KR20150018989A - Apparatus and method for controlling autonomous driving of vehicle - Google Patents

Abstract

The present invention suggests an apparatus and a method for controlling autonomous driving of a vehicle, which determine whether a vehicle is controlled in an autonomous driving mode or a manual driving mode, and control autonomous driving of a vehicle based on the determination. According to the present invention, the apparatus for controlling autonomous driving includes a driving will determination unit using at least one of an accelerator, a decelerator, and a steering wheel mounted on a vehicle to determine whether a driver has willingness to drive; and an autonomous driving control unit controlling an autonomous driving device mounted on the vehicle not to be operated when the driver is determined to have willingness to drive, and controlling the autonomous driving device to be operated when the driver is determined not to have willingness to drive.

Description

[0001] Apparatus and method for controlling autonomous driving of a vehicle [0002]

The present invention relates to an apparatus and a method for controlling an autonomous running of a vehicle. More particularly, the present invention relates to an apparatus and a method for determining whether to control the vehicle in an automatic running mode or a manual running mode, and controlling the autonomous running of the vehicle based on the determination.

Generally, the vehicle is equipped with various systems for driver and passenger protection, driving assistance, and ride comfort.

Among these systems, the autonomous driving control system recognizes lanes and performs automatic steering by using a camera. The autonomous driving control system includes a lane width based on the image processing of the camera, a lateral position of the vehicle on the lane, a distance to both lanes, The radius of curvature of the road, and the like, estimates the driving trajectory of the vehicle using the vehicle position and the road information obtained therefrom, and changes the lane according to the estimated driving trajectory by operating the steering apparatus.

However, since the conventional autonomous running control system does not have a function of automatically changing from the automatic running mode to the manual running mode, the automatic running mode and the manual running mode are automatically changed to reflect the will of the driver.

Korean Laid-Open Patent Application No. 2012-0022305 describes a system that autonomously drives a vehicle in response to a behavior characteristic of a driver. However, this system does not solve the aforementioned problem because it determines the present driving route and performs autonomous driving by using the past driving pattern of the driver.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an autonomous running control apparatus for controlling autonomous running of a vehicle on the basis of a determination whether a vehicle is to be controlled in an automatic running mode or a manual running mode, And a method thereof.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a driving assistance apparatus for driving a vehicle, And an autonomic driving control unit for controlling the autonomous traveling apparatus mounted on the vehicle to be not driven if it is determined that there is the driver's intention and controlling the autonomous traveling apparatus to be driven when it is determined that there is no driving intention The present invention proposes an autonomous running control system for a vehicle.

Preferably, the driving determination unit detects a torque signal generated according to the rotation of the steering apparatus, and determines whether the driver has the driver's intention.

Preferably, the drive determination unit may include: a feature data extraction unit that extracts at least one feature data from a torque change rate, an amplitude of a torque, and a measurement frequency of a torque from the torque signal; A data comparing unit comparing the feature data with reference data; And if the characteristic data is similar to the reference data indicating the tendency of manual operation, it is determined that the driver has the driving intention. If the characteristic data is similar to the reference data indicating the automatic driving tendency, the driver And a comparison result determination unit for determining the comparison result.

Preferably, the drive determination unit detects the torque signal using a torque sensor attached on a connection member that mechanically connects the steering unit and the steering column assembly.

Preferably, the autonomic drive control unit operates a motor driven power steering (MDPS) system using a gear box connected to a steering column assembly as a universal joint when the autonomous travel apparatus is driven.

Preferably, the drive determination unit senses whether the human body continuously touches the steering apparatus for a predetermined time, or whether the accelerator or the decelerator is continuously pressed for the predetermined time Sensing unit; And a sensing result utilization unit that senses that the driver is willing to drive if it is sensed that the human body is continuously in contact with the steering apparatus or that the accelerator or the speed reducing apparatus is continuously pressed .

Further, the present invention provides a driving assistance apparatus, comprising: a driving determination step of determining whether a driver is willing to drive using at least one of an acceleration device, a deceleration device, and a steering device mounted on a vehicle; And an autonomous travel control step of controlling the autonomous traveling apparatus mounted on the vehicle so as not to be driven if it is determined that there is the will to drive and controlling the autonomous travel apparatus to be driven if it is determined that there is no will to drive Of the vehicle.

Preferably, the driver's will determination step detects a torque signal generated in accordance with the rotation of the steering apparatus, and determines whether the driver has the driver's intention.

Preferably, the operation will determining step may include: a feature data extracting step of extracting at least one feature data from a torque change rate, an amplitude of a torque, and a measurement frequency of a torque from the torque signal; A data comparison step of comparing the feature data with reference data; And if the characteristic data is similar to the reference data indicating the tendency of manual operation, it is determined that the driver has the driving intention. If the characteristic data is similar to the reference data indicating the automatic driving tendency, the driver And a comparison result decision step of discriminating the comparison result.

Preferably, the step of determining the drive will detect the torque signal using a torque sensor attached on a connecting member that mechanically connects the steering device and the steering column assembly, and the self- The MDPS (Motor Driven Power Steering) system is operated using a gear box connected to the steering column assembly by a universal joint when the autonomous travel apparatus is driven.

The present invention is based on the determination of whether the vehicle is to be controlled in the automatic driving mode or the manual driving mode by grasping the driving intention of the driver and by controlling the autonomous driving of the vehicle based on the determination, Mode and the automatic driving mode according to the operation of the system smoothly switch without collision, so that manual driving and automatic driving can be performed quickly.

1 is a block diagram schematically showing an autonomous drive control apparatus according to a preferred embodiment of the present invention.
2 is a block diagram schematically showing an automatic running control system according to an embodiment of the present invention.
3 is a block diagram showing an internal configuration of the driving determination unit shown in FIG.
FIG. 4 is a diagram showing an embodiment of the driving determination unit shown in FIG. 1. FIG.
5 is a reference view showing the manual operation characteristic and the automatic operation characteristic separately.
FIG. 6 is a diagram illustrating a reference for discriminating between a manual operation section and an automatic operation section.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

The present invention proposes an autonomous drive control device mounted on a vehicle for transferring the control right of the vehicle between the autonomous drive vehicle and the driver. The autonomic drive control device according to the present invention automatically transfers the control right to the driver when the driver operates the steering wheel and transfers the control right to the automatic driving system when the driver releases the steering wheel without holding the steering wheel, So that the control can be freely transferred between the drivers.

1 is a block diagram schematically showing an autonomous drive control apparatus according to a preferred embodiment of the present invention.

1, the autonomic drive control apparatus 100 includes a drive determination unit 110, an autonomous drive control unit 120, a power supply unit 130, and a main control unit 140.

The driver's operation determining unit 110 has a function of determining whether the driver is willing to drive using at least one of an accelerator, a brake, and a steering wheel mounted on the vehicle .

The driver's operation determination unit 110 may detect a torque signal generated in accordance with the rotation of the steering apparatus to determine whether the driver is willing to drive. At this time, the driver's operation determination unit 110 may detect the torque signal using a torque sensor attached on the connecting member that mechanically connects the steering device and the steering column assembly.

3, the operation determination unit 110 may include a feature data extraction unit 311, a data comparison unit 312, and a comparison result determination unit 313. 3 is a block diagram showing an internal configuration of the driving determination unit shown in FIG.

The feature data extracting unit 311 extracts at least one feature data from the torque signal, that is, the rate of change of the torque, the amplitude of the torque, and the measurement frequency of the torque.

The data comparing unit 312 performs a function of comparing the feature data extracted by the feature data extracting unit 311 with the reference data.

The comparison result determiner 313 determines that the driver has the driver's intention if it is determined that the feature data of the comparison result of the data comparator 312 is similar to the reference data indicating the manual operation tendency. On the other hand, if the comparison result determiner 313 determines that the feature data is similar to the reference data indicating the automatic operation tendency, the comparison result determiner 313 determines that the driver does not have the driver's intention.

On the other hand, the driving determination unit 110 may sense a human body approaching to the accelerator, the decelerator, the steering device, and determine whether the driver is willing to drive. In this case, the driving determination unit 110 may include a sensing unit (not shown) and a sensing result utilizing unit (not shown).

The sensing unit senses whether the human body continuously touches the steering device for a predetermined time or performs a function of sensing whether the accelerating device or the decelerating device is continuously being pressed for a predetermined time.

When the sensing result utilization unit senses that the human body is continuously in contact with the steering apparatus or senses that the accelerator or the decelerator is continuously pressed, the driver performs a function of determining that the driver is willing to drive. In the other cases (the case where the human body is not in contact with the steering device, the human body touches the steering device for a time shorter than the predetermined time, and the acceleration device or the decelerator is not pressed at all, When the speed reducing device is pressed for a time shorter than a predetermined time, etc.), the driver determines that the driver is not willing to drive.

Referring back to FIG.

The autonomic drive control unit 120 performs a function of controlling the autonomous drive unit mounted on the vehicle so as not to be driven by the drive determination unit 110 if it is determined that the driver is willing to drive. On the other hand, the autonomous-travel control unit 120 performs a function of controlling the autonomous-traveling apparatus to be driven when it is determined that there is no will to drive the driver.

When the autonomous travel apparatus is driven, the autonomous drive control unit 120 may operate the MDPS (Motor Driven Power Steering) system using a gear box connected to the steering column assembly as a universal joint.

The power supply unit 130 performs a function of supplying power to each configuration of the autonomous-drive control device 100. [ However, considering that the autonomous-running control apparatus 100 can be provided in an in-vehicle ECU or the like, the power supply unit 130 may not be provided.

The main control unit 140 performs a function of controlling the overall operation of each constituent constituting the autonomous-drive control device 100. [ The main control unit 140 may not be provided for the same reason as the power supply unit 130.

Next, an MDPS (Motor Driven Power Steering) system including an autonomous drive control apparatus will be described as an embodiment. 2 is a block diagram schematically showing an automatic running control system according to an embodiment of the present invention.

The automatic cruise control system 200 is a system to which an automatic steering function is added to secure the backward running stability of the driver. The automatic cruise control system 200 is switched to the automatic cruise mode when the driver hands over the cruise control system and is switched to the manual cruise mode when the driver operates the steering wheel.

When the mode is switched between automatic operation and manual operation, the control device needs an algorithm that automatically determines automatic operation and manual operation. In addition, the column torque generated when the steering wheel rotates has different characteristics in the case of automatic operation and the case of manual operation. Also, by using the concept of recognizing the mode conversion of the automatic / manual operation according to the characteristics of the column torque, it becomes possible to perform smooth output matching when the control devices convert the modes between each other.

Considering these points, in the case where the driver intends to manually operate the vehicle urgently in the situation where the automatic steering is performed in the autonomous driving vehicle that operates automatically, and in the case where the automatic steering mode is changed to the autonomous driving mode, You can implement the output so that it does not collide. Hereinafter, the automatic drive control system 200 of FIG. 2 will be described.

In the automatic cruise control system 200, a torque sensor 220 is mounted between the steering wheel 210 and the steering column assembly 260. The steering column assembly 260 is mechanically connected to the steering wheel 210 and is formed in such a structure that the MDPS motor 250 assists. The steering column assembly 260 and the gear box 270 are connected to each other by a universal joint.

In the automatic running control system 200, the autonomous-running control apparatus 100 may be provided in the MDPS ECU 230. [ It is needless to say that the MDPS ECU 230 itself may be the autonomous drive control device 100. [

When the autonomous drive control device (100) determines that the driver has no intention to drive, the autonomous driving device (240) calculates a command value for automatic steering. Thereafter, the autonomous moving device 240 transmits the command value calculated by using the CAN communication to the MDPS ECU 230. The MDPS ECU 230 generates a value enabling automatic steering operation and outputs this value to the MDPS motor 250. [ Then, an electric current is supplied to the MDPS motor 250, and the MDPS motor 250 drives the gears housed in the gear box 270 to implement the automatic steering.

FIG. 4 is a diagram showing an embodiment of the driving determination unit shown in FIG. 1. FIG.

First, the torque sensor 410 detects the torque signal.

The feature extraction module 420 then extracts key feature parameters from the torque signal. The main feature parameters extracted by the feature extraction module 420 include a column torque change rate, a column torque amplitude, and a column torque measurement frequency. The feature data extraction unit 311 of FIG. 3 may be implemented by the feature extraction module 420.

The feature comparison module 430 then compares the main feature factor with the manual operation feature data 441 stored in the database 440, the automatic operation feature data 442, and the like. The manual operation feature data 441, the automatic operation feature data 442, and the like can be previously stored in the database 440 through the neural network learning algorithm.

The feature comparison module 430 determines whether the main feature factor extracted by the feature extraction module 420 is similar to the manual operation feature data 441 or the automatic operation feature data 442 through the comparison. The data comparison unit 312 of FIG. 3 may be implemented by the feature comparison module 430.

The characteristic graph of the manual operation characteristic data 441 and the automatic operation characteristic data 442 is as shown in Fig. 5, for example. 5 is a reference view showing the manual operation characteristic and the automatic operation characteristic separately. 5 (a) is a characteristic graph example of the manual driving characteristic data, and (b) is an characteristic graph example of the automatic driving characteristic data.

The current state determination module 450 then determines one of the manual driving mode and the automatic driving mode based on the determination result of the feature comparison module 430. [ The comparison result determiner 313 of FIG. 3 may be implemented by the current state determination module 450.

The current state determination module 450 can determine a specific mode based on (a) or (b) of FIG. FIG. 6 is a diagram illustrating a reference for discriminating between a manual operation section and an automatic operation section.

6 (a) shows an example when the reference value is one. In FIG. 6 (a), if the torque value is equal to or greater than the first reference value, the mode is determined to be the manual running mode, and if the torque value is less than the first reference value, the automatic running mode is determined.

6 (b) is an example when the reference value is two. 6 (b), when the torque value is equal to or greater than the second reference value, the automatic running mode is determined, and when the torque value is equal to or less than the third reference value, the automatic running mode is determined. An area where the torque value is larger than the third reference value and smaller than the second reference value can be defined as an overlap area. If the torque value corresponds to the overlap area, the mode is determined according to a predetermined manner or the mode is arbitrarily determined by the driver or the automatic traveling device .

The output conversion module 460 then performs an output conversion algorithm based on the mode determined by the current state determination module 450 to coordinate the output.

Next, an autonomous-travel control method of the autonomous-running control apparatus 100 will be described.

First, the drive determination unit 110 determines whether the driver is willing to drive using at least one of the acceleration device, the deceleration device, and the steering device mounted on the vehicle.

The driver's operation determination unit 110 may detect a torque signal generated in accordance with the rotation of the steering apparatus to determine whether the driver is willing to drive. The driver's operation determination unit 110 may detect the torque signal using a torque sensor attached on the coupling member that mechanically connects the steering device and the steering column assembly.

If the autonomic drive controller 120 determines that the autonomous drive unit mounted on the vehicle is not driven by the drive determination unit 110, it is determined that the autonomous drive unit is not driven. If it is determined that the autonomous drive unit is not driven, (Autonomous driving control step).

When the autonomous travel apparatus is driven, the autonomous drive control unit 120 may operate the MDPS (Motor Driven Power Steering) system using a gear box connected to the steering column assembly as a universal joint.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (10)

A driver's will determiner for determining whether the driver is willing to drive using at least one of an acceleration device, a decelerator, and a steering device mounted on the vehicle; And
And an autonomous drive control unit for controlling the autonomous drive unit mounted on the vehicle to be driven when it is determined that there is an intention to drive the vehicle,
And an automatic cruise control device for a vehicle. The method according to claim 1,
Wherein the driver's operation determination unit detects a torque signal generated in accordance with the rotation of the steering apparatus to determine whether the driver is willing to drive the vehicle. 3. The method of claim 2,
The driving permission /
A feature data extracting unit that extracts at least one feature data from a torque change rate, an amplitude of a torque, and a measurement frequency of a torque from the torque signal;
A data comparing unit comparing the feature data with reference data; And
If the characteristic data is similar to the reference data indicating the tendency of manual operation, it is determined that the driver has the driving intention, and if the characteristic data is similar to the reference data indicating the automatic driving tendency, it is determined that the driver does not have the driving intention The comparison result judgment unit
And an automatic cruise control device for a vehicle. 3. The method of claim 2,
Wherein the drive determination unit detects the torque signal by using a torque sensor attached on a connecting member that mechanically connects the steering device and the steering column assembly, . 3. The method of claim 2,
Wherein the autonomic drive control unit operates the MDPS (Motor Driven Power Steering) system using a gear box connected to a steering column assembly as a universal joint when the autonomous travel apparatus is driven, . The method according to claim 1,
The driving permission /
A sensing unit for sensing whether the human body is continuously contacted with the steering apparatus for a predetermined time or whether the accelerator or the decelerator is continuously pressed during the predetermined time; And
When the sensing unit senses that the human body is continuously in contact with the steering apparatus or senses that the accelerator or the decelerator is continuously being pressed, the sensing result utilization unit
And an automatic cruise control device for a vehicle. A driver's will determination step of determining whether the driver is willing to drive using at least one of an acceleration device, a decelerator, and a steering device mounted on the vehicle; And
An autonomous drive control unit that controls the autonomous drive unit mounted on the vehicle to be not driven if it is determined that the driver is willing to drive the autonomous drive unit,
And controlling the vehicle so as to control the autonomous running of the vehicle. 8. The method of claim 7,
Wherein the driver's will determination step detects a torque signal generated in accordance with the rotation of the steering apparatus to determine whether the driver has the driver's intention. 9. The method of claim 8,
Wherein the operation determination step comprises:
A feature data extracting step of extracting at least one feature data from the torque signal, the change rate of the torque, the amplitude of the torque, and the measurement frequency of the torque;
A data comparison step of comparing the feature data with reference data; And
If the characteristic data is similar to the reference data indicating the tendency of manual operation, it is determined that the driver has the driving intention, and if the characteristic data is similar to the reference data indicating the automatic driving tendency, it is determined that the driver does not have the driving intention In the comparison result determination step
And controlling the vehicle so as to control the autonomous running of the vehicle. 9. The method of claim 8,
Wherein the operation determination step detects the torque signal using a torque sensor attached on a connection member that mechanically connects the steering device and the steering column assembly,
Wherein the autonomous-travel control step operates the MDPS (Motor Driven Power Steering) system using a gear box connected to the steering column assembly as a universal joint when the autonomous travel apparatus is driven. Control method.

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