KR102559404B1 - Vehicle and controlling method for the same - Google Patents

Abstract

The vehicle includes a steering wheel for steering wheels, a steering wheel detector for generating a detection signal corresponding to torque of the steering wheel, and a steering wheel controller for controlling the steering wheel based on the detection signal, wherein the steering wheel controller determines a hands-on state or a hands-off state based on a differential value of the detection signal.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROLLING METHOD FOR THE SAME}

It relates to a vehicle and a method of controlling the vehicle.

A driving assistance device included in a vehicle is a device for assisting driving or driving of transportation means such as a car or an aircraft, and generates data to assist a driver's driving or driving or controls the driver's driving or driving.

As an example of such a driving assistance device, there are a Lane Departure Warning System (LDWS) and a Lane Keeping Assist System (LKAS), and the like. Then, by inputting this to the steering wheel driving unit, the lane keeping control function is performed.

A conventional driving assistance device determines whether a driver is operating a steering wheel and controls a lane departure warning system or a lane keeping assistance system according to whether or not the driver is operating the steering wheel. If the driving assistance device does not accurately determine whether or not the driver is operating the steering wheel, a control malfunction may occur in the vehicle.

It is intended to provide a vehicle and a method for controlling the vehicle that accurately determines whether a driver is operating a steering wheel.

A vehicle according to one aspect includes a steering wheel for steering wheels; a steering wheel detecting unit generating a detection signal corresponding to the torque of the steering wheel; and a steering wheel control unit controlling the steering wheel based on the detection signal, wherein the steering wheel control unit determines a hands-on state or a hands-off state based on a differential value of the detection signal.

The steering wheel control unit may determine a hands-on state when the differential value is greater than or equal to a preset first reference value, and determine a hands-off state when the differential value is less than the first reference value.

The steering wheel controller may perform low-frequency filtering on the detection signal.

The steering wheel control unit may calculate the size of the differential value and determine a hands-on state or a hands-off state based on the size of the differential value.

The steering wheel control unit may calculate an average value of the size and determine a hands-on state or a hands-off state based on the average value.

The steering wheel controller may subtract a preset offset value from the detection signal, and determine a hands-on state or a hands-off state based on the subtracted detection signal and the differential value.

The steering wheel control unit may determine the hands-on state when the differential value is equal to or greater than a preset first reference value and the magnitude of the detection signal is equal to or greater than a preset second reference value.

When it is determined that the hands-on state is present, the steering wheel control unit may deactivate a Lane Keeping Assist System (LKAS) that automatically controls the steering wheel.

The vehicle may further include an external sensing unit for detecting a lane of a lane in which the vehicle exists, and the steering wheel control unit may activate a lane keeping assistance system when the hands-off state is determined, and control the steering wheel so that the vehicle does not depart from the lane based on a detection signal of the external sensing unit.

When the hands-on state is determined, the steering wheel control unit may activate a Lane Departure Warning System (LDWS) for notifying the driver of lane departure of the vehicle.

The vehicle control method includes receiving a detection signal corresponding to a torque of a steering wheel; Calculating a differential value of the detection signal; determining a driver's hands-on state or hands-off state based on a calculation result of the calculating step; and controlling the steering wheel based on the determination result of the determining step.

In the determining step, the hands-on state may be determined when the differential value is equal to or greater than a preset first reference value, and the hands-off state may be determined when the differential value is less than the first reference value.

In the calculating step, low-frequency filtering may be performed on the detection signal, and a differential value may be calculated for the detection signal on which the low-frequency filtering is performed.

The calculating step may calculate a differential value for the detection signal, perform low-frequency filtering on the differential value, and the determining step may determine a hands-on state or a hands-off state based on a result of the low-frequency filtering.

The calculating step may calculate the magnitude of the differential value, and the determining step may determine a hands-on state or a hands-off state based on the magnitude of the differential value.

In the calculating step, an average value of the magnitudes of the differential values may be calculated, and in the determining step, the hands-on state or the hands-off state may be determined based on the average value of the magnitudes of the differential values.

The vehicle control method further includes subtracting a preset offset value from the detection signal prior to the determining step, wherein the determining step may determine the hands-on state or the hands-off state based on the subtraction result and the differential value of the subtraction step.

In the step of determining, when the differential value is equal to or greater than a preset first reference value and the subtraction result is equal to or greater than a preset second reference value, it may be determined as a hands-on state.

In the controlling step, when the hands-on state is determined, a Lane Keeping Assist System (LKAS) that automatically controls the steering wheel may be deactivated.

In the controlling step, when it is determined that the hands-off state is present, the lane keeping assistance system may be activated and the steering wheel may be controlled so that the vehicle does not depart from the lane based on a detection signal of an external sensor detecting a lane of a lane in which the vehicle exists.

According to the vehicle and the vehicle control method according to the disclosed embodiments, the vehicle can accurately determine whether the driver intends to manually steer wheels using a steering wheel.

1 is an external view of a vehicle according to an exemplary embodiment.
2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.
3 is a control block diagram of a vehicle according to an exemplary embodiment including a driving assistance device.
4 to 6 are graphs of detection signals generated by the steering wheel detection unit.
7 is a signal comparison graph of a detection signal generated by a steering wheel sensor and a low-pass detection signal on which low-frequency filtering is performed.
8 is a signal comparison graph of a low-pass detection signal and a differential signal generated by performing differentiation on the low-pass detection signal.
9 is a signal comparison graph of a differential detection signal and a detection signal subjected to absolute value conversion.
10 is a signal comparison graph of a detection signal subjected to absolute value conversion and an average detection signal obtained by performing an average value operation for each section on the detection signal subjected to absolute value conversion.
11 is a graph showing a comparison result between an average detection signal generated by a steering wheel control unit and a reference value.
12 is a flowchart of a method for controlling a vehicle according to an exemplary embodiment.
13 is a flowchart of a method for controlling a vehicle according to another embodiment.

Objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments taken in conjunction with the accompanying drawings. In adding reference numerals to components of each drawing in this specification, it should be noted that the same components have the same numbers as much as possible, even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In this specification, terms such as first and second are used to distinguish one element from another element, and elements are not limited by the terms.

1 is an external view of a vehicle according to an exemplary embodiment, and FIG. 2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.

Referring to FIG. 1 , the exterior of a vehicle 100 according to an embodiment includes wheels 12 and 13 for moving the vehicle 100, doors 15L for shielding the interior of the vehicle 100 from the outside, a windshield 16 providing a driver inside the vehicle 100 with a view of the front of the vehicle 100, and side mirrors 14L and 14R for providing a driver with a view of the rear of the vehicle 100.

The wheels 12 and 13 include a front wheel 12 provided at the front of the vehicle and a rear wheel 13 provided at the rear of the vehicle, and a driving device (not shown) provided inside the vehicle 100 provides rotational force to the front wheel 12 or rear wheel 13 so that the vehicle 100 moves forward or backward. Such a driving device may employ an engine that generates rotational force by burning fossil fuel or a motor that generates rotational force by receiving power from a capacitor.

The doors 15L and 15R (see FIG. 2) are provided to be rotatable on the left and right sides of the vehicle 100 so that a driver or passenger can get inside the vehicle 100 when opened, and when closed, the inside of the vehicle 100 is shielded from the outside. Also, handles 17L and 17R capable of opening and closing the doors 15L and 15R (see FIG. 2 ) may be provided outside the vehicle 100 .

The windshield 16 is provided on the front upper side of the body so that the driver inside the vehicle 100 can obtain visual information of the front of the vehicle 100, and is also referred to as a windshield glass.

In addition, the side mirrors 14L and 14R include a left side mirror 14L provided on the left side of the vehicle 100 and a right side mirror 14R provided on the right side of the vehicle 100, so that the driver inside the vehicle 100 can obtain visual information of the side and rear of the vehicle 100.

In addition, the vehicle 100 may include a camera 21 that detects front, rear, or side obstacles or road conditions. For example, the vehicle 100 may recognize left and right lanes of a lane in which the vehicle 100 exists by using image data of the camera 21 . In FIG. 1 , the camera 21 is shown to be located in front of the vehicle 100, but the location is not limited thereto.

According to one embodiment, the vehicle 100 may include a driving assistance device 30 that generates data to assist the driver's driving or driving or controls the driver's driving or driving. The driving assistance device 30 controls driving of the steering wheel 31 using data obtained through a camera 21 or a sensor. A detailed description of the driving assistance device 30 will be described later.

In addition, the vehicle 100 may include a sensing device such as a proximity sensor for detecting front, rear, or side obstacles or other vehicles, and a rain sensor for detecting whether or not there is precipitation and the amount of precipitation.

The proximity sensor may transmit a sensing signal to the front, rear, or side of the vehicle and receive a reflected signal reflected from an obstacle such as another vehicle. Based on the waveform of the received reflected signal, it is possible to detect the presence of an obstacle in front, rear, or side of the vehicle 100 and detect the position of the obstacle.

Referring to FIG. 2 , an AVN (Audio Video Navigation) display 71 and an AVN input unit 61 may be provided in a central area of the dashboard 29 . The AVN display 71 may selectively display at least one of an audio screen, a video screen, and a navigation screen, and may also display various control screens related to the vehicle 100 or screens related to additional functions. For example, the AVN display 71 is the front and rear of the vehicle 100. Alternatively, road conditions or obstacles on the side may be displayed as images.

The AVN display 71 may be implemented as a Liquid Crystal Display (LCD), Light Emitting Diode (LED), Plasma Display Panel (PDP), Organic Light Emitting Diode (OLED), Cathode Ray Tube (CRT), or the like.

The AVN input unit 61 may be provided in a hard key type in an area adjacent to the AVN display 71, or in the form of a touch panel on the front surface of the AVN display 71 when the AVN display 71 is implemented in a touch screen type.

In addition, a jog shuttle type center input unit 62 may be provided between the driver's seat 18L and the passenger's seat 18R. The driver may input a control command by turning, pressing, or pushing the center input unit 62 up, down, left, or right.

A sound output unit 80 capable of outputting sound may be provided in the vehicle 100 , and the sound output unit 80 may be a speaker. The sound output unit 80 may output sound necessary for performing an audio function, a video function, a navigation function, and other additional functions.

A steering wheel 31 is provided on the dashboard 29 on the driver's seat 18L side.

Meanwhile, the vehicle 100 is equipped with an air conditioner to perform both heating and cooling, and the heated or cooled air can be discharged through the vent 21 to control the temperature inside the vehicle 100 .

Hereinafter, a vehicle 100 including a driving assistance apparatus 30 according to an exemplary embodiment will be described with reference to FIG. 3 . 3 is a control block diagram of a vehicle according to an exemplary embodiment including a driving assistance device.

As described above with reference to FIG. 1 , the vehicle 100 according to an exemplary embodiment includes a driving assistance device 30 that assists a driver in driving or driving.

For example, the driving assistance device 30 may support a Lane Departure Warning System (LDWS) or a Lane Keeping Assist System (LKAS) by using data obtained from an external sensor 20 such as a camera 21 mounted on a vehicle.

The lane departure warning system (LDWS) detects left and right lanes of the lane in which the vehicle 100 exists, and when the vehicle 100 departs from the lane, performs a function of notifying the driver with sound or vibration.

The lane keeping assist system LKAS calculates control torque (auxiliary steering torque) so that the vehicle 100 does not depart from its lane, and then inputs the torque to the steering wheel driving unit 32 to perform a lane keeping control function.

The vehicle departure warning system (LDWS) may be activated in a manual driving mode in which the driver directly manipulates the steering wheel 31 of the vehicle 100, and the lane departure warning system (LDWS) may be activated in an automatic driving mode in which the driving assistance device 30 automatically controls the steering wheel 31 of the vehicle 100.

The driving assistance device 30 includes a steering wheel 31, a steering wheel driving unit 32 that drives the steering wheel 31, a steering wheel control unit 33 that controls driving of the steering wheel driving unit 32, and a steering wheel detector 34 that detects the movement of the steering wheel 31. The steering wheel 31 may be separated from the driving assistance device 30 as an external device of the driving assistance device 30 according to embodiments.

The steering wheel 31 is a driver's steering control unit for steering the wheels 12 and 13 (see FIG. 1) of the vehicle 100, and may be provided on the dashboard 29 on the side of the driver's seat 18L, but is not necessarily limited thereto and may be provided in various positions.

The steering wheel drive unit 32 transmits driving force to the steering wheel 31 according to an electrical signal from the steering wheel control unit 33 . The steering wheel 31 may rotate clockwise or counterclockwise by a driving force provided by the steering wheel driving unit 33, and the wheels 12 and 13 of the vehicle 100 may be steered by the rotation of the steering wheel 31. The steering wheel driving unit 32 may be implemented as a motor or an actuator.

The steering wheel control unit 33 determines whether the steering wheel 31 is moving based on the detection signal of the steering wheel sensor 34, and generates an electrical signal for controlling the steering wheel 31 based on the detection signal of the external sensor 20 according to whether the steering wheel 31 is moving.

Specifically, according to an embodiment, the steering wheel control unit 33 determines whether the driver is operating the steering wheel 31 based on the detection signal of the steering wheel detector 34, and if it is determined that the driver is operating the steering wheel 31, enters the manual driving mode and deactivates the lane keeping assistance system LKAS. Since the driver's manipulation of the steering wheel 31 is an action intended to enter the manual driving mode from the automatic driving mode, when the steering wheel 31 is operated in this way, the steering wheel control unit 33 deactivates the lane keeping assist system (LKAS) performed in the automatic driving mode and enters the manual driving mode.

When the lane keeping assist system LKAS is deactivated, the steering wheel controller 33 no longer generates an electrical signal to automatically control the movement of the steering wheel 31 .

On the other hand, the steering wheel control unit 33 according to an embodiment enters the automatic driving mode when it is determined that the driver is not operating the steering wheel 31, or maintains the automatic driving mode when it has already entered the automatic driving mode.

Since the lane keeping assistance system (LKAS) is activated in the automatic driving mode, the steering wheel control unit 33 determines the lane of the lane in which the vehicle 100 exists based on the detection signal (eg, camera image signal) generated by the external sensor 20, and controls the steering wheel drive unit 32 to move the steering wheel 31 in the opposite direction to the moving direction of the vehicle 100 so that the vehicle 100 does not depart from the lane. It generates an auxiliary steering torque signal that rotates in the direction.

Also, according to another embodiment, the steering wheel control unit 33 may activate the lane departure warning system (LDWS) when it is determined that the driver is operating the steering wheel 31 . Since the driver's manipulation of the steering wheel 31 is an action intended to enter the manual driving mode from the automatic driving mode, when the steering wheel 31 is operated in this way, the steering wheel control unit 33 activates the lane departure warning system LDWS performed in the manual driving mode.

When the lane departure warning system (LDWS) is activated, the steering wheel control unit 33 determines the lane of the lane in which the vehicle 100 exists based on the detection signal of the external sensor 20, and when the vehicle 100 departs from the lane, the sound output unit 80 of the vehicle 100 can inform the driver of a lane departure warning through sound or vibration when the vehicle 100 departs from the lane.

On the other hand, the steering wheel controller 33 according to another embodiment enters the automatic driving mode when it is determined that the driver is not operating the steering wheel 31, or maintains the automatic driving mode when it has already entered the automatic driving mode. Lane Departure Warning System (LDWS) is deactivated in automatic driving mode.

The steering wheel controller 33 includes a processor that generates control signals according to programs and data stored in memory, and a memory that stores programs and data for controlling the driving assistance device 30 and the steering wheel 31 . Data generated by the steering wheel controller 33 may be stored in the memory.

The steering wheel detecting unit 34 detects whether the driver is operating the steering wheel 31 . The steering wheel sensor 34 may be, for example, a torque sensor that generates a detection signal corresponding to the rotation direction and angular momentum (ie, torque) of the steering wheel 31 .

4 to 6 are graphs of detection signals generated by the steering wheel detection unit. The horizontal axis of the graph represents time, and the vertical axis represents the detection signal (ie, torque).

In addition, a positive (+) detection signal (torque) generated by the steering wheel detector 34 means that the steering wheel 31 rotates in one of two rotatable directions, and a negative (-) detection signal (torque) means that the steering wheel 31 rotates in the other direction.

For example, referring to FIG. 4 , when the driver rotates the steering wheel 31 clockwise, the steering wheel detector 34 may generate a positive (+) detection signal, and when the driver rotates the steering wheel 31 in a counterclockwise direction, the steering wheel detector 34 may generate a negative (-) detection signal.

As such, a state in which the driver is operating the steering wheel 31 clockwise or counterclockwise is referred to as a hands-on state, and a state in which the driver is not operating the steering wheel 31 clockwise or counterclockwise is referred to as a hands-off state.

Meanwhile, referring to FIG. 5 , even in a hands-off state in which the driver does not operate the steering wheel 31, the steering wheel detector 34 may generate a detection signal having a fine size due to the influence of noise or the like. Such noise makes it difficult for the control unit 33 to correctly distinguish the driver's intention (intention to enter the manual driving mode).

The purpose of the driving assistance device 30 according to an embodiment is to accurately distinguish between a hands off state and a hands on state even when noise is generated in the steering wheel sensor 34 as shown in FIG. 6 . Hereinafter, a method of determining hands-off and hands-on by the steering wheel controller 33 of the driving assistance device 30 will be described with reference to FIGS. 7 to 13 .

In another embodiment, the steering wheel control unit 33 differentiates the detection signal of the steering wheel sensor 34, compares the magnitude of the differential result value with a preset reference value, and determines that the magnitude of the differential result value is greater than or equal to the reference value as a hands-on state and, if less than the reference value, as a hands-off state.

In this case, the steering wheel control unit 33 may remove a high frequency component of the detection signal by performing low frequency filtering on the detection signal before differentiation or on the detection signal after differentiation, and the center frequency used for low frequency filtering before differentiation may be the same as the center frequency used for low frequency filtering after differentiation.

Also, the steering wheel control unit 33 may compare the average value of the differential result values with a preset reference value. In this case, when the magnitude of the average result value is greater than or equal to a preset reference value, it may be determined as a hands-on state, and when it is less than the reference value, it may be determined as a hands-off state. The average value may be an average value for each section generated by calculating an average for each preset time section.

7 is a signal comparison graph of a detection signal generated by a steering wheel sensor and a low-pass detection signal on which low-frequency filtering is performed.

Referring to FIG. 7 , in order to remove noise from the detection signal s1 generated by the steering wheel detection unit 34, the steering wheel control unit 33 may perform low frequency filtering to remove high frequency components of the detection signal. A low-pass detection signal s2 is generated by low-frequency filtering.

8 is a signal comparison graph of a low-pass detection signal and a differential signal generated by performing differentiation on the low-pass detection signal.

Referring to FIG. 8 , the steering wheel control unit 33 generates a differentiated detection signal s3 by performing differentiation on the low-pass detection signal s2 on which low-frequency filtering has been performed.

Although not shown, the steering wheel control unit 33 may perform low frequency filtering on the differentiated detection signal s3 once more, and thus, high frequency components of the differentiated detection signal s3 may be removed.

9 is a signal comparison graph of a differential detection signal and a detection signal subjected to absolute value conversion.

Referring to FIG. 9 , the steering wheel control unit 33 may perform absolute value conversion on the differentiated detection signal s3 in order to calculate the magnitude of the differentiated detection signal s3, and accordingly, a signal s4 having a magnitude component of the differentiated detection signal s3 may be generated.

10 is a signal comparison graph of a detection signal subjected to absolute value conversion and an average detection signal obtained by performing an average value operation for each section on the detection signal subjected to absolute value conversion.

Referring to FIG. 10 , the steering wheel control unit 33 may perform an average value calculation on the detection signal s4 for which absolute value conversion has been previously performed, and an average detection signal s5 may be generated according to the average value operation. Here, the average value calculation may be to calculate the average value for each preset time interval (eg, 0.1 second interval).

11 is a graph showing a comparison result between an average detection signal generated by a steering wheel control unit and a reference value.

The steering wheel control unit 33 according to an embodiment compares the generated average detection signal s5 with a preset reference value ref, and determines that the average detection signal s5 is in a hands-on state when the average detection signal s5 is greater than or equal to a preset reference value, and determines that the hands-off state is in the case of less than the reference value.

As shown in FIG. 11 , the steering wheel controller 33 may output 0 when the hands-on state is determined and 1 when the hands-off state is determined, but the output value s6 may be the opposite.

In addition, even when the magnitude of the average detection signal s5 is reduced to less than the reference value ref in a state where the magnitude of the average detection signal s5 is greater than or equal to the reference value ref (i.e., in the hands-on state), the steering wheel control unit 33 may still determine that the hands-on state is still in the hands-on state when the magnitude of the average detection signal s5 increases again to greater than or equal to the reference value ref within a preset time period (for example, within 1 second).

In this way, the steering wheel control unit 33 performs low-frequency filtering, differential operation, absolute value operation, average operation, and comparison operation on the detection signal of the steering wheel sensor 34, and detects the hands-on state through the execution result value (ie, when 0 is output), enters the manual driving mode and deactivates the lane keeping assist system LKAS.

In addition, the steering wheel control unit 33 may enter the automatic driving mode and activate the lane departure warning system (LDWS) when the hands-off state is detected (ie, when 1 is output).

Hereinafter, a method of determining hands-off and hands-on by the steering wheel controller 33 of the driving assistance device 30 according to another embodiment will be described.

The steering wheel controller 33 according to another embodiment subtracts a preset offset value from the detection signal of the steering wheel detector 34 . Then, the magnitude of the subtracted detection signal is compared with a reference value, and when the magnitude of the subtracted detection signal is greater than or equal to the reference value, it is determined as a hands-on state, and when it is less than the reference value, it is determined as a hands-off state.

In this case, the steering wheel control unit 33 may remove a high frequency component of the detection signal by performing low frequency filtering on the detection signal before subtraction, and may perform absolute value conversion on the detection signal subjected to the low frequency filtering. In addition, the offset may be subtracted from the detection signal converted to an absolute value.

Meanwhile, the steering wheel control unit 33 according to another embodiment may more accurately determine the hands-on state or the hands-off state by using both the comparison result value according to one embodiment and the comparison result value according to another embodiment.

For example, the steering wheel control unit 33 may calculate a first result value by comparing the magnitude of the differential result value with a first reference value according to an embodiment, calculate a second result value by comparing the magnitude of the detection signal from which the offset is subtracted with a second reference value, and determine that the steering wheel 30 is in the hands-on state when both the first result value and the second result value are determined to be in the hands-on state.

For another example, when it is determined that any one of the first reference value and the second reference value is in a hands-off state, the steering wheel control unit 33 may determine that the steering wheel 30 is in a hands-off state. The first reference value and the second reference value may be different or the same.

Hereinafter, with reference to FIGS. 12 and 13 , a driving assistance device and a vehicle control method including the same according to one embodiment and another will be described. Components of the vehicle 100 described with reference to FIGS. 12 and 13 are the same as those of the vehicle 100 described with reference to FIGS. 12 is a flowchart of a method for controlling a vehicle according to one embodiment, and FIG. 13 is a flowchart of a method for controlling a vehicle according to another embodiment.

First of all, referring to FIG. 12 , the steering wheel control unit 33 according to an embodiment obtains a detection signal generated by the steering wheel detection unit 34 (1110), performs low-frequency filtering to remove noise, and removes a high-frequency component of the detection signal (1111).

Subsequently, the steering wheel control unit 33 according to an embodiment performs differentiation on the detection signal on which the low-frequency filtering has been performed (1112), and performs low-frequency filtering once more to remove the high-frequency component of the detection signal in order to remove noise (1113).

Subsequently, the steering wheel control unit 33 according to an exemplary embodiment calculates the magnitude of the detection signal by performing absolute value conversion on the detection signal on which the low-frequency filtering is performed, and stores the magnitude of the detection signal in a memory (1114). Then, the steering wheel control unit 33 calculates an average for each time section for the magnitude of the calculated detection signal (1115), and compares the result of the average calculation with a preset first reference value (1116).

The steering wheel control unit 33 according to an embodiment determines that the hands are on when the result of the average calculation is equal to or greater than the first reference value, or performs the hands off determination method (A) according to another embodiment. However, if the resultant value of the average calculation is less than the first reference value, it is determined that the hands-off state is in operation 1117.

The vehicle 100 according to an embodiment may activate the lane keeping assist system LKAS by entering the automatic driving mode or maintaining the automatic driving mode when the vehicle 100 is in the hands-off state by using the hands-off determination method according to the embodiment of the driving assistance device 30, and may enter the execution driving mode to deactivate the lane departure warning system LDWS when the vehicle 100 is in the hands-on state. When the lane keeping assist system LKAS is activated, the steering wheel control unit 33 generates an auxiliary steering torque signal for controlling the steering wheel driving unit 32 .

Meanwhile, referring to FIG. 13 , the steering wheel controller 33 according to another embodiment obtains a detection signal generated by the steering wheel detector 34 like the steering wheel controller 33 according to an embodiment (1120), and performs low-frequency filtering to remove high-frequency components of the detection signal (1121).

Subsequently, the steering wheel control unit 33 according to another embodiment calculates the magnitude of the detection signal by performing absolute value conversion on the detection signal on which the low-frequency filtering is performed (1122). Then, the steering wheel control unit 33 subtracts a preset offset from the result value of the absolute value conversion, and compares the subtraction result value with a preset second reference value (1123).

The steering wheel control unit 33 according to another embodiment determines the hands-on state when the subtraction result value is equal to or greater than the second reference value (1124), and determines the hands-off state when the subtraction result value is less than the second reference value (1125). In this case, the steering wheel control unit 33 according to another embodiment may determine that the hands-on state is finally reached when the average calculated result value of the steering wheel control unit 33 according to one embodiment is equal to or greater than the first reference value (“Yes” in 1116 of FIG. However, when the average calculation result value is less than the first reference value (“No” in 1116 of FIG. 11) or the subtraction result value is less than the second reference value (“No” in 1123 of FIG. 12), it can be determined as a hands-off state.

Meanwhile, at least one of the aforementioned low-frequency filtering steps (1111, 1113, and 1121) and calculating an average value (1115) may be omitted.

When the hands-on state is finally determined, the steering wheel controller 33 deactivates the lane keeping assistance system LKAS performed in the automatic driving mode and enters the manual driving mode.

When the lane keeping assist system LKAS is deactivated, the steering wheel control unit 33 no longer generates an electrical signal (ie, an auxiliary steering torque signal) for automatically controlling the movement of the steering wheel 31 .

In addition, when it is determined that the hands-on state is present, the steering wheel control unit 33 may activate the lane departure warning system (LDWS) performed in the manual driving mode.

When the lane departure warning system (LDWS) is activated, the steering wheel control unit 33 determines the lane of the lane in which the vehicle 100 exists based on the detection signal of the external sensor 20, and when the vehicle 100 departs from the lane, the sound output unit 80 of the vehicle 100 can inform the driver of a lane departure warning through sound or vibration when the vehicle 100 departs from the lane.

On the other hand, when it is determined that the hands-off state is present, the steering wheel control unit 33 enters the automatic driving mode or maintains the automatic driving mode when the automatic driving mode has already been entered. In the automatic driving mode, the lane keeping assist system (LKAS) is activated, and the steering wheel control unit 33 automatically controls the movement of the steering wheel 31 based on the detection signal obtained from the external sensor 20 .

Also, in the automatic driving mode, the lane departure warning system (LDWS) is deactivated, and the steering wheel control unit 33 no longer generates an electrical signal to control the sound output unit 80.

The above description is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof should be construed as being included in the scope of the present invention.

100: vehicle 20: external sensor
30: driving assistance device 31: steering wheel
32: steering wheel driving unit 33: steering wheel control unit
34: steering wheel sensor

Claims (20)

a steering wheel that steers the wheels;
a steering wheel detecting unit generating a detection signal corresponding to the torque of the steering wheel; and
Including a steering wheel control unit for controlling the steering wheel based on the detection signal,
The steering wheel control unit determines a hands-on state or a hands-off state based on a differential value of the detection signal;
A vehicle that deactivates a Lane Keeping Assist System (LKAS) that automatically controls the steering wheel when it is determined that the hands-on state is present. According to claim 1,
wherein the steering wheel control unit determines the hands-on state when the differential value is equal to or greater than a preset first reference value, and determines the hands-off state when the differential value is less than the first reference value. According to claim 1,
The steering wheel control unit performs low-frequency filtering on the detection signal. According to claim 1,
The vehicle, wherein the steering wheel control unit calculates the magnitude of the differential value and determines the hands-on state or the hands-off state based on the magnitude of the differential value. According to claim 4,
The steering wheel control unit calculates an average value of the size, and determines the hands-on state or hands-off state based on the average value. According to claim 1,
The steering wheel control unit subtracts a preset offset value from the detection signal, and determines the hands-on state or the hands-off state based on the subtracted detection signal and the differential value. According to claim 6,
The steering wheel control unit determines that the hands-on state is established when the differential value is greater than or equal to a first preset reference value and the magnitude of the detection signal is greater than or equal to a preset second reference value. delete According to claim 1,
Further comprising an external detector for detecting a lane of a lane in which the vehicle exists,
wherein the steering wheel control unit activates the lane keeping assistance system when it is determined that the hands-off state is present, and controls the steering wheel so that the vehicle does not depart from the lane based on a detection signal of the external detector. According to claim 1,
The vehicle, wherein the steering wheel control unit activates a lane departure warning system (LDWS) for notifying a driver of lane departure of the vehicle when it is determined that the hands-on state is present. Receiving a detection signal corresponding to the torque of the steering wheel;
Calculating a differential value of the detection signal;
determining a driver's hands-on state or hands-off state based on a calculation result of the calculating step; and
Controlling the steering wheel based on the determination result of the determining step,
The controlling step includes deactivating a Lane Keeping Assist System (LKAS) that automatically controls the steering wheel when it is determined that the hands-on state is present. According to claim 11,
In the determining step, the hands-on state is determined when the differential value is equal to or greater than a preset first reference value, and the hands-off state is determined when the differential value is less than the first reference value. According to claim 11,
In the calculating step, low-frequency filtering is performed on the detection signal, and a differential value is calculated for the detection signal on which the low-frequency filtering is performed. According to claim 11,
The calculating step calculates a differential value for the detection signal, performs low-frequency filtering on the differential value,
In the determining step, the hands-on state or the hands-off state is determined based on a result of the low-frequency filtering. According to claim 11,
The calculating step calculates the magnitude of the differential value,
In the determining step, the hands-on state or the hands-off state is determined based on the magnitude of the differential value. According to claim 15,
The calculating step calculates an average value of the magnitude of the differential value,
In the determining step, the hands-on state or the hands-off state is determined based on an average value of the differential values. According to claim 11,
Prior to the judging step,
Further comprising subtracting a preset offset value from the detection signal,
In the determining step, the hands-on state or the hands-off state is determined based on a subtraction result of the subtraction step and the differential value. 18. The method of claim 17,
In the determining step, when the differential value is equal to or greater than a preset first reference value and the subtraction result is equal to or greater than a preset second reference value, the hands-on state is determined. delete According to claim 11,
In the controlling step, when it is determined that the hands-off state exists, the lane keeping assistance system is activated, and the steering wheel is controlled so that the vehicle does not depart from the lane based on a detection signal of an external sensor detecting a lane of a lane in which the vehicle exists.

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