KR20130068268A - Auto steering control method relating to the driver's driving pattern - Google Patents

Abstract

PURPOSE: A method of automatic steering control using an automatic steering control system of a vehicle provides a automatic steering system, which is stable and minimizes the sense or difference when driving, to drivers. CONSTITUTION: A method of steering control method using the automatic steering control system of vehicle including a step of inputting into a controller of an automatic steering control system a gain including the aberration angle, the aberration distance, the car speed, the curvature; a step of determining by the controller the vehicle driving status with the car speed and the curvature; a step of adjusting predetermined weighted value by the controller, corresponding to the vehicle driving status; a step of applying by the controller the adjusted predetermined weighted value to the gain to determine whether the aberration angle and/or aberration distance adjusted with the weighed value is included in a previously defined proper aberration angle and/or aberration distance; and In the control unit, the glancing-angle and/or the adjusted secession length includes the step of doing the case of being included in the propriety secession length, and the automatic orientation control according to the adjusted gain. a step of initiating by the controller automatic steering control according to the adjusted gain if aberration angle and/or aberration distance is included in the proper aberration angle and/or aberration distance. [Reference numerals] (AA,CC,EE,GG,JJ,LL) Yes; (BB,DD,FF,HH,II,KK) No; (MM) Input escape angle, escape distance, vehicle speed, and curvature information; (NN) Maintain distance between GAIN and a target point; (OO) Control feedback; (S002) Direct route, high speed; (S003,S010) Control a weight value; (S004) Escape distance GAIN↓, target point distance↑; (S005) Proper escape angle; (S006) Escape angle GAIN↓; (S007) Direct route, low speed; (S008) Curve route, low speed; (S009) Curve route, high speed; (S011) Escape distance GAIN↓, target point distance ↓; (S012) Proper escape distance; (S013) Escape distance GAIN↓

Description

Auto Steering Control Method Relating to the Driver's Driving Pattern

The present invention relates to a method for automatically steering a vehicle in relation to a driving pattern of a driver, and more particularly, in an intelligent safety system or an autonomous vehicle including a lane keeping assistance system (LKAS), By changing the gain of the control unit according to the general driver's pattern according to the vehicle speed and road curvature input to the control unit of the safety system, the heterogeneous feeling felt by the driver during the automatic steering of the intelligent safety system is minimized. The present invention relates to a vehicle steering control method related to a driving pattern of a driver that enables stable driving according to the present invention.

In general, automatic steering control of a vehicle to which the vehicle is automatically steered by using an intelligent safety system including a known lane keeping assistance system (LKAS) or other known technology may periodically determine a departure distance and a departure angle while driving the vehicle. It is configured to automatically drive by receiving feedback and using it for vehicle control.

The deviation distance used for the automatic driving indicates a degree of lateral deviation from the reference path as a vertical distance closest to the reference path from the reference point of the vehicle. In addition, the departure angle indicates how far the vehicle is displaced from the reference path by the angle between the heading direction of the vehicle and the tangential vector direction of the reference path.

Therefore, the conventional autonomous driving vehicle performs autonomous driving by correcting by receiving the deviation distance and the departure angle.

However, vehicles to which the known automatic steering control system is applied are adapted so that a predetermined criterion is applied to the vehicle to which the techniques are applied to correct the vehicle departure distance and the deviation angle. Although driving driving patterns exist, such as staring at a place or staring at a closer place when driving on a curved road, the conventional automatic steering control systems as described above have the disadvantage that these driver patterns are not reflected at all.

Therefore, although the conventional automatic steering control system provides an advantage of automatic steering control by feedback, it does not reflect the general driving pattern of the drivers, so that the automatic steering control is inconvenient for some drivers. Could effect. In other words, the conventional automatic steering control system has a problem that can make the driver feel uncomfortable because it provides all drivers the same driving error correction preset in advance regardless of the general driver pattern.

The present invention was made to solve the above problems,

In an intelligent safety system or autonomous vehicle including a Lane Keeping Assist System (LKAS), a gain of the control unit is determined according to a vehicle speed and a road curvature input to a control unit of the intelligent safety system. The present invention provides a method for automatically steering a vehicle in connection with a driving pattern of a driver that minimizes heterogeneity felt by the driver during automatic steering of the intelligent safety system and enables stable driving according to a vehicle driving situation. The purpose is.

The present invention provides a steering control method using the automatic steering control system of the vehicle, in order to achieve the above object, the control unit of the automatic steering control system receives a gain including a departure angle, departure distance, vehicle speed, curvature step; Determining, by the controller, a vehicle driving state based on the received vehicle speed and curvature; The control unit adjusting a preset weight corresponding to a driving state of the vehicle; The control unit applying the adjusted weight to the gain to determine whether the departure angle and / or the departure distance adjusted by the weight is included in a predetermined departure angle and / or a proper departure distance; And controlling the automatic steering according to the adjusted gain when the adjusted departure angle and / or departure distance are included in an appropriate departure distance.

The control unit may adjust the preset weight corresponding to the driving state of the vehicle. (A) If the driving state determines that the driving state is driving at a high speed on a straight road, the controller may adjust the weight to reduce the deviation distance gain and the target point. Increasing distance; And reducing the deviation angle gain if the departure angle is included in the proper departure angle, and repeating step (a) if not included.

The control unit may adjust the preset weight corresponding to the driving state of the vehicle. (B) The control unit may adjust the weight if it is determined that the driving state is a low speed driving on a straight road or a low speed and high speed driving on a curved road. Adjusting to reduce the deviation angle gain and reduce the target distance; And reducing the deviation distance gain if the departure distance is included in the proper departure distance, and repeating the step (b) if not included.

The control unit may further include feedback control of the adjusted departure distance gain and the departure angle gain.

The present invention having the above-

In a vehicle to which the automatic steering control system is applied, gains, such as departure angles and departure distances, which are input to the control unit of the automatic steering control system, are adjusted in accordance with the driving pattern of a general driver, and the output value is applied to the calculation, and the output value is calculated according to the calculated output value. By controlling the vehicle speed and curvature-based steering of the vehicle, there is an effect of providing an automatic steering control system that enables the driver to be stable and minimize the heterogeneity.

In addition, in order to apply the driving pattern of the driver in the automatic steering control of the vehicle has a configuration that adjusts only the gain, such as the departure angle and departure distance of the automatic steering control system, it is easily applied to any known automatic steering control system. There is a possible advantage, there is an effect that does not incur a large cost for the implementation of the present invention.

1 is a flowchart illustrating a preferred embodiment of a method for automatically steering a vehicle in relation to a driving pattern of a driver of the present invention.
2 is a control diagram of a vehicle that is driving at high speed on a straight road.
3 is a schematic diagram of steering control of a vehicle driving on a straight road.
4 shows a control situation diagram of a vehicle driving at a low speed on a straight road.
5 shows a schematic diagram of steering control of a vehicle driving on a curved road.

In the vehicle's automatic steering control method related to the driver's driving pattern of the present invention, in a vehicle to which an intelligent safety system including LKAS or autonomous driving (hereinafter, referred to as an automatic steering control system) is applied, a weight applied to a driver's pattern according to a vehicle driving state By applying to the control unit of the automatic steering control system, it is designed to perform different automatic driving control depending on the driver.

In other words, the automatic steering control method of the vehicle related to the driving pattern of the driver of the present invention applies a weight corresponding to the driving pattern of the driver to the gain input to the controller, that is, the departure angle and the departure distance, and according to the driving state, By applying the departure angle and departure distance corresponding to the set driving pattern of the driver to feedback control, that is, the departure angle and departure distance again, the automatic driving control corresponding to the driving pattern of the driver is possible.

In the automatic driving control performed as described above, the controller calculates an output value by applying a weight to the gain according to Equation 1 below.

[Formula 1]

Control Output = K ₁ x Breakaway + K ₂ x Breakaway

In the above equation, K ₁ and K ₂ represent the control weights of the departure distance and the departure angle, respectively, and the control weights may be preset according to the driving pattern of the driver.

In one embodiment of the present invention, by reducing the K ₁ to increase the relative proportion of the departure angle in the output value, and conversely by reducing the K ₂ to increase the relative proportion of the departure distance, by adjusting the weight to automatically drive You can control it.

On the contrary, in another embodiment of the present invention, by increasing the K ₁ to increase the relative proportion of the departure distance in the output value, and conversely by increasing the K ₂ to increase the relative proportion of the departure angle, by adjusting the weight Automatic driving control can be made.

However, in addition to the above, by adjusting the K ₁ and K ₂ differently or simultaneously according to the driving pattern of the driver, automatic steering control can be performed.

On the other hand, the above-mentioned deviation distance represents the lateral distance between the vehicle and the reference path, the departure angle represents a twisted angle between the vehicle and the direction on the reference path.

As described above, the controller of the present invention automatically sets the specific gravity of each gain by varying the two gains (departure distance and departure angle) by the control weights K ₁ and K ₂ . The driving pattern of the driver can be reflected in the control.

In this case, reducing the deviation distance means controlling the vehicle to approach the reference path while ignoring the direction of the vehicle, and reducing the deviation angle ignores the lateral distance between the vehicle and the reference path, It means to control to match the direction).

Therefore, in order to mimic the driving pattern of the driver of the vehicle traveling on the curved and straight roads, it is necessary to appropriately adjust the gain according to the driving pattern of the driver, and the present invention applies the control weight to the gains, Can be achieved.

The control weight may be determined in advance by analyzing a driver's pattern according to road information. That is, it is preferable to apply the driving pattern of the driver of the vehicle traveling on various roads (curves, straight lines, etc.) experimentally to the database according to the curvature of the road.

Table 1 below shows an example of a driving pattern of a general driver analyzed as described above.

road

Vehicle speed
Priority Control
Weight control
Goal point adjustment
In a straight line

sleaze
Enter route
Deviation gain reduction
decrease
In a straight line

high speed
Direction adjustment
Deviation gain reduction
increase
Curve

sleaze
Enter route
Deviation gain reduction
decrease
Curve
`
curve
Direction adjustment
Deviation gain reduction
decrease

As shown in the above table, the automatic driving control of the vehicle changes the respective values according to the driver's pattern such as vehicle speed, priority control, weight control, target point control according to road conditions, that is, straight roads and curved road conditions. Automatic driving control is made.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

1 is a flowchart illustrating a preferred embodiment of a method for automatically steering a vehicle in relation to a driving pattern of a driver of the present invention.

First, the controller of the automatic steering control system of the vehicle receives information (gain) necessary for the automatic steering control, that is, the departure angle, the departure distance, the vehicle speed, and the curvature information of the vehicle from various sensors provided in the vehicle (S001). The departure angle, departure distance, vehicle speed, and curvature information are information received from a known vehicle automatic steering control system, and this step of the present invention may be performed in the same manner as the configuration of any known automatic steering control system. have.

When the control unit receives the gain, the controller recognizes and determines the state and vehicle speed of the lane in which the vehicle is currently driven based on the vehicle speed and curvature information.

At this time, the controller is determined that the vehicle is currently driving on a straight road, and the vehicle speed is driving at a high speed (a speed at which a predetermined speed is preset and rises above the predetermined speed) (S002). The control weight is adjusted (S003).

The control unit controls the weight so as to lower the gain of the departure distance and increase the target point distance in adjusting the control weight value (S004). That is, when the controller determines that the vehicle currently driving is driving at a high speed on the straight road, by controlling the weight as described above, the target point of the vehicle driving at high speed is set far to reduce steering control overshoot and improve stability. Vehicle control during high speed travel on such a straight line is shown in FIG. 2.

As shown in FIG. 2, a vehicle traveling on a straight main road is configured to control steering by setting a target point at a distant point on a reference path in front of the vehicle. This adjustment of the target point reflects the speed of the vehicle in setting the target point, and since the vehicle driving at high speed reaches the reference target point faster than the normal speed, the automatic steering control is performed in response to the driving pattern of the general driver. For sake. Therefore, the automatic steering control vehicle of the present invention is configured to set the target point farther than the standard speed during high-speed driving on a straight road.

Preferably. As shown in FIG. 3, in the case of a vehicle driving on a straight road, when the departure distance and the departure angle deviate from the set values, the departure angle is first adjusted, and then the departure distance is adjusted later.

Therefore, the control unit of the vehicle in which the gain and the target point are adjusted as described above determines whether the deviation angle calculated through the gain is within a preset appropriate deviation angle range (S005).

If it is determined in step S005 that the calculated departure angle of the vehicle is not the proper departure angle, the step S004 is performed again to readjust the departure distance gain and the target point.

On the contrary, if it is determined that the departure angle of the vehicle calculated in the step is a proper departure angle, the controller decreases the departure angle gain (S006).

On the contrary, if it is determined in step S002 that the vehicle is currently driving on a straight road and the speed of the vehicle is not at high speed, the controller determines whether the current vehicle driving state is driving at a low speed on the straight road (S007), Alternatively, it is determined whether the curve runs at low speed (S008) or high speed (S009).

If the controller determines that the vehicle currently being driven is traveling at a low speed on a straight road or traveling at a high speed or a low speed on a curved road, the control weight is first adjusted (S010).

In adjusting the control weight value, the controller reduces the gain of the departure angle and reduces the distance of the target point (S011).

4 shows a control situation diagram of a vehicle driving at a low speed on a straight road.

As shown in the figure, since the vehicle driving at a low speed on the straight line sets the target point and the time to reach the target point is slower than the normal state, the distance of the target point is reduced to set the target point closer to the normal vehicle for control.

In addition, as shown in FIG. 4, when a vehicle driving at a low speed on a straight road also has a deviation distance and a deviation angle out of a set value, as shown in FIG. Do.

5 shows a schematic diagram of steering control of a vehicle driving on a curved road.

In the case of a vehicle driving on a curved road, an error may occur when the target point is set far away in front of the vehicle because the road is curved. Therefore, it is preferable that the vehicle traveling at a high speed or a low speed on the curved road sets the target point closer than the normal driving state, so that the deviation angle is calculated.

Accordingly, the controller of the vehicle having the target point adjusted as described above is configured to adjust the departure angle by calculating a departure angle based on the target point. For this purpose, the controller first adjusts the departure distance and subsequently adjusts the departure angle. Reduce the gain and reduce the target distance.

As described above, the controller of the vehicle in which the deviation angle gain and the target point are adjusted determines whether the departure distance calculated through the gain is within a predetermined appropriate departure distance range (S012).

If it is determined in step S012 that the calculated departure distance of the vehicle is not included in the proper departure distance, the step S011 is performed again to readjust the departure angle gain and the target point gain.

On the contrary, if it is determined that the departure distance of the vehicle calculated in the step is a proper departure distance, the controller decreases the departure distance gain (S013).

The controller performing the step S006 and the step S013 and adjusting the deviation angle gain or adjusting the deviation distance gain feeds back the adjusted value and reflects it to the gain input later to control it (S014).

As mentioned above, although the preferred embodiment of the automatic steering control method of the vehicle in relation to the driving pattern of the driver of the present invention has been described in detail, this is merely presented a specific example to help the understanding of the present invention, and the scope of the present invention. It is not intended to be limiting. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

Claims (4)

In a steering control method using an automatic steering control system of a vehicle,
Receiving, by the control unit of the automatic steering control system, a gain including a departure angle, a departure distance, a vehicle speed, and a curvature;
Determining, by the controller, a vehicle driving state based on the received vehicle speed and curvature;
The control unit adjusting a preset weight corresponding to a driving state of the vehicle;
The control unit applying the adjusted weight to the gain to determine whether the departure angle and / or departure distance adjusted by the weight is included in a predetermined departure angle and / or a proper departure distance; And
The control unit performing automatic steering control according to the adjusted gain when the adjusted departure angle and / or departure distance are included in the proper departure distance;
Automatic steering control method of the vehicle associated with the driving pattern of the driver, comprising a.
The method of claim 1,
The step of adjusting the preset weight corresponding to the driving state of the vehicle,
(a) if the driving state is determined that the vehicle is traveling at a high speed on a straight road, adjusting the weight to reduce the deviation distance gain and increasing the target point distance; And
The control unit reduces the deviation angle gain if the departure angle is included in the proper departure angle, and repeats step (a) if not included;
Automatic steering control method of the vehicle associated with the driver's driving pattern further comprising.
The method of claim 1,
The step of adjusting the preset weight corresponding to the driving state of the vehicle,
(b) the controller is configured to reduce the deviation angle gain and decrease the target point distance by adjusting a weight when it is determined that the driving state is driving at a low speed on a straight road or driving at a low speed and a high speed on a curved road; And
The control unit reduces the departure distance gain if the departure distance is included in the appropriate departure distance, repeating step (b) if not included;
Automatic steering control method of the vehicle associated with the driver's driving pattern further comprising.
The method of claim 2 or 3,
The control unit performing feedback control on the adjusted deviation distance gain and the deviation angle gain;
Automatic steering control method of the vehicle associated with the driver's driving pattern further comprising.

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