintained and the lane departs from the lane. Therefore, in order to compensate for the above-described MDPS delay, the present invention further applies a torque signal having a feed-forward torque value so that the initial response time of the MDPS has a quick response such as 0.1 to 0.2 [sec].

As shown in the graph of FIG. 3, when the torque signal having the feedforward torque value as compared with the conventional torque signal is additionally applied, the effect of improving the MDPS initial response of about 0.5 [sec] can be expected.

Applying the feed forward torque value of the step input affects the behavior of the vehicle due to the change of the initial steering angle (SAS Angle). As described above, the present invention can prevent a lane departure due to a quick MDPS response in LKAS control.

FIG. 4 is a flowchart for explaining a lane keeping method according to an embodiment of the present invention. When the LKAS steering torque is input and Active flag == 1 as shown in FIG. 4, it is detected whether the initial torque is applied (S101).

If it is not the initial torque application period according to the detection result, if it is the initial torque application period, the magnitude of the steering torque is compared with a predetermined torque value (for example, 0.5 Nm) to detect the high torque period or the low torque period S102). (For example, steering torque> 0.5 Nm) according to the detection result, and if the low torque period (for example, steering torque <0.5 Nm), the preset feedforward torque is input (S103).

The feedforward torque continues to be applied until a predetermined high torque section is entered (S104). That is, it is detected whether or not a specific torque value (for example, 0.5 Nm) set in advance after the feedforward torque is applied to the steering torque. If it is determined that the vehicle has entered the high-torque period according to the detection result, the feedforward torque inputting step (S103) is repeated (S104).

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. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

100: control unit 101: lane departure detection unit
102: Steering torque signal generating unit 103: Steer torque signal applying unit

Claims (6)

  1. A first step of detecting whether or not an initial torque is applied when a steering torque calculated in a direction for preventing lane departure is applied;
    Comparing a magnitude of the steering torque with a preset specific torque value to determine whether the steering torque is a high torque interval or a low torque interval if the initial torque is applied according to the detection result;
    A third step of applying a predetermined feed forward torque in the low torque period according to the detection result of the second step;
    And a fourth step of continuously applying the feedforward torque until a predetermined high torque period is reached.
  2. 2. The lane keeping method according to claim 1, wherein the first step is performed when an LKAS (Lane Keeping Assist System) steering torque is input and an Active flag == 1.
  3. delete
  4. The lane holding method according to claim 1, wherein the specific torque value is 0.5 Nm.
  5. The method as claimed in claim 1, wherein the fourth step is a step of detecting whether the steering torque is equal to or greater than a predetermined torque value after applying the feedforward torque, and repeating the third step if the steering torque is in a low- The lane holding method comprising the steps of:
  6. A lane departure detecting unit for detecting lane departure;
    A steering torque signal generator for calculating a steering torque in a direction to prevent the sensed lane departure and generating a steering torque signal for the calculated steering torque;
    A steering torque signal application unit for applying the generated steering torque signal to the steering system;
    And a control unit for detecting whether the vehicle is in a high torque period or a low torque period in a load state of the vehicle during the steering torque input so as to further apply a feed forward torque value in a low torque period, Device.
KR1020110090406A 2011-09-06 2011-09-06 Apparatus for maintaining traffic lane and method thereof KR101924497B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110090406A KR101924497B1 (en) 2011-09-06 2011-09-06 Apparatus for maintaining traffic lane and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110090406A KR101924497B1 (en) 2011-09-06 2011-09-06 Apparatus for maintaining traffic lane and method thereof

Publications (2)

Publication Number Publication Date
KR20130026937A KR20130026937A (en) 2013-03-14
KR101924497B1 true KR101924497B1 (en) 2018-12-04

Family

ID=48178059

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110090406A KR101924497B1 (en) 2011-09-06 2011-09-06 Apparatus for maintaining traffic lane and method thereof

Country Status (1)

Country Link
KR (1) KR101924497B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102033310B1 (en) * 2013-11-14 2019-11-08 현대모비스 주식회사 Steering return control apparatus of motor driven power steering and method thereof

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008195402A (en) 2008-05-26 2008-08-28 Toyota Motor Corp Drive support device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008195402A (en) 2008-05-26 2008-08-28 Toyota Motor Corp Drive support device

Also Published As

Publication number Publication date
KR20130026937A (en) 2013-03-14

Similar Documents

Publication Publication Date Title
US9637166B2 (en) Electric power steering apparatus
EP1731408B1 (en) Vehicle steering apparatus
EP2029411A1 (en) Electromechanical steering with steering recommendation
KR20050050029A (en) Method for supporting a driver by applying a steering momemt in a dynamically limited driving situation
JP2004268659A (en) Steering control device for vehicle
JP2007331705A (en) Vehicle steering device
DE102012224125A1 (en) Method for lane keeping assistance of a driver of a motor vehicle and lane keeping assistance system
CN101987622A (en) Apparatus and method for controlling motor position and creep of electric vehicle
US8511420B2 (en) Vehicle steering control device
JP5099221B2 (en) Vehicle turning behavior control apparatus / method
JP2008149971A (en) Electric power steering device
JP2008120343A (en) Electric power steering device
EP2792576A1 (en) Electric power steering device
CN101565043A (en) Yaw stability control system
US20120191301A1 (en) Safety device for an electric power steering system
JP2003237607A (en) Steering device of vehicle
EP1602555A1 (en) Electric power steering apparatus
JP4967484B2 (en) Lane maintenance support device
JP2008024166A (en) Steering mechanism control device, automobile and steering mechanism control method
JP6187042B2 (en) Electric power steering device
EP2483131B1 (en) Control method for electric power steerings
JP2007237840A (en) Steering controlling device, automobile, and steering controlling method
EP2377744B1 (en) Electric power steering device
JP2006044505A (en) Power steering device
JP2007038886A (en) Vehicle control system

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant