KR20180004916A - Vehicle and controlling method for the same - Google Patents

Abstract

A vehicle comprises: a steering wheel steering a vehicle wheel; a steering wheel detection unit generating a detection signal corresponding to torque of the steering wheel; and a steering wheel control unit controlling the steering wheel based on the detection signal. The steering wheel control unit determines a hands-on state or a hands-off state based on a differential value of the detection signal.

Description

[0001] VEHICLE AND CONTROLLING METHOD FOR THE SAME [0002]

And a control method of the vehicle and the vehicle.

A driving assistance device included in the vehicle is a device for assisting driving or running of a vehicle such as an automobile or an airplane and generates data for assisting the driving or driving of the driver or controls driving or operation of the driver.

There are a lane departure warning system (LDWS) and a lane keeping assistance system (LKAS) as an example of the driving assistance device, and a lane departure warning system and a lane keeping support system exist in a vehicle (Left and right lanes of the vehicle in which the vehicle exists) using an external sensing unit such as a camera mounted on the vehicle, and notifies the driver of the vehicle by sound or vibration when the vehicle leaves the lane, Steering torque), and inputs it to the steering wheel driving unit to perform the lane-keeping control function.

The conventional driving assist system judges whether the driver is operating the steering wheel and performs the lane departure warning system or the lane keeping support system control according to whether the driver is operating or not. The driving assist device determines whether the driver is operating the steering wheel A control malfunction may occur in the vehicle.

The present invention provides a vehicle and a control method of the vehicle that accurately determine whether or not the driver is operating the steering wheel.

The vehicle according to one aspect includes a steering wheel for steering the wheel; A steering wheel sensing unit for generating a sensing signal corresponding to a torque of the steering wheel; And a steering wheel control unit for controlling the steering wheel based on the sensing signal, wherein the steering wheel control unit determines the hands-on state or the hands-off state based on the differential value of the sensing signal.

The steering wheel control unit may determine that the differential value is in a hands-on state when the differential value is greater than or equal to a predetermined first reference value, and may determine that the differential value is in a hands-off state when the differential value is less than the first reference value.

The steering wheel control unit may perform low frequency filtering on the sensing signal.

The steering wheel control section may calculate the magnitude of the differential value and determine the hands-on state or the hands-off state based on the magnitude of the differential value.

The steering wheel control unit may calculate an average value of the magnitudes and determine a hands-on state or a hands-off state based on the average value.

The steering wheel control unit subtracts a preset offset value from the detection signal, and can determine the hands-on state or the hands-off state based on the subtracted sensed signal and the differential value.

The steering wheel control unit can determine that the differential value is a first reference value or more and a hands-on state when the magnitude of the sensing signal is equal to or greater than a predetermined second reference value.

The steering wheel control unit may disable the Lane Keeping Assist System (LKAS) for automatically controlling the steering wheel when it is determined that the steering wheel is in the hands-on state.

The vehicle further includes an external sensing unit for sensing a lane of the vehicle in which the vehicle is present. The steering wheel control unit activates the lane keeping support system when it is determined that the vehicle is in the hands-off state. Based on the sensing signal of the external sensing unit, It is possible to control the steering wheel so as not to depart from the steering wheel.

The steering wheel control unit may activate a lane departure warning system (LDWS) that informs a driver of a lane departure of the vehicle when it is determined that the vehicle is in a hands-on state.

A method of controlling a vehicle includes receiving a sensing signal corresponding to a torque of a steering wheel; Calculating a differential value of the sensing signal; Determining a hands-on state or a hands-off state of the driver based on a calculation result of the calculating step; And controlling the steering wheel based on the determination result of the determining step.

The determining step may determine that the differential value is equal to or greater than a predetermined first reference value, and may determine that the differential value is less than the first reference value as the hands-off state.

The calculating step may perform low-frequency filtering on the sensing signal, and may calculate a derivative value on the sensing signal on which low-frequency filtering has been performed.

The calculating step may calculate the differential value for the sensing signal, perform the low frequency filtering on the differential value, and the determining step may determine the hand-on state or the hands-off state based on the result of the low-frequency filtering.

The calculating step may calculate the magnitude of the differential value, and the determining step may determine the hands-on state or the hands-off state based on the magnitude of the differential value.

The calculating step may calculate an average value of the magnitude of the differential value, and the determining step may determine the hands-on state or the hands-off state based on the average value of the magnitude of the differential value.

The control method of a vehicle may further include a step of subtracting a predetermined offset value from a detection signal before a step of determining a vehicle, wherein the step of determining includes a step of determining, based on the subtraction result and the derivative value of the subtracting step, The state can be judged.

The judging step can be judged as a hands-on state when the differential value is equal to or greater than a predetermined first reference value and the subtraction result is equal to or greater than a preset second reference value.

The controlling step may deactivate the Lane Keeping Assist System (LKAS) that automatically controls the steering wheel when it is determined that the steering wheel is in the hands-on state.

The control means controls the steering wheel so as to prevent the vehicle from departing from the lane on the basis of the detection signal of the external sensing portion which senses the lane to the lane where the vehicle is present .

According to the vehicle and vehicle control method according to the disclosed embodiments, the vehicle can accurately determine whether the driver intends to manually perform the steering operation of the wheel using the steering wheel.

1 is an external view 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 including a driving assistance device.
4 to 6 are graphs of sensing signals generated by the steering wheel sensing unit.
7 is a graph showing a signal comparison between a sensing signal generated by the steering wheel sensing unit and a low-frequency sensing signal subjected to low-frequency filtering.
8 is a signal comparative graph of a differential signal generated by performing a differential operation on a low-frequency sensing signal and a low-frequency sensing signal.
9 is a graph showing a signal comparison between a non-divided sensing signal and a sensing signal in which an absolute value conversion is performed.
10 is a signal comparative graph for a sense signal in which an absolute value conversion is performed and an average sense value in which a mean value calculation is performed for each of the sense signals in which an absolute value conversion is performed.
11 is a graph showing a comparison result between an average sensed signal generated by the steering wheel control unit and a reference value.
12 is a flowchart of a method of controlling a vehicle according to an embodiment.
13 is a flowchart of a method of controlling a vehicle according to another embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In this specification, the terms first, second, etc. are used to distinguish one element from another, and the element is not limited by the terms.

FIG. 1 is an external view of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an internal configuration of a vehicle according to an embodiment.

1, an appearance of a vehicle 100 according to an embodiment includes wheels 12 and 13 for moving the vehicle 100, a door 15L for shielding the inside of the vehicle 100 from the outside, A front glass 16 for providing the driver inside the vehicle 100 with a field of view ahead of the vehicle 100 and side mirrors 14L and 14R for providing the driver with a field of view behind the vehicle 100. [

The wheels 12 and 13 include a front wheel 12 provided at the front of the vehicle and a rear wheel 13 provided at the rear of the vehicle. A driving device (not shown) provided inside the vehicle 100 includes a vehicle 100 To the front wheel 12 or the rear wheel 13 to move forward or backward. Such a drive system may employ an engine that generates a rotational force by burning fossil fuel, or a motor that generates power by receiving power from a capacitor.

The doors 15L and 15R (see Fig. 2) are rotatably provided on the left and right sides of the vehicle 100 so that the driver or the passenger can ride on the inside of the vehicle 100 when the door 100 is opened. 100 are shielded from the outside. Handles 17L and 17R capable of opening and closing the doors 15L and 15R (see Fig. 2) can be provided outside the vehicle 100. Fig.

The front glass 16 is provided on the front upper side of the main body 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.

The side mirrors 14L and 14R include a left side mirror 14L provided on the left side of the vehicle 100 and a right side mirror 14R provided on the right side. 100 and the time information of the side and rear of the display unit 100 can be obtained.

In addition, the vehicle 100 may include a camera 21 for detecting obstacles or road conditions, such as front, rear, or side. For example, the vehicle 100 can recognize the right and left lanes of the car in which the vehicle 100 exists using the image data of the camera 21. [ Although the camera 21 is shown in Fig. 1 as being located in front of the vehicle 100, the position is not limited thereto.

In one embodiment, the other vehicle 100 may include a driving assistance device 30 for generating data for assisting the driving or driving of the driver, or for controlling driving or driving of the driver. The driving assistant device 30 controls driving of the steering wheel 31 using data obtained through the camera 21 or a sensor or the like. A detailed description of the driving assistance device 30 will be given later.

In addition, the vehicle 100 may include a proximity sensor for detecting obstacles or other vehicles on the front, rear, or side, a rain sensor for detecting rainfall and precipitation, and the like.

The proximity sensor can send a detection signal to the front, rear, or side of the vehicle, and can receive a reflection signal reflected from an obstacle such as another vehicle. The presence or absence of an obstacle in front of, behind, or the side of the vehicle 100 can be detected based on the waveform of the received reflection signal, and the position of the obstacle can be detected.

2, an AVN (Audio Video Navigation) display 71 and an AVN input unit 61 may be provided in a central area of the dashboard 29. The AVN display 71 can display at least one of an audio screen, a video screen, and a navigation screen, as well as a screen related to various control screens or additional functions related to the vehicle 100. For example, the AVN display 71 may be provided in front of and behind the vehicle 100, Or a side road situation or an obstacle can be displayed as an image.

The AVN display 71 may be implemented as an LCD (Liquid Crystal Display), a LED (Light Emitting Diode), a PDP (Plasma Display Panel), an OLED (Organic Light Emitting Diode), a CRT (Cathode Ray Tube)

The AVN input unit 61 may be provided in a hard key type area adjacent to the AVN display 71. When the AVN display 71 is implemented as a touch screen type, .

A center input unit 62 of a jog shuttle type may be provided between the driver's seat 18L and the passenger's seat 18R. The driver can input the control command in such a manner that the center input unit 62 is turned, pressed, or pushed in the up, down, left, or right direction.

The vehicle 100 may be provided with an acoustic output section 80 capable of outputting sound, and the acoustic output section 80 may be a speaker. The sound output unit 80 can output sounds necessary for performing an audio function, a video function, a navigation function, and other additional functions.

A steering wheel 31 is provided on the dashboard 29 on the driver's seat 18L side.

On the other hand, the vehicle 100 is provided with an air conditioner to perform both heating and cooling, and it is possible to control the temperature inside the vehicle 100 by discharging heated or cooled air through the air vents 21.

Hereinafter, with reference to FIG. 3, a vehicle 100 including a driving assistance device 30 according to an embodiment will be described. 3 is a control block diagram of a vehicle according to an embodiment including a driving assistance device.

As described above with reference to FIG. 1, the vehicle 100 according to one embodiment includes a driving assistance device 30 that assists the driver in driving or operating the vehicle.

The driving assistance device 30 may be a lane departure warning system (LDWS) or a lane keeping maintenance system (LDWS) using data acquired by an external sensing unit 20 such as a camera 21 mounted on a vehicle System (LKAS; Lane Keeping Assist System).

The lane departure warning system LDWS senses left and right lanes of a car in which the vehicle 100 is present and performs a function of informing the driver of the lane by sound or vibration when the vehicle 100 leaves the lane.

The lane-keeping support system (LKAS) calculates the control torque (auxiliary steering torque) so that the vehicle 100 does not deviate from the lane, and then inputs it to the steering wheel driver 32 to perform the lane-keeping control function.

The lane departure warning system LDWS can be activated in the passive driving mode in which the driver directly operates the steering wheel 31 of the vehicle 100 and the lane departure warning system LDWS is activated when the driving assistant 30 is in the vehicle The steering wheel 31 of the vehicle 100 can be automatically activated.

The driving assistance device 30 includes a steering wheel 31, a steering wheel driving portion 32 for driving the steering wheel 31, a steering wheel control portion 33 for controlling the driving of the steering wheel driving portion 32, And a steering wheel sensing unit 34 for sensing the movement of the steering wheel 31. The steering wheel 31 may be separate from the driving assistance device 30 as an external device of the driving assistance device 30 according to the embodiment.

The steering wheel 31 is a steering operation portion of the driver for steering the wheels 12 and 13 (see Fig. 1) of the vehicle 100 and may be provided on the dashboard 29 on the driver's seat 18L side However, the present invention is not limited to this, and may be provided at various positions.

The steering wheel drive unit 32 transmits the driving force to the steering wheel 31 in accordance with the electrical signal of the steering wheel control unit 33. [ The steering wheel 31 can be rotated clockwise or counterclockwise by the driving force provided by the steering wheel drive section 33 and can be rotated by the rotation of the steering wheel 31 to thereby drive the wheels 12, Can be steered. The steering wheel drive section 32 may be embodied as a motor or an actuator.

The steering wheel control unit 33 determines whether or not the steering wheel 31 is moving based on the sensing signal of the steering wheel sensing unit 34 and determines whether or not the steering wheel 31 is moving, And generates an electrical signal for controlling the steering wheel 31 based on the signal.

Specifically, the steering wheel control unit 33 determines whether or not the driver is operating the steering wheel 31 based on the detection signal of the steering wheel sensing unit 34, and when the driver operates the steering wheel 31 ), It is possible to enter the manual driving mode and deactivate the lane keeping support system (LKAS). The driver operates the steering wheel 31 in accordance with the intention to enter the manual driving mode in the automatic driving mode. Thus, in the case of operating the steering wheel 31, The lane keeping support system (LKAS), which is executed in the LBO, is inactivated and enters the manual driving mode.

When the lane keeping support system LKAS is inactivated, the steering wheel control unit 33 no longer generates an electrical signal for automatically controlling the movement of the steering wheel 31. [

On the other hand, when it is determined that the driver is not operating the steering wheel 31, the steering wheel control unit 33 according to the embodiment enters the automatic driving mode or enters the automatic driving mode, Mode.

The lane keeping support system LKAS is activated in the automatic driving mode so that the steering wheel control unit 33 can control the driving of the vehicle 100 based on the sensing signal (for example, a camera image signal) It is possible to determine the lane to the existing lane and control the steering wheel driving section 32 so as to prevent the vehicle 100 from deviating from the lane when the vehicle 100 leaves the lane, And generates an auxiliary steering torque signal to rotate in a direction opposite to the moving direction.

Further, according to another embodiment, the steering wheel control section 33 can activate the lane departure warning system (LDWS) if it is determined that the driver is operating the steering wheel 31. [ The driver operates the steering wheel 31 in accordance with the intention to enter the manual driving mode in the automatic driving mode. Thus, in the case of operating the steering wheel 31 as described above, the steering wheel control unit 33 operates the manual driving mode To activate the lane departure warning system (LDWS).

When the lane departure warning system LDWS is activated, the steering wheel control unit 33 determines the lane on which the vehicle 100 is present based on the detection signal of the external sensing unit 20, The sound output unit 80 of the vehicle 100 may inform the driver of the lane departure warning through sound or vibration when the lane departure occurs.

On the other hand, when the driver determines that the steering wheel 31 is not being operated, the steering wheel control unit 33 according to another embodiment enters the automatic driving mode or enters the automatic driving mode, Mode. In autopilot mode, the lane departure warning system (LDWS) is deactivated.

The steering wheel control unit 33 includes a processor for generating a control signal in accordance with programs and data stored in the memory, and a memory for storing programs and data for controlling the driving assist device 30 and the steering wheel 31. [ In the memory, data generated by the steering wheel control unit 33 may be stored.

The steering wheel sensing unit 34 senses whether or not the driver is operating the steering wheel 31. [ The steering wheel sensing unit 34 may be, for example, a torque sensor that generates a sensing signal corresponding to the rotational direction and angular momentum (i.e., torque) of the steering wheel 31. [

4 to 6 are graphs of sensing signals generated by the steering wheel sensing unit. The horizontal axis of the graph represents time, and the vertical axis represents a sensing signal (i.e., torque).

The positive (+) sensing signal (torque) generated by the steering wheel sensing unit 34 means that the steering wheel 31 rotates in one of two directions in which the steering wheel 31 is rotatable, The signal (torque) means that the steering wheel 31 rotates in the other direction.

For example, referring to FIG. 4, when the driver rotates the steering wheel 31 in the clockwise direction, the steering wheel sensing unit 34 can generate a positive sensed signal, When the steering wheel 31 is rotated in the direction of the arrow A, the steering wheel sensing unit 34 may generate a negative sensing signal.

The state in which the driver is operating the steering wheel 31 clockwise or counterclockwise is referred to as a hands-on state, and when the driver is not operating the steering wheel 31 clockwise or counterclockwise State is referred to as a hands-off state.

5, even when the driver does not operate the steering wheel 31, the steering wheel sensing unit 34 may generate a sensing signal having a small size due to the influence of noise or the like. Such noise makes it difficult for the control section 33 to distinguish the intention of the driver (the intention to enter the manual driving mode).

The driving assistance device 30 according to the embodiment correctly distinguishes the Hands Off state and the Hands On state even in a situation where noise is generated in the steering wheel sensing unit 34 as shown in FIG. . Hereinafter, a method of determining the hands-off and hands-on by the steering wheel control section 33 of the driving assist device 30 will be described with reference to Figs.

The steering wheel control unit 33 differentiates the sensing signal of the steering wheel sensing unit 34, compares the magnitude of the differential result value with a preset reference value, and if the magnitude of the differential result value is greater than or equal to the reference value It is determined as a hands-on state, and when it is less than the reference value, it is determined as a hands-off state.

In this case, the steering wheel control unit 33 may perform low-frequency filtering on the detection signal before the differential operation or the detection signal after the differential operation to remove the high-frequency component of the detection signal, and may be used in the low- The center frequency and the center frequency used in the low frequency filtering after the differential operation can be the same.

Further, the steering wheel control section 33 may compare the average value of the differential result values with preset reference values. In this case, it is determined that the average result value is equal to or greater than the preset reference value, and the hands-off state is determined when the average result value is less than the reference value. The average value may be an average value of intervals generated by calculating an average for each preset time interval.

7 is a graph showing a signal comparison between a sensing signal generated by the steering wheel sensing unit and a low-frequency sensing signal subjected to low-frequency filtering.

7, the steering wheel control unit 33 may perform low-frequency filtering to remove the high-frequency component of the sensing signal to remove noise from the sensing signal s1 generated by the steering wheel sensing unit 34 have. The low-frequency detection signal s2 is generated by the low-frequency filtering.

8 is a signal comparative graph of a differential signal generated by performing a differential operation on a low-frequency sensing signal and a low-frequency sensing signal.

Referring to FIG. 8, the steering wheel control unit 33 performs differential processing on the low-frequency sensing signal s2 subjected to the low-frequency filtering to generate a non-divided sensing signal s3.

Although not shown, the steering wheel control unit 33 can perform low frequency filtering once more for the differentiated sensing signal s3, and thus the high frequency components of the differentiated sensing signal s3 can be eliminated.

9 is a graph showing a signal comparison between a non-divided sensing signal and a sensing signal in which an absolute value conversion is performed.

Referring to Fig. 9, the steering wheel control unit 33 can perform an absolute value conversion on the differentiated sensing signal s3 to calculate the magnitude of the differentiated sensing signal s3, A signal s4 having the magnitude component of the signal s3 can be generated.

10 is a signal comparative graph for a sense signal in which an absolute value conversion is performed and an average sense value in which a mean value calculation is performed for each of the sense signals in which an absolute value conversion is performed.

Referring to FIG. 10, the steering wheel control unit 33 can perform an average value operation on the sense signal s4 which has been previously subjected to the absolute value conversion, and the average sense signal s5 can be generated according to the average value operation have. Here, the average value calculation may be to calculate an average value for each predetermined time interval (for example, every 0.1 second interval).

11 is a graph showing a comparison result between an average sensed signal generated by the steering wheel control unit and a reference value.

The steering wheel control unit 33 according to an embodiment compares the generated average sense signal s5 with a predetermined reference value ref and determines that the average sense signal s5 is in a hands-on state when the average sense signal s5 is equal to or greater than a preset reference value , And if it is less than the reference value, it can be determined that it is in the hands-off state.

As shown in FIG. 11, the steering wheel control unit 33 outputs 0 when it is determined to be in a hands-on state, and may output 1 when it is determined to be in a hands-off state, but the output value s6 may be opposite.

Even when the magnitude of the average sense signal s5 decreases below the reference value ref in the state where the magnitude of the average sense signal s5 is equal to or greater than the reference value ref (i.e., in the hands-on state), (c1, c2) If the magnitude of the average detection signal s5 increases again to the reference value ref or more, the steering wheel control unit 33 may still determine that the steering wheel control unit 33 is in a hands-on state.

The steering wheel control unit 33 performs low frequency filtering, differential calculation, absolute value calculation, average calculation, and comparison calculation on the sensing signal of the steering wheel sensing unit 34, If it detects (that is, outputs 0), it can enter the manual driving mode and deactivate the lane keeping support system (LKAS).

Further, the steering wheel control unit 33 may enter the automatic running mode when the hands-off state is detected (i.e., when 1 is output), and may activate the lane departure warning system LDWS.

Hereinafter, a method of determining the hands-off and hands-on by the steering wheel control unit 33 of the driving assistance device 30 according to another embodiment will be described.

The steering wheel control unit 33 according to another embodiment subtracts a preset offset value from the detection signal of the steering wheel sensing unit 34. [ If the magnitude of the subtracted sensed signal is greater than or equal to the reference value, it is determined to be the hands-on state. If the subtracted sensed signal is less than the reference value, the hand-off state is determined.

In this case, the steering wheel control unit 33 can perform low-frequency filtering on the detection signal before the subtraction to remove high-frequency components of the detection signal, and can perform absolute value conversion on the detection signal on which low-frequency filtering has been performed . Then, the offset can be subtracted from the absolute value converted detection signal.

On the other hand, the steering wheel control unit 33 according to another embodiment can determine the hands-on state or the hands-off state more accurately by using both the comparison result value according to one embodiment and the comparison result value according to another embodiment .

For example, the steering wheel control unit 33 may calculate the first result value by comparing the magnitude of the differentiated result value with the first reference value according to one embodiment, and calculate the first result value by comparing the size of the sensed signal, And determines that the steering wheel 30 is in the hands-on state when it is determined that the first and second result values are both in the hands-on state.

For example, when it is determined that either the first reference value or the second reference value is in the hands-off state, the steering wheel control unit 33 may determine that the steering wheel 30 is in the hands-off state. The first reference value and the second reference value may be different or may be the same.

Hereinafter, with reference to FIG. 12 and FIG. 13, a driving assistance device according to an embodiment and a control method of a vehicle including the driving assistance device will be described. The components of the vehicle 100 described with reference to Figs. 12 and 13 are the same as those of the vehicle 100 described above with reference to Figs. 1 to 11, use. FIG. 12 is a flowchart of a method of controlling a vehicle according to an embodiment, and FIG. 13 is a flowchart of a method of controlling a vehicle according to another embodiment.

12, the steering wheel control unit 33 according to an embodiment acquires a sensing signal generated by the steering wheel sensing unit 34 (1110) and performs low-frequency filtering to remove noise The high frequency component of the detection signal is removed (1111).

Then, the steering wheel control unit 33 according to the embodiment performs differential processing on the detection signal subjected to the low-frequency filtering (1112) and performs low-frequency filtering once more to remove noise to calculate a high- (1113).

Then, the steering wheel control unit 33 according to the embodiment performs an absolute value conversion on the sensing signal subjected to the low-frequency filtering, calculates the size of the sensing signal, and stores it in the memory (1114). Then, the steering wheel control unit 33 calculates an average for each time interval with respect to the calculated magnitude of the sensed signal (Step 1115), and compares the result of the average calculation with a predetermined first reference value (Step 1116).

The steering wheel control unit 33 according to the embodiment determines whether the result of the average calculation is equal to or greater than the first reference value, or performs a hands-off determination method A according to another embodiment. However, if the result of the average calculation is less than the first reference value, it is determined to be in the hands-off state (1117).

The vehicle 100 according to the embodiment maintains the automatic driving mode or the automatic driving mode in the hands-off state using the hands-off determination method according to one embodiment of the driving assist device 30, The maintenance support system (LKAS) is activated, and in the hands-on state, the lane departure warning system (LDWS) can be inactivated by entering the performance running mode. When the lane-keeping support system (LKAS) is activated, the steering wheel control section (33) generates an auxiliary steering torque signal for controlling the steering wheel drive section (32).

13, the steering wheel control unit 33 according to another embodiment acquires the sensing signal generated by the steering wheel sensing unit 34 in the same manner as the steering wheel control unit 33 according to the embodiment, To remove noise, low frequency filtering is performed to remove high frequency components of the detection signal (1121).

Subsequently, the steering wheel control unit 33 according to another embodiment performs an absolute value conversion on the low-frequency filtered detection signal to calculate the magnitude of the detection signal (1122). Then, the steering wheel control unit 33 subtracts a preset offset from the absolute value conversion result, and compares the subtraction result value with a predetermined second reference value (1123).

The steering wheel control unit 33 according to another embodiment determines that the hands-off state is a state where the result of the subtraction is greater than or equal to the second reference value (1124) . In this case, the steering wheel control unit 33 according to another embodiment is configured such that the average calculation result of the steering wheel control unit 33 according to the embodiment is equal to or greater than the first reference value ("YES" When the result of subtraction of the control unit 33 is equal to or greater than the second reference value ("Yes" in 1123 in Fig. 12), it can be finally determined as a hands-on state. However, if the average calculation result value is less than the first reference value ("No" in 1116 of FIG. 11) or the result of subtraction is less than the second reference value ("No" have.

At least one of the low-frequency filtering steps 1111, 1113, and 1121 and the average value calculating step 1115 may be omitted.

When it is finally determined that the vehicle is in the hands-on state, the steering wheel control unit 33 deactivates the lane-keeping support system LKAS, which is performed in the automatic driving mode, and enters the manual driving mode.

When the lane keeping support system LKAS is inactivated, the steering wheel control unit 33 no longer generates an electrical signal (i.e., an auxiliary steering torque signal) for automatically controlling the movement of the steering wheel 31. [

Also, when it is determined that the vehicle is in the hands-on state, the steering wheel control unit 33 can activate the lane departure warning system LDWS that is performed in the manual driving mode.

When the lane departure warning system LDWS is activated, the steering wheel control unit 33 determines the lane on which the vehicle 100 is present based on the detection signal of the external sensing unit 20, The sound output unit 80 of the vehicle 100 may inform the driver of the lane departure warning through sound or vibration when the lane departure occurs.

On the other hand, when it is determined that the hands-off state is established, the steering wheel control unit 33 maintains the automatic driving mode when entering the automatic driving mode or entering the automatic driving mode. In the automatic driving mode, the lane-keeping support system (LKAS) is activated, and the steering wheel control unit 33 automatically controls the movement of the steering wheel 31 based on the sensing signal acquired by the external sensing unit 20. [

In addition, in the automatic running mode, the lane departure warning system (LDWS) is inactivated, and the steering wheel control unit 33 no longer generates an electric signal for controlling the acoustic output unit 80. [

It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: vehicle 20: external sensing unit
30: driving assist device 31: steering wheel
32: steering wheel drive unit 33: steering wheel control unit
34: steering wheel sensing unit

Claims (20)

A steering wheel for steering the wheel;
A steering wheel sensing unit for generating a sensing signal corresponding to a torque of the steering wheel; And
And a steering wheel control unit for controlling the steering wheel based on the sensing signal,
Wherein the steering wheel control unit determines the hands-on state or the hands-off state based on the differential value of the sensing signal. The method according to claim 1,
Wherein the steering wheel control unit determines the hands-on state when the differential value is greater than or equal to a predetermined first reference value and determines the hands-off state when the differential value is less than the first reference value. The method according to claim 1,
Wherein the steering wheel control unit performs low-frequency filtering on the detection signal. The method according to claim 1,
Wherein the steering wheel control unit calculates the magnitude of the differential value and determines the hands-on state or the hands-off state based on the magnitude of the differential value. 5. The method of claim 4,
The steering wheel control section calculates an average value of the magnitudes and determines the hands-on state or the hands-off state based on the average value. The method according to claim 1,
Wherein the steering wheel control unit subtracts a predetermined offset value from the sensing signal and determines the hands-on state or the hands-off state based on the subtracted sensing signal and the differential value. The method according to claim 6,
Wherein the steering wheel control unit determines that the differential value is determined as the hands-on state when the differential value is equal to or greater than a predetermined first reference value and the magnitude of the sensing signal is equal to or greater than a predetermined second reference value. The method according to claim 1,
Wherein the steering wheel control unit deactivates a lane keeping assistance system (LKAS) for automatically controlling the steering wheel when it is determined that the vehicle is in the hands-on state. 9. The method of claim 8,
Further comprising an external sensing unit for sensing a lane to a car in which the vehicle exists,
Wherein the steering wheel control unit activates the lane-keeping support system when it is determined as the hands-off state, and controls the steering wheel so that the vehicle does not depart from the lane based on the detection signal of the external sensing unit. The method according to claim 1,
Wherein the steering wheel control unit activates a lane departure warning system (LDWS) for informing a driver of a lane departure of the vehicle when the steering wheel control unit is determined as the hands-on state. Receiving a sensing signal corresponding to a torque of the steering wheel;
Calculating a differential value of the sensing signal;
Determining a hands-on state or a hands-off state of the driver based on a calculation result of the calculating step; And
And controlling the steering wheel based on the determination result of the determining step. 12. The method of claim 11,
Wherein the determining step determines the hands-on state when the differential value is greater than or equal to a predetermined first reference value, and determines the hands-off state when the differential value is less than the first reference value. 12. The method of claim 11,
Wherein the calculating step performs low-frequency filtering on the sensing signal and calculates a derivative value with respect to the sensing signal on which the low-frequency filtering has been performed. 12. The method of claim 11,
The calculating step may include calculating a differential value for the sensing signal, performing low-frequency filtering on the differential value,
Wherein the determining step determines the hands-on state or the hands-off state based on a result of the low-pass filtering. 12. The method of claim 11,
Wherein the calculating step calculates the size of the differential value,
Wherein the determining step determines the hands-on state or the hands-off state based on the magnitude of the differential value. 16. The method of claim 15,
Wherein the calculating step calculates an average value of the magnitude of the differential value,
Wherein the determining step determines the hands-on state or the hands-off state based on an average value of magnitudes of the differential values. 12. The method of claim 11,
Before the determining step,
Further comprising subtracting a preset offset value from the sensing signal,
Wherein the determining step determines the hands-on state or the hands-off state based on the subtraction result of the subtracting step and the differential value. 18. The method of claim 17,
Wherein the determining step determines that the vehicle is in the hands-on state when the differential value is equal to or greater than a predetermined first reference value and the subtraction result is equal to or greater than a preset second reference value. 12. The method of claim 11,
Wherein the controlling step disables a lane keeping assistance system (LKAS) that automatically controls the steering wheel when it is determined that the vehicle is in the hands-on state. 20. The method of claim 19,
Wherein the controlling step activates the lane-keeping support system when it is determined that the vehicle is in the hands-off state, and based on a detection signal of an external sensing unit that senses a lane to a car in which the vehicle exists, Wherein the control unit controls the steering wheel.

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