KR20170027447A - Method for controlling Vehicle and Apparatus thereof - Google Patents
Method for controlling Vehicle and Apparatus thereof Download PDFInfo
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- KR20170027447A KR20170027447A KR1020150124050A KR20150124050A KR20170027447A KR 20170027447 A KR20170027447 A KR 20170027447A KR 1020150124050 A KR1020150124050 A KR 1020150124050A KR 20150124050 A KR20150124050 A KR 20150124050A KR 20170027447 A KR20170027447 A KR 20170027447A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000036760 body temperature Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 abstract description 11
- 230000001133 acceleration Effects 0.000 description 28
- 230000008859 change Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000000470 constituent Substances 0.000 description 3
- 206010041349 Somnolence Diseases 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
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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
- 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
- B60W40/08—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 drivers or passengers
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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
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
-
- 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
- B60W30/14—Adaptive cruise control
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0872—Driver physiology
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to an apparatus and method for controlling an adaptive cruise control system, and more particularly, to an apparatus and method for dynamically changing control of an adaptive cruise control system according to a driver's condition. More particularly, the present invention relates to a control value determining unit for determining a control value using a receiving unit for receiving driver status information from a vehicle external terminal, a driver status information and a tuning table preset for each control element for cruise control, And a control value application section for applying the control value application section to each of the at least one control element.
Description
The present invention relates to an apparatus and method for controlling an adaptive cruise control system, and more particularly, to an apparatus and method for dynamically changing control of an adaptive cruise control system according to a driver's condition.
Generally, the adaptive cruise control system of the vehicle controls the running of the vehicle through the acceleration control of the vehicle so as to follow the target speed set by the driver. And the adaptive cruise control system can control the vehicle to travel while keeping the proper distance from the preceding vehicle by using the forward sensor that can recognize the vehicle or the object environment in front. Further, the adaptive cruise control system is being developed as a technique capable of following the preceding vehicle beyond controlling the speed of the vehicle and the distance from the preceding vehicle.
In order to operate the adaptive cruise control system, various control factors such as acceleration, deceleration, and distance from the preceding vehicle are preset. However, such a control element is determined at the system development stage, and does not reflect the tendency of the actual driver. That is, the current state of the driver can not be positively reflected, so that the driver can be provided with a sense of heterogeneity or dissatisfaction.
The present invention, which has been developed in this background, proposes an apparatus and method for dynamically changing a control element of an adaptive cruise control system according to a driver's state.
The present invention also provides an apparatus and method for providing accurate driver status information using an external terminal and providing an easy update.
According to an aspect of the present invention, there is provided a navigation system including a control value determiner for determining a control value using a receiver for receiving driver status information from an external terminal of a vehicle, a tuning table preset for each control element for driver status information and cruise control, And a control value application section for applying the control value to each of the one or more control elements for cruise control.
The present invention also provides a control method for a vehicle, comprising: a receiving step of receiving driver status information from an external terminal of a vehicle; a control value determining step of determining a control value using a tuning table preset for each control element for driver status information and cruise control; And applying a control value to each of the one or more control elements for control.
As described above, according to the present invention, the control element of the adaptive cruise control system can be dynamically changed according to the driver's condition.
In addition, according to the present invention, it is possible to provide accurate driver status information using an external terminal and to provide an easy update.
1 is a diagram showing a configuration of a vehicle control device according to an embodiment of the present invention.
2 is a view for explaining a point information generation process according to an embodiment of the present invention.
3 is a diagram for explaining a point information generating method using a weight according to an embodiment of the present invention.
4 is a flowchart illustrating a method of determining a control value according to an exemplary embodiment of the present invention.
5 is a diagram illustrating a vehicle control method according to an embodiment of the present invention.
The present invention discloses a vehicle control apparatus and method.
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."
The driver status information in this specification may mean information necessary for understanding the current situation or tendency of the driver. For example, the driver status information may include the driver ' s physical information. That is, the driver's body information may include various information such as the driver's heart rate information, body temperature information, breathing information, drowsiness information, concentration information, and the like. In addition, the driver status information may include information related to the operation status of the terminal that transmits the driver status information. Here, the terminal refers to a terminal outside the vehicle such as a smart phone or a smart clock, and can transmit information to a vehicle control device through wired or wireless lines. For example, the terminal may be a smart phone and may communicate with the vehicle using a wireless communication scheme, such as Bluetooth or Wi-Fi. Also, the terminal may be a health-related device capable of measuring the body information of the driver.
The terminal operation status information in this specification may include information on the type of the application being operated on the terminal, the number information, or whether the driver is operating the terminal. In addition, the terminal operation status information may further include detailed drive information of an application being driven in the terminal. For example, when the driver is listening to music by driving the music application of the smartphone, the terminal driving status information may include music application driving information, genre information of music currently being played in the music application, and the like.
As another example, the terminal operation status information may include information on whether the current terminal is currently connected or not, and whether the messenger application is used. In addition, the terminal operation status information may include call frequency within a certain period or frequency of use information of a messenger application.
In addition, the weather information may include information on the current weather conditions. The weather information may include information on whether it is day or night using current time information, and may further include weather condition information such as rain and snow. The weather information can be obtained through weather application information that can be configured in the terminal.
In addition, the driver status information may include the above-described driver's body information, terminal operation status information, and point information calculated based on the weather information. In addition, various information may be added or deleted depending on the setting of the driver status information.
On the other hand, the control elements in this specification may be various elements used to control the behavior of the vehicle. For example, the control element may include a maximum acceleration value, a maximum deceleration value, a maximum speed value, a minimum speed value, an acceleration or a speed range, a distance from the preceding vehicle, a distance from the rear vehicle, And the like. In addition to this, the control element may be added or deleted in accordance with the setting of the driver or the developer, in order to control the behavior of the vehicle. In the present invention, for the sake of convenience, some control elements will be described by way of example, but the present invention is not limited to the types and forms of control elements.
The conventional cruise control system is a system for allowing the vehicle to travel while minimizing the operation of the driver, and for driving the vehicle at a predetermined speed. In addition, the cruise control system can follow the forward vehicle while continuously developing, and can control the vehicle to be operated while maintaining a certain distance from the forward vehicle. However, in this cruise control system, a predetermined control element can be used to maintain a certain distance from the preceding vehicle or to run at a constant speed. For example, it can be set to use a preset acceleration or deceleration at the development stage. That is, in order to maintain a certain distance from the preceding vehicle, the vehicle accelerates when the preceding vehicle accelerates, and the vehicle decelerates when the preceding vehicle decelerates. To this end, a maximum acceleration value and a maximum deceleration value can be set as one control element in the vehicle, and the vehicle can perform acceleration and deceleration accordingly.
However, such a control element is a value set in the development stage, and there may be a tendency and a difference between individual drivers. That is, the driver desires to follow the forward vehicle at a higher acceleration, but at the development stage, the maximum acceleration can be limited for safety reasons and the like. In this case, the driver may feel a sense of divergence from the usual driving style and can accept it as a discomfort. Therefore, the cruise control system may not be used properly.
In addition, although several tuning modes can be set for the driver to select, such a tuning mode is designed to have the control element value set at the development stage, and it does not properly reflect the driver's body condition, weather information and driver's current state have.
In order to solve the above problems, the present invention provides a concrete method and apparatus for operating the cruise control system by reflecting the driver's state information in real time. Further, according to the present invention, the control element of the cruise control system is changed by interlocking with the vehicle external device, so that the optimization can be easily performed through updating of the vehicle external device.
Hereinafter, the present invention will be described in more detail with reference to the drawings.
1 is a diagram showing a configuration of a vehicle control device according to an embodiment of the present invention.
The vehicle control apparatus according to an embodiment of the present invention includes a receiver for receiving driver status information from a vehicle external terminal, a control value determination unit for determining a control value using a tuning table preset for each control element for cruise control, And a control value application unit for applying the control value and the control value to each of the one or more control elements for cruise control.
Referring to FIG. 1, the
As described above, the driver status information may include point information determined based on at least one of driver's body information, operation state information of the terminal, and weather information. For example, the driver status information may include point information determined at an external terminal of the vehicle. As another example, the driver status information may include at least one of driver's body information obtained from an external vehicle terminal, operation state information of the terminal, and weather information. That is, the driver status information may include the point information calculated from the vehicle external terminal, and may include the information used to calculate the point information.
Meanwhile, the vehicle external terminal may mean one or more terminals. Or a vehicle external terminal may refer to a terminal on which an application such as a smart phone operates, and the driver's body information and the like may be transmitted from another terminal to a smart phone. That is, the vehicle external terminal can collect information necessary for calculating point information from various devices, and process the collected information to generate point information.
The point information will be described in more detail with reference to FIG. 2 and FIG.
The
As an example, suppose that the maximum acceleration value is a control element used in cruise control. The tuning table associated with the maximum acceleration value can be stored in the vehicle and the tuning table has the maximum acceleration value corresponding to each point according to the point information included in the driver state information. Therefore, the
In the same manner, the
As another example, the control
The vehicle control apparatus may include a control
Therefore, the control
Conventional methods can be applied to operations such as acceleration, deceleration, distance maintenance, tracking, etc. of the cruise control system to which the control value is applied. For example, the front vehicle may be detected by an ultrasonic sensor, a radar sensor, or the like, and the distance to the preceding vehicle may be determined to control the driving system of the vehicle so that a predetermined distance is maintained. In addition, both the driving system for the cruise control and the control operation of the steering system can be applied.
2 is a view for explaining a point information generation process according to an embodiment of the present invention.
The driver status information of the present invention may include point information determined based on at least one of driver's body information, operation state information of the terminal, and weather information. In addition, the point information may be obtained by applying preset values and weight values to at least one of the driver's heart rate, the driver's body temperature, the application type in the active state in the terminal, the detailed operation information of the application, Can be calculated.
Referring to FIG. 2, the vehicle external terminal collects at least one of driver's body information, operation state information of the terminal, and weather information (S200). The external terminal of the vehicle can collect the above-described driver status information by using an application or the like operating in the terminal. Or the vehicle external terminal can collect driver status information through wired / wireless communication with other devices. For example, the terminal outside the vehicle can obtain the driver's body information by receiving the sensing information from the heart rate and body temperature measuring device provided on the driver's seat. In addition, the vehicle external terminal can acquire weather information through a weather application configured in the terminal. As described above, there is no limit to the method of collecting the driver status information by the vehicle external terminal.
The external terminal of the vehicle can determine a predetermined value by using the detailed values of the collected driver state information (S202). For example, when the driver's heart rate information is collected, the value in the driver's heart rate information item can be determined using a predetermined table according to each heart rate range. Likewise, values can be determined using preset tables for body temperature information, weather information, and terminal operation status information, respectively. This is illustrated by way of example with reference to Fig.
In addition, the external terminal of the vehicle can apply a preset weight value for each item to the set value (S204). For example, a predetermined weight value can be applied depending on the degree of influence on the driver condition. That is, a high weight value may be set for the weather information, the temperature information, and the like, which have a large influence on the driver's state, and the weight value may be set to a relatively small number of the active application information. The external terminal of the vehicle may multiply each value determined in step S202 by a weight value according to each item.
The terminal outside the vehicle can calculate the final point information by using a value to which the weight value is applied for each item (S206). For example, the terminal outside the vehicle can calculate the final point information by summing all the values to which the weight value is applied for each item. A method of calculating point information by using overall state information instead of separately applying each of the state information of the driver to the vehicle control element and determining the value of the individual control element based on the point information may be performed by the security of the tuning element . ≪ / RTI > Further, the point information is determined by using all the values for each item, so that even if there is some error in determining the driver condition for each item, the effect of the error on the cruise control system can be minimized. In addition, by calculating the point information on the external terminal of the vehicle, it is possible to provide enhanced functions through an easier in-terminal software update.
3 is a diagram for explaining a point information generating method using a weight according to an embodiment of the present invention.
Referring to FIG. 3, driver condition information, heart rate information, application type information activated in the terminal, detailed operation information of the activated application, and weather information are described as the items of the driver status information. A value according to the sensing value of each item can be defined for each driver status information item, and a weight value can be determined. These preset values and weight values can be determined in advance through experiments or the like. In addition, the preset value and the weight value can be easily changed through software update of the vehicle external terminal.
For example, when the driver's body temperature is detected as 37 degrees or more, a value of 10 is determined according to a preset table, a weight value of 0.1 is applied, and the point value of the driver's body temperature information item is calculated as 1. [ Likewise, when the driver's heart rate is detected as 75, a value of 9 is applied with a weight of 0.2 so that the item point value of 1.8 can be calculated.
In addition, when the application operated by the driver through the terminal is a music app and the hip-hop music is played, a value of 0.1 point to which 0.1 weight is applied to 1 and 2.7 point to which 9 weight is applied to 9 can be calculated . In addition, the weather information can be received by the terminal using meteorological data or the like, and a 0.4 point value can be calculated by applying a weight in a rain situation.
The external terminal of the vehicle can generate 6 as the point information of the driver status information to be transmitted to the vehicle by summing up all the point values calculated for each item.
As described above, the point information can be set by updating or changing the driver status information generating application configured in the terminal, and there is no limitation on the point calculating method in the present invention. That is, the user may change the setting, or the manufacturer may change the setting.
The receiving
4 is a flowchart illustrating a method of determining a control value according to an exemplary embodiment of the present invention.
The
Referring to FIG. 4, the control
The control
In one example, when the point value is within the reference range, it may not be necessary to change the control value. Therefore, in this case, the control element for changing the control value may be selected to be zero (S404). That is, when the point information calculated by the driver's state information is within the reference range, it is determined that the preset value of the cruise control system does not need to be changed, and the control value can be not changed.
As another example, when the point value is out of the reference range, the control element type and number set according to each point value can be checked and selected (S406). For example, the type of control element for changing the control value can be determined according to each point value or the range to which each point value belongs. Alternatively, the number of control elements for changing the control value according to each point value or the range to which each point value belongs can be determined. The number or type of control elements can be predetermined according to each point value through an experiment or the like.
The control
The determined maximum acceleration value may be determined by the control
Through the operations described above, the control element can be changed to various levels even when the point information is used, and the control element changed depending on the point information can be different. Therefore, it is possible to change the cruise control system more finely according to the point information, thereby providing a high satisfaction to the driver.
As described above, according to the present invention, the control element of the adaptive cruise control system can be dynamically changed according to the driver's condition. In addition, according to the present invention, it is possible to provide accurate driver status information using an external terminal and to provide an easy update.
A vehicle control method capable of performing all the operations of the present invention described above will be described with reference to the drawings.
5 is a diagram illustrating a vehicle control method according to an embodiment of the present invention.
A vehicle control method according to an embodiment of the present invention includes a receiving step of receiving driver status information from a vehicle external terminal and a control value determining a control value by using a tuning table preset for each control element for driver state information and cruise control And applying a control value to each of the one or more control elements for cruise control.
Referring to FIG. 5, the vehicle control method of the present invention may include a receiving step of receiving driver status information from a vehicle external terminal (S500). The receiving step may receive the driver status information using the wired / wireless communication method with the vehicle external terminal. For example, the external terminal of the vehicle may be the smartphone of the driver, and the receiving step may receive the driver status information from the smartphone through a short-range wireless communication network such as Wi-Fi or Bluetooth.
As described above, the driver status information may include point information determined based on at least one of driver's body information, operation state information of the terminal, and weather information. For example, the driver status information may include point information determined at an external terminal of the vehicle. As another example, the driver status information may include at least one of driver's body information obtained from an external vehicle terminal, operation state information of the terminal, and weather information. That is, the driver status information may include the point information calculated from the vehicle external terminal, and may include the information used to calculate the point information.
Meanwhile, the vehicle external terminal may mean one or more terminals. Or a vehicle external terminal may refer to a terminal on which an application such as a smart phone operates, and the driver's body information and the like may be transmitted from another terminal to a smart phone. That is, the vehicle external terminal can collect information necessary for calculating point information from various devices, and process the collected information to generate point information.
For the point information, the method described with reference to FIG. 2 and FIG. 3 may be applied.
In addition, the vehicle control method may include a control value determination step of determining the control value using the tuning table preset for each of the control elements for driver state information and cruise control (S502). The control value determination step may determine the control value using the driver status information and the tuning table. For example, the tuning table may be configured for each control element required for cruise control. That is, one tuning table may be set for each control element, and the control value determining step may determine the control value of the corresponding control element by comparing the received driver state information with the tuning table.
As an example, suppose that the maximum acceleration value is a control element used in cruise control. A tuning table associated with the maximum acceleration value may be stored in the vehicle and the tuning table has a maximum acceleration value corresponding to each point according to the point information included in the driver state information. Accordingly, the control value determination step may determine the point information of the received driver state information, and determine the maximum acceleration value corresponding to the point information in the tuning table as the control value of the maximum acceleration control element. In the same manner, the step of determining the control value can determine the control value of each of the control elements for the cruise control system of the vehicle.
As another example, the control value determination step may select the control element to select the control value based on the point information described above. For example, when there are a plurality of control elements for cruise control, the types and the number of control elements that can be selected for each point information can be set in advance. Therefore, in the control value determination step, the type and number of control elements that can be selected according to the point information are checked, and only the corresponding control element is selected to perform the control value determination using the tuning table. The types and the number of control elements that can be selected according to the point information can be preset in the vehicle through experiments and the like. Accordingly, it is possible to change the control value of the cruise control system step by step according to each point value, thereby providing a more comfortable driving feeling to the driver. That is, when the point value is low, only the maximum acceleration and the maximum deceleration can be adjusted. If the point value is greater than the reference value, the value for the distance from the preceding vehicle can be changed. Alternatively, the maximum speed and the like may be changed. Or minimum acceleration may be adjusted. That is, in the control value determination step of the present invention, the control values of the different control elements can be distinguished and changed according to the state of the driver.
Further, the vehicle control method may include a control value applying step of applying the control value to each of the one or more control elements for cruise control (S504). In the control value application step, the control value determined by the above-described method can be applied to each control element. That is, the cruise control system to which the present invention can be applied includes various control elements for operating the system, and each control element has a control value applied to the cruise control system.
Therefore, the control value applying step may change the control value applied to the current cruise control system to the control value determined by reflecting the driver state information. Through this, a control value reflecting the driver status information can be applied to operating the actual cruise control system. The driver can be provided with a more comfortable feeling as the cruise control system is operated according to the changed control value.
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 (8)
A control value determiner for determining a control value by using a tuning table preset for each of the control elements for driver state information and cruise control; And
And a control value application unit for applying the control value to each of at least one control element for the cruise control.
The driver status information includes:
The driver's body information, the operating state information of the terminal, and the weather information.
The point-
A predetermined value and a weight value are applied to each of at least one of the driver's heart rate, the driver's body temperature, the application type in the active state of the terminal, the detailed operation information of the application, the frequency of use of the terminal, The vehicle control apparatus comprising:
Wherein the predetermined value and the weight value are set to < RTI ID =
And changes according to a software update of the terminal.
Wherein the control value determination unit determines,
And selects a control element for determining the control value based on the point information included in the driver state information.
Wherein the control value determination unit determines,
And changes the number and type of the control elements according to the point information.
A control value determining step of determining a control value by using a tuning table preset for each of the control elements for driver state information and cruise control; And
And applying a control value to each of the one or more control elements for the cruise control.
Wherein the control value determination step comprises:
And selects a control element for determining the control value based on the point information included in the driver state information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150124050A KR20170027447A (en) | 2015-09-02 | 2015-09-02 | Method for controlling Vehicle and Apparatus thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150124050A KR20170027447A (en) | 2015-09-02 | 2015-09-02 | Method for controlling Vehicle and Apparatus thereof |
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| Publication Number | Publication Date |
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| KR20170027447A true KR20170027447A (en) | 2017-03-10 |
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| KR1020150124050A KR20170027447A (en) | 2015-09-02 | 2015-09-02 | Method for controlling Vehicle and Apparatus thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11731665B2 (en) | 2017-04-12 | 2023-08-22 | Nissan Motor Co., Ltd. | Driving control method and driving control device |
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2015
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11731665B2 (en) | 2017-04-12 | 2023-08-22 | Nissan Motor Co., Ltd. | Driving control method and driving control device |
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