KR102356503B1 - Backward driving assist apparatus of vehicle and control method thereof - Google Patents

Abstract

Disclosed are an apparatus for supporting reverse driving of a vehicle and a method for controlling the same. An apparatus for supporting backward driving of a vehicle according to the present invention includes: a vehicle speed sensor configured to measure a vehicle speed by counting wheel pulses of a wheel; a steering angle sensor for measuring a steering angle of the steering wheel; a yaw rate sensor that measures a yaw rate value inclined at the time of driving; a driving trajectory storage unit for storing driving trajectory data generated during forward driving; During forward driving, the vehicle position is estimated 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, and the driving trajectory data generated at a set distance interval is interpolated with a curve function to store the driving trajectory. It is stored in the unit, reads the driving trajectory data from the driving trajectory storage unit when driving in reverse, compensates for the directional angle error with the own vehicle position, generates a target steering angle, and outputs the target steering angle to the MDPS controller. do.

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 driving the vehicle in reverse, so the driver frequently has to check the rear with his or her own eyes, check for obstacles, and then step back on the steering and acceleration or deceleration pedals to reverse.

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 aid 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 an aspect of the present invention, there is provided an apparatus for supporting backward driving of a vehicle, comprising: a vehicle speed sensor configured to measure a vehicle speed by counting wheel pulses of a wheel; a steering angle sensor for measuring a steering angle of the steering wheel; a yaw rate sensor that measures an inclined yaw rate value of the vehicle while driving; a driving trajectory storage unit for storing driving trajectory data generated during forward driving; During forward driving, the vehicle position is estimated 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. It is stored in the unit, reads the driving trajectory data from the driving trajectory storage unit when driving in reverse, compensates for the directional angle error with the own vehicle position to generate a target steering angle, and a control unit that outputs the target steering angle to the MDPS control unit. do.

In the present invention, the driving trajectory storage unit is characterized in that it is composed of a ring buffer.

In the present invention, the controller interpolates the driving trajectory data with a cubic curve function and then stores the curve function parameters in the driving trajectory storage unit.

In the present invention, 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 yaw rate value, and accumulates the absolute change amount and the lateral direction change amount to determine the own vehicle position It is characterized by estimating.

In the present invention, the controller 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.

In the present invention, the control unit includes: an own vehicle position estimator for estimating 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, the location 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. a forward trajectory management unit for storing the parameters of the curve function in the driving trajectory storage unit; an error calculator that reads the driving trajectory data from the driving trajectory storage unit during backward driving and calculates an error in the direction angle with respect to the location of the host vehicle; and a path follower configured to generate a target steering angle from the driving trajectory data by compensating for the direction angle error calculated by the error calculator.

In the present invention, the forward trajectory management unit updates 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 an apparatus for supporting backward driving of a vehicle, comprising: estimating, by a control unit, a location of the own vehicle at a set distance interval during forward driving; storing, by the controller, location data of the estimated location of the own vehicle in a driving trajectory storage unit; interpolating the driving trajectory data with a curve function when the driving trajectory data is generated with a set number or more of the position data stored in the driving trajectory storage unit; and storing, by the controller, parameters of a curve function obtained by interpolating the driving trajectory data in the driving trajectory storage unit.

In the present invention, the estimating of the own vehicle position includes: estimating, by the controller, an absolute change amount in the reference position based on the wheel pulse count of the 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 estimating, by the controller, an absolute change amount and a lateral change amount by accumulating the location of the own vehicle.

According to another aspect of the present invention, there is provided a method of controlling an apparatus for supporting reverse driving of a vehicle, comprising: reading, by a control unit, driving trace data from a driving trace storage unit during reverse driving; estimating, by the controller, the location of the own vehicle; calculating, by the controller, an error in the direction angle between the driving trajectory data and the location of the host vehicle; and generating, by the controller, a target steering angle by compensating for a direction angle error calculated from the driving trajectory data, and outputting the generated target steering angle to the MDPS controller.

In the present invention, the estimating of the own vehicle position includes: estimating, by the controller, an absolute change amount in the reference position based on the wheel pulse count of the 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 estimating, by the controller, an absolute change amount and a lateral change amount by accumulating the location of the own vehicle.

In the present invention, when generating the target steering angle, the control unit performs PID control based on the driving trajectory data and the location of the own vehicle, and feed-forward the steering angle input during forward driving 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 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.

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.

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 (12)

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 the steering wheel;
a yaw rate sensor that measures a yaw rate value inclined at the time of driving;
a driving trajectory storage unit for storing driving trajectory data generated during forward driving; and
During forward driving, the vehicle position is estimated 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. is interpolated and stored in the driving trajectory storage unit, and when driving backward, the driving trajectory data is read from the driving trajectory storage unit to compensate for a directional angle error with the host vehicle position to generate a target steering angle, and the target steering angle is MDPS Including a control unit for outputting to the control 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 Reverse driving support apparatus for a vehicle, characterized in that for estimating the location of the own vehicle.
The apparatus according to claim 1, wherein the driving trajectory storage unit comprises a ring buffer.
The apparatus of claim 1, wherein the controller interpolates the driving trajectory data with a cubic curve function and stores the curve function parameter in the driving trajectory storage unit.
delete The method of claim 1, wherein the control unit generates 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. The vehicle's reverse driving support system.
According to claim 1, wherein the control unit,
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 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
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 apparatus of claim 6, wherein the forward trajectory management unit updates the latest position data from the oldest position data when the driving trajectory storage unit is full.
estimating, by the control unit, the location of the own vehicle at set distance intervals during forward driving;
storing, by the controller, the estimated location data of the location of the own vehicle in a driving trajectory storage unit;
interpolating, by the control unit, the driving trajectory data into a curve function when the driving trajectory data is generated in excess of a set number stored in the driving trajectory storage unit; and
and storing, by the control unit, the parameters of the curve function interpolating the driving trajectory data in the driving trajectory storage unit,
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 host vehicle by accumulating the absolute change amount and the lateral change amount.
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