KR102244759B1 - Method and system for improving stalability of autonomous vehicle based on distributed control - Google Patents

Abstract

In the method for improving the stability of an autonomous vehicle based on divided control, (a) when driving environment information is obtained from sensors of the autonomous vehicle, the autonomous driving controller refers to the driving environment information to perform the autonomous driving. Determining a driving path of the vehicle and generating target steering angle information and target acceleration/deceleration information for controlling the autonomous vehicle to travel according to the driving path; And (b) the autonomous driving controller transmits the target steering angle information to the lateral controller, and transmits the target acceleration/deceleration information to the longitudinal controller, thereby causing the lateral controller to refer to the target steering angle information. To generate a steering control signal for controlling the steering actuator of the autonomous vehicle, and to apply the steering control signal to the steering actuator, and (ii) the longitudinal controller to refer to the target acceleration/deceleration information Generating an acceleration/deceleration control signal for controlling at least one of a brake actuator and an accelerator actuator of the autonomous vehicle, and applying the acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator; A method and a system using the same are disclosed.

Description

A method for improving the stability of an autonomous vehicle based on divisional control, and a system using it {METHOD AND SYSTEM FOR IMPROVING STALABILITY OF AUTONOMOUS VEHICLE BASED ON DISTRIBUTED CONTROL}

The present invention relates to a method for improving the stability of an autonomous vehicle based on division control and a system using the same.

With the explosive increase in automobile traffic, traffic accidents increase, and at the same time, it is becoming increasingly difficult for drivers to control their driving environment by themselves.

Accordingly, many safety control systems are being developed to reduce the incidence of traffic accidents and improve the driver's convenience. In particular, research on autonomous vehicles that can autonomously travel to destinations without direct driver manipulation are being actively conducted. .

In general, an autonomous vehicle refers to a vehicle capable of autonomously driving to a set destination by recognizing surrounding objects, such as roads, vehicles, and pedestrians, even without a driver's manipulation.

As such, a technology provided for autonomous driving includes a vehicle navigation system using GPS. The vehicle navigation system searches for the location of the vehicle being driven, reproduces an electronic map corresponding to the location of the vehicle from a recording medium recording geographic information, etc., and displays the driving trajectory of the vehicle on the electronic map through the vehicle terminal. Will perform. In addition, the vehicle navigation system may receive a satellite signal from a GPS satellite disposed on the earth through a GPS module, track a driving trajectory by grasping a current position and a driving direction of a vehicle, and reach a destination by autonomous driving.

Conventionally, each actuator of an autonomous vehicle is controlled by a single PC, but if an error occurs in the PC and becomes inoperable, control is not performed on all actuators controlled by the PC. There is a problem that the stability of the driving vehicle is very poor.

It is an object of the present invention to solve all of the above-described problems.

In addition, another object of the present invention is to improve the overall stability of an autonomous vehicle by operating the remaining controllers normally even if an error occurs in a specific controller.

In addition, it is another object of the present invention to provide a method for coping with an error situation from various angles even if an error occurs in at least some of the plurality of controllers by separating the longitudinal controller and the transverse controller.

In addition, another object of the present invention is to make it possible to clearly grasp an error occurring in each controller by being configured with a plurality of controllers.

In addition, another object of the present invention is to flexibly respond to various autonomous driving environments by compensating for an acceleration or speed value according to a specific driving situation.

A characteristic configuration of the present invention for achieving the object of the present invention as described above and realizing the characteristic effects of the present invention to be described later is as follows.

According to an aspect of the present invention, in a method for improving the stability of an autonomous vehicle based on division control, (a) when driving environment information is obtained from sensors of the autonomous vehicle, the autonomous driving controller Determining a driving path of the autonomous vehicle with reference to environmental information, and generating target steering angle information and target acceleration/deceleration information for controlling the autonomous vehicle to travel according to the driving path; And (b) the autonomous driving controller transmits the target steering angle information to the lateral controller, and transmits the target acceleration/deceleration information to the longitudinal controller, thereby causing the lateral controller to refer to the target steering angle information. To generate a steering control signal for controlling the steering actuator of the autonomous vehicle, and to apply the steering control signal to the steering actuator, and (ii) the longitudinal controller to refer to the target acceleration/deceleration information Generating an acceleration/deceleration control signal for controlling at least one of a brake actuator and an accelerator actuator of the autonomous vehicle, and applying the acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator; A method comprising a is disclosed.

As an example, in the step (b), the autonomous driving controller allows the longitudinal controller to calculate a target acceleration value corresponding to the target acceleration/deceleration information and a measured acceleration value obtained by an acceleration sensor of the autonomous driving vehicle. If the target acceleration value and the measured acceleration value are not the same, calculate error acceleration/deceleration information corresponding to the difference value between the target acceleration value and the measured acceleration value, and refer to the error acceleration/deceleration information. Thereby generating a corrected acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator, and applying the corrected acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator. The method is disclosed.

As an example, in step (b), when the autonomous driving controller determines that the vertical direction controller satisfies the inclination angle of the road on which the autonomous driving vehicle is running satisfies the inclination angle of the first critical range, the acceleration/deceleration The target speed corresponding to the control signal is compared with the measured speed obtained by the speed sensor of the autonomous vehicle, and an error speed between the target speed and the measured speed is calculated, and the error speed is referred to the A method comprising generating a compensation acceleration/deceleration control signal for controlling at least one of a brake actuator and the accelerator actuator, and applying the compensation acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator. Is initiated.

As an example, at least one controller of the autonomous driving controller, the lateral controller, and the vertical controller, when controller error information from another controller is obtained, the driver of the autonomous driving vehicle through an alarm device sends the controller error information. Disclosed is a method characterized in that the alarm is given so that it can be recognized.

As an example, each of the lateral controller and the longitudinal controller, when the autonomous driving controller error information from the autonomous driving controller is obtained, maintains the steering control signal applied to the steering actuator in the current state, and the current state In the disclosed method, the acceleration/deceleration control signal applied to at least one of the brake actuator and the accelerator actuator is maintained.

As an example, when at least one of the autonomous driving controller error information from the autonomous driving controller and the lateral controller error information from the lateral controller is obtained, the longitudinal controller is selected from among the brake actuator and the accelerator actuator in a current state. Disclosed is a method characterized in that at least one applied acceleration/deceleration control signal is maintained.

As an example, when at least one of the autonomous driving controller error information from the autonomous driving controller and the longitudinal controller error information from the longitudinal controller is obtained, the lateral controller is applied to the steering actuator in the current state. A method is disclosed, characterized in that the control signal is maintained.

As an example, when at least one of the longitudinal controller error information from the longitudinal controller and the transverse controller error information from the lateral controller is obtained, the autonomous driving controller refers to the target steering angle information to determine the steering actuator. The process of generating the steering control signal for controlling and applying it to the steering actuator and generating the acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator with reference to the target acceleration/deceleration information and the brake Disclosed is a method comprising performing at least one of a process of applying to at least one of an actuator and the accelerator actuator.

As an example, the autonomous driving controller, when the emergency braking signal is obtained, causes the longitudinal controller to turn on the emergency braking switch of the autonomous driving vehicle in response to the emergency braking signal to stop the driving of the autonomous driving vehicle. Disclosed is a method characterized in that.

According to another aspect of the present invention, in a system for improving the stability of an autonomous vehicle based on divided control, when driving environment information is obtained from sensors of the autonomous vehicle, the autonomous driving is performed by referring to the driving environment information. An autonomous driving controller that determines a driving path of the vehicle and generates target steering angle information and target acceleration/deceleration information for controlling the autonomous driving vehicle to travel according to the driving path; When the target steering angle information is transmitted from the autonomous driving controller, a steering control signal for controlling the steering actuator of the autonomous vehicle is generated by referring to the target steering angle information, and the steering control signal is applied to the steering actuator. Direction controller; And when the target acceleration/deceleration information is transmitted from the autonomous driving controller, generating an acceleration/deceleration control signal for controlling at least one of a brake actuator and an accelerator actuator of the autonomous vehicle with reference to the target acceleration/deceleration information, and the acceleration/deceleration Disclosed is a system for improving the stability of an autonomous vehicle based on divisional control including a longitudinal controller that applies a speed control signal to at least one of the brake actuator and the accelerator actuator.

As an example, the longitudinal controller compares a target acceleration value corresponding to the target acceleration/deceleration information with a measured acceleration value obtained by an acceleration sensor of the autonomous vehicle, and the target acceleration value and the measured acceleration value are the same. If not, the error acceleration/deceleration information corresponding to the difference value between the target acceleration value and the measured acceleration value is calculated, and correction acceleration/deceleration to control at least one of the brake actuator and the accelerator actuator by referring to the error acceleration/deceleration information A system is disclosed, comprising generating a speed control signal and applying the corrected acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator.

As an example, in step (b), if the longitudinal controller determines that the inclination angle of the road on which the autonomous vehicle is traveling satisfies the inclination angle of the first threshold range, the target speed corresponding to the acceleration/deceleration control signal The measured speed obtained by the speed sensor of the autonomous vehicle is compared, an error speed between the target speed and the measured speed is calculated, and at least one of the brake actuator and the accelerator actuator is determined with reference to the error speed. A system is disclosed, comprising generating a compensation acceleration/deceleration control signal for controlling and applying the compensation acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator.

As an example, at least one controller of the autonomous driving controller, the lateral controller, and the vertical controller, when controller error information from another controller is obtained, the driver of the autonomous driving vehicle through an alarm device sends the controller error information. Disclosed is a system characterized in that the alarm is given so that it can be recognized.

As an example, each of the lateral controller and the longitudinal controller, when the autonomous driving controller error information from the autonomous driving controller is obtained, maintains the steering control signal applied to the steering actuator in the current state, and the current state In the disclosed system, the acceleration/deceleration control signal applied to at least one of the brake actuator and the accelerator actuator is maintained.

As an example, when at least one of the autonomous driving controller error information from the autonomous driving controller and the lateral controller error information from the lateral controller is obtained, the longitudinal controller is selected from among the brake actuator and the accelerator actuator in a current state. A system is disclosed, wherein at least one applied acceleration/deceleration control signal is maintained.

As an example, when at least one of the autonomous driving controller error information from the autonomous driving controller and the longitudinal controller error information from the longitudinal controller is obtained, the lateral controller is applied to the steering actuator in the current state. A system is disclosed, characterized in that the control signal is maintained.

As an example, when at least one of the longitudinal controller error information from the longitudinal controller and the transverse controller error information from the lateral controller is obtained, the autonomous driving controller refers to the target steering angle information to determine the steering actuator. The process of generating the steering control signal for controlling and applying it to the steering actuator and generating the acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator with reference to the target acceleration/deceleration information and the brake Disclosed is a system comprising performing at least one of an actuator and a process of applying to at least one of the accelerator actuator.

As an example, the autonomous driving controller, when the emergency braking signal is obtained, causes the longitudinal controller to turn on the emergency braking switch of the autonomous driving vehicle in response to the emergency braking signal to stop the driving of the autonomous driving vehicle. Disclosed is a system, characterized in that.

According to the present invention, the following effects are obtained.

According to the present invention, even if an error occurs in a specific controller, the remaining controllers operate normally, thereby improving the overall stability of the autonomous vehicle.

In addition, according to the present invention, by separating the longitudinal controller and the transverse controller, even if an error occurs in at least some of the plurality of controllers, it is possible to provide a plan for coping with the error situation from various angles.

In addition, the present invention has the effect of being able to clearly grasp an error occurring in each controller by being configured with each controller corresponding to each function.

In addition, the present invention has an effect of flexibly responding to various driving environments by compensating for an acceleration or speed value according to a specific driving environment.

1 schematically shows a system for improving the stability of an autonomous vehicle based on divided control according to an embodiment of the present invention,
2 schematically shows a process of generating a corrected acceleration/deceleration control signal based on an error in a system for improving the stability of an autonomous vehicle based on divided control according to an embodiment of the present invention,
FIG. 3 schematically illustrates a process of generating a compensation acceleration/deceleration control signal with reference to an inclination angle of a road in a system for improving the stability of an autonomous vehicle based on divided control according to an embodiment of the present invention. .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The detailed description of the present invention described below refers to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in relation to one embodiment. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if appropriately described, is limited only by the appended claims, along with all ranges equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to enable those of ordinary skill in the art to easily implement the present invention.

1 schematically shows a system for improving the stability of an autonomous vehicle based on divided control. Referring to FIG. 1, the system includes an autonomous driving controller 100, a lateral controller 200, and a vertical controller. It may include (300).

First, the autonomous driving controller 100, the lateral controller 200, and the longitudinal controller 300 each have memories 110, 210, 310 in which respective instructions for improving the stability of the autonomous driving vehicle are stored, and Each of the processors 120, 220, and 320 may be included to perform an operation according to the respective instructions stored in the respective memories 110, 210, and 310. It will be readily understood by those skilled in the art that the method of the present invention will be implemented utilizing a combination of computer hardware and software.

The memory 110 of the autonomous driving controller 100, the memory 210 of the lateral controller 200, and the memory 310 of the vertical controller 300 may store instructions. Specifically, the instructions are autonomous driving controllers. Computer software for causing 100 to function in a specific manner, which may be stored in a computer usable or computer readable memory that may be directed to a computer or other programmable data processing equipment. It is also possible for the instructions to perform processes for executing the functions shown in the figure.

In addition, the processor 120 of the autonomous driving controller 100, the processor 220 of the lateral controller 200, and the processor 320 of the vertical controller 300 are MPU (Micro Processing Unit) or CPU (Central Processing Unit). ), a cache memory, and a data bus. In addition, it may further include an operating system and a software configuration of an application that performs a specific purpose.

A method of improving the stability of the autonomous vehicle using a system for improving the stability of the autonomous vehicle based on the divided control according to an embodiment of the present invention configured as described above will be described as follows.

First, when driving environment information is obtained from the sensors of the autonomous vehicle, the autonomous driving controller 100 determines the driving path of the autonomous vehicle by referring to the driving environment information, and allows the autonomous vehicle to travel according to the driving path. Target steering angle information and target acceleration/deceleration information for control can be generated.

Here, the driving environment information may include traffic conditions for a road within a certain radius from the autonomous vehicle, information on topographic features around the autonomous vehicle, and a current vehicle state of the autonomous vehicle. At this time, the sensors of the autonomous vehicle include sensors that acquire information about the surroundings of the autonomous vehicle, such as lidar, radar, and camera, and sensors that acquire the vehicle status of the autonomous vehicle such as speed, acceleration, and steering angle of the autonomous vehicle. Can include.

In addition, the target steering angle information is information for the autonomous driving controller 100 to direct the autonomous vehicle to a specific direction, and the target acceleration/deceleration information means that the autonomous driving controller 100 allows the autonomous driving vehicle to drive at a specific speed. This is information to increase or decrease the speed so that it is possible.

And, the autonomous driving controller 100 transmits the target steering angle information to the lateral controller 200, and transmits the target acceleration/deceleration information to the longitudinal controller 300, so that (i) the lateral controller 200 By referring to the target steering angle information, a steering control signal for controlling the steering actuator 400 of an autonomous vehicle is generated, and a steering control signal is applied to the steering actuator 400, and (ii) a longitudinal controller 300 ) To refer to the target acceleration/deceleration information to generate an acceleration/deceleration control signal for controlling at least one of the brake actuator 500 and the accelerator actuator 600 of the autonomous vehicle, and the acceleration/deceleration control signal to the brake actuator ( 500) and the accelerator actuator 600 may be applied to at least one.

As an example, the autonomous driving controller 100 transmits the target steering angle information to the lateral controller 200 so that the lateral controller 200 refers to the target steering angle information to generate a steering control signal, and steering control A voltage value corresponding to the signal may be applied to the steering actuator 400 to cause the steering actuator 400 to operate. Then, in conjunction with the operation of the steering actuator 400, the steering wheel of the autonomous vehicle rotates to correspond to the target steering angle information, and accordingly, the autonomous vehicle travels in a direction corresponding to the driving path.

In addition, the autonomous driving controller 100 transmits the target acceleration/deceleration information to the longitudinal controller 300, thereby causing the longitudinal controller 300 to refer to the target acceleration/deceleration information to generate an acceleration/deceleration control signal, The pedal voltage value or the pedal position value corresponding to the acceleration/deceleration control signal may be applied to at least one of the brake actuator 500 and the accelerator actuator 600. Then, the brake pedal of the autonomous vehicle is operated by interlocking with the operation of the brake actuator 500, or the accelerator pedal of the autonomous vehicle is operated by interlocking with the operation of the accelerator actuator 600 to perform acceleration and deceleration of the autonomous vehicle.

For example, in a situation in which an ^{autonomous vehicle has been accelerating to 2 m/s 2 in the past, and a further acceleration to 4 m/s 2} is desired, the autonomous driving controller 100 causes the longitudinal controller 300 to cause the 4 m/s ² An acceleration/deceleration control signal corresponding to the acceleration/deceleration value is generated, and a pedal voltage value or a pedal position value corresponding to the acceleration/deceleration control signal may be applied to at least one of the accelerator actuator 600 and the brake actuator 500.

As another example, in a situation where the ^{autonomous vehicle was accelerating to 3 m/s 2} until before, when the autonomous vehicle is to be driven ^{at 0 m/s 2} , that is, at a constant speed, the autonomous driving controller 100 causes the longitudinal controller 300 to cause 0 m/s. ^{The acceleration/deceleration control signal corresponding to the acceleration value of 2} is generated, and the pedal voltage value or the pedal position value corresponding to the acceleration/deceleration control signal is applied to at least one of the accelerator actuator 600 and the brake actuator 500. have. Specifically, the autonomous driving controller 100 causes the longitudinal controller 300 to apply a predetermined pedal voltage value or a predetermined pedal position value to the accelerator actuator in consideration of friction between the road surface and the wheel of the autonomous vehicle. I can.

^{As another example, in a situation where the autonomous vehicle was accelerating to 4 m/s 2} until the previous time, in the case of -2 m/s ² , that is, to decelerate, the autonomous driving controller 100 causes the longitudinal controller 300 to cause -2 m/s 2 Generate an acceleration/deceleration control signal corresponding to the acceleration value of s ² , and apply the pedal voltage value or pedal position value corresponding to the acceleration/deceleration control signal to at least one of the accelerator actuator 600 and the brake actuator 500. I can.

In addition, the acceleration/deceleration control signal may be applied to either the accelerator actuator 600 or the brake actuator 500, but is not limited thereto, and may be applied to both actuators.

Meanwhile, in controlling the acceleration, as described above, the acceleration value targeted by the autonomous driving controller 100 and the acceleration value actually measured may not be the same due to friction with the road surface as well as various other factors. In such a case, a process of controlling the actual measured acceleration value of the autonomous vehicle to reach the target acceleration value may be necessary.

When described in detail with reference to FIG. 2, the autonomous driving controller 100 causes the longitudinal controller 300 to generate a target acceleration value corresponding to the target acceleration/deceleration information and a measured acceleration obtained by the acceleration sensor of the autonomous vehicle. Compare the values, and if the target acceleration value and the measured acceleration value are not the same, calculate the error acceleration/deceleration information corresponding to the difference between the target acceleration value and the measured acceleration value, and refer to the error acceleration/deceleration information to the brake actuator. 500 and the accelerator actuator 600 to generate a corrected acceleration/deceleration control signal for controlling at least one, and to apply the corrected acceleration/deceleration control signal to at least one of the brake actuator 500 and the accelerator actuator 600 I can.

For example, a corrected acceleration/deceleration control signal may be generated through a proportional controller that inputs error acceleration/deceleration information corresponding to a difference value between a target acceleration value and a measured acceleration value. However, the control method for reducing the difference between the target acceleration value and the measured acceleration value is not limited to the proportional controller, for example, a proportional-integral controller, or a proportional-integral-differential controller. controller), etc., can also generate a modified acceleration/deceleration control signal.

On the other hand, there may be a case where it is necessary to compensate for the acceleration value due to the slope of the road.

That is, when the autonomous driving controller 100 determines that the inclination angle of the road on which the autonomous driving vehicle is running satisfies the inclination angle of the first threshold range, the target corresponding to the acceleration/deceleration control signal The speed and the measured speed obtained by the speed sensor of the autonomous vehicle are compared, the error speed between the target speed and the measured speed is calculated, and the error speed is referred to the brake actuator 500 and the accelerator actuator 600. A compensation acceleration/deceleration control signal for controlling at least one of them may be generated, and a compensation acceleration/deceleration control signal may be applied to at least one of the brake actuator 500 and the accelerator actuator 600.

When described in detail with reference to FIG. 3, when the accelerator actuator 600 operates so that the autonomous vehicle can start from a standstill at an acceleration of ^{1 m/s 2, which is a target acceleration value, on a flat ground, the accelerator on a steep road} Even if the actuator 600 performs the same operation, the autonomous vehicle ^{cannot start with the same target acceleration value of 1m/s 2} , and even a situation in which it does not move and remains stationary in its place may occur.

In the above situation, when the driving target speed value of the autonomous vehicle is 5 m/s, the autonomous driving controller 100 causes the longitudinal controller 300 to measure the autonomous vehicle standing still in place. The speed value of 0m/s and the target speed value of 5m/s are compared, the error speed of 5m/s is calculated, and the error speed is referred to to generate a compensation acceleration/deceleration control signal. That is, since the autonomous vehicle does not move with the acceleration/deceleration control signal corresponding to the existing target acceleration value of 1m/s ² , the acceleration value corresponding to the compensation acceleration/deceleration control signal can have a value of ^{3 m/s 2.} .

In addition, when the self-driving car goes up the sloped road, the speed of the self-driving car is slowed down more than that of the flat land due to the climbing resistance. It accelerates more than that. Therefore, in the case of an autonomous vehicle driving on an inclined road, the measured acceleration value obtained from the acceleration sensor has a large difference compared to the flat land, so the acceleration/deceleration control signal is compensated using the speed of the autonomous vehicle as described above. I can do it.

Meanwhile, an error may occur in at least one of the autonomous driving controller 100, the lateral controller 200, and the longitudinal controller 300 due to a disconnection due to an external shock or a malfunction due to aging.

In such a situation, at least one of the autonomous driving controller 100, the lateral controller 200, and the vertical controller 300, when controller error information from another controller is obtained, through an alarm device It can alert the driver of the controller to recognize the error information.

For example, when an error occurs in the lateral controller 200 and a response signal is not obtained for a predetermined time for a signal sent to the lateral controller 200, the autonomous driving controller 100 and the longitudinal controller 300 ), the at least one controller may inform the driver of the autonomous vehicle through the display device to recognize that an error has occurred in the lateral controller 200. Through this, the driver can change the autonomous vehicle to a manual mode so that the driver can directly drive the autonomous vehicle.

As another example, when an error occurs in the vertical controller 300 and a response signal is not obtained for a predetermined time for a signal sent to the vertical controller 300, the autonomous driving controller 100 and the horizontal controller 200 ) At least one controller may inform the driver of the autonomous vehicle to recognize that an error has occurred in the longitudinal controller 300 through the voice output device. However, the method of notifying the driver of the autonomous vehicle to recognize the error information is not limited to this, for example, so that the driver of the autonomous vehicle can recognize the error information of a specific controller through the vibration of the steering wheel. I will be able to tell you.

On the other hand, each of the lateral controller 200 and the longitudinal controller 300, when the autonomous driving controller error information from the autonomous driving controller 100 is obtained, a steering control signal applied to the steering actuator 400 in the current state is In the current state, the acceleration/deceleration control signal applied to at least one of the brake actuator 500 and the accelerator actuator 600 may be maintained.

For example, when an error occurs in the autonomous driving controller 100 to perform a specific function by transmitting target steering angle information or target acceleration/deceleration information to the horizontal controller 200 and the vertical controller 300, autonomous driving When the operation of the lateral controller 200 and the vertical controller 300 that receives information from the controller 100 is stopped, a safety problem may occur. Therefore, temporarily, the steering control signal applied to the steering actuator 400 is maintained, and the acceleration/deceleration control signal applied to at least one of the brake actuator 500 and the accelerator actuator 600 is maintained in the current state. It is possible to secure a spare time for the driver in the driving vehicle to cope with the error of the autonomous driving controller 100.

On the other hand, the longitudinal controller 300, when at least one of the autonomous driving controller error information from the autonomous driving controller 100 and the lateral controller error information from the lateral controller 200 is acquired, the brake actuator ( 500) and an acceleration/deceleration control signal applied to at least one of the accelerator actuator 600 may be maintained.

As an example, when an error occurs in both the autonomous driving controller 100 and the lateral controller 200, the longitudinal controller 300 is temporarily applied to at least one of the brake actuator 500 and the accelerator actuator 600. By maintaining the speed control signal, for example, a dangerous situation in which an autonomous vehicle driving on a highway stops in the middle of a road can be prevented, and a spare time can be secured so that the driver can operate the steering wheel.

On the other hand, the lateral controller 200, when at least one of the autonomous driving controller error information from the autonomous driving controller 100 and the longitudinal controller error information from the longitudinal controller 300 is acquired, the steering actuator ( The steering control signal applied to 400) can be maintained.

Since this is similar to that described through the coping method of the vertical controller 300, further detailed description will be omitted.

On the other hand, the autonomous driving controller 100, when at least one of the longitudinal controller error information from the longitudinal controller 300 and the transverse controller error information from the lateral controller 200 is obtained, with reference to the target steering angle information For controlling at least one of the brake actuator 500 and the accelerator actuator 600 with reference to the process of generating a steering control signal for controlling the steering actuator 400 and applying it to the steering actuator 400 and target acceleration/deceleration information. At least one of a process of generating an acceleration/deceleration control signal and applying it to at least one of the brake actuator 500 and the accelerator actuator 600 may be performed.

In other words, if the controller performs the actuator control function while being concentrated in one device, the problem that autonomous driving itself becomes impossible when an error occurs in the device occurs. As an example, in order to prevent the above situation, the vertical controller 300 and the lateral controller 200 that can perform some roles of the autonomous driving controller 100 performing a central role are used as the autonomous driving controller 100 ) And can be configured separately. If an error occurs in the longitudinal controller 300 and the lateral controller 200 for performing a partial role of the autonomous driving controller 100, the autonomous driving controller 100 is the longitudinal controller 300 and the lateral controller. By directly performing the roles shared by the controller 200, it is possible to maintain the stability of the autonomous vehicle.

On the other hand, the autonomous driving controller 100 causes the longitudinal controller 300 to turn on the emergency braking switch of the autonomous driving vehicle in response to the emergency braking signal when the emergency braking signal is obtained to stop the driving of the autonomous driving vehicle. can do.

The embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded in the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks. media), and a hardware device specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the processing according to the present invention, and vice versa.

In the above, the present invention has been described by specific matters such as specific elements and limited embodiments and drawings, but this is provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , Anyone having ordinary knowledge in the technical field to which the present invention pertains can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention is limited to the above-described embodiments and should not be defined, and all modifications that are equally or equivalent to the claims as well as the claims to be described later fall within the scope of the spirit of the present invention. I would say.

Claims (18)

In a method for improving the stability of an autonomous vehicle based on divided control,
(a) When driving environment information is obtained from sensors of the autonomous vehicle, the autonomous driving controller determines the driving path of the autonomous driving vehicle by referring to the driving environment information, and the autonomous driving vehicle is operated according to the driving path. Generating target steering angle information and target acceleration/deceleration information for controlling the vehicle to travel; And
(b) the autonomous driving controller transmits the target steering angle information to the lateral controller, and transmits the target acceleration/deceleration information to the longitudinal controller, so that (i) the lateral controller may refer to the target steering angle information. So that a steering control signal for controlling a steering actuator of the autonomous vehicle is generated, the steering control signal is applied to the steering actuator, and (ii) the longitudinal controller refers to the target acceleration/deceleration information. Generating an acceleration/deceleration control signal for controlling at least one of a brake actuator and an accelerator actuator of the autonomous vehicle, and applying the acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator;
Including,
In step (b),
The autonomous driving controller causes the longitudinal controller to compare a target acceleration value corresponding to the target acceleration/deceleration information with a measured acceleration value obtained by an acceleration sensor of the autonomous vehicle, and the target acceleration value and the If the measured acceleration value is not the same, error acceleration/deceleration information corresponding to the difference value between the target acceleration value and the measured acceleration value is calculated, and at least one of the brake actuator and the accelerator actuator is referred to the error acceleration/deceleration information. Generating a correction acceleration/deceleration control signal for controlling one, and applying the correction acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator,
In step (b),
When the autonomous driving controller determines that the inclination angle of the road on which the autonomous driving vehicle is running satisfies the inclination angle of the first threshold range, the autonomous driving controller causes the target speed corresponding to the acceleration/deceleration control signal and the autonomous vehicle to Compare the measured speed obtained by the speed sensor of the traveling vehicle, calculate an error speed between the target speed and the measured speed, and refer to the error speed to determine at least one of the brake actuator and the accelerator actuator. And generating a compensation acceleration/deceleration control signal for controlling, and applying the compensation acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator. delete delete The method of claim 1,
At least one of the autonomous driving controller, the lateral controller, and the vertical controller, when controller error information from another controller is obtained, allows the driver of the autonomous driving vehicle to recognize the controller error information through an alarm device. A method, characterized in that to give an alarm to be able to. The method of claim 4,
Each of the lateral controller and the longitudinal controller, when the autonomous driving controller error information from the autonomous driving controller is obtained, maintains the steering control signal applied to the steering actuator in the current state, and the brake in the current state The method of claim 1, wherein the acceleration/deceleration control signal applied to at least one of an actuator and the accelerator actuator is maintained. The method of claim 4,
When at least one of the autonomous driving controller error information from the autonomous driving controller and the lateral controller error information from the lateral controller is obtained, the longitudinal controller is applied to at least one of the brake actuator and the accelerator actuator in a current state. The method of claim 1, wherein the acceleration/deceleration control signal is maintained. The method of claim 4,
The lateral controller, when at least one of the autonomous driving controller error information from the autonomous driving controller and the longitudinal controller error information from the longitudinal controller is obtained, the steering control signal applied to the steering actuator in the current state is A method, characterized in that to be maintained. The method of claim 4,
The autonomous driving controller is configured to control the steering actuator by referring to the target steering angle information when at least one of the vertical controller error information from the vertical controller and the horizontal controller error information from the horizontal controller is obtained. The process of generating the steering control signal and applying it to the steering actuator and generating the acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator with reference to the target acceleration/deceleration information and the brake actuator and the A method comprising performing at least one of a process of applying to at least one of the accelerator actuators. The method of claim 1,
The autonomous driving controller, when the emergency braking signal is obtained, causes the longitudinal controller to turn on the emergency braking switch of the autonomous driving vehicle in response to the emergency braking signal to stop the driving of the autonomous driving vehicle. How to do it. In a system for improving the stability of an autonomous vehicle based on divided control,
When driving environment information is obtained from sensors of the autonomous vehicle, target steering angle information for determining the driving path of the autonomous vehicle by referring to the driving environment information, and controlling the autonomous driving vehicle to travel according to the driving path And an autonomous driving controller that generates target acceleration/deceleration information.
When the target steering angle information is transmitted from the autonomous driving controller, a steering control signal for controlling the steering actuator of the autonomous vehicle is generated by referring to the target steering angle information, and the steering control signal is applied to the steering actuator. Direction controller; And
When the target acceleration/deceleration information is transmitted from the autonomous driving controller, an acceleration/deceleration control signal for controlling at least one of a brake actuator and an accelerator actuator of the autonomous vehicle is generated with reference to the target acceleration/deceleration information, and the acceleration/deceleration A longitudinal controller for applying a control signal to at least one of the brake actuator and the accelerator actuator;
Including,
When the longitudinal controller compares a target acceleration value corresponding to the target acceleration/deceleration information and a measured acceleration value obtained by an acceleration sensor of the autonomous vehicle, and the target acceleration value and the measured acceleration value are not the same A modified acceleration/deceleration control signal for calculating error acceleration/deceleration information corresponding to a difference value between the target acceleration value and the measured acceleration value, and controlling at least one of the brake actuator and the accelerator actuator with reference to the error acceleration/deceleration information And applying the corrected acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator,
When the longitudinal controller determines that the inclination angle of the road on which the autonomous vehicle runs satisfies the inclination angle of the first threshold range, the target speed corresponding to the acceleration/deceleration control signal and the speed sensor of the autonomous vehicle Comparing the obtained measured speed, calculating an error speed between the target speed and the measured speed, and generating a compensation acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator with reference to the error speed And applying the compensation acceleration/deceleration control signal to at least one of the brake actuator and the accelerator actuator. delete delete The method of claim 10,
At least one of the autonomous driving controller, the lateral controller, and the vertical controller, when controller error information from another controller is obtained, allows the driver of the autonomous driving vehicle to recognize the controller error information through an alarm device. A system, characterized in that it gives an alarm to be able to. The method of claim 13,
Each of the lateral controller and the longitudinal controller, when the autonomous driving controller error information from the autonomous driving controller is obtained, maintains the steering control signal applied to the steering actuator in the current state, and the brake in the current state And the acceleration/deceleration control signal applied to at least one of an actuator and the accelerator actuator is maintained. The method of claim 13,
When at least one of the autonomous driving controller error information from the autonomous driving controller and the lateral controller error information from the lateral controller is obtained, the longitudinal controller is applied to at least one of the brake actuator and the accelerator actuator in a current state. And the acceleration/deceleration control signal being maintained. The method of claim 13,
The lateral controller, when at least one of the autonomous driving controller error information from the autonomous driving controller and the longitudinal controller error information from the longitudinal controller is obtained, the steering control signal applied to the steering actuator in the current state is A system, characterized in that to be maintained. The method of claim 13,
The autonomous driving controller is configured to control the steering actuator by referring to the target steering angle information when at least one of the vertical controller error information from the vertical controller and the horizontal controller error information from the horizontal controller is obtained. The process of generating the steering control signal and applying it to the steering actuator and generating the acceleration/deceleration control signal for controlling at least one of the brake actuator and the accelerator actuator with reference to the target acceleration/deceleration information and the brake actuator and the A system comprising performing at least one of a process of applying to at least one of the accelerator actuators. The method of claim 10,
The autonomous driving controller, when the emergency braking signal is obtained, causes the longitudinal controller to turn on the emergency braking switch of the autonomous driving vehicle in response to the emergency braking signal to stop the driving of the autonomous driving vehicle. System.

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