KR102356476B1 - Backward driving assist apparatus of vehicle and control method thereof - Google Patents

Abstract

A reverse driving support apparatus for a vehicle according to the present invention includes: a plurality of sensor units mounted on the vehicle; a driving trajectory storage unit for storing driving trajectory data generated during forward driving of the vehicle; and determining whether the vehicle is forward traveling or backward traveling, and when the vehicle is forward traveling, estimating the location of the own vehicle based on information sensed by the sensor unit and generating a forward traveling trajectory of the vehicle. It may include a; stored in the driving trajectory storage unit, and when the vehicle is traveling in reverse, a control unit that assists in reverse driving of the vehicle based on the driving trajectory data stored in the driving trajectory storage unit and the location of the own vehicle.

Description

Reverse driving support device for vehicle and control method thereof

The present invention relates to an apparatus for supporting reverse driving of a vehicle and a method for controlling the same, and more particularly, when driving backward according to a stored driving trajectory during forward driving, estimating the location of the own vehicle through dead reckoning, improving estimation accuracy, and driving forward Reverse driving support device for vehicle that improves convergence speed by interpolating and storing driving trajectory data generated for each set distance at each time in the form of a curve function parameter and to a control method thereof.

In general, there are many drivers who complain of difficulties in driving because the moving trajectory of the vehicle is different from the forward driving when the vehicle is traveling in reverse. This is because there is a blind spot even when the rearview mirror and side mirror are used when the vehicle is driving in reverse, so the driver frequently needs to check the rear directly, check obstacles, and then step back by pressing the steering and acceleration or deceleration pedals again.

In particular, when driving in a narrow alley or in a parking lot with a narrow parking space, it is often difficult to drive forward due to running into an oncoming vehicle. In this case, the vehicle must be driven backwards on the route it came from, but in many cases, novice drivers or inexperienced drivers experience considerable difficulty in reverse driving in such a narrow space and cannot move forward or backward.

In addition, in order to prevent further vehicle damage when the vehicle body comes into contact with a parked vehicle or a wall while turning in a narrow space with many parked vehicles, the vehicle must be reversed in the same way as the vehicle was turning. In some cases, more damage may be done.

Currently, devices that assist when the vehicle is reversing include a PAS (Parking Assist System), a PGS (Parking Guide System), and a rear monitor.

In the case of the rear monitor, there is a limit to securing a field of view that can monitor the left and right sides in such a situation, and in the case of PAS and PGS, continuous alarm sounds are generated, which can create anxiety in the driver.

In addition, when reversing on a narrow road, the steering wheel is slightly turned left/right and the vehicle is often pulled to the left or right. Systems such as PAS and PGS have limitations in solving this situation.

In addition, the rear side warning system is a system that alerts the presence of a vehicle from the rear or side within a certain distance (for example, 7 m) when changing lanes while driving using a radar sensor. It is not suitable for use as a driving assistance device, and it is difficult to detect surrounding obstacles without a rear-facing sensor such as a radar sensor.

The background technology of the present invention is disclosed in Korean Patent Publication No. 2015-0077823 (published on Jul. 8, 2015, automatic reverse path control system for a vehicle).

In the automatic reverse route control system according to the prior art, the driving trajectory data generated during forward driving is sequentially stored at regular distance intervals, and then, when driving backward, the driving trajectory data is acquired in the reverse order of the stored sequence during forward driving to determine the reverse route. will take control

However, since forward driving and reverse driving have different turning radii due to the configuration of the vehicle, when the reverse driving path is controlled in the same way as the forward driving path using only the vehicle speed sensor and the steering angle sensor, there is a problem in that the error rate is high.

The present invention has been devised to improve the above problems, and an object of the present invention according to one aspect is to improve estimation accuracy by estimating the own vehicle position through dead reckoning when driving backward according to a stored driving trajectory during forward driving, During forward driving, the driving trajectory data generated for each set distance is interpolated and stored in the form of a curve function parameter, and when driving in reverse, the steering angle command input during forward driving is used as a feedforward factor to improve the convergence speed of the vehicle. To provide a driving support device and a control method therefor.

According to the present invention for achieving the above object, there is provided an apparatus for supporting reverse driving of a vehicle, comprising: a plurality of sensor units mounted on the vehicle; a driving trajectory storage unit for storing driving trajectory data generated during forward driving of the vehicle; and determining whether the vehicle is forward traveling or backward traveling, and when the vehicle is forward traveling, estimating the location of the own vehicle based on information sensed by the sensor unit, and generating a forward traveling trajectory of the vehicle. It may include a; stored in the driving trajectory storage unit, and when the vehicle is traveling in reverse, a control unit that assists in reverse driving of the vehicle based on the driving trajectory data stored in the driving trajectory storage unit and the location of the own vehicle.

The sensor unit may include at least one of a vehicle speed sensor measuring a vehicle speed by counting wheel pulses of a wheel, a steering angle sensor measuring a steering angle of a steering wheel, and a yaw rate sensor measuring an inclined yaw rate value of the vehicle while driving can

The control unit estimates the location of the vehicle by matching the wheel pulse count of the vehicle speed sensor, the steering angle of the steering angle sensor, and the yaw rate value of the yaw rate sensor during forward driving, and the driving generated at a set distance interval The trajectory data may be interpolated by a curve function and stored in the driving trajectory storage unit.

The control unit reads the driving trajectory data from the driving trajectory storage unit during backward driving, compensates for a directional angle error with the host vehicle position to generate a target steering angle, and outputs the target steering angle to the MDPS controller to reverse the vehicle. You can assist with driving.

The driving trajectory storage unit may be configured as a ring buffer.

The controller may interpolate the driving trajectory data with a cubic curve function and store the curve function parameter in the driving trajectory storage unit.

The control unit estimates the absolute change amount at the reference position based on the wheel pulse count at a set time interval, estimates the lateral change amount from the steering angle and the yaw rate value, and accumulates the absolute change amount and the lateral change amount The location of the own vehicle may be estimated.

The controller may generate the target steering angle by feeding forward the steering angle input during forward driving while performing PID control based on the driving trajectory data and the location of the host vehicle.

The control unit is

an own vehicle position estimator for estimating the own vehicle position by matching the wheel pulse count of the vehicle speed sensor, the steering angle of the steering angle sensor, and the yaw rate value of the yaw rate sensor; During forward driving, the position data of the own vehicle position estimated from the own vehicle position estimator at a set distance interval is stored in the driving trajectory storage unit, and when the driving trajectory data is generated in excess of a set number of the position data, the driving trajectory a forward trajectory management unit for interpolating data with a curve function and storing the data together with the parameters of the curve function in the driving trajectory storage unit; an error calculation unit for reading the driving trajectory data from the driving trajectory storage unit during backward driving and calculating a direction angle error with respect to the location of the host vehicle; and a path follower configured to generate the target steering angle from the driving trajectory data by compensating for the directional angle error calculated by the error calculator.

The forward trajectory management unit may update the latest position data from the oldest position data when the driving trajectory storage unit is full.

According to another aspect of the present invention, there is provided a method for controlling a device for traveling backwards for a vehicle, the method comprising: determining whether a vehicle is traveling forward or traveling backward in a control unit; estimating the location of the own vehicle by the control unit based on information sensed through the sensor unit when the vehicle is traveling forward; storing, by the control unit, the estimated own vehicle position data in a driving trajectory storage unit; When the vehicle is running in reverse, based on the driving trajectory data stored in the driving trajectory storage unit and the location of the own vehicle, assisting in the reverse driving of the vehicle by the controller; may include.

The step of estimating the location of the own vehicle,

estimating, by the control unit, an absolute change amount in a reference position based on a wheel pulse count of a vehicle speed sensor at a set time interval; estimating, by the controller, a lateral change amount from the steering angle of the steering angle sensor and the yaw rate value of the yaw rate sensor; and

and estimating, by the control unit, the location of the own vehicle by accumulating the absolute change amount and the lateral change amount.

In the step of storing the estimated own vehicle position data in the driving trajectory storage unit,

The driving trajectory data generated at a set distance interval may be interpolated by a curve function and stored in the driving trajectory storage unit.

The step of assisting in reverse driving of the vehicle is:

reading the driving trajectory data from the driving trajectory storage unit and calculating a direction angle error with respect to the location of the host vehicle; and generating a target steering angle by compensating for the calculated directional angle error and outputting the generated target steering angle to the MDPS controller.

In the step of compensating for the calculated direction angle error to generate a target steering angle and outputting it to the MDPS control unit,

When generating the target steering angle, the control unit feeds forward the steering angle input during forward driving while performing PID control based on the driving trajectory data and the location of the host vehicle to generate the target steering angle.

An apparatus for supporting reverse driving of a vehicle and a control method therefor according to an aspect of the present invention improve estimation accuracy by estimating the location of a vehicle through dead reckoning when driving backward according to a stored driving trajectory during forward driving, and improving the estimation accuracy when driving forward The driving trajectory data generated each time is interpolated in the form of a curve function parameter to store the driving trajectory data as a continuous movement. It increases the convenience of the vehicle and enables easy reverse driving.

1 is a block diagram illustrating an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.
2 is a ring buffer structure illustrating a driving trajectory storage unit in the apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a forward driving situation in a method of controlling an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.
4 is a flowchart illustrating a reverse driving situation in a method of controlling an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.

Hereinafter, an apparatus for supporting reverse driving of a vehicle and a control method thereof according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram showing an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention, and FIG. 2 is a ring buffer structure showing a driving trajectory storage unit in the apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention. to be.

As shown in FIGS. 1 and 2 , the apparatus for supporting backward driving of a vehicle according to an embodiment of the present invention includes a vehicle speed sensor 10 , a steering angle sensor 20 , a yaw rate sensor 30 , and a driving trajectory storage unit ( 60) and a control unit 50 may be included.

The vehicle speed sensor 10 counts the wheel pulses of the wheels and provides the wheel pulse counts to the controller 50 so as to determine the vehicle speed and the moving distance.

The steering angle sensor 20 measures a steering angle at which the steering wheel of the vehicle is rotated and provides it to the controller 50 .

The yaw rate sensor 30 measures an inclined yaw rate value of the vehicle while driving and provides it to the controller 50 to estimate a lateral change of the vehicle.

The driving trajectory storage unit 60 stores driving trajectory data generated during forward driving.

Here, the driving trajectory storage unit 60 is composed of a ring buffer as shown in FIG. 2 and is sequentially stored and then stored sequentially from the first position again when the ring buffer is full, so that the oldest data is updated and stored. .

The control unit 50 determines the position of the shift lever from the shift lever detection unit 40 and, in the case of forward driving, the wheel pulse count of the vehicle speed sensor 10 and the steering angle and yaw rate sensor of the steering angle sensor 20 during forward driving. The yaw rate value of (30) is matched to estimate the location of the vehicle, and the driving trajectory data generated at a set distance interval is interpolated by a curve function and stored in the driving trajectory storage unit 60 together with the parameters of the curve function.

In addition, the control unit 50 determines the position of the shift lever from the shift lever sensing unit 40 and, in the case of reverse driving, reads the driving trajectory data from the driving trajectory storage unit 60 and compensates for the directional angle error with the own vehicle position. to generate a target steering angle, and output the target steering angle to the MDPS control unit 70 .

Here, the control unit 50 may include an own vehicle position estimation unit 52 , a forward trajectory management unit 54 , an error calculation unit 56 , and a path tracking unit 58 .

The own vehicle position estimator 52 matches the wheel pulse count of the vehicle speed sensor 10 with the steering angle of the steering angle sensor 20 and the yaw rate value of the yaw rate sensor 30 to estimate the own vehicle position by dead reckoning can do.

At this time, in the dead reckoning method, in order to solve the problem of accumulating more errors as the moving distance increases, since the position is estimated by integrating the change amount of the measured value, in the present embodiment, the By estimating the absolute change amount of , and estimating the lateral change amount from the steering angle and yaw rate value, the absolute change amount and the lateral change amount are accumulated to estimate the location of the own vehicle, thereby reducing the effect of the accumulated error.

The forward trajectory management unit 54 stores the position data of the own vehicle position estimated from the own vehicle position estimating unit 52 at a set distance interval during forward driving in the traveling trajectory storage unit 60, and the position data travels in a set number or more When the trajectory data is generated, the driving trajectory data is interpolated by a cubic curve function and stored in the driving trajectory storage unit 60 together with the parameters of the curve function.

As such, by interpolating the discrete driving trajectory data with a cubic curve function, the movement of the vehicle can be continuously expressed, so that the actual trajectory of the vehicle can be expressed using a minimum amount of data.

In the forward trajectory management unit 54, the driving trajectory storage unit 60 has a ring buffer structure as shown in FIG. 2, and when the ring buffer is full, it updates from the oldest position data (P5) to the latest position data (Pn+1). Save sequentially.

The error calculating unit 56 reads the driving trajectory data from the driving trajectory storage unit 60 during backward driving and calculates a direction angle error with the host vehicle position.

The path follower 58 generates a target steering angle from the driving trajectory data by compensating for the direction angle error calculated by the error calculator 56 , and outputs the generated target steering angle to the MDPS controller 70 .

Here, the path follower 58 generates a target steering angle by feeding-forward the steering angle input during forward driving while performing PID control based on the driving trajectory data and the location of the own vehicle, so that the driving trajectory data and the location of the vehicle are stored in the reverse driving. It is possible to quickly converge the direction angle error to 0.

Accordingly, the MDPS control unit 70 operates a driving motor (not shown) according to a target steering angle to rotate a steering wheel (not shown) to support reverse driving.

As described above, according to the device for supporting reverse driving of a vehicle according to an embodiment of the present invention, when driving backward according to a stored driving trajectory during forward driving, the vehicle position is estimated through dead reckoning to improve estimation accuracy, and forward driving The driving trajectory data generated for each set distance is interpolated in the form of a curve function parameter to store the driving trajectory data as a continuous movement. It improves the driver's convenience and makes it possible to drive in reverse.

3 is a flowchart illustrating a forward driving situation in a method of controlling an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.

As shown in FIG. 3 , in the control method of the apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention, when the control unit 50 receives the position of the shift lever through the shift lever sensing unit 40 and performs forward driving Estimate the location of the own vehicle at a set distance interval (S30).

Here, the controller 50 estimates the absolute change amount at the reference position based on the wheel pulse count of the vehicle speed sensor 10 at a set time interval, and the steering angle of the steering angle sensor 20 and the yaw rate value of the yaw rate sensor 30 . By estimating the amount of change in the lateral direction from

As described above, in this embodiment, the effect of the accumulated error in which the error accumulates more as the moving distance increases in the dead reckoning is reduced by estimating the absolute change amount at the reference position based on the wheel pulse count at the set time interval. can

After estimating the location of the own vehicle in step S30, the control unit 50 sequentially stores the estimated location data of the location of the own vehicle in the driving trajectory storage unit 60 (S32).

For example, when the driving trajectory storage unit 60 has a ring buffer structure as shown in FIG. 2 , the control unit 50 converts the oldest position data P5 to the newest position data Pn+1 when the ring buffer is full. Update and store sequentially.

After sequentially storing the position data in the driving trajectory storage unit 60 in step S32, the control unit 50 generates a discrete driving trajectory when the driving trajectory data is generated with a set number or more of the position data stored in the driving trajectory storage unit 60 The data is interpolated with a cubic curve function to continuously express the movement of the vehicle (S34).

In this way, instead of continuously storing the location data, the location data is stored discretely and then interpolated with a cubic curve function to express the movement of the vehicle continuously while using the minimum data to express the actual driving trajectory of the vehicle. .

After interpolating the driving trajectory data using the cubic curve function in step S34, the controller 50 stores the data in the driving trajectory storage unit 60 together with the parameters of the curve function (S36).

In this process, driving trajectory data is continuously generated during forward driving and stored in the driving trajectory storage unit 60 .

4 is a flowchart for explaining a reverse driving situation in a method of controlling an apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention.

As shown in FIG. 4 , in the control method of the apparatus for supporting reverse driving of a vehicle according to an exemplary embodiment of the present invention, the control unit 50 receives the position of the shift lever through the shift lever detecting unit 40 to perform reverse driving. The storage of the driving trajectory data is stopped and the driving trajectory data is read from the driving trajectory storage unit 60 (S40).

After reading the driving trajectory data in step S40, the control unit 50 receives the wheel pulse count, steering angle and yaw rate values from the vehicle speed sensor 10, the steering angle sensor 20, and the yaw rate sensor 30, respectively, and determines the location of the vehicle. Estimate (S42).

Here, the vehicle position is determined by the control unit 50 at a set time interval, based on the wheel pulse count of the vehicle speed sensor 10 , to estimate the absolute change amount in the reference position, and the steering angle of the steering angle sensor 20 and the yaw rate sensor 30 . By estimating the lateral change amount from the yaw rate value, the absolute change amount and the lateral change amount can be accumulated and estimated.

After estimating the location of the own vehicle in step S42, the control unit 50 calculates the directional angle error between the driving trajectory data and the location of the own vehicle (S44).

After calculating the directional angle error in step S44, the control unit 50 generates a target steering angle by compensating for the directional angle error while performing PID control based on the driving trajectory data and the location of the host vehicle, and the steering angle input during forward driving Feed-forward to generate a target steering angle to quickly converge the steering angle error to 0 (S46).

The control unit 50 outputs the target steering angle generated in step S46 to the MDPS control unit 70, so that the MDPS control unit 70 operates a driving motor (not shown) according to the target steering angle to rotate the steering wheel to support reverse driving. to make it possible (S48).

As described above, according to the control method of the apparatus for supporting reverse driving of a vehicle according to an embodiment of the present invention, when driving backward according to a stored driving trajectory during forward driving, the vehicle position is estimated through dead reckoning to improve estimation accuracy, During forward driving, the driving trajectory data generated for each set distance is interpolated in the form of a curve function parameter to store the driving trajectory data as a continuous movement. By improving the convergence speed, it increases the convenience of the driver and enables easy reverse driving.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely an example, and those skilled in the art to which various modifications and equivalent other embodiments are possible. will understand

Therefore, the true technical protection scope of the present invention should be defined by the following claims.

10: vehicle speed sensor 20: steering angle sensor
30: yaw rate sensor 40: shift lever detection unit
50: control unit 52: own vehicle position estimation unit
54: forward trajectory management unit 56: error calculation unit
58: path follower 60: travel trajectory storage unit
70: MDPS control unit

Claims (15)

a plurality of sensor units mounted on the vehicle;
a driving trajectory storage unit for storing driving trajectory data generated during forward driving of the vehicle; and
It is determined whether the vehicle is traveling forward or backward, and when the vehicle is traveling forward, the location of the vehicle is estimated based on information sensed by the sensor unit, and a forward traveling trajectory of the vehicle is generated to generate the driving trajectory. and a control unit that stores it in the storage unit and assists in reverse driving of the vehicle based on the driving trajectory data stored in the driving trajectory storage unit and the location of the own vehicle when the vehicle is traveling in reverse;
The sensor unit includes a vehicle speed sensor for measuring a vehicle speed by counting wheel pulses of a wheel, a steering angle sensor for measuring a steering angle of a steering wheel, and a yaw rate sensor for measuring an inclined yaw rate value of the vehicle during driving,
The control unit estimates the absolute change amount at the reference position based on the wheel pulse count at a set time interval, estimates the lateral change amount from the steering angle and the yaw rate value, and accumulates the absolute change amount and the lateral change amount Reverse driving support apparatus for a vehicle, characterized in that for estimating the location of the own vehicle.
delete The method according to claim 1,
The control unit estimates the location of the vehicle by matching the wheel pulse count of the vehicle speed sensor, the steering angle of the steering angle sensor, and the yaw rate value of the yaw rate sensor during forward driving, and the driving generated at a set distance interval The apparatus for supporting backward driving of a vehicle, characterized in that the trajectory data is interpolated by a curve function and stored in the driving trajectory storage unit. The method according to claim 1,
The control unit reads the driving trajectory data from the driving trajectory storage unit during backward driving, compensates for a directional angle error with the host vehicle position to generate a target steering angle, and outputs the target steering angle to the MDPS controller to reverse the vehicle. A reverse driving support device for a vehicle, characterized in that it assists driving. The method according to claim 1,
The driving trajectory storage unit, the reverse driving support device of the vehicle, characterized in that composed of a ring buffer. The method according to claim 1,
The control unit interpolates the driving trajectory data with a cubic curve function and then stores the curve function parameter in the driving trajectory storage unit. delete 5. The method according to claim 4,
The control unit is configured to generate the target steering angle by feeding forward the steering angle input during forward driving while performing PID control based on the driving trajectory data and the location of the own vehicle. . 5. The method according to claim 4,
The control unit is
an own vehicle position estimator for estimating the own vehicle position by matching the wheel pulse count of the vehicle speed sensor, the steering angle of the steering angle sensor, and the yaw rate value of the yaw rate sensor;
During forward driving, the position data of the own vehicle position estimated from the own vehicle position estimator at a set distance interval is stored in the driving trajectory storage unit, and when the driving trajectory data is generated in excess of a set number, the driving trajectory data is converted into a curve function a forward trajectory management unit for interpolating and storing the parameters of the curve function in the driving trajectory storage unit;
an error calculator for reading the driving trajectory data from the driving trajectory storage unit during backward driving and calculating a direction angle error with respect to the location of the host vehicle; and
and a path follower configured to generate the target steering angle from the driving trajectory data by compensating for the directional angle error calculated by the error calculator. 10. The method of claim 9,
and the forward trajectory management unit updates the latest position data from the oldest position data when the driving trajectory storage unit is full. A method of controlling the apparatus for supporting reverse driving of the vehicle according to claim 1, comprising:
determining whether the vehicle is traveling forward or backward by the control unit;
estimating the location of the own vehicle by the control unit based on information sensed through the sensor unit when the vehicle is traveling forward;
storing, by the control unit, the estimated own vehicle position data in a driving trajectory storage unit;
When the vehicle is driving in reverse, assisting the vehicle in reverse driving by the control unit based on the driving trajectory data stored in the driving trajectory storage unit and the location of the own vehicle;
When estimating the location of the own vehicle, the control unit estimates the absolute change amount in the reference position based on the wheel pulse count at a set time interval, and estimates the lateral change amount from the steering angle and the yaw rate value to determine the absolute change amount and the lateral change amount A control method of an apparatus for supporting reverse driving of a vehicle, wherein the location of the host vehicle is estimated by accumulating a change amount of direction.
delete 12. The method of claim 11,
In the step of storing the estimated own vehicle position data in the driving trajectory storage unit,
The control method of the apparatus for supporting reverse driving of a vehicle, characterized in that the driving trajectory data generated at a set distance interval is interpolated by a curve function and stored in a driving trajectory storage unit. 12. The method of claim 11,
The step of assisting in reverse driving of the vehicle is:
reading the driving trajectory data from the driving trajectory storage unit and calculating a direction angle error with respect to the location of the host vehicle; and
and generating a target steering angle by compensating for the calculated steering angle error, and outputting the generated target steering angle to the MDPS controller. 15. The method of claim 14,
In the step of compensating for the calculated direction angle error to generate a target steering angle and outputting it to the MDPS control unit,
When generating the target steering angle, the control unit performs PID control based on the driving trajectory data and the location of the host vehicle and feeds forward the steering angle input during forward driving to generate the target steering angle A control method of a vehicle reverse driving support device.

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