KR102164606B1 - Lateral control parameter correction apparatus and method for autonomous vehicle - Google Patents

Abstract

The present invention relates to an apparatus for correcting a lateral control parameter for an autonomous vehicle, comprising: a predicted mileage calculation unit that calculates an expected mileage of an own vehicle using vehicle information provided from a sensor mounted on the vehicle; A turning radius calculator that calculates a turning radius of the own vehicle from vehicle information provided from a sensor mounted on the vehicle; A side slip angle estimating unit for estimating a side slip angle of the host vehicle; A forward viewing distance calculation unit that calculates a forward viewing distance using the estimated driving distance provided through the estimated driving distance calculation unit and the turning radius of the host vehicle provided through the turning radius calculation unit; And a side slip angle provided through the side slip angle estimation unit, a forward viewing distance provided through the forward viewing distance calculation unit, and a lateral controller pressure value for correcting the lateral controller input parameter using the vehicle path information provided from the sensor. Includes; correction unit.

Description

Lateral control parameter correction apparatus and method for autonomous vehicle TECHNICAL FIELD

The present invention relates to an apparatus for correcting lateral control parameters for an autonomous vehicle, and more particularly, to an adaptive driver assistance system and an apparatus and method for estimating a position of an own vehicle for autonomous driving of an autonomous vehicle.

In general, autonomous vehicles and vehicles equipped with a lateral safety system require steering control to follow a path, and for such steering control, a relative correlation between the path and the vehicle must be calculated.

Here, the relative correlation between the route and the vehicle can be measured using sensors such as images and GPS, but a system delay occurs due to a communication delay of the sensor and a time delay of an actuator.

Such a system delay impairs the real-time and stability of driving control, and may cause serious problems, especially when driving at high speed.

To solve this problem, conventionally, as shown in FIG. 1, a look ahead distance was calculated using only the difference in the vehicle speed, the driving path, and the vehicle heading angle, and the position of the own vehicle was estimated using this.

[Table 1] is a description of terms and variables of FIG. 1.

In this way, since the conventional method of estimating the position of the own vehicle simply assumes straight driving, as shown in Fig. 2A, straightness is lowered during high-speed driving, and as shown in Fig. 2B, excessive steering control is performed during curved driving. As a result, there is a problem that the ride comfort and stability are deteriorated.

The present invention was conceived to solve the conventional problem, by estimating the position of the own vehicle by reflecting the turning radius and side slip angle, which are vehicle behavior information, and finally correcting the input parameter of steering control to simultaneously improve ride comfort and safety. It is an object of the present invention to provide an apparatus for correcting a lateral control parameter for an autonomous vehicle.

The object of the present invention is not limited to the above-mentioned object, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an apparatus for correcting a lateral direction control parameter for an autonomous vehicle according to an embodiment of the present invention includes: an estimated mileage calculation unit that calculates an estimated mileage of the own vehicle; A turning radius calculation unit that calculates a turning radius of the own vehicle; A side slip angle estimating unit for estimating a side slip angle of the host vehicle; A forward viewing distance calculation unit that calculates a forward viewing distance using the estimated driving distance provided through the estimated driving distance calculation unit and the turning radius of the host vehicle provided through the turning radius calculation unit; And a side slip angle provided through the side slip angle estimating unit, a forward viewing distance provided through the forward viewing distance calculation unit, and a lateral controller pressure for correcting the lateral controller input parameter using the vehicle path information provided from the sensor And a value correction unit.

Here, it is preferable that the estimated driving distance is multiplied by the vehicle speed and the system delay.

The estimated travel distance is set to minimum and maximum limit values in order to prevent rapid changes in curvature in a low-speed section and excessive generation of lateral controller input parameters at high speed.

Meanwhile, when the vehicle information includes a steering angle, the turning radius calculator calculates the turning radius of the host vehicle by dividing the distance between the front and rear axes of the vehicle by the front wheel steering angle of the vehicle.

In addition, the steering angle includes information on a gear ratio between the steering height and wheel angles.

Here, if the steering angle is not included in the vehicle information, the turning radius calculator may calculate the turning radius of the host vehicle by dividing the yaw rate of the vehicle by the vehicle speed.

In addition, the forward viewing distance calculation unit calculates the center angle of the sector calculated by dividing the turning radius of the host vehicle and the moving distance of the vehicle predicted after the system delay, and then using the calculated center angle of the sector shape as the turning radius of the host vehicle. Calculate the forward sight distance by multiplying the sinusoidal law.

Meanwhile, the side slip angle estimation unit estimates the side slip angle using vehicle dynamics at high speed.

In addition, the side slip angle estimation unit estimates the side slip angle using only kinematics at low speed.

In addition, the side slip angle estimating unit imparts hysteresis properties using different side slip angle estimation methods during acceleration and deceleration.

Meanwhile, the transverse controller pressure value correction unit calculates a reference path parameter at the forward viewing distance, calculates the own vehicle position parameter at the forward viewing distance, and adds the calculated reference path parameter and the own vehicle position parameter to the horizontal direction. Calculate the controller input parameters.

In addition, the transverse controller pressure value correction unit predicts the future position of the vehicle by applying the forward viewing distance and the side slip angle to the clothoid model.

Here, the initial value of the lateral deviation distance, which is the coefficient of the clothoid model, is set to 0, the initial value of the heading angle is set equal to the side slip angle, and the initial value of the curvature is set to be equal to the reciprocal of the turning radius of the vehicle. Calculate the own vehicle position parameter.

According to an embodiment of the present invention, when following the route of autonomous driving, the position of the own vehicle is estimated using the speed and steering angle of the vehicle, and the predicted route of the own vehicle is predicted and applied through this, thereby improving the stability and ride comfort of the vehicle. It can have an effect.

1 is a reference diagram for explaining a method for calculating position information of a conventional own vehicle.
2A and 2B are reference diagrams for explaining a problem according to speed in the method of calculating the own vehicle location information of FIG. 1;
3 is a functional block diagram illustrating an apparatus for correcting a lateral direction control parameter for an autonomous vehicle according to an embodiment of the present invention.
4 is a reference diagram for explaining parameter information according to an embodiment of the present invention.
5 is a reference diagram for explaining estimation of a side slip angle at a low speed in an embodiment of the present invention.
6 is a reference diagram for explaining hysteresis properties according to speed in an embodiment of the present invention.
FIG. 7 is a reference diagram for explaining parameters necessary for calculating a parameter of a reference path among lateral controller input correction parameters according to an embodiment of the present invention.
8 is a reference diagram for explaining parameters necessary for calculating an own vehicle position parameter among lateral controller input correction parameters according to an embodiment of the present invention.
9 is a flowchart illustrating a method of correcting a lateral control parameter for an autonomous vehicle according to an embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms different from each other, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims. Meanwhile, terms used in the present specification are for explaining embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements in which the recited component, step, operation and/or element is Or does not exclude additions.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a functional block diagram illustrating an apparatus for correcting a lateral direction control parameter for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 3, the apparatus for correcting a lateral control parameter for an autonomous vehicle according to an embodiment of the present invention includes an estimated mileage calculation unit 100, a turning radius calculation unit 200, and a side slip angle estimation unit. (300), it comprises a front viewing distance calculation unit 400 and a transverse direction controller pressure value correction unit 500.

The expected mileage calculation unit 100 calculates the estimated mileage of the own vehicle by using vehicle information provided from a sensor mounted on the vehicle. Here, the vehicle information includes vehicle speed, steering angle, or yaw rate from the vehicle, as shown in FIG. 4.

In this case, the lateral departure distance, the heading angle, the path curvature, and the amount of change in curvature may be obtained using any sensor capable of measuring the correlation between the vehicle and the reference path, such as a GPS or image sensor installed in the vehicle.

[Table 2] is a description of terms and variables of FIG. 4.

In this embodiment, as in [Equation 1] below, the estimated driving distance may be calculated by multiplying the vehicle speed and the system delay. Here, it is preferable to use the average of the wheel speeds as the vehicle speed, but the speed of the cluster may be used.

는 자차의 예상 주행거리이고,

는 시스템 딜레이이며,

는 차량의 속도이고,

는 최소 제한값이고,

는 최대 제한값이다. here,

Is the estimated mileage of the own vehicle,

Is the system delay,

Is the vehicle speed,

Is the minimum limit,

Is the maximum limit value.

In this way, the predicted mileage calculation unit 100 according to an embodiment of the present invention can prevent a sudden change in curvature in a low-speed section and prevent excessive transverse controller input parameters from being generated in a high-speed section. There is an advantage.

In addition, the turning radius calculation unit 200 calculates the turning radius of the own vehicle from vehicle information provided from a sensor mounted on the vehicle.

Further, the side slip angle estimating unit 300 estimates the side slip angle of the host vehicle.

The forward viewing distance calculation unit 400 calculates the forward viewing distance using the estimated driving distance provided through the estimated driving distance calculating unit 100 and the turning radius of the host vehicle provided through the turning radius calculation unit 200. do.

Here, the estimated mileage is the same as the length of the arc considering the turning radius, and the arc length is the product of the turning angle and the turning radius between the current vehicle position and the position of the vehicle after the system delay. It can be expressed as Equation 2].

는

와

이 이루는 부채꼴의 중심각이고,

는 전방 주시거리이다. here,

Is

Wow

This is the central angle of the fan shape,

Is the forward gaze distance.

Thereafter, the transverse controller pressure value correction unit 500 includes a side slip angle provided through the side slip angle estimating unit 300, a forward viewing distance provided through the forward viewing distance calculation unit, and a vehicle path provided from the sensor. The information is used to correct the transverse controller input parameters.

Accordingly, according to an embodiment of the present invention, when driving tracking control of autonomous driving, it is possible to predict and apply an expected route according to a speed to improve safety and ride comfort.

Meanwhile, the turning radius calculation unit 200 according to an embodiment of the present invention determines whether a steering angle is included in the vehicle information.

If the steering angle is included in the vehicle information, the turning radius calculation unit 200 divides the distance between the front and rear axles of the vehicle by the steering angle of the front wheel of the vehicle, as in [Equation 3] below, and calculates the turning radius of the host vehicle. Calculate.

은 선회반경이고,

는 차량의 전축과 후축간의 거리이며,

는 차량의 전륜조향각이다. 한편, 상기 조향각은 스티어링고 휠각 사이의 기어비 정보를 포함하는 것이 바람직하다. here,

Is the turning radius,

Is the distance between the front and rear axles of the vehicle,

Is the vehicle's front wheel steering angle. Meanwhile, it is preferable that the steering angle includes information on a gear ratio between the steering wheel angles.

On the other hand, if the steering angle is not included in the vehicle information, the turning radius calculation unit 200 calculates the turning radius of the own vehicle by dividing the yaw rate of the vehicle by the speed of the vehicle, as in [Equation 4] below. May be.

은 선회반경이고,

는 요레이트이며,

는 차량속도이다. 이때,

는 비구동륜의 평균값을 이용하는 것이 바람직하나 이를 한정하는 것은 아니다. here,

Is the turning radius,

Is the yorate,

Is the vehicle speed. At this time,

It is preferable to use the average value of the non-driving wheels, but is not limited thereto.

In an embodiment of the present invention, the side slip angle estimating unit 300 may estimate the side slip angle using vehicle dynamics at high speed, and estimate the side slip angle using only kinematics at low speed.

Hereinafter, a method of estimating the side slip angle by using the vehicle dynamics at high speed by the side slip angle estimating unit 300 will be described.

When driving at high speed, it is assumed that the steering angle of the vehicle is small for driving stability, and assuming that the sum of the forces acting on the front and rear wheels is parallel to the lateral force acting on the vehicle body, the rotational moment of inertia when the vehicle rotates by the steering angle. The sum of is 0.

Accordingly, the side slip angle estimating unit 300 may estimate the side slip angle through [Equation 5] to [Equation 6] below.

값을 표현한다. First, the side slip angle estimation unit 300 through the following [Equation 5]

Express the value.

는 요레이트이며, β는 질량중심에서의 사이드 슬립각이고,

는 전륜에 작용하는 횡력이고,

는 후륜에 작용하는 횡력이다. Where m is the mass of the host vehicle, α _y is the lateral acceleration, V is the velocity,

Is the yaw rate, β is the side slip angle at the center of mass,

Is the lateral force acting on the front wheel,

Is the lateral force acting on the rear wheel.

In addition, the side slip angle estimating unit 300 may obtain the moment of inertia at the center of mass through [Equation 6] below.

는 질량중심에서의 관성모멘트이고,

는 요레이트이며,

는 질량중심으로부터 전축까지의 거리이고,

는 전륜에 작용하는 횡력이며,

는 질량중심으로부터 후축까지의 거리이고,

는 후륜에 작용하는 횡력이다. here,

Is the moment of inertia at the center of mass,

Is the yorate,

Is the distance from the center of mass to the full axis,

Is the lateral force acting on the front wheel,

Is the distance from the center of mass to the posterior axis,

Is the lateral force acting on the rear wheel.

Meanwhile, in the bicycle model, the lateral force can be expressed as a linear relationship between the cornering stiffness coefficient and the side slip angle according to the magic tire formula through the following [Equation 7] in vehicle dynamics.

는 전륜 선회 강성 계수,

는 후륜 선회 강성 계수,

는 차량의 전륜조향각(스티어링이 아닌 실제 조향각을 의미), V는 속도, β는 질량중심에서의 사이드 슬립각이다. here,

Is the front wheel turning stiffness coefficient,

Is the rear wheel turning stiffness coefficient,

Is the front wheel steering angle of the vehicle (meaning the actual steering angle, not steering), V is the speed, and β is the side slip angle at the center of mass.

Meanwhile, the side slip angle estimating unit 300 may calculate the side slip angle using only kinematics at a low speed through FIG. 5 and [Equation 8].

[Table 3] is a description of terms and variables of FIG. 5.

는 차량의 전륜조향각(스티어링이 아닌 실제 조향각을 의미)이며,

는 차량의 후륜조향각(스티어링이 아닌 실제 조향각을 의미)이고,

는 질량중심으로부터 전축까지의 거리이며,

는 질량중심으로부터 후축까지의 거리이다. Where β is the side slip angle at the center of mass,

Is the vehicle's front wheel steering angle (meaning the actual steering angle, not steering),

Is the vehicle's rear wheel steering angle (meaning the actual steering angle, not steering),

Is the distance from the center of mass to the full axis,

Is the distance from the center of mass to the posterior axis.

As such, it is preferable that the side slip angle estimating unit 300 imparts hysteresis properties as shown in FIG. 6 by using different side slip angle estimation methods during acceleration and deceleration.

For example, during acceleration, the side slip angle estimation unit 300 uses a vehicle dynamics model if it is 20Km/h or more, and uses a kinematic model if it is less than 20Km/h.

In contrast, the side slip angle estimating unit 300 uses a vehicle dynamics model when deceleration is greater than 15Km/h, and uses a kinematic model when it is less than 15Km/h.

Accordingly, according to the slip angle estimating unit according to an embodiment of the present invention, there is an effect of preventing frequent state transitions of calculated values according to changes in vehicle speed.

Meanwhile, the transverse controller pressure value correction unit 500 calculates a reference route parameter at the forward viewing distance with reference to FIG. 7 and calculates the host vehicle position parameter at the forward viewing distance with reference to FIG. 8.

That is, in order to calculate the reference path parameter, as shown in FIG. 7, the transverse controller pressure value correction unit 500 is deviated in the transverse direction so that it can be obtained through the forward viewing distance according to the following [Equation 9]. Estimated values of each variable may be calculated by applying distance information (C ₀ ), heading angle information (C ₁ ), curvature information (C ₂ ), and curvature change amount (C ₃ ).

And, in order to calculate the parameters for acquiring the position of the own vehicle, as shown in FIG. 8, the transverse controller pressure value correction unit 500 uses the following [Equation 10] to determine the front viewing distance and the side slip angle. Predict the future location of the vehicle.

At this time, in predicting a parameter for acquiring the own vehicle position, since the future position of the own vehicle must be predicted, the initial value (C ₀ ) of the lateral deviation distance is set to 0, and the initial value (C ₁ ) of the heading angle By setting the same as the side slip angle and setting the initial value of the curvature (C ₂ ) to be the same as the reciprocal of the vehicle's turning radius, it is possible to calculate the longitudinal estimation value for the future position of the own vehicle, and the heading angle and curvature information .

Thereafter, the transverse controller pressure value correction unit 500 may calculate the transverse controller input parameters by adding the calculated reference path parameter and the own vehicle position parameter as in Equation 11 below.

는 T_delay를 고려하여 보정된 차량중심좌표계상 차체의 종방향 추정값이고,

는 T_delay를 고려하여 보정된 기준경로의 헤딩각 추정값이다. here,

Is the estimated value of the longitudinal direction of the vehicle body in the vehicle center coordinate system corrected by considering T _delay ,

Is an estimated value of the heading angle of the reference path corrected by considering T _delay .

According to an embodiment of the present invention, when following the route of autonomous driving, the position of the own vehicle is estimated using the vehicle speed and the steering angle of the vehicle, and the predicted path of the own vehicle is predicted and applied through this, There is an effect that can be improved.

In addition, according to an embodiment of the present invention, when TTCL (Time To Lane Crossing) is calculated on the calculated horizontal direction control input parameter, a Lane Departuer Warning System (LDWS) and a Lane Maintenance Assistance System (LKAS) Keeping Assist System), etc., has the advantage of contributing to the performance improvement of the driving assistance system.

9 is a flowchart illustrating a method of correcting a lateral control parameter for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 9, it is preferable that the method for correcting the lateral control parameter for an autonomous vehicle according to an embodiment of the present invention is performed by a process installed in the vehicle.

First, the estimated driving distance of the host vehicle is calculated using vehicle information provided from a sensor mounted on the vehicle (S100). Here, the vehicle information is preferably a vehicle speed and a system delay value. In addition, the estimated driving distance is preferably multiplied by the vehicle speed and the system delay, as in [Equation 1], and the minimum and maximum limit values are preferably set.

Then, the turning radius of the own vehicle is calculated from vehicle information provided from a sensor mounted on the vehicle (S200). Calculating the turning radius of the own vehicle (S200) is, as in [Equation 3], if the vehicle information includes a steering angle, the distance between the front and rear axles of the vehicle is divided by the front wheel steering angle of the vehicle, Calculate the radius. In addition, it is preferable that the steering angle includes information on a gear ratio between the steering wheel angles.

On the other hand, in an embodiment of the present invention, in the step of calculating the turning radius of the own vehicle (S200), it is set that the steering angle is included in the vehicle information, but in [Equation 4] in which the steering angle is not included in the vehicle information In this case, the turning radius of the host vehicle may be calculated by dividing the yaw rate of the vehicle by the vehicle speed.

In addition, the side slip angle of the host vehicle is estimated (S300). In estimating the side slip angle (S300), the side slip angle is estimated using vehicle dynamics at high speed.

In the step of estimating the side slip angle (S300), the side slip angle is estimated using only kinematics at low speed.

In addition, in the step of estimating the side slip angle (S300), the hysteresis property may be provided by using different side slip angle estimation methods during acceleration and deceleration.

Thereafter, the forward viewing distance is calculated from the calculated estimated driving distance and the turning radius of the host vehicle (400).

On the other hand, in the step of calculating the forward viewing distance (S400), after calculating the center angle of the sector calculated by dividing the turning radius of the host vehicle and the moving distance of the vehicle predicted after the system delay, the calculated center angle of the sector is calculated. It is desirable to calculate the forward sight distance by multiplying the sinusoidal law using the central angle of the sector. Here, the estimated mileage is the same as the length of the arc considering the turning radius, and the arc length is the product of the turning angle and the turning radius between the current vehicle position and the position of the vehicle after the system delay, so it can be expressed as [Equation 2]. .

Subsequently, the lateral controller input parameter is corrected using the side slip angle, the forward viewing distance, and the vehicle path information (S500).

On the other hand, in the step of correcting the horizontal input parameter (S500), a reference route parameter at a forward viewing distance is calculated, an own vehicle position parameter at a forward viewing distance is calculated, and the calculated reference route parameter and the own vehicle position parameter are It is desirable to sum up to calculate the transverse controller input parameters.

In this way, in the step of correcting the transverse input parameter (S500), the future position of the vehicle is predicted by applying the forward viewing distance and the side slip angle to the clothoid model. Here, the initial value of the lateral deviation distance, which is the coefficient of the clothoid model, is set to 0, the initial value of the heading angle is set equal to the side slip angle, and the initial value of the curvature is set to be equal to the reciprocal of the turning radius of the vehicle. Own vehicle position parameters can be calculated.

In the above, the configuration of the present invention has been described in detail with reference to the accompanying drawings, but this is only an example, and various modifications and changes within the scope of the technical idea of the present invention are those of ordinary skill in the technical field to which the present invention belongs. Of course this is possible. Therefore, the scope of protection of the present invention should not be limited to the above-described embodiments, but should be determined by the description of the following claims.

100: estimated mileage calculation unit 200: turning radius calculation unit
300: side slip angle estimation unit 400: forward viewing distance calculation unit
500: Transverse direction input parameter correction unit

Claims (24)

An estimated driving distance calculating unit that calculates an estimated driving distance of the own vehicle;
A turning radius calculation unit that calculates a turning radius of the own vehicle;
A side slip angle estimating unit for estimating a side slip angle of the host vehicle;
A forward viewing distance calculation unit for calculating a forward viewing distance using the estimated driving distance and a turning radius of the host vehicle; And
A transverse direction control parameter correction unit for a self-driving vehicle comprising a; a transverse direction controller pressure value correction unit for correcting a transverse direction controller input parameter using the side slip angle, the forward viewing distance, and the path information of the host vehicle.
The method of claim 1,
The estimated mileage is,
Transverse control parameter correction device for autonomous vehicles, which is the product of vehicle speed and system delay.
The method of claim 2,
The estimated mileage is
A transverse control parameter correction device for an autonomous vehicle, characterized in that the minimum and maximum limit values are set.
The method of claim 1,
The turning radius calculation unit,
If the vehicle information includes a steering angle, the lateral direction control parameter correction device for an autonomous vehicle is to calculate the turning radius of the host vehicle by dividing the distance between the front and rear axes of the vehicle by the steering angle of the front wheel of the vehicle.
The method of claim 4,
The steering angle is,
Transverse direction control parameter correction device for an autonomous vehicle that includes gear ratio information between the steering height and wheel angles.
The method of claim 1,
The turning radius calculation unit,
If the steering angle is not included in the vehicle information, the yaw rate of the vehicle is divided by the vehicle speed and the turning radius of the host vehicle is calculated.
The method of claim 1,
The forward viewing distance calculation unit,
After calculating the center angle of the sector calculated by dividing the turning radius of the host vehicle and the travel distance of the vehicle predicted after the system delay,
Transverse direction control parameter correction device for an autonomous vehicle to calculate the forward viewing distance by multiplying the turning radius of the host vehicle by the sinusoidal rule using the calculated central angle of the sector.
The method of claim 1,
The side slip angle estimation unit,
A transverse control parameter correction device for autonomous vehicles that estimates the side slip angle using vehicle dynamics at high speeds.
The method of claim 1,
The side slip angle estimation unit,
A horizontal control parameter correction device for autonomous vehicles that estimates the side slip angle using only kinematics at low speed.
The method of claim 1,
The side slip angle estimation unit,
During acceleration and deceleration, a horizontal direction control parameter correction device for an autonomous vehicle, wherein a hysteresis property is provided by using different side slip angle estimation methods.
The method of claim 1,
The transverse controller pressure value correction unit,
An autonomous vehicle that calculates a reference route parameter at the forward distance, calculates the own vehicle position parameter at the forward distance, and calculates a lateral controller input parameter by summing the calculated reference route parameter and the own vehicle position parameter Transverse control parameter correction device for.
The method of claim 11,
The transverse controller pressure value correction unit,
The forward viewing distance and side slip angle are applied to the clothoid model to predict the future position of the vehicle, and the initial value of the transverse departure distance, the coefficient of the clothoid model, is set to 0, and the initial value of the heading angle is the same as the side slip angle. And calculating the own vehicle position parameter by setting the initial value of the curvature to be equal to the reciprocal of the vehicle's turning radius.
Calculating an estimated driving distance of the own vehicle;
Calculating a turning radius of the host vehicle;
Estimating a side slip angle of the own vehicle;
Calculating a forward viewing distance from the calculated estimated driving distance and the turning radius of the host vehicle; And
Compensating the horizontal direction controller input parameter using the side slip angle, the forward viewing distance, and the vehicle path information; and a method for correcting a horizontal direction control parameter for an autonomous vehicle.
The method of claim 13,
The estimated mileage is,
A method of correcting lateral control parameters for autonomous vehicles, which is the product of vehicle speed and system delay.
The method of claim 14,
The estimated mileage is
A method for correcting a lateral control parameter for an autonomous vehicle, characterized in that minimum and maximum limit values are set.
The method of claim 13,
The step of calculating the turning radius of the own vehicle,
If the vehicle information includes a steering angle, the lateral direction control parameter correction method for an autonomous vehicle is calculated by dividing the distance between the front and rear axes of the vehicle by the front wheel steering angle of the vehicle to calculate the turning radius of the host vehicle.
The method of claim 16,
The steering angle is,
A method for correcting a lateral direction control parameter for an autonomous vehicle, including information on a gear ratio between steering heights and wheel angles.
The method of claim 13,
The step of calculating the turning radius of the own vehicle,
If the steering angle is not included in the vehicle information, the yaw rate of the vehicle is divided by the vehicle speed to calculate the turning radius of the host vehicle.
The method of claim 13,
The step of calculating the forward sight distance,
After calculating the center angle of the sector calculated by dividing the turning radius of the host vehicle and the travel distance of the vehicle predicted after the system delay,
A method for correcting a lateral direction control parameter for an autonomous vehicle, wherein the forward viewing distance is calculated by multiplying the turning radius of the host vehicle by a sinusoidal rule using the calculated central angle of the sector.
The method of claim 13,
The step of estimating the side slip angle,
A method of correcting a lateral control parameter for an autonomous vehicle in which the side slip angle is estimated using vehicle dynamics at high speed.
The method of claim 13,
The step of estimating the side slip angle,
Transverse control parameter correction method for autonomous vehicles that estimates the side slip angle using only kinematics at low speed.
The method of claim 13,
The step of estimating the side slip angle,
A method of correcting a lateral control parameter for an autonomous vehicle, wherein a hysteresis property is assigned using a side slip angle estimation method of a different method during acceleration and deceleration.
The method of claim 13,
Correcting the transverse controller input parameter,
An autonomous vehicle that calculates a reference route parameter at the forward viewing distance, calculates the own vehicle position parameter at the forward viewing distance, and calculates a lateral controller input parameter by adding the calculated reference route parameter and the own vehicle position parameter Transverse control parameter correction method for
The method of claim 13,
Correcting the transverse controller input parameter,
The forward viewing distance and side slip angle are applied to the clothoid model to predict the future position of the vehicle, and the initial value of the transverse departure distance, the coefficient of the clothoid model, is set to 0, and the initial value of the heading angle is the same as the side slip angle. And calculating the own vehicle position parameter by setting the initial value of the curvature to be equal to the reciprocal of the vehicle's turning radius.

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