KR102072356B1 - 차선 유지 제어 장치 및 방법 - Google Patents

차선 유지 제어 장치 및 방법 Download PDF

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Publication number
KR102072356B1
KR102072356B1 KR1020130114440A KR20130114440A KR102072356B1 KR 102072356 B1 KR102072356 B1 KR 102072356B1 KR 1020130114440 A KR1020130114440 A KR 1020130114440A KR 20130114440 A KR20130114440 A KR 20130114440A KR 102072356 B1 KR102072356 B1 KR 102072356B1
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KR
South Korea
Prior art keywords
target
curvature
yaw rate
vehicle
trajectory
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KR1020130114440A
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English (en)
Korean (ko)
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KR20150034400A (ko
Inventor
이규훈
김두형
황태훈
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현대모비스 주식회사
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Priority to KR1020130114440A priority Critical patent/KR102072356B1/ko
Priority to CN201410347406.7A priority patent/CN104512462B/zh
Publication of KR20150034400A publication Critical patent/KR20150034400A/ko
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Publication of KR102072356B1 publication Critical patent/KR102072356B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020130114440A 2013-09-26 2013-09-26 차선 유지 제어 장치 및 방법 KR102072356B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020130114440A KR102072356B1 (ko) 2013-09-26 2013-09-26 차선 유지 제어 장치 및 방법
CN201410347406.7A CN104512462B (zh) 2013-09-26 2014-07-21 车道维持控制装置及方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020130114440A KR102072356B1 (ko) 2013-09-26 2013-09-26 차선 유지 제어 장치 및 방법

Publications (2)

Publication Number Publication Date
KR20150034400A KR20150034400A (ko) 2015-04-03
KR102072356B1 true KR102072356B1 (ko) 2020-03-02

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KR (1) KR102072356B1 (zh)
CN (1) CN104512462B (zh)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101626020B1 (ko) * 2015-04-15 2016-06-01 주식회사 만도 차선 복귀 제어를 위한 차량의 목표 요레이트 생성 방법
KR101639525B1 (ko) * 2015-05-19 2016-07-13 한양대학교 산학협력단 차선 유지 시스템, 차선 유지 방법과 이에 사용되는 제어 방법
CN105015616A (zh) * 2015-06-29 2015-11-04 湖南大学 一种车道偏离驾驶辅助的动力转向控制方法
KR102218532B1 (ko) * 2015-07-23 2021-02-22 현대자동차주식회사 차량 및 그 제어방법
US20170240171A1 (en) * 2016-02-18 2017-08-24 Delphi Technologies, Inc. Method for modifying steering of an automated vehicle for improved passenger comfort
KR102293026B1 (ko) * 2016-04-21 2021-08-25 현대모비스 주식회사 전동식 파워 스티어링 시스템의 중립 위치 판정 방법
CN108162959B (zh) * 2016-12-07 2019-11-29 财团法人车辆研究测试中心 车辆自动车道追随控制系统与方法
US10345812B2 (en) * 2017-01-10 2019-07-09 GM Global Technology Operations LLC Methods and apparatus for optimizing a trajectory for an autonomous vehicle
JP6766798B2 (ja) * 2017-12-15 2020-10-14 株式会社デンソー 道路地図生成システム及び道路地図生成方法
CN109927721B (zh) * 2017-12-18 2020-10-27 华创车电技术中心股份有限公司 车道维持追随系统
CN108482369B (zh) * 2018-04-08 2020-04-14 广州大学 一种车道中央保持控制方法及系统
CN110388934A (zh) * 2018-04-17 2019-10-29 昆山研达电脑科技有限公司 导航系统及其导航方法
KR102496290B1 (ko) * 2018-07-06 2023-02-06 현대모비스 주식회사 헤딩각 보상 장치 및 방법
CN109002040A (zh) * 2018-08-07 2018-12-14 湖北汽车工业学院 车辆自动控制方法、装置及计算机可读存储介质
CN110356395A (zh) * 2019-06-25 2019-10-22 武汉格罗夫氢能汽车有限公司 一种车辆车道保持方法、设备及存储设备
CN114523978B (zh) * 2020-11-03 2024-01-16 上海汽车集团股份有限公司 一种后方道路模型生成方法及装置
CN114216462A (zh) * 2021-10-26 2022-03-22 北京星航机电装备有限公司 一种agv自然导航与末端定位的控制系统及方法
CN114475593B (zh) * 2022-01-18 2023-12-19 上汽通用五菱汽车股份有限公司 行驶轨迹预测方法、车辆及计算机可读存储介质

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JP2002337714A (ja) * 2001-05-18 2002-11-27 Isuzu Motors Ltd 自動操舵装置
JP2005010892A (ja) * 2003-06-17 2005-01-13 Nissan Motor Co Ltd 車両用道路形状認識装置
JP2009026057A (ja) * 2007-07-19 2009-02-05 Nissan Motor Co Ltd 車線内走行支援装置、自動車および車線内走行支援方法
JP2009227196A (ja) * 2008-03-25 2009-10-08 Mazda Motor Corp 車両の運転支援装置
JP2013134760A (ja) * 2011-12-27 2013-07-08 Equos Research Co Ltd 走行制御装置および車両

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JP5124874B2 (ja) * 2008-03-12 2013-01-23 本田技研工業株式会社 車両走行支援装置、車両、車両走行支援プログラム
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002337714A (ja) * 2001-05-18 2002-11-27 Isuzu Motors Ltd 自動操舵装置
JP2005010892A (ja) * 2003-06-17 2005-01-13 Nissan Motor Co Ltd 車両用道路形状認識装置
JP2009026057A (ja) * 2007-07-19 2009-02-05 Nissan Motor Co Ltd 車線内走行支援装置、自動車および車線内走行支援方法
JP2009227196A (ja) * 2008-03-25 2009-10-08 Mazda Motor Corp 車両の運転支援装置
JP2013134760A (ja) * 2011-12-27 2013-07-08 Equos Research Co Ltd 走行制御装置および車両

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Publication number Publication date
CN104512462A (zh) 2015-04-15
KR20150034400A (ko) 2015-04-03
CN104512462B (zh) 2017-11-21

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