KR20170066874A - Vehicle, and control method for the same - Google Patents

Vehicle, and control method for the same Download PDF

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Publication number
KR20170066874A
KR20170066874A KR1020150173061A KR20150173061A KR20170066874A KR 20170066874 A KR20170066874 A KR 20170066874A KR 1020150173061 A KR1020150173061 A KR 1020150173061A KR 20150173061 A KR20150173061 A KR 20150173061A KR 20170066874 A KR20170066874 A KR 20170066874A
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KR
South Korea
Prior art keywords
traveling
vehicle
road
environment information
curvature
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KR1020150173061A
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Korean (ko)
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KR101837393B1 (en
Inventor
김지영
문승건
최성우
한영민
Original Assignee
현대자동차주식회사
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Priority to KR1020150173061A priority Critical patent/KR101837393B1/en
Publication of KR20170066874A publication Critical patent/KR20170066874A/en
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Publication of KR101837393B1 publication Critical patent/KR101837393B1/en

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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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • 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
    • B60W40/105—Speed
    • B60W2050/0078—
    • B60W2550/12—
    • B60W2550/14—
    • B60W2550/406—

Abstract

Provided are a vehicle and a control method thereof for correcting a traveling speed determined according to a curvature of a traveling road using traveling environment information.
A vehicle according to an embodiment includes: a driving unit that provides power for driving; A GPS antenna for receiving a satellite signal including position information; And a control unit for controlling the driving unit to obtain the curvature of the traveling road based on the position information and to travel according to the traveling speed determined based on the obtained curvature. And the control unit corrects the determined running speed based on the running environment information.

Description

VEHICLE, AND CONTROL METHOD FOR THE SAME

The present invention relates to a vehicle running on a road and a control method thereof.

A vehicle is a type of vehicle that travels along roads or tracks while moving people, objects, or animals from one location to another. Examples of the vehicle include a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bike for a prime mover, a train traveling on a bicycle and a track.

Such a vehicle may be affected by the surrounding environment including the road currently being driven. Therefore, the vehicle senses the present driving environment information, and can provide the driver with a processing so as to utilize the information. In recent years, vehicles that actively use the detected travel environment information for control have been developed.

In addition, as the production of a precision map including detailed information related to roads becomes possible, researches on a vehicle that controls driving by using various information included in the precision map are being actively conducted.

According to an embodiment of the disclosed invention, there is provided a vehicle and a control method thereof for correcting a running speed determined according to a curvature of a running road using driving environment information.

A vehicle according to an embodiment includes: a driving unit that provides power for driving; A GPS antenna for receiving a satellite signal including position information; And a control unit for controlling the driving unit to obtain the curvature of the traveling road based on the position information and to travel according to the traveling speed determined based on the obtained curvature. And the control unit may correct the determined traveling speed based on the traveling environment information.

A storage unit for storing a map including road information in advance; As shown in FIG.

In addition, the control unit determines whether or not at least one of the superelevation degree of the traveling road on the map, the number of lanes of the traveling road, the type of the traveling road, existence of the vehicle ahead of the traveling road, It is possible to confirm the traveling environment information including one.

Also, the control unit may obtain the curvature of the traveling road from the map stored in the storage unit.

A traveling environment information providing unit for providing the traveling environment information obtained in real time; As shown in FIG.

The traveling environment information providing unit may include the traveling environment information including at least one of object information adjacent to the vehicle, forward image of the vehicle, mode information of the suspension of the vehicle, and wiper operation of the vehicle .

The control unit may apply the weight to each of the traveling environment information according to a predetermined priority order to correct the determined traveling speed when the traveling environment information is plural.

The control unit may correct the determined traveling speed by selectively using at least one traveling environment information corresponding to the curvature of the traveling road when the traveling environment information is plural.

The control unit may correct the determined traveling speed by selectively using at least one traveling environment information corresponding to the type of the traveling road when the traveling environment information is plural.

The control unit may correct the determined traveling speed based on the difference between the reference curvature corresponding to the superelevation of the traveling road and the curvature of the traveling road among the traveling environment information.

A method of controlling a vehicle according to an embodiment includes: receiving a satellite signal including position information; Obtaining curvature of the running road based on the position information; Determining a traveling speed based on the obtained curvature; Correcting the determined traveling speed based on the traveling environment information; And traveling at a corrected travel speed; . ≪ / RTI >

Storing a map including road information in advance; As shown in FIG.

The step of correcting the determined traveling speed may further comprise the steps of: superelevating the traveling road on the map, the number of lanes of the traveling road, the type of the traveling road, whether or not the traveling road ahead of the traveling road exists, The presence or absence of an intersection of the driving environment information; And correcting the determined travel speed using the travel environment information confirmed from the map; . ≪ / RTI >

The step of acquiring the curvature of the traveling road may include the steps of: identifying the traveling road by matching the location information on the road; And obtaining a curvature of the running road from the map; . ≪ / RTI >

Acquiring the traveling environment information in real time; As shown in FIG.

The step of acquiring the traveling environment information in real time includes at least one of object information adjacent to the vehicle, a forward image of the vehicle, mode information of the suspension of the vehicle, and whether or not the vehicle is wiped It is possible to obtain the travel environment information.

The step of correcting the determined traveling speed may correct the determined traveling speed by applying a weight to each of the traveling environment information according to a predetermined priority order when the traveling environment information is plural.

In addition, the step of correcting the determined traveling speed may correct the determined traveling speed by selectively using at least one traveling environment information corresponding to the curvature of the traveling road, when the traveling environment information is plural.

The step of correcting the determined traveling speed may correct the determined traveling speed by selectively using at least one traveling environment information corresponding to the type of the traveling road when the traveling environment information is plural.

The step of correcting the determined traveling speed may correct the determined traveling speed based on the difference between the reference curvature corresponding to the superelevation of the traveling road and the curvature of the traveling road among the traveling environment information.

According to one embodiment of the disclosed vehicle and its control method, the traveling speed is determined by referring to the traveling environment information as well as the curvature of the traveling road, so that the traveling can be performed adaptively to the traveling environment.

Particularly, since superelevation of the running road is considered as one of the running environment information, it is possible to stably run on the curved road.

1 is a view showing the appearance of a vehicle according to an embodiment.
2 is a view showing an internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
FIG. 4 is a view for explaining the superposition of curved roads according to one embodiment.
5 is a view for explaining a case where a vehicle exists on a side of a traveling vehicle on a curved road according to an embodiment.
6 is a flowchart of a vehicle control method according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a view showing the appearance of a vehicle according to an embodiment.

1, an embodiment of a vehicle includes a body 10 forming an outer appearance of the vehicle 100, wheels 21 and 22 for moving the vehicle 100, doors for shielding the inside of the vehicle 100 from the outside, A front glass 17 that provides the driver 100 with a field of view ahead of the vehicle 100 and a side mirror 18 and 19 that provides the driver with a field of view behind the vehicle 100 .

The wheels 21 and 22 include a front wheel 21 provided on the front of the vehicle and a rear wheel 22 provided on the rear side of the vehicle and the front wheel 21 or the rear wheel 22 is rotated by a rotational force So that the main body 10 can be moved forward or backward.

The up and down vibrations of the wheels 21 and 22 can be alleviated by the suspension device 330 to be described later. As a result, the riding comfort of the driver can be enhanced.

The door 14 is rotatably provided on the left and right sides of the main body 10 so that the driver can ride inside the vehicle 100 at the time of opening and shields the inside of the vehicle 100 from the outside at the time of closing .

The front glass 17 is provided on the front upper side of the main body 10 so that a driver inside the vehicle 100 can obtain time information in front of the vehicle 100. The windshield glass is also called a windshield glass.

Although not shown in FIG. 1, a wiper 340 may be installed on the windshield 17. One end of the wiper 340 is fixed, and the foreign matter on the windshield 17 can be removed by rotating around the fixed end. This allows the driver to have a clear front view.

The side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 100) side information and the rear-side time information.

2 is a view showing an internal configuration of a vehicle according to an embodiment.

2, the vehicle 100 includes a seat 110 on which a driver or the like is mounted, a dashboard 150 (see FIG. 2) provided with a gear box 120, a center pedestal 130, and a steering wheel 140 Dashboard).

The gear box 120 may be provided with a shift lever 124 for shifting the vehicle 100 and a dial operating section 122 for controlling the performance of the vehicle 100. [

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the running direction of the vehicle 100. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 100, And a spoke 142 connecting the hub of the rotary shaft for steering. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 100, for example, an audio device and the like.

An air conditioner 131, a clock 132, an audio device 133, a display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioner 131 adjusts the temperature, humidity, air cleanliness, and air flow inside the vehicle 100 to comfortably maintain the interior of the vehicle 100. The air conditioner 131 may include at least one discharge port 131a provided in the center fascia 130 and discharging air. The center fascia 130 may be provided with buttons or dials for controlling the air conditioner 131 and the like. A passenger such as a driver can control the air conditioner 131 by using a button disposed on the center pacea 130. [

The clock 132 may be provided around a button or a dial for controlling the air conditioner 131. [

The audio device 133 may include an operation panel having a plurality of buttons for performing functions of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for reproducing an audio file of various storage media containing the audio file.

The display 134 may display a UI (User Interface) that provides the driver with information related to the vehicle 100 in the form of images or text. For this, the display 134 may be embedded in the center fascia 130. However, the display 134 is not limited thereto, and the display 134 may be detachable from the center fascia 130 of the vehicle 100.

At this time, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), or a cathode ray tube (CRT) But is not limited thereto.

The dashboard 150 may further include various instrument panels capable of displaying the traveling speed of the vehicle 100, engine speed or fuel remaining amount, a glove box capable of storing various items, and the like have.

Meanwhile, the vehicle 100 may be equipped with a Smart Cruise Control (SCC) system that determines the distance to the preceding vehicle and automatically controls the traveling speed based on the distance. Specifically, the vehicle-to-vehicle distance control system is configured to control the vehicle 100 so as to have a following tracking function when the preceding vehicle exists and a set-speed traveling function to travel at a specific speed if the preceding vehicle does not exist, Can be controlled.

The inter-vehicle distance control system can additionally determine the traveling speed according to the curvature of the road when entering a curved road such as an interchange (IC) and an intersection (JC) on the highway.

However, the driver and the passenger of the autonomous vehicle may feel anxiety depending on various driving environments in addition to the curvature of the road. Therefore, a vehicle capable of self-running in consideration of the driving environment is required.

Hereinafter, a vehicle that corrects the running speed determined by the curvature according to the traveling environment information will be described in detail.

3 is a control block diagram of a vehicle according to an embodiment.

The vehicle 100 according to one embodiment includes a GPS antenna 200 for receiving a satellite signal including position information; Travel environment information providing unit (300) for providing travel environment information; A storage unit (600) for storing a map including road information in advance; A control unit (500) for controlling each configuration of the vehicle (100); And a driving unit 700 for providing power for driving; . ≪ / RTI >

As described above, the driving unit 700 can provide power, particularly rotational force, to the wheels. Based on the provided rotational force, the vehicle (100) can travel by turning the wheels (21, 22). In such a technical concept, the driving unit 700 may be variously implemented. In one embodiment, the driving unit 700 may be implemented as a motor.

The driving unit 700 can provide a rotational force corresponding to the traveling speed to the wheels 21 and 22 under the control of the control unit 500, which will be described later.

The storage unit 600 may store information necessary for the operation of the vehicle 100 in advance and provide the information when necessary. For example, the storage unit 600 may store algorithms, parameters, reference values, and the like used by the control unit 500, which will be described later, to control the vehicle 100, and may provide the algorithm, .

Also, the storage unit 600 may store a map for providing to the user in advance. Specifically, the storage unit 600 may previously store at least one of the general map and the precision map including the type of each road and the number of lanes. Here, the precision map has high accuracy for safe and precise vehicle control and includes not only the plane position of the road but also information about the altitude, slope, curvature, lane number, etc., It may mean a map that contains more information.

In particular, the storage unit 600 may include location information on a satellite communication incapable area, such as an underground parking lot P. [

The storage unit 600 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory), a RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM May be implemented via a storage medium of at least one type of disk, optical disk

A GPS (Global Positioning System) antenna 200 can receive a satellite signal propagating from a satellite. The satellite signal received by the GPS antenna 200 may include position information of the vehicle 100, specifically coordinate information. After receiving the satellite signal, the GPS antenna 200 may provide the control unit 500 with the position information of the acquired vehicle 100 to match the map stored in the storage unit 600.

The control unit 500 may match the position information of the vehicle 100 received from the GPS antenna 200 on a map stored in the storage unit 600 in advance. Accordingly, the control unit 500 can confirm the geographical information of the current position of the vehicle 100, in particular, the running road.

In addition, the control unit 500 can determine the traveling speed based on the curvature of the identified traveling road. As described above, when the storage unit 600 stores the precision map including the curvature of the road, the control unit 500 can obtain the curvature of the identified driving road from the previously stored map.

Alternatively, when the storage unit 600 stores a general map that does not include the curvature of the road, the control unit 500 may calculate the curvature of the running road through calculation. The control unit 500 may adopt at least one of the known methods for calculating the curvature of the running road.

In one embodiment of the curvature calculating method of the traveling road, the controller 500 may set a virtual interpolation point within a predetermined section of the front road based on the current position of the vehicle. Then, the control unit 500 obtains the coordinates corresponding to the virtual interpolation point, and calculates the curvature within a predetermined section of the front road based on the obtained coordinate information.

After obtaining the curvature of the traveling road, the control unit 500 can determine the traveling speed corresponding to the obtained curvature. For example, the control unit 500 may use the running speed table for the curvature of the running road. At this time, the table may be stored in the storage unit 600 in advance.

On the other hand, the control unit 500 can use the travel environment information to correct the determined travel speed. Here, the travel environment information may include information of the vehicle itself in running, traveling road information of the vehicle traveling, and various information about the front, side, and rear of the vehicle.

The travel environment information may include information previously stored on the map and stored in the storage unit 600 and information sensed in real time at the current location.

The travel environment information included in the map stored in advance includes the superelevation degree of the running road, the number of lanes of the running road, the type of the running road, whether or not the vehicle exists ahead of the running road, and whether or not there is an intersection before the running road .

FIG. 4 is a view for explaining the superposition of curved roads according to one embodiment.

Superelevation refers to a transverse slope installed on a flat curved road so that the car can resist centrifugal force, and can be expressed as a percentage of the outside height relative to the inside.

Referring to FIG. 4, a vehicle traveling on a curved road can receive a centrifugal force outward from the center of rotation. Therefore, the curved road can be formed so as to have a higher outer side than the inner side so that the centrifugal force can be canceled.

In FIG. 4, the road is inclined from the inside to the outside by a certain angle? S , but it is also possible that the road having the height difference between the inside and the outside is inclined at an unequal angle.

The control unit 500 can correct the traveling speed using the difference between the reference curvature corresponding to the superelevation of the obtained traveling road and the curvature of the traveling road. Here, the reference curvature may mean a minimum curvature designed so that the centrifugal force does not affect the running on the road having a specific superficial thread.

For example, if the travel speed determined on a road with a superelevation of 6% is 100 KPH, then the reference curvature may be 460. If the curvature of the confirmed running road is 460 or less, the control unit 500 can correct the running speed to be lowered.

Also, the control unit 500 may correct the traveling speed using the traveling environment information sensed in real time at the current position. To this end, the vehicle according to an embodiment includes a camera 310 for providing a forward image; A distance sensor 320 for providing adjacent object information; A suspension device 330 providing the set travel mode information; And a wiper 340 that provides operation or not; A travel environment information providing unit 300 including the traveling environment information providing unit 300; . ≪ / RTI >

The control unit 500 can confirm whether the forward view is secured from the forward image provided from the camera 310. [ In addition, the control unit 500 may be provided with information on whether the normal mode, the eco mode, or the sports mode is set from the suspension unit 330. In addition, the controller 500 can receive information about the current weather from the wiper 340 and confirm the current weather information.

In addition, the control unit 500 receives the information of the adjacent object from the distance sensor 320, and can check the existence of the side vehicle N, the SCC sensitivity, the time gap, and the like.

5 is a view for explaining a case where a vehicle exists on a side of a traveling vehicle on a curved road according to an embodiment.

When the side vehicle N is present when traveling on the curved road, the driver can feel anxiety. In particular, as shown in FIG. 5, when a large-sized vehicle occupies a side lane, the driver feels anxious psychologically, and therefore may experience difficulty in driving.

In this case, the distance sensor 320 transmits the presence of the side vehicle N to the control unit 500, and the control unit 500 corrects the traveling speed determined by the curvature based on the presence of the side vehicle N can do. For example, if the side vehicle N exists, the control unit 500 can correct the driving speed to be lowered.

On the other hand, the control unit 500 can apply a weight to each of the plurality of travel environment information described above according to a predetermined priority order to correct the traveling speed determined by the curvature. As a result, it is possible to determine the traveling speed at which important information among the plurality of traveling environment information is more reflected.

For example, among the plurality of travel environment information, weights can be applied to the superhighway, the number of lanes, the type of road (whether there is a tunnel / bridge), the existence of the side vehicle N,

At this time, the priority and the weight may be determined according to the input of the user, may be determined by an internal operation, or may be predetermined at the time of manufacture.

In addition, the control unit 500 may correct the traveling speed using the specific traveling environment information only when it meets a predetermined condition such as the curvature of the traveling road or the type of the traveling road (highway / general road).

For example, whether superelevation and front view is secured is important only when traveling on a curved road, the controller 500 can use the travel environment information only when the curvature of the road is equal to or greater than a predetermined reference value.

In addition, since the existence of the forward intersection is information that is effective only on the general road, the control unit 500 can use the travel environment information only when the type of the traveling road is a general road, not a highway.

Finally, the control unit can control the driving unit to run at the corrected traveling speed. As a result, the driver can use the autonomous vehicle in a more psychologically stable environment.

6 is a flowchart of a vehicle control method according to an embodiment.

First, the vehicle can confirm the running road 900. To this end, the GPS antenna of the vehicle receives the satellite signal, and the controller 500 matches the position information confirmed from the received satellite signal on a pre-stored map You can check the driving route.

(910) If the precise map is stored in the storage unit 600, the control unit 500 obtains the curvature of the running road from the map stored in the storage unit 600 can do. On the other hand, when the general map is stored in the storage unit 600, the control unit 500 can calculate the curvature of the running road through calculation.

When the curvature of the running road is obtained, the vehicle can determine the running speed based on the obtained curvature. (920) For example, the control unit 500 may use the running speed table for the curvature of the running road. At this time, the table may be stored in the storage unit 600 in advance.

(930) For example, the vehicle may acquire the traveling environment information stored in advance on the map, and the traveling environment information providing unit 300 may acquire the traveling environment information It is possible to acquire information provided in real time.

Then, the vehicle can correct the determined running speed using the obtained running environment information. (940) For example, if the reference curvature corresponding to the obtained superelevation differs from the curvature of the running road, the controller 500 ) Can correct the traveling speed using the difference. As another example, if information indicating that the side vehicle N exists is obtained, the control unit 500 may correct the driving speed to be lowered corresponding to the information.

Finally, the vehicle can travel at a corrected travel speed (950)

100: vehicle
200: GPS antenna
300: Driving environment information providing service
500:
600:
700:

Claims (20)

A driving unit for providing power for driving;
A GPS antenna for receiving a satellite signal including position information; And
A control unit for obtaining the curvature of the traveling road based on the position information and controlling the driving unit to travel according to the traveling speed determined based on the obtained curvature; Lt; / RTI >
Wherein,
And corrects the determined traveling speed based on the traveling environment information. The method according to claim 1,
A storage unit for storing a map including road information in advance; . ≪ / RTI > 3. The method of claim 2,
The control unit
Wherein at least one of at least one of the superelevation degree of the running road on the map, the number of lanes of the running road, the type of the running road, the presence of the entry ahead of the running road, and the presence or absence of an intersection in front of the running road A vehicle that verifies environmental information. 3. The method of claim 2,
Wherein,
And obtains the curvature of the running road from a map stored in the storage unit. The method according to claim 1,
A traveling environment information providing unit for providing the traveling environment information obtained in real time; . ≪ / RTI > 6. The method of claim 5,
The traveling environment information providing unit,
Wherein the vehicle environment information includes at least one of object information adjacent to the vehicle, a forward image of the vehicle, mode information of a suspension of the vehicle, and whether or not the vehicle is operated with a wiper. The method according to claim 1,
Wherein,
And when the plurality of travel environment information is plural, applying a weight to each of the travel environment information according to a predetermined priority order to correct the determined traveling speed. The method according to claim 1,
Wherein,
And corrects the determined traveling speed by selectively using at least one traveling environment information corresponding to a curvature of the traveling road when the traveling environment information is plural. The method according to claim 1,
Wherein,
And corrects the determined traveling speed by selectively using at least one traveling environment information corresponding to the type of the traveling road when the traveling environment information is plural. The method according to claim 1,
Wherein,
And corrects the determined traveling speed based on a difference between a reference curvature corresponding to superelevation of the traveling road and a curvature of the traveling road among the traveling environment information. Receiving a satellite signal including position information;
Obtaining curvature of the running road based on the position information;
Determining a traveling speed based on the obtained curvature;
Correcting the determined traveling speed based on the traveling environment information; And
Driving at a corrected travel speed; And controlling the vehicle. 12. The method of claim 11,
Storing a map including road information in advance; Further comprising the steps of: 13. The method of claim 12,
Wherein the step of correcting the determined traveling speed comprises:
Wherein at least one of at least one of the superelevation degree of the running road on the map, the number of lanes of the running road, the type of the running road, the presence of the entry ahead of the running road, and the presence or absence of an intersection in front of the running road Checking environmental information; And
Correcting the determined traveling speed using the traveling environment information confirmed from the map; And controlling the vehicle. 13. The method of claim 12,
Wherein the step of acquiring the curvature of the running road comprises:
Matching the location information on the road to identify the road; And
Obtaining a curvature of the running road from the map; And controlling the vehicle. 12. The method of claim 11,
Obtaining the travel environment information in real time; Further comprising the steps of: 16. The method of claim 15,
The step of acquiring the traveling environment information in the real-
Wherein the vehicle environment information includes at least one of object information adjacent to the vehicle, a forward image of the vehicle, mode information of the suspension of the vehicle, and whether or not the wiper of the vehicle is operated. 12. The method of claim 11,
Wherein the step of correcting the determined traveling speed comprises:
Wherein when the plurality of travel environment information is plural, weighting is applied to each of the travel environment information according to a predetermined priority order to correct the determined traveling speed. 12. The method of claim 11,
Wherein the step of correcting the determined traveling speed comprises:
And corrects the determined running speed by selectively using at least one running environment information corresponding to a curvature of the running road when the running environment information is plural. 12. The method of claim 11,
Wherein the step of correcting the determined traveling speed comprises:
And corrects the determined traveling speed by selectively using at least one traveling environment information corresponding to the type of the traveling road when the traveling environment information is plural. 12. The method of claim 11,
Wherein the step of correcting the determined traveling speed comprises:
And corrects the determined running speed based on a difference between a reference curvature corresponding to superelevation of the running road and a curvature of the running road among the running environment information.
KR1020150173061A 2015-12-07 2015-12-07 Vehicle, and control method for the same KR101837393B1 (en)

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