KR20160146225A - electronic control apparatuses and electronic control system - Google Patents

electronic control apparatuses and electronic control system Download PDF

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Publication number
KR20160146225A
KR20160146225A KR1020150083188A KR20150083188A KR20160146225A KR 20160146225 A KR20160146225 A KR 20160146225A KR 1020150083188 A KR1020150083188 A KR 1020150083188A KR 20150083188 A KR20150083188 A KR 20150083188A KR 20160146225 A KR20160146225 A KR 20160146225A
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South Korea
Prior art keywords
angle
lane
vehicle
rotation angle
steering
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KR1020150083188A
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Korean (ko)
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KR101701046B1 (en
Inventor
이윤형
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주식회사 만도
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    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W40/02—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 ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • 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
    • B60W40/105—Speed
    • B60R2016/02—
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/207—Oversteer or understeer
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Abstract

The present invention relates to a control technique for determining an understeer or oversteer of a vehicle. More particularly, the present invention relates to a control technique for determining understeer or oversteer based on lane information obtained by a vision sensor. In the electronic control device of the present invention, information obtained from a vision sensor A driving rotation angle calculating unit for calculating a driving rotation angle of the vehicle on the basis of the lane information, and a steering angle calculating unit calculating a steering angle, a driving rotation angle and a lane curvature angle calculated using a steering angle sensor or a torque sensor, If the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle, it is determined to be understeer. If the steering angle is less than the sum of the driving rotation angle and the lane curvature angle, an oversteer is determined . In addition, the lane information is obtained by using the information obtained from the vision sensor for acquiring the image of the lane, the steering angle sensor or the torque sensor for sensing the steering angle of the vehicle controlled by the driver, and the vision sensor, And an electronic control device for determining whether oversteering or understeering of the vehicle has occurred based on a result of comparing the steering angle, the rotational angle of the vehicle, and the lane curvature angle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electronic control apparatus,

TECHNICAL FIELD The present invention relates to techniques and systems for controlling vehicle electronic devices. More particularly, the present invention relates to a technology for controlling a vehicle electronic device based on lane information And a system.

BACKGROUND ART [0002] Generally, a vehicle includes a vision sensor for providing external image information of a vehicle, and an electronic control device for controlling a vehicle electronic device by determining an understeer or an oversteer. Such an electronic control device controls the vehicle electronic device by using understeer or oversteer based on the motion of the vehicle sensed by a yaw rate sensor provided in the vehicle without using the image information of the vision sensor.

A vehicle including such a vision sensor and an electronic control apparatus incurs a problem that not only the price is increased but also the size is increased.

In addition, there is a problem that frequent breakdown of the vehicle electronic device occurs due to an increase in the number of sensors.

In view of the foregoing, it is an object of the present invention to provide an electronic control device for controlling an in-vehicle or over-steering of a vehicle using image information of a vision sensor without using a yaw rate sensor, And to provide an electronic control system.

In order to achieve the above object, in one aspect, the present invention provides an electronic control device A lane information obtaining unit for obtaining lane information using information obtained from a vision sensor, a driving rotation angle calculating unit for calculating a driving rotation angle of the vehicle based on the lane information, and a steering angle sensor or a torque sensor When the steering angle is smaller than the sum of the driving rotational angle and the lane curvature angle, the steering angle, the driving rotational angle, and the lane curvature angle are compared. If the steering angle is less than the sum of the driving rotational angle and the lane curvature angle, And a determination unit for determining an oversteer.

According to another aspect of the present invention, there is provided an electronic control system, comprising: a vision sensor for acquiring an image of a lane; a steering angle sensor or a torque sensor for sensing a steering angle of a vehicle controlled by a driver; And determining whether or not an oversteer or an understeer of the vehicle is generated based on a result of comparing the steering angle, the running rotational angle, and the lane curvature angle with each other .

As described above, according to the present invention, an understeer or oversteer of a vehicle is judged by using a vision sensor without using a yaw rate sensor, thereby reducing the size of the vehicle as well as reducing the cost of the vehicle have.

In addition, the number of failures can be reduced by reducing the number of sensors.

1 is a diagram showing a configuration of an electronic control apparatus according to an embodiment of the present invention.
2 is a diagram illustrating an example of operation of an electronic control unit according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of operation of the travel rotation angle calculating unit according to an embodiment of the present invention.
4 is a view showing another example for explaining the operation of the travel rotation angle calculating unit according to the embodiment of the present invention.
5 is a flowchart illustrating an operation of an electronic control apparatus according to an embodiment of the present invention.
6 is a diagram showing a configuration of an electronic control apparatus according to another embodiment of the present invention.
7 is a flowchart illustrating an operation of an electronic control apparatus according to another embodiment of the present invention.
8 is a diagram showing a configuration of a vehicle electronic control system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

In the following detailed description, the steering angle calculated using the steering angle sensor or the torque sensor may be the rotational angle of the vehicle wheel. However, the steering angle or the rotational angle of the vehicle wheel may be different from the calculated rotational angle based on the lane information. For example, when an understeer or an oversteer does not occur, the steering angle, the rotational angle of the vehicle wheel and the rotational angle of the vehicle have the same angle, but when an understeer or oversteer occurs, The rotation angles of the wheels have the same angle, but have different angles from the rotation angle of the wheels. Also, the curvature angle may refer to the angle formed by the two tangents used to calculate the curvature.

1 is a diagram showing a configuration of an electronic control apparatus according to an embodiment of the present invention.

An electronic control apparatus according to an embodiment of the present invention includes a lane information obtaining unit that obtains lane information using information obtained from a vision sensor and a lane information obtaining unit that calculates a driving rotation angle When the steering angle, the driving rotation angle, and the lane curvature angle calculated using the calculation unit and the steering angle sensor or the torque sensor are compared, if the steering angle is larger than the sum of the driving rotation angle and the lane curvature angle, it is judged as understeer, And a determination unit for determining an oversteer if the sum of the angle of rotation and the angle of curvature of the lane is less than the sum of the angle of rotation and the angle of curvature of the lane.

Referring to FIG. 1, an electronic control apparatus 100 according to an exemplary embodiment of the present invention may include a lane information obtaining unit 110 that obtains lane information using information obtained from a vision sensor.

The vision sensor is a sensor including a camera sensor, which can sense an object by sensing light in the sensing area, and can detect the shape of the object and the distance to the object.

The lane information obtaining unit 110 obtains only the lane information including the lane curvature angle and the distance to the lane based on the width and shape information of the lane among the image information of the outside of the vehicle obtained through the vision sensor provided in the vehicle can do.

Alternatively, the lane information obtaining unit 110 may obtain lane information including a lane curvature angle and a distance to a recognized lane within a predetermined area at a predetermined time interval.

The predetermined time interval may be set to be in inverse proportion to the vehicle speed in a time interval for calculating the running angle of the vehicle using the lane around the predetermined time.

The electronic control apparatus 100 according to an embodiment of the present invention may include a traveling rotation angle calculating section 120 for calculating a traveling rotation angle of the vehicle based on the lane information acquired by the lane information obtaining section 110 have.

The driving rotation angle calculating unit 120 can calculate the driving rotation angle of the vehicle based on the change in the distance to the lane acquired by the lane information obtaining unit 110. [

For example, the change in the distance between the lane and the turning angle of the vehicle traveling in the lane is proportional. This proportional relationship can be obtained through the experimental data, and the running angle of the vehicle can be calculated using the change in distance from the lane.

Alternatively, the driving rotation angle calculating unit 120 may calculate the driving rotation angle of the vehicle based on the distance from the lane, the lane information obtaining unit 110 obtaining the lane information, and the vehicle speed.

For example, the driving rotation angle calculating unit 120 calculates the distance of movement for a predetermined time by using the distance to the initial lane, the distance to the lane after a predetermined time, the fixed time and the vehicle speed, The running rotation angle can be calculated on the basis of the following equation.

Here, the predetermined time may be such that the distance from the initial lane decreases with time and becomes a distance from the lane after a predetermined time, or the distance from the initial lane increases with time, It can be time. That is, the distance from the lane to the lane for a certain period of time may be the time from the increase to the decrease or from the decrease to the increase. This time can be obtained through experiments.

Alternatively, the moving distance of the vehicle may be calculated using the constant time and the vehicle speed, and the distance from the lane during the traveling distance calculated by the vehicle may be a distance from the increase to the decrease or from the decrease to the increase. This travel distance can be obtained through experiments.

If the time interval between the lane information exceeds the time obtained through experiments or the travel distance of the vehicle obtained by multiplying the time interval between the lane information and the vehicle speed exceeds the distance obtained through the experiment, Can not prevent an understeer or oversteer determination error by not calculating the rotational angle of rotation.

The electronic control unit 100 according to an embodiment of the present invention includes a steering angle calculated using a steering angle sensor or a torque sensor, a driving rotation angle calculated by the driving rotation angle calculation unit 120, and a lane curvature angle And judges that the vehicle is understeer if the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle and determines the oversteer if the steering angle is less than the sum of the driving rotation angle and the lane curvature angle 130).

As described above, since the running rotation angle is a value calculated based on the lane, if under-steering or over-steering due to external causes such as blast, road surface condition, tire pressure or system error does not occur, Is always the steering angle of the vehicle.

When the steering angle is smaller than the sum of the driving rotation angle and the lane curvature angle, the determination unit 130 determines that the vehicle is understeer. If the steering angle is less than the sum of the driving rotation angle and the lane curve angle, ) Can be determined.

2 is a diagram illustrating an example of operation of an electronic control unit according to an embodiment of the present invention.

2 (A) shows a case where a vehicle running on a straight road is rotating, and FIG. 2 (B) shows a case where a vehicle running on a curved road is rotating.

Referring to FIG. 2, when the driver operates the vehicle to move in the 210 direction, if the understeer or the oversteer is not generated due to external causes such as blast, road surface condition, tire pressure or system error, Moves in the same direction as the rotation direction. On the other hand, if an understeer occurs due to the external cause, the vehicle moves in the direction of 220, which is a rotational direction smaller than the rotational direction operated by the driver. On the other hand, when the oversteer is generated due to the external cause, the vehicle moves in the direction of rotation 230 which is larger than the rotational direction operated by the driver.

The understeer or oversteer can be determined by the relationship between the external cause and the rotational direction of the vehicle.

2, when the driver operates the vehicle in the 210 direction, if the direction of the blast acts from the right to the left with respect to the traveling direction of the vehicle, An understeer in which the vehicle moves in the direction of 220 may occur. Under the same condition, if the direction of the gust of wind acts from left to right, the vehicle rotates in the right direction partly by the blast, and oversteer in which the vehicle moves in the direction of 230 may occur.

For example, when the driver operates the vehicle in the 210 direction based on the road surface condition, as shown in FIG. 2, when the road surface is left free with respect to the traveling direction of the vehicle, the left wheel is partially rotated, Understeer may occur. Under the same conditions, when the road surface on the right side is frozen, the right wheel is partially idle, and the oversteer may occur in which the vehicle moves in the direction of 230. Even when the frictional force of the left and right wheels of the vehicle is changed by different road surface conditions, understeer or oversteer may occur similarly to the above-described freezing of the road surface.

When the driver operates the vehicle in the 210 direction based on the tire air pressure, for example, as shown in FIG. 2, if the air pressure of the right tire is small relative to the traveling direction of the vehicle, the friction of the right wheel becomes strong, And the understeer in which the vehicle moves in the direction of 220 may occur. If the air pressure of the left tire is small under the same condition, the friction of the left wheel becomes strong, and the right wheel becomes idle, resulting in oversteer in which the vehicle moves in the 230 direction.

For example, when the driver operates the vehicle in the 210 direction based on the system error as shown in FIG. 2, when the rotational force acts only on the right wheel or the rotational force acts on only the left wheel on the basis of the traveling direction of the vehicle, An understeer may be generated. Under the same conditions, oversteer can occur in which the vehicle moves in the 230 direction only when the rotational force is further applied to the left wheel only or the rotational force is applied only to the right wheel.

When the above-mentioned understeer is generated and moved (220) on the basis that the vehicle moves to the steering angle operated by the driver (210), it may mean that the running rotation angle of the vehicle is small. When the above-mentioned oversteer is generated and moved (230) on the basis that the vehicle moves to the steering angle operated by the driver (210), it may mean that the running angle of the vehicle is large.

The under-steering or over-steering generated by the above-described external conditions may be obtained by obtaining the lane information using the image information obtained by using the vision sensor provided in the vehicle according to the embodiment of the present invention, The calculating unit may calculate the running angle of the vehicle based on the lane information, and may compare the steering angle calculated using the steering angle sensor or the torque sensor, the calculated running angle of rotation, and the lane curvature angle with each other. The lane curvature angle may be included in the lane information obtained by the lane information obtaining unit.

The running rotational angles of the vehicle are the same for the movements of 210, 220 and 230 in Figs. However, the running rotation angle calculated from the movement of each of the motions 210a, 220a and 230a under the condition of the driving rotation angle calculation unit A according to the embodiment of the present invention is calculated from the movement of each of 210b, 220b and 230b under the condition (B) It is larger than one turning angle.

In the case shown in (A) of FIG. 1, the running rotation angle calculated by the running rotation angle calculating section when the vehicle moves to 210a is equal to the steering angle operated by the driver. On the other hand, in (B), when the vehicle moves to 210b, the running rotation angle calculated by the running rotation angle calculating section is smaller than the steering angle operated by the driver. This is because the running rotational angle calculating section has calculated the running rotational angle based on the lane information, and therefore can have different values depending on the curvature angle of the lane.

The steering angle operated by the driver in a state in which no understeer or oversteer is generated based on this relationship can be calculated through the driving rotational angle and the lane curvature angle calculated by the driving rotational angle calculating unit, .

[Equation 1]

Steering angle = running rotation angle + lane curvature angle

In addition, the steering angle operated by the driver in the state where the understeer is generated, the running rotational angle and the lane curvature angle calculated by the running rotational angle calculating unit are as shown in the following equation (2).

&Quot; (2) "

Steering angle> running angle of rotation + lane curvature angle

In addition, the steering angle, the driving rotational angle and the lane curvature angle calculated by the driving rotational angle calculating section in the state where the oversteer is generated are as shown in the following equation (3).

&Quot; (3) "

Steering angle < running angle of rotation + lane curvature angle

In Equation (1), Equation (2) and Equation (3), the lane curvature angle is based on the same direction as the driving rotation angle, and thus has a + sign in the case of the driving direction and a sign in the opposite direction.

FIG. 3 is a diagram illustrating an example of operation of the travel rotation angle calculating unit according to an embodiment of the present invention.

Fig. 3 (A) shows a vehicle running straight on a straight lane for a certain period of time, Fig. 3 (B) shows a vehicle traveling on the right side in a straight lane for a certain period of time, The vehicle traveling in the rightward direction, such as the lane curvature angle, is displayed for a certain period of time.

The running rotation angle calculating unit of the electronic control unit according to the embodiment of the present invention can calculate the running rotation angle of the vehicle based on the lane information acquired by the lane information acquiring unit.

Referring to FIG. 3, in the case of (A), a vehicle existing at a distance of 310 from the lane is traveling straight by 330 distances after a predetermined time, and is located at a distance of 320 from the lane. In this case, the running rotation angle calculating unit based on the distance information to the lane is calculated to have no running rotation angle.

(B), the vehicle existing at the lane 340 and the lane is running at a distance of 360 from the lane by 360 degrees after a predetermined time. In this case, the running rotation angle calculating unit based on the distance information with the lane calculates the running rotation angle equal to the steering angle operated by the driver.

(C), the vehicle existing at the distance of 370 from the lane is in the lane and 380 distance by the lane curvature angle of 390 distance after the predetermined time, and the distance of 380 is equal to the distance of 370. In such a case, the running rotation angle calculating unit based on the distance information with the lane is calculated to have no running rotation angle.

Referring to FIG. 3 and the foregoing description, it can be seen that the steering angle, the driving rotational angle and the lane curvature angle calculated by the driver's rotational angle calculating section are as shown in Equation (1).

4 is a view showing another example for explaining the operation of the travel rotation angle calculating unit according to the embodiment of the present invention.

Fig. 4A shows a case where the vehicle travels in a direction in which the distance from the lane is reduced, and Fig. 4B shows a case where the vehicle travels in a direction in which the distance from the lane increases and decreases.

The lane information obtained by the lane information obtaining unit may include the lane curvature angle and a distance between the vehicle and a recognized lane in a predetermined area at predetermined time intervals.

The lane information obtaining unit may be set at a predetermined time interval in inverse proportion to the vehicle speed to obtain lane information.

The running rotation angle calculating unit can calculate the running rotation angle of the vehicle based on the distance to the lane, the constant time, and the vehicle speed.

Referring to FIG. 4, (A) and (B) show different directions of rotation of 430 and 460 according to the steering angle operated by the driver, but the distances between the distance 410 and the rear lane Since each of the distances 420 is equal to the distance 440 to the preceding lane of (B) and the distance 150 to the rear lane, the driving rotation angle calculating unit that calculates the angle based only on the distance to the lane, The angle is calculated. Therefore, there is an error in the understeer or the oversteer determined on the basis of the equations (2) and (3) applying the equation (1).

This error occurs because there is a variation in the distance between the lane information and the lane information acquired by the lane information obtaining section. Therefore, the lane information acquired by the lane information obtaining unit should be acquired at a predetermined time interval such that the distance between the lane and the lane will not occur as shown in (B).

In addition, since a vehicle having a high vehicle speed may have a relatively large distance to a lane relative to a vehicle having a low vehicle speed, the predetermined time interval may be set to be inversely proportional to the vehicle speed.

Further, the driving rotation angle calculating unit calculates the driving distance based on the constant time and the vehicle speed, and does not calculate the driving rotation angle when the driving distance exceeds the critical distance, thereby preventing the distance from the lane as shown in (B) It is possible to prevent an error of under-steering or over-steering judgment of the judging unit.

The above-described disturbance of the distance may mean a case where the distance changes to an increase decrease, or to a decrease decrease.

5 is a flowchart illustrating an operation of an electronic control apparatus according to an embodiment of the present invention.

Referring to FIG. 5, the lane information obtaining unit of the electronic control apparatus according to an embodiment of the present invention obtains only lane information among the image information obtained from the vision sensor (S500).

For example, a vision sensor provided in a vehicle can detect the outside of the vehicle including the lane and generate image information. Then, the lane information obtaining unit can obtain only the lane information among the generated image information. Alternatively, the lane information obtaining unit may extract only lane information for the image information to obtain only lane information.

Then, the driving rotation angle calculation unit calculates the driving rotation angle of the vehicle based on the lane information acquired in step S500 (S510).

For example, the running rotation angle can be calculated on the basis of the change in distance from the lane at the time t 1 when the driving rotation angle calculating section has passed the time t 0 and the predetermined time. T 0 Can be an arbitrary time.

The calculated driving rotation angle may have a relationship expressed by the following equation (4).

&Quot; (4) &quot;

Figure pat00001

Where a is a specific variable or a specific constant, l 1 Is the distance from the lane at t 1 , l 0 is the distance from the lane at t 0 , and l t is the distance between t 0 and t 1 .

a can be a value obtained through experiments.

Thereafter, the steering angle operated by the driver is calculated using the steering angle sensor or the torque sensor (S520).

In step S520, the electronic control unit according to an embodiment of the present invention may calculate a steering angle by receiving a current or voltage signal from the steering angle sensor or the torque sensor. Alternatively, it may receive the steering angle information calculated by the steering angle sensor or the torque sensor.

The determination unit of the electronic control unit according to the embodiment of the present invention determines that the steering angle calculated in step S520 exceeds the sum of the driving rotation angle calculated in step S510 and the lane curvature angle which is one of the lane information obtained in step S500 S530).

If the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle in step S530, the determination unit determines that the vehicle is in the understeer state (S540). This may correspond to Equation (2).

Alternatively, if the steering angle is less than the sum of the driving rotation angle and the lane curvature angle in step S530, the determination unit determines that the vehicle is in the oversteering state (S550). This may correspond to Equation (3).

6 is a diagram showing a configuration of an electronic control apparatus according to another embodiment of the present invention.

An electronic control apparatus according to another embodiment of the present invention includes a lane information obtaining unit for obtaining lane information using information obtained from a vision sensor and a driving rotation angle calculating unit for calculating a driving rotation angle of the vehicle based on lane information, And the lane curvature angles calculated using the steering angle sensor or the torque sensor are compared with each other. If the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle, the understeer is determined to be understeer. The determination unit determining the oversteer if the sum of the lane curvature angles is smaller than the sum of the lane curvature angles and the assist current of the electric power steering (EPS) when it is determined to be the understeer, And a control unit for reducing the assist current of the steering apparatus.

Referring to FIG. 6, an electronic control apparatus according to another embodiment of the present invention may include a lane information obtaining unit 610 for obtaining lane information using information obtained from the vision sensor. The lane information obtaining unit can obtain only the lane information among the image information photographed outside the vehicle by the vision sensor provided in the vehicle. Alternatively, the lane information acquiring unit acquires image information of the vision sensor, and the lane information acquiring unit acquires lane information only in the image information, thereby obtaining lane information. The process of acquiring only the lane information in the image information may acquire the lane information using at least one of the lane information including the color information or the width information.

The electronic control apparatus according to another embodiment of the present invention may include a traveling rotation angle calculating unit 620 for calculating the traveling rotation angle of the vehicle based on the lane information acquired by the lane information obtaining unit 610. [

The running rotation angle calculating unit 620 can calculate the running rotation angle of the vehicle based on the rate of change in distance from the lane. The explanation can be seen from the equation (4).

Alternatively, the driving rotation angle calculating unit 620 may calculate the driving rotation angle based on the distance to the lane, which is one of the lane information, the predetermined constant time, and the vehicle speed. This is because the time t 0 , which is an arbitrary time used in Equation (4), and t 1 If the distance inflection of the lane so as not between the limits for a predetermined time, and this between the time the predetermined time of t 1 and t 0 exceeds the limited predetermined time driving the rotation angle calculation unit 620 to calculate the running rotation .

Alternatively, if the moving distance, which is a product of the predetermined time and the vehicle speed, exceeds a limited moving distance, the driving rotation angle calculating unit 620 may calculate the driving rotation angle The angle may not be calculated.

Thereby, the electronic control apparatus according to another embodiment of the present invention can prevent the error of the understeer or oversteer determination. A detailed description thereof can be referred to the description of FIG.

The electronic control apparatus according to another embodiment of the present invention compares the steering angle calculated using the steering angle sensor or the torque sensor, the running rotational angle calculated in the running rotational angle calculating section 620, and the lane curvature angles that are a part of the lane information If the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle, the determination unit 630 determines that the vehicle is understeer, and if the steering angle is less than the sum of the driving rotation angle and the lane curvature angle, .

More specifically, when an understeer phenomenon occurs in the vehicle, the steering angle calculated using the steering angle sensor or the torque sensor, the driving rotation angle calculated in the driving rotation angle calculation unit 620, and the lane curvature angle, 2 and so on. Alternatively, when an oversteer phenomenon occurs in the vehicle, the steering angle calculated using the steering angle sensor or the torque sensor, the driving rotation angle calculated in the driving rotation angle calculation unit 620, and the lane curvature angle, which is a part of the lane information, .

Therefore, the determination unit 630 can determine whether an under-steering or over-steering phenomenon has occurred in the vehicle based on the relationship between the equations (2) and (3).

The electronic control unit according to another embodiment of the present invention increases the assist current of the electric steering system when the determination unit 630 determines that the understeer is understeer, And a control unit 640 for decreasing the assist current of the control unit.

Increasing the assist current of the electric steering apparatus increases the turning angle of the vehicle, and otherwise reducing the assist current of the electric steering apparatus can reduce the turning angle of the vehicle. Accordingly, when the determination unit 630 determines that the vehicle is understeer, the electronic control unit according to another embodiment of the present invention increases the assist current of the electric steering system to increase the running angle of the vehicle, Can be supplemented. Similarly, when the determination unit 630 determines that the vehicle is oversteer, the electronic control apparatus according to another embodiment of the present invention decreases the assist current of the electric steering system to reduce the running angle of the vehicle, The phenomenon can be compensated.

7 is a flowchart illustrating an operation of an electronic control apparatus according to another embodiment of the present invention.

Referring to FIG. 7, the lane information obtaining unit of the electronic control apparatus according to another embodiment of the present invention obtains lane information (S700).

Briefly, the lane information obtaining unit can obtain only lane information from the vision sensor or obtain external image information including lane information. In the case of acquiring external image information, the lane information obtaining unit can extract only lane information from the image information.

Next, the driving rotation angle calculating unit calculates the driving rotation angle of the vehicle based on the lane information acquired in the step S700 (S710).

Briefly, the greater the turning angle of the vehicle, the greater the change in distance from the lane before and after a certain period of time. That is, the running rotation angle can be a function having a change in distance from the lane before and after a certain time as a variable. In addition, constant constants or specific variables can be obtained through experiments. This can be expressed by Equation (4).

Next, the steering angle is calculated using the steering angle sensor or the torque sensor (S720).

In step S720, a signal such as a voltage or a current is received from a sensor including a steering angle sensor or a torque sensor, and the steering angle can be calculated as an angle corresponding to a component of a rotational angle according to running of the vehicle. Alternatively, the sensor including the steering angle sensor or the torque sensor may calculate the turning angle according to the traveling of the vehicle, and the step S720 may obtain the turning angle calculated from the sensor.

In step S730, the determination unit compares the steering angle calculated in step S720 with the driving rotation angle calculated in step S710 and the lane curvature angle of the lane information acquired in step S700.

If it is determined in step S730 that the steering angle exceeds the sum of the driving rotation angle and the lane curvature angle, the determination unit determines that the vehicle is understeer (S740).

A detailed description of the determination in step S740 as understeer is described in the description of equation (2).

If it is determined that the vehicle is understeer, the control unit of the electronic control unit according to another embodiment of the present invention increases the assist current of the vehicle electric steering apparatus (S750).

A method of increasing the assist current of the vehicle electric power steering apparatus can be solved simply by increasing the reference signal of the current controller which is controlled by the reference signal. The above description can be solved by reducing the reference signal when the current controller corresponds to a positive feedback controller and the current controller is a negative feedback controller rather than a positive feedback controller.

The electronic control apparatus according to another embodiment of the present invention can control the vehicle traveling under the steer-by-state to run normally by performing step S750.

If the steering angle is smaller than the sum of the driving rotation angle and the lane curvature angle in step S730, the determination unit determines that the vehicle is oversteering (S760).

The detailed description of the determination of step S760 as oversteer is described in the description of equation (3).

If it is determined that the vehicle is oversteered, the controller of the electronic control unit according to another embodiment of the present invention reduces the assist current of the vehicle electric steering apparatus (S770).

The method of reducing the assist current of the vehicle electric power steering apparatus is different from the increasing method by reducing the reference signal of the feedback current controller whose judgment is controlled by the reference signal or by increasing the reference signal of the negative feedback current controller Can be solved.

The electronic control apparatus according to another embodiment of the present invention can control the vehicle running in the oversteer state to run normally by performing step S770.

8 is a diagram showing a configuration of a vehicle electronic control system according to an embodiment of the present invention.

The vehicle electronic control system according to an embodiment of the present invention includes a vision sensor for acquiring an image for a lane, a steering angle sensor for sensing a steering angle of the vehicle controlled by the driver, a torque sensor, And determining whether or not an oversteer or an understeer of the vehicle is generated based on a result of comparing the steering angle, the running angle of rotation, and the angle of curvature of the lane of curvature of the vehicle.

Referring to FIG. 8, a vehicle electronic control system according to an embodiment of the present invention may include a vision sensor 810 for acquiring an image for a lane.

The vision sensor 810 may include all sensors capable of obtaining image information including a camera sensor. The vision sensor 810 may transmit the image information of the photographed area to the lane information obtaining unit of the electronic control unit 100 or may transmit the lane information requested by the electronic control unit 100 Can be extracted and transmitted.

Further, the vehicle electronic control system according to an embodiment of the present invention may include a steering angle sensor or a torque sensor 820 that senses the steering angle of the vehicle that the driver controls.

The steering angle sensor 820 detects the steering angle of the steering wheel of the driver and calculates the turning angle of the vehicle according to the sensed steering angle. For example, if the maximum rotation angle of the vehicle wheel is 60 degrees and the maximum turning radius of the steering wheel is 360 degrees on both sides, when the driver rotates the steering wheel 360 degrees in the right direction, the steering angle sensor 820 detects The rotation angle of 60 degrees can be calculated. This is because the steering angle sensor 820 detects the right side 360 degrees of the steering wheel, but it calculates the rotational angle of the vehicle wheel 60 degrees by applying the relationship with the actual wheel rotation angle. The steering angle sensor 820 can calculate the turning angle of the vehicle wheel even if the driver controls the steering wheel not only at the maximum steering angle but also at the maximum angle and below.

The torque sensor 820 detects the twist of the rotating torsion bar according to the rotation of the steering gear of the vehicle controlled by the driver and can calculate the turning angle of the vehicle according to the degree of the sensed skew. For example, when the maximum rotation angle of the vehicle wheel is 60 degrees, the maximum rotation radius of the steering gear is 360 degrees on both sides, and the torsion bar has a twist of half the turning radius of the steering gear, When the vehicle is turning, the torque sensor of 820 can calculate the rotation angle of the vehicle wheel 60 degrees. This is because the torsion bar has a right-handed 180-degree twist, which is half the right-hand 360 of the steering angle, and the torque sensor 820 detects the right-hand 180-degree twist of the torsion bar, Which is a rotation angle of 60 degrees. Even if the driver controls the steering wheel not only at the maximum steering angle but also at the maximum angle or less, the torque sensor 820 can calculate the turning angle of the vehicle wheel.

The above-described rotation angle of the vehicle wheel may be the same as the steering angle of the electronic control device according to the embodiment of the present invention and the electronic control device according to another embodiment of the present invention.

The vehicle electronic control system according to an embodiment of the present invention uses the information obtained by the vision sensor 810 to obtain lane information of the lane information obtaining unit to calculate the running rotational angle of the driving rotational angle calculating unit, Or an understeer or understeer of the vehicle based on a result of comparing the steering angle detected by the torque sensor 820, the calculated running angle of rotation, and the lane curvature angle of the lane information, . &Lt; / RTI &gt;

The detailed description of the electronic control unit 100 may be applied to all operations of the electronic control unit according to an embodiment of the present invention and the electronic control unit according to another embodiment of the present invention.

In addition, the vehicle electronic control system of the present invention can perform all the operations performed by the electronic control apparatus of the present invention described with reference to Figs. 1 to 7.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. 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 (7)

A lane information obtaining unit that obtains lane information using information obtained from a vision sensor;
A driving rotation angle calculation unit for calculating a driving rotation angle of the vehicle based on the lane information; And
The steering angle, the driving rotation angle, and the lane curvature angle calculated using the steering angle sensor or the torque sensor are compared with each other, and if the steering angle is greater than the sum of the driving rotation angle and the lane curvature angle, the vehicle is judged as understeer, And an oversteer if the sum of the driving rotation angle and the lane curvature angle is less than the sum of the driving rotation angle and the lane curvature angle. The method according to claim 1,
The lane-
And a distance between the vehicle and the lane recognized in the predetermined area at the lane curvature angle and the predetermined time interval. 3. The method of claim 2,
The predetermined time interval may be,
And is set to be inversely proportional to the vehicle speed. 3. The method of claim 2,
The driving rotation angle calculating unit calculates,
And calculates the running rotation angle of the vehicle based on the distance from the lane, the predetermined time, and the vehicle speed. The method according to claim 1,
The driving rotation angle calculating unit calculates,
And calculates a running rotation angle of the vehicle based on a change in distance from the lane. The method according to claim 1,
Further comprising a control unit for controlling an assist current of an electric power steering (EPS)
Wherein,
Increases the assist current when it is determined to be an understeer, and decreases the assist current when it is determined to be an oversteer. A vision sensor for acquiring an image of a lane;
A steering angle sensor or a torque sensor for sensing a steering angle of a vehicle controlled by a driver; And
Steering angle of the vehicle is obtained by obtaining the lane information by using the information obtained from the vision sensor, and based on the result of comparison of the steering angle, the driving rotation angle and the lane curvature angle, oversteer or understeer The electronic control device comprising:
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Cited By (1)

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Publication number Priority date Publication date Assignee Title
KR20190072206A (en) * 2017-12-15 2019-06-25 현대자동차주식회사 Preemptive Response type Chassis Integration Control Method and Vehicle thereof

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Publication number Priority date Publication date Assignee Title
JP2004243787A (en) * 2003-02-10 2004-09-02 Nissan Motor Co Ltd Lane deviation preventing device
KR20060030229A (en) * 2004-10-05 2006-04-10 한국타이어 주식회사 Method for quantitative measuring of handling characteristics of a vehicle/tire
KR20140121056A (en) * 2013-04-05 2014-10-15 주식회사 만도 Steering control apparatus and steering feature controlling method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004243787A (en) * 2003-02-10 2004-09-02 Nissan Motor Co Ltd Lane deviation preventing device
KR20060030229A (en) * 2004-10-05 2006-04-10 한국타이어 주식회사 Method for quantitative measuring of handling characteristics of a vehicle/tire
KR20140121056A (en) * 2013-04-05 2014-10-15 주식회사 만도 Steering control apparatus and steering feature controlling method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190072206A (en) * 2017-12-15 2019-06-25 현대자동차주식회사 Preemptive Response type Chassis Integration Control Method and Vehicle thereof

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