KR102583173B1 - Apparatus and method for controlling driving of vehicle - Google Patents

Abstract

An apparatus and method for controlling driving of a vehicle are disclosed. The vehicle driving control device of the present invention includes a driving risk detection unit that detects the driving risk of the vehicle based on information detected by the sensor unit; a driving tendency detection unit that detects the driver's driving tendency based on information detected by the sensor unit; and a driving control unit that determines a driving mode of the vehicle based on driving risk and driving tendency and controls driving of the vehicle through a driving system according to the driving mode.

Description

Apparatus and method for controlling driving of a vehicle {APPARATUS AND METHOD FOR CONTROLLING DRIVING OF VEHICLE}

The present invention relates to a vehicle driving control device and method, and more specifically, to a vehicle driving control device and method that controls vehicle driving according to the driver's driving tendency and the risk of surrounding situations.

Recently, vehicles are equipped with safety devices to ensure the safety of passengers in the vehicle in the event of a collision and safety devices to warn the driver of a vehicle collision.

For example, a vehicle is equipped with a radar that emits radio waves to a surrounding target and receives radio waves reflected by the target, and the radar measures the distance between vehicles in front and transmits the measured value to the vehicle's control unit. At this time, the control unit evaluates the degree of risk through the speed and acceleration of the own vehicle and the relative speed with the vehicle traveling in front, and controls vehicle driving or warns the occupants of the risk according to the degree of risk.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2012-0067759 (2012.06.26) titled 'Collision prevention method according to the risk of collision at low speeds and short distances that may occur in a vehicle.'

An object of one aspect of the present invention is to provide a vehicle driving control device and method for controlling vehicle driving according to a driver's driving tendency and the risk of surrounding situations.

A vehicle driving control device according to one aspect of the present invention includes a driving risk detection unit that detects the driving risk of the vehicle based on information detected by the sensor unit; a driving tendency detection unit that detects the driver's driving tendency based on the information detected by the sensor unit; and a driving control unit that determines a driving mode of the vehicle based on the driving risk and the driving tendency and controls driving of the vehicle through a driving system according to the driving mode.

The driving control unit of the present invention divides the mode into a sporty mode, a normal mode, and a mild mode according to the driving mode index, and adjusts the mode conversion to any one of the sporty mode, the normal mode, and the mild mode to reduce the driver's sense of discomfort. It is characterized by

The driving control unit of the present invention immediately changes the driving mode index from the normal mode to the sporty mode or the mild mode depending on whether the driving mode index is included in the sporty mode or the mild mode, and changes the driving mode index from the normal mode to the sporty mode or the mild mode. The normal mode is characterized in that the driving mode index changes depending on whether the change rate limit index is changed more than a preset change rate limit index for each of the sporty mode and the mild mode.

The driving control unit of the present invention is characterized in that it adjusts the amount of change in the driving mode according to the driving mode index.

The driving control unit of the present invention is characterized in that it variably controls at least one of a shift pattern map, torque vectoring, suspension, and power distribution according to the driving mode.

The driving control unit of the present invention is characterized in that as the driving mode index becomes higher, the shift pattern map is moved to the right to increase the low range use area.

The driving control unit of the present invention is characterized in that it improves steering response by adjusting torque vectoring according to the higher driving mode index.

The driving control unit of the present invention is characterized in that the suspension characteristics are adjusted to hard as the driving mode index becomes higher.

The driving control unit of the present invention is characterized in that power distribution is shifted to the rear wheels as the driving mode index increases.

It further includes a slope detection unit that detects a road slope based on the information detected by the sensor unit of the present invention, and the driving control unit is characterized in that it controls vehicle driving according to the road slope.

The driving control unit of the present invention is characterized in that the grip of the wheels increases as the road slope increases.

The driving control unit of the present invention is characterized in that the engine output increases as the road slope increases.

A method of controlling driving of a vehicle according to one aspect of the present invention includes the steps of a driving risk detection unit detecting a driving risk of a vehicle based on information detected by a sensor unit; A driving tendency detection unit detecting the driver's driving tendency based on the information detected by the sensor unit; And a driving control unit determining a driving mode of the vehicle based on the driving risk and the driving tendency, and controlling driving of the vehicle through a driving system according to the driving mode.

In the step of controlling the vehicle driving of the present invention, the driving control unit divides into a sporty mode, a normal mode, and a mild mode according to the driving mode index, and converts the mode into one of the sporty mode, the normal mode, and the mild mode. It is characterized by reducing the driver's sense of discomfort by adjusting.

In the step of controlling the vehicle driving of the present invention, the driving control unit is characterized in that it adjusts the amount of change in the driving mode according to the driving mode.

In the step of controlling the vehicle driving of the present invention, the driving control unit variably controls at least one of a shift pattern map, torque vectoring, suspension, and power distribution according to the driving mode.

The step of controlling the vehicle driving of the present invention further includes detecting a road slope based on information detected by the sensor unit, wherein the driving control unit controls the vehicle driving according to the road slope. Do it as

A vehicle driving control device and method according to an aspect of the present invention improves the vehicle's agility to escape from a dangerous situation by controlling the driving of the vehicle according to the driver's driving tendency and the risk of surrounding situations.

A vehicle driving control device and method according to another aspect of the present invention minimizes discomfort to occupants due to driving mode changes and ensures vehicle stability.

1 is a block diagram of a vehicle driving control device according to an embodiment of the present invention.
Figure 2 is a diagram conceptually showing a driving mode change method according to driving risk and driving tendency according to an embodiment of the present invention.
Figure 3 is a state diagram of a driving mode change according to an embodiment of the present invention.
Figure 4 is a diagram showing an example of mode distribution for each driving system of a vehicle according to an embodiment of the present invention.
Figure 5 is a flowchart of a method for controlling driving of a vehicle according to an embodiment of the present invention.

Hereinafter, an apparatus and method for controlling driving of a vehicle according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram of a driving control device for a vehicle according to an embodiment of the present invention, and Figure 2 is a diagram conceptually showing a method of changing a driving mode according to driving risk and driving tendency according to an embodiment of the present invention. , FIG. 3 is a state diagram of a driving mode change according to an embodiment of the present invention, and FIG. 4 is a diagram showing an example of mode distribution for each driving system 600 of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle driving control device according to an embodiment of the present invention includes a sensor unit 100, a driving risk detection unit 200, a driving tendency detection unit 300, a slope detection unit 400, and a driving control unit 500. ) and a travel system 600.

The sensor unit 100 detects information necessary to detect driving risk, driving tendency, and road slope.

The sensor unit 100 includes a lidar sensor 111, a radar sensor 112, an image sensor 113, a wheel speed sensor 114, a vehicle speed sensor 115, an accelerator pedal position sensor 117, and a brake pedal position sensor ( 118), GPS (Global Positioning System) 119, steering angle sensor 116, and IMU (Inertial Measurement Unit) 120 may be included, but are not particularly limited.

Information measured by the sensor unit 100 includes the vehicle's speed and acceleration, the distance between the vehicle and the preceding vehicle, the position of the accelerator pedal, the position of the brake pedal, the current position of the vehicle, the steering angle, the position of the accelerator pedal, inertia, and surroundings. At least one of obstacles and ground conditions may be included, but are not particularly limited.

The driving risk detection unit 200 detects the driving risk based on information measured by the sensor unit 100.

Driving risk is calculated by calculating the possibility of collision with objects around the vehicle.

Driving risk can be detected in various ways depending on the type of sensor unit 100, weight, formula, driving situation, etc. The method of detecting driving risk is not particularly limited.

Referring to FIG. 2, the driving risk index can be divided into high level, middle level, and low level within the range of 1 to 0.

The larger the driving risk index, the higher the level may be, and the lower the driving risk index, the lower level.

The driving tendency detection unit 300 detects the driving tendency based on information measured by the sensor unit 100, for example, at least one of driving situation information and driving information.

Referring to FIG. 2, the driving tendency index can be divided into sporty, normal, and mild levels within a range from 1 to 0.

The larger the driving tendency index, the sportier the level, and the lower the driving tendency index, the milder level.

The sportier the level, the higher the vehicle speed and the relatively larger opening of the accelerator pedal. The milder the level, the lower the vehicle speed and the relatively smaller the opening of the accelerator pedal.

Meanwhile, driving risk and driving tendency can be used separately.

Driving risk can be used for ADAS (Advanced Driver Assistance System) or AEB (Autonomous Emergency Braking) during autonomous driving (AD).

Driving risk and driving tendencies can all be reflected in vehicles that drive in manual mode.

Driving tendencies can be applied to MDPS (Motor Driven Power Steering System).

The slope detection unit 400 detects the road slope based on the information detected by the sensor unit 100.

Road slope can be detected based on information detected through an image sensor, acceleration sensor, longitudinal acceleration sensor, or wheel speed sensor. Since the method for detecting road slope is self-evident to those skilled in the art, detailed description thereof will be omitted here.

The driving control unit 500 determines the driving mode of the vehicle based on the driving risk detected by the driving risk detection unit 200 and the driving tendency detected by the driving tendency detection unit 300, and operates the driving system 600 according to the determined driving mode. ) to control vehicle driving.

The driving system 600 performs various functions of the vehicle mounted on the vehicle and performs various functions related to driving the vehicle.

The driving system 600 includes an All-Wheel-Drive (AWD) system 611, a PowerTrain (PT) system 612, an Electronic Control Suspension (ECS) system 613, and a Torque vectoring (TV) system 614. may be included.

The AWD system 611 optimizes the traction of the wheels by appropriately distributing driving force to each wheel according to the traction and rotation speed of each wheel.

The PT system 612 determines the shift range from a preset shift map according to the throttle valve opening amount and the change in vehicle speed, and performs shifting according to the determined shift range.

The ECS system 613 recognizes the shape of the road surface and controls the suspension actuator according to the shape of the road surface to provide a comfortable ride and safety to the occupants.

The TV system 614 improves the vehicle's driving agility so that the vehicle can respond well to the driver's turning decision, and increases vehicle stability by minimizing yaw rate error due to phase difference before entering ESC (Electronic Stability Control).

In this embodiment, the driving system 600 includes the AWD system 611, PT system 612, ECS system 613, and TV system 614, but the technical scope of the present invention is not limited thereto. no.

Meanwhile, the driving control unit 500 determines the driving mode of the vehicle based on the driving risk and driving tendency as described above, and controls the driving of the vehicle according to the determined driving mode.

Referring to FIG. 2, the driving control unit 500 detects the driving mode by applying a fuzzy system to driving risk and driving tendency.

The driving mode index ranges from 1 to 0, and can be divided into sporty mode, normal mode, and mild mode depending on the range set for each.

Accordingly, the driving control unit 500 determines the driving mode according to which driving mode index detected by the fuzzy system falls within the range set for each of the sporty mode, normal mode, and mild mode.

In this case, the driving control unit 500 divides the driving tendency into sporty mode, normal mode, and mild mode according to the driving tendency index, and adjusts the driving mode conversion to any one of the sporty mode, normal mode, and mild mode to reduce the driver's discomfort. decreases.

For example, when changing the driving mode from normal mode to sporty mode or mild mode, the driving control unit 500 immediately changes the driving mode index depending on whether it is included in the sporty mode or mild mode.

On the other hand, when changing the driving mode from sporty mode or mild mode to normal mode, the driving control unit 500 determines whether the driving tendency index changes by more than the rate limited index preset for each of the sporty mode or mild mode. Change depending on availability.

That is, as shown in FIG. 3, when the current driving mode is normal mode and the driving mode index is less than 15, the driving control unit 500 changes the driving mode to mild mode, and when the driving mode index exceeds 75, the driving control unit 500 changes the driving mode to mild mode. Change the driving mode to sporty mode.

However, if the current driving mode is mild mode, and the driving mode index exceeds 35 (a preset change rate limit index for changing the driving mode from mild mode to normal mode), the driving control unit 500 changes the driving mode to normal mode. Change to

Additionally, if the current driving mode is the sporty mode, if the driving mode index exceeds 45 (a preset change rate limit index for changing the driving mode from the sporty mode to the normal mode), the driving control unit 500 changes the driving mode to the normal mode. Change to

Accordingly, the driving mode is not immediately changed from mild mode or sporty mode to normal mode according to the detected driving mode index, but is maintained to some extent, thereby minimizing the driver's sense of discomfort that may occur due to frequent driving mode changes. make it possible

In this case, the driving control unit 500 adjusts the amount of driving mode change according to the driving tendency to minimize the driver's discomfort caused by the driving mode change. For example, when the driving mode is changed from the sporty mode, if the driving tendency is at the sporty level, the driving control unit 500 may adjust the change rate limit index for the driving mode change so that more changes occur at the sporty level.

Additionally, when changing the driving mode as described above, the driving control unit 500 controls the amount of driving mode change according to the changed driving mode index.

In this case, the driving control unit 500 can variably control at least one of shift pattern map, torque vectoring, suspension, and power distribution.

For example, the driving control unit 500 may increase the low-range use area by moving the shift pattern map to the right as the driving mode index becomes higher. The driving control unit 500 can improve steering responsiveness by adjusting torque vectoring to quickly perform yaw rate phase control as the driving mode index becomes higher. The driving control unit 500 can hard adjust the suspension characteristics as the driving mode index increases. The driving control unit 500 may adjust power distribution to the rear wheels as the driving mode index increases.

In addition, the driving control unit 500 can control vehicle driving according to the road slope detected by the slope detection unit.

For example, as shown in FIG. 4, the driving control unit 500 increases the grip of the wheels by distributing fuzzy-based power to AWD (②) or setting the suspension characteristics to hard (①) as the road slope increases. (③) Do it. Additionally, the driving control unit 500 can increase engine output by changing the driving mode to sports mode.

Hereinafter, a method for controlling driving of a vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 5.

Figure 5 is a flowchart of a method for controlling driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 5, first, the sensor unit 100 detects information necessary to detect driving risk, driving tendency, and road slope (S100).

Information required to detect driving risk, driving tendency, and road slope includes vehicle speed and acceleration, distance between the vehicle and the preceding vehicle, accelerator pedal position, brake pedal position, vehicle's current position, steering angle, accelerator pedal position, and inertia. At least one of may be included.

The driving risk detection unit 200 detects the driving risk based on information measured by the sensor unit 100, for example, at least one of driving situation information and driving information (S200).

Driving risk can be detected in various ways depending on the type of sensor unit 100, weight, formula, driving situation, etc.

In this case, the driving risk index can be divided into high level, middle level, and low level within the range of 1 to 0.

The driving tendency detection unit 300 detects the driving tendency based on information measured by the sensor unit 100, for example, at least one of driving situation information and driving information (S300).

The driving tendency index can be divided into sporty level, normal level, and mild level within the range of 1 to 0.

The slope detection unit 400 detects the road slope based on the information detected by the sensor unit 100 (S400). Road slope can be detected based on information detected through an image sensor, vehicle speed sensor, or wheel speed sensor.

As the driving risk, driving tendency, and road slope are detected as described above, the driving control unit 500 determines the driving mode of the vehicle based on the driving risk and driving tendency (S500) and drives the vehicle according to the determined driving mode. Control (S600).

To be more specific, the driving control unit 500 detects the driving mode by applying a fuzzy system for driving risk and driving tendency.

The driving mode index ranges from 1 to 0, and can be divided into sporty mode, normal mode, and mild mode depending on the range set for each.

In this case, when the driving mode is changed from normal mode to sporty mode or mild mode, the driving control unit 500 immediately changes the driving mode index depending on whether it is included in sporty mode or mild mode. do.

On the other hand, when changing the driving mode from sporty mode or mild mode to normal mode, the driving control unit 500 changes depending on whether the driving tendency index changes more than the change rate limit index preset for each of the sporty mode or mild mode. .

Accordingly, the driver's discomfort when changing driving modes is minimized. In addition, when the driving mode is changed from the sporty mode, the driving control unit 500 can adjust the change rate limit index for the driving mode change if the driving tendency is at the sporty level so that more changes occur as the driving mode increases.

In addition, when changing the driving mode as described above, the driving control unit 500 controls the amount of driving mode change according to the changed driving mode index.

In this case, the driving control unit 500 moves the shift pattern map to the right as the driving mode index increases to increase the low-range use area, or adjusts torque vectoring to quickly perform yaw rate phase control to improve steering response. Alternatively, the suspension characteristics can be hard adjusted, or the power distribution can be made to the rear wheels.

In addition, the driving control unit 500 can control vehicle driving according to the road slope detected by the slope detection unit. The higher the road slope, the more the wheel grip is improved by distributing fuzzy-based power to AWD or setting the suspension characteristics to hard. You can increase engine output by increasing or changing the driving mode to sports mode.

As such, the vehicle driving control device and method according to an embodiment of the present invention improves the vehicle's agility to escape from a dangerous situation by controlling the driving of the vehicle according to the driver's driving tendency and the risk of the surrounding situation.

In addition, the vehicle driving control device and method according to an embodiment of the present invention minimizes discomfort to occupants due to driving mode changes and ensures vehicle stability.

Implementations described herein may be implemented, for example, as a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device including a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will recognize that various modifications and other equivalent embodiments can be made therefrom. You will understand. Therefore, the true technical protection scope of the present invention should be determined by the scope of the patent claims below.

100: sensor unit 200: driving risk detection unit
300: Driving tendency detection unit 400: Gradient detection unit
500: Driving control unit 600: Driving system

Claims (17)

a driving risk detection unit that detects the driving risk of the vehicle based on the information detected by the sensor unit;
a driving tendency detection unit that detects the driver's driving tendency based on the information detected by the sensor unit; and
A driving control unit that determines a driving mode of the vehicle based on the driving risk and the driving tendency and controls driving of the vehicle through a driving system according to the driving mode,
The driving control unit divides the mode into a sporty mode, a normal mode, and a mild mode according to the driving mode index, and adjusts mode conversion to any one of the sporty mode, the normal mode, and the mild mode to reduce the driver's sense of discomfort,
The driving control unit immediately changes from the normal mode to the sporty mode or the mild mode depending on whether the driving mode index is included in the sporty mode or the mild mode, and changes the sporty mode or the mild mode to the normal mode. A driving control device for a vehicle, characterized in that the driving mode index changes depending on whether the driving mode index changes more than a preset change rate limit index for each of the sporty mode and the mild mode. delete delete The method of claim 1, wherein the driving control unit
A driving control device for a vehicle, characterized in that adjusting the amount of change in the driving mode according to the driving mode index. The method of claim 1, wherein the driving control unit
A driving control device for a vehicle, characterized in that at least one of a shift pattern map, torque vectoring, suspension, and power distribution is variably controlled according to the driving mode. The method of claim 5, wherein the driving control unit
A driving control device for a vehicle, characterized in that as the driving mode index increases, the shift pattern map is moved to the right to increase the low range use area. The method of claim 5, wherein the driving control unit
A driving control device for a vehicle that improves steering response by adjusting torque vectoring as the driving mode index increases. The method of claim 5, wherein the driving control unit
A vehicle driving control device characterized in that the higher the driving mode index, the harder the suspension characteristics are adjusted. The method of claim 5, wherein the driving control unit
A driving control device for a vehicle, characterized in that power distribution is shifted to the rear wheels as the driving mode index increases. The method of claim 1, further comprising a slope detection unit that detects the road slope based on the information detected by the sensor unit,
A driving control device for a vehicle, wherein the driving control unit controls driving of the vehicle according to the road slope. The method of claim 10, wherein the driving control unit
A driving control device for a vehicle, characterized in that the grip of the wheels increases as the road slope increases. The method of claim 10, wherein the driving control unit
A driving control device for a vehicle, characterized in that the engine output increases as the road slope increases. A driving risk detection unit detecting the driving risk of the vehicle based on information detected by the sensor unit;
A driving tendency detection unit detecting the driver's driving tendency based on the information detected by the sensor unit; and
A driving control unit determining a driving mode of the vehicle based on the driving risk and the driving tendency, and controlling driving of the vehicle through a driving system according to the driving mode,
In the step of controlling the vehicle driving, the driving control unit divides the driving mode into a sporty mode, a normal mode, and a mild mode according to the driving mode index, and adjusts the mode conversion to any one of the sporty mode, the normal mode, and the mild mode. Reduces the driver's sense of discomfort,
In the step of controlling the driving of the vehicle, the driving control unit immediately changes the driving mode index from the normal mode to the sporty mode or the mild mode depending on whether the driving mode index is included in the sporty mode or the mild mode, and the sporty mode A driving control method for a vehicle, characterized in that the driving mode index changes from the mild mode to the normal mode depending on whether the driving mode index changes more than a preset change rate limit index for each of the sporty mode or the mild mode. delete The method of claim 13, wherein in controlling the vehicle driving,
The driving control method of a vehicle, wherein the driving control unit adjusts the amount of change in the driving mode according to the driving mode index. The method of claim 13, wherein in controlling the vehicle driving,
The driving control method of a vehicle, wherein the driving control unit variably controls at least one of a shift pattern map, torque vectoring, suspension, and power distribution according to the driving mode. The method of claim 13, wherein controlling the driving of the vehicle comprises:
Further comprising detecting the road slope based on the information detected by the sensor unit,
A driving control method for a vehicle, wherein the driving control unit controls driving of the vehicle according to the road slope.

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