KR102419092B1 - Vehicle control apparatus and vehicle control method - Google Patents

Abstract

The present invention includes a sensing unit for detecting road information including a lane of a driving road using image information output by a front camera; a calculator for calculating a second steering angle by using the road information; a determination unit for determining whether the steering angle sensor is normal; a storage unit for storing an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal; The present invention relates to a vehicle control apparatus including a controller for calculating a third steering angle by using the second steering angle and an error value when it is determined that the steering angle sensor is malfunctioning, and controlling the vehicle using the third steering angle.

Description

Vehicle control device and vehicle control method {VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD}

The present invention relates to vehicle control technology.

In general, a vehicle is equipped with an Electronic Power Steering (EPS) to easily control the steering wheel, and the EPS assists the driver in steering the steering wheel using the rotational force of the steering motor.

A sensing device such as a steering angle sensor may be used to detect the rotation angle of the steering wheel.

In addition to assisting the driver in steering the steering wheel, the steering wheel rotation angle information can be used in various ways to control the vehicle.

As a detailed example of controlling the vehicle, an Electrocic Stability Control (ESC) device that uses steering angle information instead of wheel position information may be included. This electronic stability control device can also be used as a function related to vehicle braking. Accordingly, if the vehicle cannot be first controlled because the steering angle is not output, the vehicle may be exposed to accidents such as a collision.

As another detailed example of controlling the vehicle, when the steering wheel is held at the lock stage, current limiting (OLP; Overload Protection) logic to prevent the maximum current that can be applied to the motor in a restrained state may be included. In order to determine the maximum current, load information and steering angle information of the steering wheel may be used.

In addition, as another detailed example of controlling the vehicle, a soft stop that attenuates the mechanical shock bounced from the lock stage when steering at high speed, and appropriate steering wheel angle and steering wheel load information Restoring force control (Active Return) to control the artificial restoring force by using may be included.

As described above, the rotation angle information of the steering wheel is an important factor used in various fields in controlling a vehicle.

However, a malfunction may occur in the steering angle sensor that detects the rotation angle information of the steering wheel due to external or internal factors, which may provide inconvenience to the driver as well as provide a risk depending on the situation.

Meanwhile, the vehicle may include one or more cameras for monitoring the outside of the vehicle for the purpose of providing a situation in a blind spot to the driver.

Against this background, an object of the present invention is, in one aspect, to provide a vehicle control technology capable of performing vehicle control that was not possible in the prior art when the rotation angle information of the steering wheel is not detected due to a failure of the steering angle sensor will do

In one aspect, the present invention provides a sensing unit for detecting road information including a lane of a driving road using image information output by a front camera; a calculator for calculating a second steering angle by using the road information; a determination unit for determining whether the steering angle sensor is normal; a storage unit for storing an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal; When it is determined that the steering angle sensor is malfunctioning, a vehicle control device including a controller for calculating a third steering angle using the second steering angle and an error value and controlling the vehicle using the third steering angle is provided.

In another aspect, the present invention includes a sensing step of detecting road information including a lane of the driving road using a front camera; a calculation step of calculating a second steering angle using road information; a determination step of determining whether the steering angle sensor is normal; a storing step of storing an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal; Provided is a vehicle control method including a control step of calculating a third steering angle by using the second steering angle and an error value when it is determined that the steering angle sensor is malfunctioning, and controlling the vehicle using the third steering angle.

As described above, according to the present invention, it is possible to provide a vehicle control technology capable of performing vehicle control even if rotation angle information of the steering wheel is not detected due to a failure of the steering angle sensor.

1 is a diagram showing the configuration of a vehicle control apparatus according to an embodiment of the present invention.
2 is a diagram illustrating an example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.
3 is a diagram illustrating an example for explaining an operation of a calculator according to an embodiment of the present invention.
4 is a diagram illustrating another example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.
5 is a diagram illustrating another example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.
6 is a view showing an example for explaining the operation of the vehicle control device of the present invention.
7 is a diagram illustrating a flowchart of a vehicle control method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It should be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

1 is a diagram showing the configuration of a vehicle control apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , the vehicle control apparatus 100 according to an embodiment of the present invention includes a sensing unit 110 for detecting road information including a lane of a driving road by using image information output by the front camera 20 . )Wow; a calculator 120 for calculating a second steering angle by using the sensed road information; a determination unit 130 for determining whether the steering angle sensor 10 for detecting the first steering angle is normal; a storage unit 140 for storing an error value that is a difference between the first steering angle and the second steering angle when the steering angle sensor 10 is determined to be normal; When it is determined that the steering angle sensor 10 is malfunctioning, the controller 150 may include a controller 150 that calculates a third steering angle using the second steering angle and a stored error value, and controls the vehicle using the third steering angle.

For example, the steering angle sensor 10 may include an encoded disc and an optical sensor, and may be installed in a steering column switch cluster.

The encoded disc is connected to the steering wheel by a coil spring cassette. When the steering wheel is rotated, the encoding disk can rotate within the optical sensor. Various line patterns processed on the encoding disk can be used for evaluation purposes.

The optical sensor is composed of an LED, a fiber-optical conductor, and a line-camera, and the light emitted from the LED may be irradiated to the encoding disk through the optical conductor. The amount of the light varies according to the position of the steering wheel, and passes through the encoding disk to reach the line-camera. A line-camera can convert this optical signal into an electrical signal.

That is, the steering angle sensor 10 may measure the rotation of the steering wheel rotated by the driver by using the converted electrical signal.

The front camera 20 is a camera installed to monitor the front of the vehicle, and may be similar to the following cameras.

The camera may include a light collecting unit for receiving light, an imaging device for capturing the received light as an image, and a control device for controlling a state. The light collecting unit is a part that receives light and forms an image on the image pickup unit, and there are various methods from a simple small hole such as a needle-hole camera to a complex one using various types of multiple lenses. The light collecting part of a typical camera includes a lens, an iris, and a device for adjusting the distance of the lens. The light collecting part is also commonly referred to as a photographic lens. The imaging unit is a part that forms an image generated by the light coming from the light collecting unit. In a film camera, a photosensitive film is placed on the imaging unit to take an image, and the image is developed and printed to make a picture, whereas in a digital camera, a light signal is generated in the imaging unit. A device (CMOS, CCD, etc.) that converts the signal into an electric signal is placed, and the digital image converted into an electric signal is stored in a storage medium as image files in various formats. The adjusting device is a component that operates to obtain a desired image, and may include, for example, an iris for adjusting the hole size of the light collecting unit, and a shutter for receiving or blocking light. For example, in a bright place, the iris is narrowed to reduce the amount of light, and in a dark place, the iris is opened to increase the amount of light, so that proper imaging can be performed. In addition, it is possible to shoot a still image by quickly moving the shutter in response to the fast movement of the athlete. In addition, devices such as a flash for taking pictures in a dark place and a viewfinder for looking at an object to be shot in advance may be included in the control device.

The sensing unit 110 of the vehicle control device 100 according to an embodiment of the present invention may detect road information including a lane of the driving road by using the image information output by the front camera 20 .

For example, the sensing unit 110 may detect a lane from the output image information based on the characteristics of the lane known in advance. The characteristic of the lane may include a length including a color and a width of the lane.

Similar to detecting a lane, the sensing unit 110 may detect road information based on characteristics of the road information. The road information may be information on facilities installed on or near the driving road.

The calculator 120 of the vehicle control device 100 according to an embodiment of the present invention may calculate the second steering angle by using the road information sensed by the detector 110 .

For example, the calculator 120 may calculate a change between a detected first lane when the variation of the first steering angle is less than or equal to a preset variation value for a predetermined time and a detected second lane when the first steering angle exceeds the variation value. The second steering angle may be calculated based on the relationship between the angle, the wheel, and the steering wheel.

When the variation amount of the first steering angle is less than or equal to a preset variation value for a predetermined time, a situation in which the vehicle travels straight may be included.

The above-described change angle between the first and second lanes, and the relationship between the wheels and the steering wheel are based on experimental data, and the calculated second steering angle is the first steering angle and the value detected by the steering angle sensor 10 . as separate (even if there is an error in the first steering angle, the second steering angle may be normal), but may correspond in meaning.

When the calculator 120 calculates the second steering angle, the lane may be used as described above, but the present invention is not limited thereto, and road information excluding the lane may be used.

The determination unit 130 of the vehicle control apparatus 100 according to an embodiment of the present invention may determine whether the steering angle sensor 10 is normal.

For example, the determination unit 130 may determine whether the steering angle sensor 10 is normal by distinguishing a value output when the steering angle sensor 10 is normal and a value output when the steering angle sensor 10 is malfunctioning. To this end, the steering angle sensor 10 may operate with a value that is output when normal and when it is malfunctioning.

The above-described operation of the determination unit 130 is an example, and is not limited thereto, and any method for determining whether the steering angle sensor 10 is normal may be applied.

In the storage unit 140 of the vehicle control device 100 according to an embodiment of the present invention, when the steering angle sensor 10 is determined to be normal, the first steering angle detected by the steering angle sensor 10 and the calculation unit 120 are An error value that is a difference between the calculated second steering angles may be stored in the memory 60 . In more detail, the error value may be stored in the memory 60 for each vehicle speed at which the difference between the first steering angle and the second steering angle is preset.

When the control unit 150 of the vehicle control device 100 according to an embodiment of the present invention determines that the steering angle sensor 10 is malfunctioning, the second steering angle calculated by the calculator 120 and the error stored in the memory 60 . A third steering angle may be calculated using the value, and the vehicle may be controlled using the calculated third steering angle.

The third steering angle may semantically correspond to the first steering angle, but may be different as a value. This is because the third steering angle is calculated using the second steering angle based on the image information output by the front camera 20 and the error value stored in the memory, whereas the first steering angle is a value detected by the steering angle sensor 10. .

As described above, in the vehicle control apparatus 100 according to an embodiment of the present invention, even if the first steering angle according to the rotating steering wheel cannot be detected due to a malfunction in the steering angle sensor 10, the front camera 20 is The vehicle can be normally controlled using the third steering angle calculated through the output image information.

Hereinafter, a vehicle control apparatus according to an embodiment of the present invention briefly described with reference to FIG. 1 will be described in detail.

2 is a diagram illustrating an example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.

Referring to FIG. 2 , the steering angle sensor may detect the first steering angle ( S200 ).

For example, the steering angle sensor may include an encoded disc and an optical sensor to measure the rotation of the steering wheel.

More specifically, the encoded disc is connected to the steering wheel by a coil spring cassette, and can be rotated in the optical sensor according to the rotation of the steering wheel. Various line patterns processed on the encoding disk can be used for evaluation purposes.

The optical sensor is composed of an LED, a fiber-optical conductor, and a line-camera, and the light emitted from the LED may be irradiated to the encoding disk through the optical conductor. The amount of the light varies according to the position of the steering wheel, and passes through the encoding disk to reach the line-camera. A line-camera can convert this optical signal into an electrical signal.

That is, the steering angle sensor can measure the rotation of the steering wheel by rotating the encoding disk in the optical sensor according to the rotation of the steering wheel, and the optical sensor converting light passing through the encoding disk into an electric signal.

When the steering angle sensor detects the first steering angle in step S200, the sensing unit according to an embodiment of the present invention may detect road information including a lane of the driving road using the image information output by the front camera (S210) .

For example, the sensing unit may detect road information including a lane from the output image information based on a characteristic of the road information including the lane known in advance. The characteristics of the road information may include color, length, shape, and the like.

When the sensing unit detects road information including a lane in step S210, the calculator according to an embodiment of the present invention may calculate a second steering angle using the road information detected in step S210 (S220).

Step S220 will be described in detail with further reference to FIG. 3, which is an example for explaining the operation of the calculator according to an embodiment of the present invention.

Referring to FIG. 3 , the calculator determines whether the variation in the first steering angle is equal to or less than a preset variation value for a predetermined time ( S221 ).

This is an example of separating a situation in which the steering wheel does not rotate and the driving situation is similar to straight driving without the amount of change in the first steering angle or a situation in which the steering wheel rotates greatly and rotates similarly to straight driving. can

If it is determined in step S221 that the variation in the first steering angle is equal to or less than a preset variation value for a predetermined time (YES), the calculator may store the lane detected by the sensing unit as the first lane (S222).

On the other hand, if it is determined in step S221 that the amount of change of the first steering angle is not less than the preset change value for a certain period of time (NO), the calculator may store the lane detected by the sensing unit as the second lane (S223).

Thereafter, the calculator may determine whether the first lane according to the operation S222 is performed and the second lane according to the operation S223 are stored ( S224 ).

If it is determined in step S224 that the first lane and the second lane are stored (YES), the calculation unit makes a second line based on the change angle between the first lane stored in step S222 and the second lane stored in step S223 and the relationship between the wheels and the steering wheel. 2 It is possible to calculate the steering angle (S225).

In order to perform step S225, an experiment is performed in advance and the angle of change between lanes, wheels, and steering according to a driving situation similar to straight driving or going straight with a small rotation of the steering wheel and a situation in which the steering wheel rotates significantly and rotationally You can set the relationship between the wheels and the steering angle.

If it is determined in step S224 that the first lane and the second lane are not stored (NO), the calculator may perform step S221 again, and step S222 or S223 again.

In step S221 of FIG. 3 , the amount of variation of the first steering angle is used to separate the driving situation similar to straight driving or going straight with a small rotation of the steering wheel from the situation in which the steering wheel rotates significantly and rotationally, but it is not limited thereto. , any other factor may be used.

When the second steering angle is calculated by performing step S220 of the calculator in this way, the determination unit according to an embodiment of the present invention may determine whether the steering angle sensor is normal ( S230 ).

For example, the determination unit may determine whether the steering angle sensor is normal by distinguishing a value output when the steering angle sensor is normal and a value output when the steering angle sensor is malfunctioning. To this end, the steering angle sensor may operate with a value that is output when it is normal and when it is malfunctioning.

If it is determined in step S230 that the steering angle sensor is normal (YES), the storage unit according to an embodiment of the present invention stores the error value that is the difference between the first steering angle detected in step S200 and the second steering angle calculated in step S220 in the memory. It can be (S240). The error value may be stored as a difference between the first steering angle and the second steering angle according to a preset vehicle speed.

On the other hand, if it is determined in step S230 that the steering angle sensor is malfunctioning (NO), the controller according to an embodiment of the present invention calculates a third steering angle using the second steering angle calculated in step S220 and the stored error value (S250). ), the vehicle may be controlled using the calculated third steering angle (S260). The stored error value may be a value stored by performing steps S200 to S240 in the previous step.

The vehicle control apparatus according to an embodiment of the present invention that operates as shown in FIG. 2 normally controls the vehicle using the third steering angle calculated through the image information output from the front camera even if the steering angle sensor cannot detect the first steering angle. can do.

4 is a diagram illustrating another example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.

The sensing unit of the vehicle control apparatus according to an embodiment of the present invention may further determine whether the ignition of the vehicle is turned on. Accordingly, the storage unit of the vehicle control apparatus according to an embodiment of the present invention may store the error value in the memory when it is determined that the vehicle is started and the steering angle sensor is determined to be normal.

Referring to FIG. 4 , the sensing unit according to an embodiment of the present invention may determine whether the vehicle is started ( S400 ).

For example, the sensing unit may determine whether the vehicle is started by detecting an Ignition (IGN) signal, which is a signal related to starting of the vehicle. That is, when the logic of the ignition signal changes from Low to High, the sensing unit may determine that the vehicle is started.

If the sensing unit determines that the vehicle's ignition is on (YES) in step S400, the steering angle sensor detects the first steering angle (S200), and the sensing unit uses the image information output from the front camera to include the lane of the driving road to detect the road information (S210), the calculator calculates a second steering angle using the road information detected in step S210 (S220), and the determiner may determine whether the steering angle sensor is normal (S230).

If it is determined in step S230 that the steering angle sensor is normal (YES), the storage unit according to an embodiment of the present invention stores the error value that is the difference between the first steering angle detected in step S200 and the second steering angle calculated in step S220 in the memory. It can be (S240). The error value may be stored as a difference between the first steering angle and the second steering angle according to a preset vehicle speed.

On the other hand, if it is determined in step S230 that the steering angle sensor is malfunctioning (NO), the controller according to an embodiment of the present invention calculates a third steering angle using the second steering angle calculated in step S220 and the stored error value (S250). ), the vehicle may be controlled using the calculated third steering angle (S260).

The vehicle control device according to an embodiment of the present invention, which operates as shown in FIG. 4, stores the error value again when the vehicle is started and the steering angle sensor is normal, thereby reducing the calculated error of the third steering angle, Accordingly, there is an effect that the control using the third steering angle becomes more accurate.

This is because the second steering angle calculated based on the image information output from the front camera may be different from the second steering angle calculated based on the image information output again after the power is turned off and on.

5 is a diagram illustrating another example for explaining an operation of a vehicle control apparatus according to an embodiment of the present invention.

The controller of the vehicle control apparatus according to an embodiment of the present invention may further determine whether the stored error value is normal, and if it is normal, calculate the third steering angle using the second steering angle and the error value.

Referring to FIG. 5 , the steering angle sensor detects a first steering angle (S200), and the sensing unit detects road information including a lane of the driving road using the image information output from the front camera (S210), and the calculation unit S210 A second steering angle is calculated using the road information detected in step S220, and the determination unit may determine whether the steering angle sensor is normal (S230).

If it is determined in step S230 that the steering angle sensor is normal (YES), the storage unit according to an embodiment of the present invention stores the error value that is the difference between the first steering angle detected in step S200 and the second steering angle calculated in step S220 in the memory. It can be (S240). The error value may be stored as a difference between the first steering angle and the second steering angle according to a preset vehicle speed.

On the other hand, if it is determined that the steering angle sensor is malfunctioning in step S230 (NO), the controller according to an embodiment of the present invention may determine whether the error value stored in the memory is normal (S500).

For example, the control unit determines whether the error value stored in the memory is normal using a normal value and a generated or known normal value including a check-sum or a magic number other than the error value. can be judged

The checksum is a form of cyclic redundancy check (CRC), in which first data is obtained by adding all bytes, and second data is obtained by discarding a carry nibble (most significant nibble) of the first data, and the It may be a method of obtaining a checksum that is 2's complement of the second data. Thereafter, if 0x00 is obtained by adding all bytes (for obtaining the first data) and the checksum and discarding the carry nibble, it may mean that there is no error.

The magic number may be a method of inputting a predetermined number to a specific location, and then confirming that there is no error when the number at the specific location is the same as the predetermined number.

If it is determined in step S500 that the error value is normal (YES), the controller calculates a third steering angle using the second steering angle calculated in step S220 and the stored error value (S250), and the vehicle using the calculated third steering angle can be controlled (S260).

The vehicle control apparatus according to an embodiment of the present invention, which operates as shown in FIG. 5, determines whether the error value stored in the memory is normal, and calculates the third steering angle only when it is normal, so that the control using the third steering angle is accurate. there is

In describing the vehicle control apparatus according to an embodiment of the present invention with reference to FIGS. 4 and 5 , detailed descriptions of the same steps as those of FIG. 2 are omitted. Accordingly, some detailed descriptions should be understood with reference to the description of FIG. 2 .

6 is a view showing an example for explaining the operation of the vehicle control device of the present invention.

Referring to FIG. 6 , the vehicle first controls the vehicle using the steering angle output by the steering angle sensor 10 ( S10 ) and controls the vehicle second using the image information output by the front camera 20 ( S20 ). In the present invention, the vehicle control device 10 according to an embodiment of the present invention controls the vehicle based on the image information output by the front camera 20 even if the steering angle is not output due to a malfunction in the steering angle sensor 10 . can be controlled (S10).

As a first detailed example of controlling the vehicle, an Electrocic Stability Control (ESC) device using steering angle information instead of wheel position information may be included. This electronic stability control device can also be used as a function related to vehicle braking. Accordingly, if the vehicle cannot be first controlled because the steering angle is not output, the vehicle may be exposed to accidents such as a collision.

In addition, as a second detailed example of the first control of the vehicle, when the steering wheel is held at the lock stage, current limiting (OLP; Overload Protection) to prevent the maximum current that can be applied to the motor in a restrained state Logic may be included. In order to determine the maximum current, load information and steering angle information of the steering wheel may be used.

In addition, as a third detailed example of the first control of the vehicle, a soft stop that attenuates the mechanical shock bounced from the lock stage when steering at high speed, and appropriate steering wheel angle and steering wheel load information Restoration force control (Active Return) to control the artificial restoring force by using may be included.

Hereinafter, a vehicle control method, which is an operation performed by the vehicle control apparatus described with reference to FIGS. 1 to 6 , will be briefly described.

7 is a diagram illustrating a flowchart of a vehicle control method according to an embodiment of the present invention.

Referring to FIG. 7 , in a vehicle control method for controlling a vehicle using a first steering angle sensed by a steering angle sensor, the vehicle control method according to an embodiment of the present invention includes a lane of a driving road using a front camera. a detection step (S700) of detecting road information; a calculation step of calculating a second steering angle using road information (S710); A determination step of determining whether the steering angle sensor is normal (S720); a storage step of storing an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal (S730); If it is determined that the steering angle sensor is malfunctioning, a control step ( S740 ) of calculating a third steering angle using the second steering angle and an error value and controlling the vehicle using the third steering angle may be included.

For example, the steering angle sensor may include an encoded disc and an optical sensor, and may be installed in a steering column switch cluster.

The encoded disc is connected to the steering wheel by a coil spring cassette. When the steering wheel is rotated, the encoding disk can rotate within the optical sensor. Various line patterns processed on the encoding disk can be used for evaluation purposes.

The optical sensor is composed of an LED, a fiber-optical conductor, and a line-camera, and the light emitted from the LED may be irradiated to the encoding disk through the optical conductor. The amount of the light varies according to the position of the steering wheel, and passes through the encoding disk to reach the line-camera. A line-camera can convert this optical signal into an electrical signal.

That is, the steering angle sensor may measure the rotation of the steering wheel rotated by the driver by using the converted electrical signal.

The front camera is a camera installed to monitor the vehicle in all directions, and may be similar to the following cameras.

The camera may include a light collecting unit for receiving light, an imaging device for capturing the received light as an image, and a control device for controlling a state. The light collecting unit is a part that receives light and forms an image on the image pickup unit, and there are various methods from a simple small hole such as a needle-hole camera to a complex one using various types of multiple lenses. The light collecting part of a typical camera includes a lens, an iris, and a device for adjusting the distance of the lens. The light collecting part is also commonly referred to as a photographic lens. The imaging unit is a part that forms an image generated by the light coming from the light collecting unit. In a film camera, a photosensitive film is placed on the imaging unit to take an image, and the image is developed and printed to make a picture, whereas in a digital camera, a light signal is generated in the imaging unit. By placing a device (CMOS, CCD, etc.) that converts to an electrical signal, the digital image converted into an electrical signal is saved as an image file in various formats on the storage medium. The adjusting device is a component that operates to obtain a desired image, and may include, for example, an iris for adjusting the hole size of the light collecting unit, and a shutter for receiving or blocking light. For example, in a bright place, the iris is narrowed to reduce the amount of light, and in a dark place, the iris is opened to increase the amount of light, so that proper imaging can be performed. In addition, it is possible to shoot a still image by quickly moving the shutter in response to the fast movement of the athlete. In addition, devices such as a flash for taking pictures in a dark place and a viewfinder for looking at a subject to be shot in advance may be included in the control device.

In the detecting step (S700) of the vehicle control method according to an embodiment of the present invention, road information including a lane of the driving road may be detected using the image information output by the front camera.

For example, in the sensing step S700 , the lane may be detected from the output image information based on the previously known characteristics of the lane. The characteristic of the lane may include a length including a color and a width of the lane.

Similar to detecting a lane, the detecting step S700 may detect road information based on the characteristics of the road information. The road information may be information on facilities installed on or near the driving road.

In the calculating step S710 of the vehicle control method according to an embodiment of the present invention, the second steering angle may be calculated using the road information detected in the detecting step S700.

For example, in the calculating step ( S710 ), the change between the detected first lane when the variation of the first steering angle is less than or equal to a preset variation value for a predetermined time and the detected second lane when the first steering angle exceeds the variation value The second steering angle may be calculated based on the relationship between the angle, the wheel, and the steering wheel.

When the variation amount of the first steering angle is less than or equal to a preset variation value for a predetermined time, a situation in which the vehicle travels straight may be included.

The above-described change angle between the first and second lanes, and the relationship between the wheels and the steering wheel are based on experimental data, and the calculated second steering angle is separate from the first steering angle detected by the steering angle sensor ( Even if there is an error in the first steering angle, the second steering angle may be normal), but it can correspond in meaning.

In calculating the second steering angle in the calculation step S710, the lane may be used as described above, but the present invention is not limited thereto, and road information excluding the lane may be used.

In the determining step S720 of the vehicle control method according to an embodiment of the present invention, it may be determined whether the steering angle sensor is normal.

For example, the determination step S720 may determine whether the steering angle sensor is normal by discriminating a value output when the steering angle sensor is normal and a value output when the steering angle sensor is malfunctioning. To this end, the steering angle sensor may operate with a value that is output when it is normal and when it is malfunctioning.

The operation of the above-described determination step S700 is an example, and is not limited thereto, and any method for determining whether the steering angle sensor is normal may be applied.

In the storing step (S730) of the vehicle control method according to an embodiment of the present invention, when it is determined that the steering angle sensor is normal, the difference between the first steering angle detected by the steering angle sensor and the second steering angle calculated in the calculating step (S710) is an error Values can be stored in memory. In more detail, the error value may be stored in a memory for each vehicle speed preset as a difference between the first steering angle and the second steering angle.

In the control step (S740) of the vehicle control method according to an embodiment of the present invention, if it is determined that the steering angle sensor is malfunctioning, the third steering angle is calculated using the second steering angle calculated in the calculation step (S710) and the error value stored in the memory. It is calculated and the vehicle can be controlled using the calculated third steering angle.

The third steering angle may semantically correspond to the first steering angle, but may be different as a value. This is because the third steering angle is calculated using the second steering angle based on the image information output by the front camera and the error value stored in the memory, whereas the first steering angle is a value detected by the steering angle sensor.

As described above, in the vehicle control method according to an embodiment of the present invention, even if the first steering angle according to the rotating steering wheel cannot be detected due to a malfunction in the steering angle sensor, the vehicle control method calculated through the image information output by the front camera You can control the vehicle normally by using the 3 steering angle.

In addition, in the detecting step of the vehicle control method according to an embodiment of the present invention, it may be further determined whether the ignition of the vehicle is turned on. Accordingly, in the storing step of the vehicle control method according to an embodiment of the present invention, when it is determined that the vehicle is started and the steering angle sensor is determined to be normal, the error value may be stored in the memory.

Accordingly, in the vehicle control method according to an embodiment of the present invention, when the vehicle is started and the steering angle sensor is normal, the error value is stored again, thereby reducing the error of the calculated third steering angle. There is an effect that the control using

In addition, the control step of the vehicle control method according to an embodiment of the present invention may further determine whether the stored error value is normal, and if it is normal, the third steering angle may be calculated using the second steering angle and the error value.

Accordingly, the vehicle control method according to an embodiment of the present invention determines whether the error value stored in the memory is normal, and calculates the third steering angle only when the error value is normal, so that the control using the third steering angle becomes accurate.

In addition, the vehicle control method of the present invention may perform all of the operations performed by the vehicle control apparatus of the present invention described based on FIGS. 1 to 6 .

The above description and the accompanying drawings are merely illustrative of the technical spirit of the present invention, and those of ordinary skill in the art to which the present invention pertains can combine configurations within a range that does not depart from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (9)

In the vehicle control apparatus for controlling a vehicle using a first steering angle sensed by a steering angle sensor,
a sensing unit for detecting road information including a lane of a driving road by using the image information output by the front camera;
a calculator for calculating a second steering angle by using the road information;
a determination unit determining whether the steering angle sensor is normal;
a storage unit configured to store an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal; and
and a controller configured to calculate a third steering angle by using the second steering angle and the error value when the steering angle sensor is determined to be defective, and to control the vehicle using the third steering angle;
and the error value is a difference between the first steering angle and the second steering angle for each preset vehicle speed. The method of claim 1,
The calculation unit,
Based on the change angle between the detected first lane and the detected second lane when the first steering angle is less than or equal to a preset change value for a certain period of time, and the relationship between the wheels and the steering wheel to calculate the second steering angle. delete The method of claim 1,
The sensing unit further determines whether the ignition of the vehicle is turned on,
The storage unit,
When it is determined that the ignition is on and the steering angle sensor is normal, the error value is stored. The method of claim 1,
The control unit is
The vehicle control apparatus of claim 1 , further determining whether the stored error value is normal, and if the error value is normal, calculating a third steering angle using the second steering angle and the error value. A vehicle control method for controlling a vehicle using a first steering angle sensed by a steering angle sensor, the vehicle control method comprising:
a sensing step of detecting road information including a lane of a driving road using a front camera;
a calculation step of calculating a second steering angle by using the road information;
a determination step of determining whether the steering angle sensor is normal;
a storage step of storing an error value that is a difference between the first steering angle and the second steering angle when it is determined that the steering angle sensor is normal; and
a control step of calculating a third steering angle by using the second steering angle and the error value and controlling the vehicle using the third steering angle when it is determined that the steering angle sensor is malfunctioning;
and the error value is a difference between the first steering angle and the second steering angle for each preset vehicle speed. 7. The method of claim 6,
The calculation step is
The angle of change in the imprint between the first lane detected when the amount of change of the first steering angle is less than or equal to a preset change value for a predetermined time and the second lane detected when the first steering angle exceeds the change value, the relationship between the wheel and the steering wheel The vehicle control method, characterized in that calculating the second steering angle based on 7. The method of claim 6,
In the sensing step, it is further determined whether the ignition of the vehicle is turned on,
The storage step is
When it is determined that the ignition is on and the steering angle sensor is normal, the error value is stored. 7. The method of claim 6,
The control step is
A vehicle control method, characterized in that it is further determined whether the stored error value is normal, and if it is normal, a third steering angle is calculated using the second steering angle and the error value.

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