KR20140052270A - Method for controlling vehicle speed - Google Patents

Method for controlling vehicle speed Download PDF

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Publication number
KR20140052270A
KR20140052270A KR1020120118193A KR20120118193A KR20140052270A KR 20140052270 A KR20140052270 A KR 20140052270A KR 1020120118193 A KR1020120118193 A KR 1020120118193A KR 20120118193 A KR20120118193 A KR 20120118193A KR 20140052270 A KR20140052270 A KR 20140052270A
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KR
South Korea
Prior art keywords
vehicle
speed
change
calculated
locus
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KR1020120118193A
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Korean (ko)
Inventor
김상묵
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주식회사 만도
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Priority to KR1020120118193A priority Critical patent/KR20140052270A/en
Publication of KR20140052270A publication Critical patent/KR20140052270A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching

Abstract

There is provided a method of controlling a speed of a vehicle based on a change trajectory of a vehicle obtained through a sensor mounted on a vehicle instead of a GPS signal when an error exists in the GPS signal.
A method of controlling a speed of a vehicle includes: a sensor unit including an acceleration / deceleration sensor, a lateral acceleration sensor, a yaw rate sensor, and a speed control method of a vehicle including a GPS, the method comprising: calculating a change trajectory of the vehicle using a sensor unit; Determining whether there is an error in the GPS signal based on the calculated locus of the vehicle; If it is determined that there is an error in the GPS signal, the GPS signal is replaced with the change locus of the vehicle calculated using the sensor unit, and the speed of the vehicle is controlled based on the change locus of the vehicle calculated using the sensor unit.

Description

[0001] The present invention relates to a method for controlling vehicle speed,

The present invention relates to a vehicle speed control method using a GPS and a vehicle sensor.

Recently, vehicles with various functions for increasing the driver's convenience of driving are being continuously released.

However, there is an error in the location information of the road or the vehicle provided in the navigation through the GPS function due to the GPS reception error due to the GPS error and the geographical factors, and the inaccuracy of the map.

Therefore, when there is a problem in the reliability of GPS information, an attempt is made to compensate for the limitation of the GPS by correcting the error of the GPS signal.

One aspect of the present invention provides a method for controlling a speed of a vehicle based on a change trajectory of a vehicle obtained through a sensor mounted on a vehicle instead of a GPS signal when an error exists in the GPS signal.

A method for controlling a speed of a vehicle according to an aspect of the present invention is a method for controlling a speed of a vehicle including an acceleration sensor, a lateral acceleration sensor, a sensor unit including a yaw rate sensor, and a GPS, Calculating a change locus of the change; Determine whether there is an error in the GPS signal based on the calculated locus of change of the vehicle; And a GPS signal generation unit for generating a GPS signal based on the GPS signal based on the change locus of the vehicle calculated using the sensor unit when the GPS signal is determined to have an error, And the speed is controlled.

The calculation of the change trajectory of the vehicle using the sensor unit may include calculating longitudinal and lateral accelerations of the vehicle based on longitudinal acceleration and lateral acceleration of the vehicle sensed by the acceleration sensor and the lateral acceleration sensor, ≪ / RTI > Calculating a traveling angle of the vehicle based on a yaw rate of the vehicle sensed by the yaw rate sensor; Calculating a change locus of the vehicle per unit time based on the traveling angle, the longitudinal velocity and the lateral velocity of the vehicle; And calculating a cumulative change trajectory of the vehicle based on the change trajectory per unit time of the vehicle.

Determining whether an error exists in the GPS signal based on the calculated change locus of the vehicle includes converting the GPS signal into a rectangular coordinate system; And determining that an error exists in the GPS signal if the difference between the GPS signal converted into the orthogonal coordinate system and the change trajectory of the vehicle calculated using the sensor unit is equal to or greater than a predetermined reference value.

The change locus of the vehicle calculated using the sensor unit may be a change locus of the vehicle per unit time or a locus of change per unit time of the vehicle, which is calculated based on the traveling angle, the longitudinal speed and the lateral speed of the vehicle And a cumulative change trajectory of the vehicle calculated on the basis.

The GPS receiver may be configured to replace the GPS signal with a locus of change of the vehicle calculated using the sensor unit and to determine, based on the change locus of the vehicle calculated using the sensor unit, Controlling the speed of the vehicle includes calculating a control start point on the basis of the change trajectory of the vehicle calculated using the sensor unit; Decelerate the vehicle at a speed lower than the predetermined speed when the speed of the vehicle is equal to or higher than a predetermined speed when the vehicle enters the control start point; Calculating a control end point based on a change locus of the vehicle calculated using the sensor unit; And if the vehicle is out of the control end point, accelerating the speed of the vehicle to a speed input by the driver and terminating the control.

The control start point may be a predetermined distance away from the entry point of the control section in the opposite direction to the vehicle progression direction and the control end point may be a predetermined distance from the entry point of the control section Lt; / RTI >

An apparatus for controlling a speed of a vehicle according to an aspect of the present invention includes: a sensor unit for sensing a speed of a vehicle; GPS; And a control unit for calculating the change locus of the vehicle by using the sensor unit, determining whether there is an error in the GPS signal based on the calculated locus of the vehicle, and, when an error exists in the GPS signal, And a control unit for controlling the speed of the vehicle on the basis of the change locus of the vehicle calculated using the sensor unit, by substituting the change locus of the vehicle calculated using the sensor unit.

In addition, the sensor unit may include an acceleration sensor, a lateral acceleration sensor, and a yaw rate sensor.

The control unit may calculate the longitudinal speed and the lateral speed of the vehicle on the basis of the longitudinal acceleration and the lateral acceleration of the vehicle sensed by the acceleration sensor and the lateral acceleration sensor, Calculating a progress angle of the vehicle on the basis of a yaw rate of the vehicle, calculating a change locus of the vehicle per unit time based on a traveling angle, a longitudinal velocity and a lateral velocity of the vehicle, The cumulative change trajectory of the vehicle can be calculated on the basis of the change trajectory per hour.

The control unit converts the GPS signal into an orthogonal coordinate system. If the difference between the GPS signal converted into the orthogonal coordinate system and the change trajectory of the vehicle calculated using the sensor unit is equal to or greater than a predetermined reference value, And then determining that it is present.

The change locus of the vehicle calculated using the sensor unit may be a change locus of the vehicle per unit time or a locus of change per unit time of the vehicle, which is calculated based on the traveling angle, the longitudinal speed and the lateral speed of the vehicle And a cumulative change trajectory of the vehicle calculated on the basis.

The control unit may calculate a control start point based on the change trajectory of the vehicle calculated using the sensor unit, and when the vehicle enters the control start point, if the vehicle speed is equal to or higher than a preset speed, Decelerates the speed of the vehicle below a predetermined speed, calculates a control end point based on the change trajectory of the vehicle calculated using the sensor unit, and when the vehicle is out of the control end point, And then the control can be terminated.

The control start point may be a predetermined distance away from the entry point of the control section in the opposite direction to the direction of travel of the vehicle and the control end point may be a predetermined distance from the entry point of the control section . ≪ / RTI >

As described above, according to one aspect of the present invention, even if there is an error in the GPS signal, the speed of the vehicle can be controlled based on the information acquired by the vehicle sensor, thereby reducing the operation load of the driver, have.

1 is a control block diagram of a vehicle speed control apparatus according to an embodiment of the present invention.
2 to 4 are flowcharts illustrating a vehicle speed control method according to an embodiment of the present invention.

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

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

1, the vehicle speed control apparatus according to the embodiment of the present invention includes an acceleration / deceleration sensor 20 for sensing the acceleration / deceleration of the vehicle, a lateral acceleration sensor 30 for sensing the lateral acceleration of the vehicle, A GPS 50, a navigation unit 51 for providing digital map information, and a sensor unit 40 for detecting an error in the GPS signal. The sensor unit 10 includes a yaw rate sensor 40, A braking unit 70 and an engine driving unit 80 for controlling the speed of the vehicle according to the control signal output from the control unit 60; And an interface unit 90 for providing the state and position information of the vehicle.

The control unit 60 determines whether or not an error exists in the GPS signal.

First, the control unit 60 calculates the change locus of the vehicle by using the sensor unit 10. [

The control unit 60 calculates the longitudinal acceleration a x and the lateral acceleration a y of the vehicle sensed by the longitudinal acceleration sensor 20 and the lateral acceleration sensor 30 according to the following equation And calculates the velocity V x and the lateral velocity V y .

[Equation 1]

Figure pat00001

Further, the controller 60 calculates the heading angle of the vehicle according to the following equation (2) using the yaw rate (?) Detected by the yaw rate sensor 40.

&Quot; (2) "

Figure pat00002

In addition, the control unit 60 calculates the yaw rate of the vehicle based on the above-described longitudinal velocity, lateral velocity and traveling angle of the vehicle, which are calculated through information sensed by the acceleration sensor 20, the lateral acceleration sensor 30 and the yaw rate sensor 40 It is calculated according to the trajectory of the vehicle per unit change (△ X, △ Y) and components of the cumulative change in the locus acquired by adding the hourly change trajectory equation of an (X n, Y n) 3 and 4.

&Quot; (3) "

Figure pat00003

&Quot; (4) "

Figure pat00004

Further, the controller 60 converts the GPS signal into an orthogonal coordinate system according to the following equation (5).

&Quot; (5) "

Figure pat00005

The control unit 60 compares the change trajectory of the vehicle calculated through the information sensed by the sensor unit 10 with the change trajectory of the vehicle represented by the GPS signal to determine whether there is an error in the GPS signal.

Whether or not an error exists in the GPS signal can be determined by comparing the change locus per unit time or by comparing the cumulative change locus.

That is, as shown in Equation (6) below, the control unit 60 calculates the change locus of the vehicle per unit time calculated based on the change locus per unit time of the vehicle represented by the GPS signal and the information sensed by the sensor unit 10 If the difference exceeds a predetermined reference value (threshold 1 or threshold 2), it is determined that there is an error in the GPS signal and the reliability is insufficient.

&Quot; (6) "

Figure pat00006

Further, as shown in Equation (7) below, the control unit 60 determines whether or not the cumulative change locus of the vehicle represented by the GPS signal and the cumulative change locus of the vehicle calculated on the basis of the information sensed by the sensor unit 10 If it exceeds the predetermined reference value (threshold 3 or threshold 4), it is determined that there is an error in the GPS signal and the reliability is insufficient.

&Quot; (7) "

Figure pat00007

Here, the above-mentioned reference values can be determined as optimal values calculated through repeated experiments.

If it is determined that there is an error in the GPS signal and there is an error in the GPS signal, the control unit 60 replaces the GPS signal with the change track of the vehicle calculated based on the information detected by the sensor unit 10, And controls the speed of the vehicle based on the information provided by the vehicle.

That is, the control unit 60 calculates a control start point and a control end point of the vehicle speed on the digital map based on the change trajectory of the vehicle calculated on the basis of the information sensed by the sensor unit 10. [

Here, the control start point is a predetermined distance from the entry point of the vehicle speed control section in the opposite direction to the vehicle running direction, and the control end point is a predetermined distance from the entry point of the vehicle speed control section It can be determined as a point at which it has fallen. The vehicle speed control section includes a section requiring adjustment of the vehicle speed such as a limited speed section or a forward road curvature section.

The control unit 60 calculates a control start point and a control end point of the vehicle speed so that when the vehicle enters the control start point and the vehicle speed is equal to or higher than a predetermined speed, To decelerate the vehicle.

When the vehicle is out of the control end point, the controller 60 controls the engine driving unit 80 to increase the speed of the vehicle up to the speed input by the driver, and then ends the vehicle speed control. The control unit 60 may display the speed or state of the vehicle, which is changed through the interface unit 90, to the driver.

2 to 4 are flowcharts illustrating a vehicle speed control method according to an embodiment of the present invention.

First, the control unit 60 calculates a change trajectory of the vehicle using the information sensed by the acceleration sensor 20, the lateral acceleration sensor 30, and the yaw rate sensor 40 (100).

The control unit 60 calculates the longitudinal acceleration a x and the lateral acceleration a y of the vehicle sensed by the longitudinal acceleration sensor 20 and the lateral acceleration sensor 30 in accordance with the above- speed (V x), and the calculated lateral speed (V y) and yaw by using a yaw rate (Ψ) detected by the rate sensor (40) above the advanced angle (θ) (heading angle) of the vehicle equation 2 (110).

In addition, the control unit 60 calculates the yaw rate of the vehicle based on the above-described longitudinal velocity, lateral velocity and traveling angle of the vehicle, which are calculated through information sensed by the acceleration sensor 20, the lateral acceleration sensor 30 and the yaw rate sensor 40 is calculated according to the above-mentioned trajectory of the vehicle per unit change (△ X, △ Y) and components of the cumulative change in the locus acquired by adding the hourly change trajectory (X n, Y n) equation (3) and 4 (120).

The control unit 60 determines whether or not there is an error in the GPS signal based on the calculated change locus of the vehicle (200).

The control unit 60 converts the GPS signal into an orthogonal coordinate system according to Equation (5) described above, compares the change trajectory of the vehicle calculated through the information sensed by the sensor unit 10 with the change trajectory of the vehicle represented by the GPS signal Determine if there is an error in the GPS signal.

Whether or not an error exists in the GPS signal can be determined by comparing the change locus per unit time or by comparing the cumulative change locus.

That is, as shown in Equation (6) above, the control unit 60 calculates the change locus of the vehicle per unit time calculated based on the change locus per unit time of the vehicle represented by the GPS signal and the information sensed by the sensor unit 10 When the difference is equal to or greater than a predetermined threshold value (threshold 1 or threshold 2), it is determined that there is an error in the GPS signal and the reliability is insufficient. Alternatively, as shown in Equation (7) 10, it is determined that there is an error in the GPS signal and the reliability is insufficient when the difference of the cumulative change trajectory of the vehicle calculated based on the information detected by the sensor 10 is equal to or greater than a predetermined reference value (threshold 3 or threshold 4).

When it is determined that there is an error in the GPS signal, the control unit 60 replaces the GPS signal with the change trajectory of the vehicle calculated using the sensor (300). Based on the change trajectory of the vehicle calculated using the sensor, (400).

If it is determined that there is an error in the GPS signal and there is an error in the GPS signal, the control unit 60 replaces the GPS signal with the change track of the vehicle calculated based on the information detected by the sensor unit 10, And controls the speed of the vehicle based on the information provided by the vehicle.

That is, the control unit 60 calculates a control start point and a control end point of the vehicle speed on the digital map based on the change trajectory of the vehicle calculated based on the information sensed by the sensor unit (410).

Here, the control start point is a predetermined distance from the entry point of the vehicle speed control section in the opposite direction to the vehicle running direction, and the control end point is a predetermined distance from the entry point of the vehicle speed control section It can be determined as a point at which it has fallen. The vehicle speed control section includes a section requiring adjustment of the vehicle speed such as a limited speed section or a forward road curvature section.

When the vehicle enters the control start point, if the vehicle speed is equal to or higher than the predetermined speed (420), the control unit 60 controls the braking force control unit (70) to decelerate the vehicle (430).

The control unit 60 controls the engine driving unit 80 to increase the speed of the vehicle up to the speed input by the driver and then terminates the vehicle speed control 440 when the vehicle is out of control end point 440. [ .

10: Sensor unit
20: Acceleration sensor
30: lateral acceleration sensor
40: Yaw rate sensor
50: GPS
51: Navigation
60:
70:
80:
90:

Claims (13)

1. A speed control method for a vehicle including a sensor for sensing a yaw rate, a lateral acceleration sensor, a yaw rate sensor, navigation for providing digital map information, and GPS,
Calculating a change locus of the vehicle using the sensor unit;
Determine whether there is an error in the GPS signal based on the calculated locus of change of the vehicle;
The GPS signal is replaced with the change locus of the vehicle calculated using the sensor unit and the change locus of the vehicle calculated using the sensor unit and the digital map information And the speed of the vehicle is controlled based on the speed of the vehicle. The method according to claim 1,
Calculating the change locus of the vehicle by using the sensor unit,
Calculating a longitudinal speed and a lateral speed of the vehicle based on the longitudinal acceleration and the lateral acceleration of the vehicle sensed by the acceleration sensor and the lateral acceleration sensor;
Calculating a traveling angle of the vehicle based on a yaw rate of the vehicle sensed by the yaw rate sensor;
Calculating a variation locus of the vehicle per unit time based on the traveling angle, the longitudinal velocity and the lateral velocity of the vehicle;
And calculating a cumulative change trajectory of the vehicle based on the change trajectory per unit time of the vehicle. The method according to claim 1,
Determining whether there is an error in the GPS signal based on the calculated locus of change of the vehicle,
Converting the GPS signal into a Cartesian coordinate system;
And determining that an error exists in the GPS signal if the difference between the GPS signal converted into the orthogonal coordinate system and the change trajectory of the vehicle calculated using the sensor unit is equal to or greater than a predetermined reference value. The method of claim 3,
The change trajectory of the vehicle, calculated using the sensor unit,
Which is any one of a change locus of the vehicle per unit time calculated on the basis of the traveling angle, a longitudinal speed and a lateral speed of the vehicle, or a cumulative change locus of the vehicle calculated on the basis of a change locus of the vehicle per unit time, Speed control method. The method according to claim 1,
The GPS signal is replaced with the change locus of the vehicle calculated using the sensor unit and the change locus of the vehicle calculated using the sensor unit and the digital map information Controlling the speed of the vehicle as a basis,
Calculating a control start point on the digital map based on a change locus of the vehicle calculated using the sensor unit;
Decelerate the vehicle at a speed lower than the predetermined speed when the speed of the vehicle is equal to or higher than a predetermined speed when the vehicle enters the control start point;
Calculating a control end point on the digital map based on the change locus of the vehicle calculated using the sensor unit;
And if the vehicle is out of the control end point, accelerating the speed of the vehicle to a speed input by the driver and terminating the control. 6. The method of claim 5,
Wherein the control start point is a predetermined distance away from an approaching point of the control section in a direction opposite to a traveling direction of the vehicle and the control end point is a point at a predetermined distance from the advancement point of the control section The vehicle speed control method comprising the steps of: A sensor unit for sensing a speed of the vehicle;
Navigation providing digital map information;
GPS; And
Determines the presence or absence of an error in the GPS signal based on the calculated locus of change of the vehicle by using the sensor unit, calculates the change locus of the vehicle, And a control unit for controlling the speed of the vehicle based on the change locus of the vehicle and the digital map information calculated using the sensor unit, . 8. The method of claim 7,
Wherein the sensor unit includes an acceleration sensor, a lateral acceleration sensor, and a yaw rate sensor. 9. The method of claim 8,
Wherein,
Calculating a longitudinal speed and a lateral speed of the vehicle on the basis of the longitudinal acceleration and the lateral acceleration of the vehicle sensed by the longitudinal acceleration sensor and the lateral acceleration sensor, Calculating a change trajectory per unit time of the vehicle on the basis of the traveling angle, the longitudinal speed and the lateral speed of the vehicle based on the vehicle travel time, And calculates a cumulative change trajectory of the vehicle. 8. The method of claim 7,
Wherein,
It is determined that an error exists in the GPS signal if the GPS signal is converted into an orthogonal coordinate system and the difference between the GPS signal converted into the orthogonal coordinate system and the change trajectory of the vehicle calculated using the sensor unit is equal to or greater than a predetermined reference value Speed control device of the vehicle. 11. The method of claim 10,
The change trajectory of the vehicle, calculated using the sensor unit,
Which is any one of a change locus of the vehicle per unit time calculated on the basis of the traveling angle, a longitudinal speed and a lateral speed of the vehicle, or a cumulative change locus of the vehicle calculated on the basis of a change locus of the vehicle per unit time, Speed control device. 8. The method of claim 7,
Wherein,
A control start point on the digital map is calculated on the basis of the change trajectory of the vehicle calculated using the sensor unit, and when the vehicle is at the control start point, The control unit calculates a control end point on the digital map on the basis of the change locus of the vehicle calculated using the sensor unit, and when the vehicle is out of the control end point, To the speed input by the driver, and then terminates the control. 13. The method of claim 12,
The control start point is a predetermined distance away from the entry point of the control section in the opposite direction to the vehicle running direction and the control end point is a predetermined distance from the entry point of the control section in the traveling direction of the vehicle The vehicle speed control apparatus comprising:
KR1020120118193A 2012-10-24 2012-10-24 Method for controlling vehicle speed KR20140052270A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022016247A1 (en) * 2020-07-22 2022-01-27 Zios Technology Serviços Ltda Self-adjusting system for limiting the speed of a motor vehicle in accordance with the speed limit of the stretch of road

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022016247A1 (en) * 2020-07-22 2022-01-27 Zios Technology Serviços Ltda Self-adjusting system for limiting the speed of a motor vehicle in accordance with the speed limit of the stretch of road

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