KR20190071064A - Automatic Driving control apparatus, vehicle having the same and method for controlling the same - Google Patents

Abstract

The present invention relates to an autonomous driving control apparatus to control a vehicle′s driving speed at a preset position, a vehicle including the same, and a control method thereof. According to the present invention, the vehicle comprises: a power apparatus applying driving force to a wheel; a brake apparatus applying braking force to the wheel; a suspension apparatus damping shock and vibration received from a road surface; an opening/closing apparatus opening/closing a window of a door; an image acquisition unit acquiring an image of a road; an input unit inputting a destination; a storage unit storing entry position information of a tollgate; a location reception unit receiving a current location; a control unit generating a route from the received current location to the destination, controlling navigation based on route information of the generated route, determining the presence of an overspeeding prevention section and a type of a driving lane based on image information of the acquired image when the received current location is determined as an entry position of a tollgate, controlling the suspension apparatus to decrease damping force when the overspeeding prevention section exists, and controlling the opening/closing apparatus to open/close the window when the type of the driving lane is determined as a toll ticket lane; and a display unit displaying the generated route and navigation information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic driving control apparatus, a vehicle having the automatic driving control apparatus,

The present invention relates to an autonomous running control apparatus for controlling a running speed based on a current position, a vehicle having the autonomous running control apparatus, and a control method therefor.

The vehicle is a machine that drives the road by driving the wheels. The vehicle is equipped with various devices for protecting the occupant, assisting the driver and improving the ride quality.

In addition to basic driving functions, the car performs additional functions for user convenience such as audio function, video function, navigation function, air conditioning control, seat control and lighting control.

Such vehicles may be provided with an AVN device incorporating navigation, audio and video functions.

The vehicle also communicates with an audio function, a video function, a navigation function, a map function, a telephone function, a radio function, a broadcast function, a text message service function, and an Internet function enabled terminal.

Here, the navigation mode for performing the navigation function receives position information from satellites through a plurality of global positioning systems (hereinafter, referred to as "GPS"), calculates the current position of the vehicle, Map matching is performed on the map, the destination is input from the user, the route is searched from the current position calculated according to the predetermined route search algorithm to the destination, and the searched route is displayed on the map, It guides the user to the destination along the route.

The vehicle performs an autonomous travel that automatically moves to the destination using the navigation function and the obstacle recognition function.

One aspect of the present invention provides an autonomous running control apparatus for controlling a running speed at a predetermined position while moving to a destination, a vehicle having the same, and a control method thereof.

Another aspect provides an autonomous running control apparatus for controlling at least one of a suspension, an air conditioner, a window, an engine, a braking apparatus and a steering apparatus at a predetermined position while moving to a destination, a vehicle having the same, and a control method thereof.

An autonomous drive control apparatus according to one aspect includes: an image acquisition unit that acquires an image of a road; An input unit for receiving a destination; A storage unit for storing position information of a preset position and image information corresponding to a preset position; A position receiving unit for receiving a current position; A route is generated from the received current position to a destination and the traveling is controlled based on the route information of the generated route and the image information of the acquired image, and the current position is preset based on the acquired image information and the stored image information And a control unit for decreasing the traveling speed when it is determined that the vehicle is in a position.

The controller of the autonomic driving control device according to an aspect of the present invention determines whether or not a speed over speed protection section exists based on the image information of the obtained image. If it is determined that the over speed protection section exists, the damping force of the damper is decreased, And controlling the suspension to be adjusted.

The control unit of the autonomic driving control apparatus according to an aspect of the present invention determines whether the driving lane is a passport lane based on the image information of the obtained image when it is determined that the predetermined position is the entering position of the toll gate. Controlling the opening and closing device to open the window of the vehicle, and controlling the suspension to adjust the height of the vehicle body.

The control unit of the autonomic driving control apparatus according to an aspect includes controlling the suspension to start adjusting the height of the vehicle body at a position before the position of the passage ticket issuing machine and before the position of the toll booth.

The control unit of the autonomic vehicle control apparatus according to an aspect of the present invention determines whether the toll gate has passed through the toll gate based on the image information of the acquired image and controls the opening and closing apparatus so that the window of the driver's seat is closed. And controlling the suspension to be returned.

The control unit of the autonomic driving control apparatus according to an aspect of the present invention checks the distance between the current position and the destination on the basis of the received positional information of the current position and the positional information of the destination, , Turning off the radio device, and turning off the audio device.

The control unit of the autonomic driving control apparatus according to one aspect includes controlling the opening / closing apparatus so that the window of the driver's seat is opened when it is determined that the current position is the destination.

The control unit of the autonomic running control apparatus according to one aspect includes releasing the automatic on / off function of the engine and the automatic on / off function of the braking apparatus when it is determined that the current position is the destination.

The vehicle according to another aspect includes: a power unit for applying a driving force to the wheel; A braking device for applying a braking force to the wheel; An image acquiring unit acquiring an image of a road; An input unit for receiving a destination; A storage unit for storing position information of a preset position and image information corresponding to a preset position; A position receiving unit for receiving a current position; And a control unit for controlling the driving based on the path information of the generated path and the image information of the obtained path to generate a path from the received current position to the destination when performing the autonomous driving mode, And controlling the operation of at least one of the power unit and the braking unit such that the traveling speed is reduced when it is determined that the current position is a predetermined position based on the detected position.

The vehicle according to another aspect further includes a suspension device for alleviating impact and vibration from the road surface, and the control unit determines whether there is an overspeed prevention interval based on the image information of the acquired image, and when it is determined that the overspeed prevention interval exists The damping force of the damper and the height of the vehicle body are controlled.

A vehicle according to another aspect is a suspension device for relieving shock and vibration from a road surface; Wherein the control unit determines that the driving lane is a passport lane on the basis of the image information of the obtained image when the predetermined position is determined as the entering position of the toll gate, If it is determined that the window of the driver's seat is open, the opening / closing device is controlled and the suspension is controlled so that the height of the vehicle body is adjusted.

The vehicle according to another aspect further includes a suspension device for relieving impact and vibration from the road surface, and the control unit controls the vehicle based on the image information of the obtained image when it is determined that the preset position is the entry position of the toll gate The controller controls the suspension device so that the damping force of the damper is reduced and the height of the vehicle body is raised when it is determined that the overspeed prevention section is present.

The vehicle according to another aspect further includes an opening / closing device for opening and closing the window of the door, wherein the control unit determines whether the driving lane is the passport lane on the basis of the image information of the obtained image when the passive driving mode is performed, When it is determined that the vehicle is a car, the opening / closing device is controlled so that the window of the driver's seat is opened, and the suspension device is controlled to adjust the height of the vehicle body.

The control section of the vehicle according to the other aspect controls the suspension to start adjusting the height of the vehicle body at a position a distance before the position of the tollgate.

The controller of the vehicle according to another aspect judges whether or not the toll gate has passed through the toll gate based on the image information of the acquired image and controls the opening and closing device so that the window of the driver's seat is closed, And controlling the device.

The controller of the vehicle according to the other aspect confirms the distance between the current position and the destination on the basis of the received position information of the current position and the destination position information and if it is determined that the confirmed distance is the reference distance, Off of the audio device, and turning off of the audio device.

The vehicle according to another aspect includes: an opening / closing device for opening and closing a window of a door; The control unit may further include an illuminance detecting unit for detecting an illuminance of the outside, and the control unit includes checking the illuminance detected when the current position is determined as a destination, and controlling the opening and closing apparatus such that the window of the driver's seat is opened when the illuminance is less than the reference illuminance .

The controller of the vehicle according to another aspect releases the automatic on / off function of the engine and the automatic on / off function of the braking device if it is determined that the current position is the destination.

A vehicle according to another aspect includes: a power unit for applying a driving force to a wheel; A braking device for applying a braking force to the wheel; A suspension for relieving shock and vibration from the road surface; An opening / closing device for opening and closing the window of the door; An image acquiring unit acquiring an image of a road; An input unit for receiving a destination; A storage unit for storing entry location information of the tollgate; A position receiving unit for receiving a current position; And controlling the route guidance based on the route information of the generated route. When it is determined that the received current position is the entrance position of the tollgate, the route guidance is controlled based on the image information of the acquired image, The existence of the interval and the kind of the own vehicle are judged, and if the overspeed prevention interval exists, the damping force And controls the opening / closing device so that the window is opened or closed when it is determined that the type of the car is the passage ticket; And a display unit for displaying the generated route and route guidance information.

According to another aspect of the present invention, the vehicle further includes an illuminance detection unit for detecting the illuminance of the outside, and the control unit confirms the distance between the current position and the destination based on the received position information of the current position and the destination position information, The controller turns off the air conditioner, turns off the radio device, turns off the audio device, checks the detected illuminance if the current position is the destination, and if the illuminance is less than the reference illuminance, So as to control the opening and closing device.

According to another aspect of the present invention, a method of controlling a vehicle includes generating a route from a current location to a destination when a destination is received, controlling route guidance based on route information of the generated route, Determines whether the current position is the entry position of the tollgate, judges the existence of the overspeed prevention section and the type of the child road based on the image information of the acquired image when it is determined that the current position is the entrance position of the toll gate, The suspension device is controlled so that the damping force is decreased and the height of the vehicle body is raised. If it is determined that the type of the vehicle is a passenger vehicle, the opening / closing device is controlled so that the window of the driver's seat is opened.

The control method of the vehicle according to another aspect further includes controlling at least one of the power device and the braking device such that the running speed is reduced at the entry position of the tollgate when the running mode is the autonomous running mode.

According to another aspect of the present invention, there is provided a method of controlling a vehicle, comprising: checking a distance between a current position and a destination based on position information of a current position and position information of a destination; And controlling the opening and closing device so that the window of the driver's seat is opened when the checked illuminance is lower than the reference illuminance.

According to another aspect of the present invention, there is provided a method of controlling a vehicle, the method comprising: confirming a position of a toll gate based on image information of an image acquired through an image acquiring unit when it is determined that the type of the sub- And controlling the suspension to start adjusting the height of the vehicle body at the position.

The present invention controls the traveling speed when it is determined that the vehicle is located at a current position or a predetermined position based on external information (navigation information, camera image information, etc.) of the vehicle, and also controls the suspension speed, the air conditioner, The stability and ride comfort of the vehicle can be improved by controlling at least one of the steering devices, and the driver can feel comfortable and convenient in accordance with the driving situation

As described above, the present invention can improve the quality and merchantability of a vehicle or a terminal that performs a navigation mode and an autonomous driving mode, increase the satisfaction of a user, and secure competitiveness of a product.

1 is an external view of a vehicle according to an embodiment.
2 is an internal view of a vehicle according to an embodiment.
3 is a control configuration diagram of the vehicle according to the embodiment.
4A and 4B are flowcharts of a control method of a vehicle according to an embodiment, and are flowcharts of control of a vehicle when the tollgate is traveling.
Figs. 5 and 6 are diagrams showing an example when the vehicle according to the embodiment runs on a high-pass lane.
Figs. 7 and 8 are views showing an example when the vehicle according to the embodiment is traveling on the passage ticket.
Fig. 9 is a control flowchart of the vehicle according to the embodiment, and is a control flowchart of the vehicle when the preset position is the destination.

Like reference numerals refer to like elements throughout the specification. The present specification does not describe all elements of the embodiments, and redundant description between general contents or embodiments in the technical field of the present invention will be omitted. The term " part " used in the specification may be embodied in software or hardware.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only the case directly connected but also the case where the connection is indirectly connected, and the indirect connection includes connection through the wireless communication network do.

Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

The singular forms " a " include plural referents unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of the steps, and each step may be performed differently from the stated order unless clearly specified in the context. have.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is an external view of a vehicle provided with an autonomous-running control apparatus according to an embodiment of the present invention. Fig. 2 is an internal view of a vehicle provided with an autonomous-running control apparatus according to an embodiment.

The vehicle 1 includes a body having a built-in and an exterior, and a chassis provided with a mechanical device necessary for traveling to the rest except for the vehicle body.

1, the exterior 110 of the vehicle body includes a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a trunk 115, front and rear right and left doors 116, And a window 117 provided on the left and right doors 116 so as to be openable and closable.

The exterior of the vehicle body includes a filler 118 provided at a boundary between the front panel, the bonnet, the roof panel, the rear panel, the trunk, the windows of the front and rear doors, and the side mirror 119 ).

2, the interior body 120 of the vehicle body includes a seat 121 on which an occupant sits, a dashboard 122, and a tachometer 120. The tachometer 120 includes a tachometer, a speedometer, a coolant thermometer, a fuel meter, (I.e., cluster 123) in which a warning lamp, a warning light, an alarm lamp, a warning light, an odometer, an odometer, an automatic shift selector lever indicator, a door open warning lamp, an engine oil warning lamp, And a center fascia 124 in which a tuyere and a throttle plate are disposed and a radio device and an audio device are disposed.

The cluster 123 may further include a display unit for displaying driving information and failure information of the vehicle. Here, the travel information may include fuel mileage information, travelable distance information, total mileage information, and travel mode, and the failure information may include tire air pressure abnormality information and the like.

The center fascia 124 may be provided with a head unit 125 for controlling a radio device, an audio device, an air conditioner, a multi terminal 126, and the like.

The multi terminal 126 may be disposed adjacent to the head unit 125, and may include a USB port and an AUX terminal, and may further include an SD slot.

The multi terminal 126 is also capable of communicating with the user terminal via the USB port. Here, the user terminal is a device capable of moving and communicating, and may include a smart phone, a notebook, a tablet, and a wearable device.

The vehicle 1 may further include an input unit 127 for receiving operation commands of various functions.

The input unit 127 may be provided in the head unit 125 and the center pacea 124 and may include at least one physical button such as an operation on-off button for various functions, a button for changing setting values of various functions do.

The input unit 127 may include a touch panel integrally provided on a display unit of the vehicle terminal 130. The input unit 127 receives the position information of the button displayed on the display unit of the terminal 130.

The input unit 127 may further include a jog dial or a touch pad for inputting a movement command and a selection command of a cursor displayed on the display unit of the vehicle terminal 130.

Here, the jog dial or the touch pad may be provided in a center fascia or the like.

The vehicle 1 may be provided in the head unit, and may further include a display unit 128 for displaying information on functions performed in the vehicle and information input by the user.

The display unit 128 can display selection information and execution information of the auto hold function, selection information and execution information of the autonomous driving mode, selection information and execution information of the idle stop and high function, selection information of the highway driving mode, have.

The display unit 128 may be a plasma display panel (PDP), a liquid crystal display (LCD) panel, an electroluminescence (EL) panel, an electrophoretic display (EPD) panel, But are not limited to, an electrochromic display (ECD) panel, a light emitting diode (LED) panel, or an organic light emitting diode (OLED) panel.

The vehicle may further include a vehicle terminal 130 that receives information on a radio mode, an audio mode, a video mode, a DMB mode, a navigation mode, and an autonomous mode, and displays information on the running mode.

The vehicle terminal 130 can display an image in the front, rear, left, and right directions in the autonomous running mode, and display the map accuracy and the guidance information in cooperation with the navigation mode.

The on-vehicle terminal 130 may be disposed on a dashboard or may be embedded in a center fascia.

The display unit of the terminal 130 may display information about the function being performed and information input by the user.

The vehicle 1 is provided with a shift lever 140 provided at the center pedestal 124 and receiving an operation position and a shift lever 140 positioned around the shift lever 140 or in the vicinity of the head unit 125 and operated by an electronic parking brake apparatus And a parking button (EPB button) for receiving a command.

The vehicle 1 includes a steering wheel 151 of the steering device for adjusting the direction of travel, a brake pedal 152 that is pressed by the user in accordance with the braking will of the user, And an accelerator pedal 153.

The vehicle includes a power unit, a braking unit 161 for generating a braking force of the vehicle, a suspension unit 162 for adjusting the damping of the vehicle, and a window 117 provided on the door of the vehicle to move the window to open or close the window. An engine control device 164 that automatically turns on and off the engine 164a, a steering device 165 that changes the running direction of the vehicle, an air conditioning device 166 that controls the temperature inside the vehicle, And a radio device 167 for outputting a radio signal.

The vehicle may further include an audio device for outputting audio.

Here, the power unit may include a power generator for generating power and a power transmission unit for transmitting the generated power to the wheels.

The power generating device may include at least one of an engine and a motor for applying a driving force to the wheel.

The braking device 161 can perform an auto-hold function.

In this case, the auto hold function will hold the braking force even when the pressure applied to the brake pedal is released when the position of the shift lever is in the drive end (D position) and the brake pedal is temporarily released When the accelerator pedal is pressed, the function is released and the braking force is applied to the wheel so that the vehicle is not pushed by the road with a certain degree of inclination.

The suspension device 162 is a device that fixes the wheels to the vehicle's undercarriage and relieves impact and vibration from the road surface. It protects the vehicle body by raising the height of the vehicle when the road surface is uneven, By reducing the height of the car on the road and reducing the air resistance, the driving stability can be improved.

The suspension device 162 lowers the damping force of the damper if the road surface is irregular, and increases the damping force of the damper if the road surface is regular.

In addition, the suspension device 162 increases the damping force when the traveling speed is high, decreases the damping force when the traveling speed is low, increases the damping force on the road with many bends, decreases the damping force on the straight road, decreases the damping force of the front damper on the understeering, The damping force of the front damper is increased and the damping force of the rear damper is lowered in the oversteer.

The suspension device 162 gives the driver a hard feeling when the damping force of the damper is increased, and gives the driver a soft feeling when the damping force of the damper is lowered.

Types of suspension devices include hydraulic and pneumatic.

The engine control device 164 turns the engine on and off. The engine control unit 164 performs an idle stop and go (ISG) function.

In this case, the idle stop & high function automatically turns off the engine when the vehicle is stopped for signal waiting, etc., and releases the pressure applied to the brake pedal at the start, or applies the pressure to the accelerator pedal or the position of the shift lever (D-stage), the engine is automatically turned on (i.e., turned on).

3 is a control configuration of the vehicle according to the embodiment. The vehicle 1 includes various driving devices 161, 162, 164 and 165 for driving the vehicle and additional devices 163, 166 and 167 for user's convenience A distance detecting unit 171, an image obtaining unit 172, a position receiving unit 173, a speed detecting unit 174, an illuminance detecting unit 175, a temperature detecting unit 176, a control unit 181, And a storage unit 182. Here, the control unit 181 and the storage unit 182 may be an autonomous drive control device 180 for autonomous running of the vehicle.

Various driving devices for driving the vehicle include a braking device 161, a suspension device 162, an engine control device 164, and a steering device 165, and an additional device for the convenience of the user includes a window opening / closing device 163 ), An air conditioner 166, and a radio device 167.

Description of these driving devices and additional devices is omitted.

The terminal 130 receives information on an audio function, a video function, a DMB function, a radio function, a navigation mode, and an autonomous running mode, and displays operation information on the function or mode being performed.

The autonomous mode of this embodiment includes an autonomous mode having a Highway Driving Assist (HDA) that allows the vehicle to automatically run only when the position of the vehicle is a highway.

The terminal 130 can display an image in the front, rear, left, and right directions when the traveling mode is the autonomous traveling mode, and can display the map accuracy and route guidance information in conjunction with the navigation mode.

The terminal 130 may include an input unit 131 and a display unit 132. The input unit of the terminal 130 may be a touch panel, and the display unit may be a display panel.

The terminal 130 may be provided with a touch screen in which a touch panel and a display panel are integrated.

In addition, the terminal 130 may include only a display panel, which is a display unit, and may receive operation information and an operation command through the input unit 127 provided in the center fascia of the vehicle.

The input unit 131 of the terminal receives an autonomous running mode selection command. In addition, the input unit 131 of the terminal can receive a selection command of the manual driving mode to be driven based on the operation information of the driver.

The input unit 131 of the terminal may receive a selection command and a destination of the navigation mode.

The input unit 131 of the terminal may receive an auto hold function, an idle stop and go (ISG) function, and a command for selecting and releasing the highway driving mode.

The display unit 132 of the terminal may also display information on execution and release of the autonomous mode and execution and release of the highway driving mode.

The display unit 132 of the terminal may display the map information and display the map information and the route guidance information matched with the route.

In addition, the terminal 130 may communicate with the control unit 181 for controlling the navigation mode and the autonomous mode, and perform a display operation based on the control command of the control unit 181 received through communication .

The distance detection unit 171 detects the distance to other vehicles and obstacles in the vicinity. The distance detecting unit 171 may be provided on the front, back, right, and left sides of the exterior of the vehicle.

The distance detecting unit 171 includes a rider sensor.

LiDAR (Light Detection And Ranging) sensor is a non-contact type distance detection sensor using the principle of laser radar.

The laser sensor may include a transmitter for transmitting a laser, and a receiver for receiving a laser reflected on the surface of an object existing within the sensor range.

Where the laser may be a single laser pulse.

The distance detecting unit 171 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates the ultrasonic wave for a certain time and then detects the signal reflected from the object.

Ultrasonic sensors can be used to determine the presence of obstacles such as pedestrians within a short range.

A radar sensor is a device that detects the position of an object by using reflected waves generated by the emission of radio waves when transmitting and receiving are performed in the same place.

Such a radar sensor may use a Doppler effect or change the frequency of the transmission radio wave in time or output a pulse wave as a transmission radio wave in order to prevent the transmitted radio wave and the received radio wave from being overlapped and difficult to be distinguished.

For reference, the Lada sensor has a higher detection accuracy in the lateral direction than the RaDAR (Radio Detecting And Ranging) sensor, so it can improve the accuracy of determining whether there is a passage in front.

The image obtaining unit 172 obtains the image of the road and transmits the obtained image to the control unit 181. [ Here, the image of the road may be the image of the road in the forward direction with respect to the running direction of the subject vehicle.

The image acquiring unit 172 may be a camera, and may include a CCD or a CMOS image sensor.

The image acquiring unit 172 may be provided on a window glass on the front surface of the vehicle, or may be provided on a window glass inside the vehicle, on a room mirror inside the vehicle, or on a roof panel 113, It is possible.

The position receiver 173 receives the position of the child vehicle.

The position receiver 173 may include a Global Positioning System (GPS) receiver for calculating the position of the vehicle by communicating with a plurality of satellites.

The speed detector 174 detects the running speed of the vehicle.

The speed detector 174 may be a wheel speed sensor provided on front, rear, left, and right wheels, or an acceleration sensor that detects acceleration of the vehicle.

The vehicle may further include an angular velocity detection unit that detects an angular velocity of the steering wheel for detecting a steering angle of the vehicle, and a yaw rate detection unit that detects a yaw moment of the vehicle.

The illuminance detection unit 175 detects the illuminance of the outside of the vehicle.

The temperature detection unit 176 detects the temperature outside the vehicle. In addition, the vehicle may further include an indoor temperature detection unit for detecting an internal temperature.

The control unit 181 controls various driving devices and additional devices provided in the vehicle.

The control unit 181 may be provided in the autonomous-running control device 180 for autonomous driving.

Based on the input information of the input section, the image information of the image obtaining section 172, the detection information of the distance detecting section 171 and the speed detecting section 174, and the position information of the position receiving section 173, the autonomous- Of the vehicle.

The autonomous-travel control device 180 may be a running control device having a highway support function for performing an autonomous running when the current position of the vehicle is a highway and releasing the autonomous running mode when the road is not a highway.

The autonomous-motion control apparatus 180 further includes a storage unit 182 in addition to the control unit 181. The autonomous-motion control apparatus 180 includes information obtaining unit 172, distance detecting unit 171, position receiving unit 173, and speed detecting unit 174 And a communication unit (not shown) for receiving data.

The communication unit may include one or more components that enable communication with various devices in the vehicle, and may include at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The control unit 181 confirms the current position received by the position receiving unit 173 when the selection signal of the navigation mode selected through the input unit 131 of the terminal is received and confirms the selected destination through the input unit 131 of the terminal The map information stored in the navigation unit 182 is checked, the route from the current position to the destination is searched, the searched route is matched with the map, and the map matched with the route is displayed through the display unit 132 of the terminal.

The control unit 181 activates the operation of the image obtaining unit 172 and the distance detecting unit 171 when the selection signal of the autonomous driving mode is received and performs interlocking with the navigation mode, And controls the driving of various driving devices based on the information to autonomously travel from the current position to the destination.

The controller 181 confirms the position of the other vehicle traveling in the left and right lanes of the vehicle lane based on the distance information from the obstacle detected by the distance detecting unit 171 during the self-running mode, The distance of the other vehicle corresponding to the position of the vehicle is checked, and the speed of the subject vehicle is adjusted based on the distance of the identified other vehicle.

The control unit 181 recognizes the lane on the road by performing image processing when the image information of the road is received during the autonomous driving mode, and recognizes the lane on which the vehicle runs based on the recognized lane position information.

The control unit 181 controls the driving direction (i.e., steering) of the vehicle so that the lane is maintained or changed based on the distance to the other vehicle, the current position, the recognized lane, the recognized lane, and the searched route .

The control unit 181 may display an image in front, back, left, and right directions of the subject vehicle obtained through the image obtaining unit 172 during execution of the autonomous driving mode. In addition, It is also possible to display the guide information.

Here, the navigation information includes destination information and map information, and further includes the name of the road in the map, the position information of the road, the type of the road, and the route number of the road.

When the highway driving mode is selected, the control unit 181 determines whether the highway should be entered based on the navigation information and the location information. If it is determined that the vehicle enters the highway, the control unit 181 controls the highway driving assistant (HDA) Controls the autonomous driving, and ends the highway driving mode when it is judged that the vehicle has entered the highway.

In addition, the control unit 181 performs the manual driving mode when the autonomous driving mode is released. That is, the control unit 181 controls the power unit and the braking unit based on the operation information of the brake pedal operated by the driver and the operation information of the accelerator pedal during the manual travel mode so as to adjust the speed of the vehicle, It is also possible to adjust the running direction of the vehicle by controlling the steering apparatus based on the steering information of the steering wheel.

The control unit 181 may perform image processing when the image information obtained from the image obtaining unit is received, recognize the toll gate, the high pass lane, and the pass lane lane by performing image recognition, and recognize the overspeed prevention period.

The control unit 181 can recognize the over-speed protection zone, the school zone, and the curved road based on the navigation information.

The control unit 181 compares the current position with a preset position during execution of the autonomous running mode and decreases the number of revolutions of the engine to reduce the running speed when the current position is determined as a preset position or controls the braking of the braking device .

The control unit 181 compares the current position with a preset position during execution of the autonomous running mode and decreases the number of revolutions of the engine to reduce the running speed when the current position is determined as a preset position or controls the braking of the braking device .

The control unit 181 can check the limiting speed corresponding to the characteristic of the position when the running speed is decreased and control the running speed to be decreased based on the checked limiting speed.

Here, the limit speed corresponding to the position characteristic may include a limit speed of the toll gate entry section, and may further include a limit speed on a curved road, a limit speed on the overspeed prevention threshold, and a limit speed in a school zone.

The control unit 181 can control the operation of the suspension so that the height and the damping force (i.e., damping force) of the vehicle body are adjusted based on the road surface state of the road during the autonomous travel mode or the manual travel mode.

That is, the control unit 181 controls the suspension so that the damping force of the damper is reduced if the road surface state is irregular, or when the overspeed prevention jaw exists, and if the road surface state is regular, the damping force of the damper is increased do.

The control unit 181 controls the opening and closing device so that the window of the driver's seat is opened when passing through the passport lane of the toll gate in the passive driving mode and controls the suspension device so that the height of the vehicle body is adjusted based on the height of the passport issuer.

The control unit 181 checks the distance between the current position and the destination and turns off the air conditioner if the distance between the current position and the destination is determined to be the reference distance, turns off the radio device, controls the audio device to be off, And controls the operation of the suspension to adjust the height of the suspension.

The control unit 181 can control at least one of the air conditioner, the radio apparatus, the audio apparatus, and the suspension apparatus if the current position is located at a distance from the destination by a reference distance, that is,

The control unit 181 compares the position information of the current position with the position information of the destination and confirms the illuminance detected by the illuminance detecting unit when the current position is determined as the destination, and if the illuminance is below the reference illuminance, .

The control unit 181 checks the illuminance detected by the illuminance detecting unit and the temperature detected by the temperature detecting unit when the current position is determined as a destination and controls the opening and closing apparatus such that the window is opened when the checked illuminance is equal to or lower than the reference illuminance, .

In addition, the window opening setting during parking according to the external temperature can be selected or released by the user.

If it is determined that the current position is the destination, the control unit 181 determines whether or not the auto hold function and the idle stop and high function are performed. If it is determined that the auto hold function and the idle stop and high function are being performed, It is also possible to disable the stop-and-go function.

The control unit 181 may control the operation of the steering device so that the turning radius and the gear ratio can be easily set when the current position is determined to be the destination.

In the case of a vehicle having rear wheel steering (RWS), the control unit 181 controls the rear wheel steering unit so as to have an easy turning radius.

In the case of a vehicle having an electric current steering apparatus (AFS: Active Front Steering), the control unit 181 sets the steering ratio of the current steering apparatus to a gear ratio that facilitates parking.

Here, the turning radius and the gear ratio can be set by the user.

The control unit 181 may be a CPU or an MCU, and may be a processor.

The control unit 181 includes a memory (not shown) for storing data for a program reproducing an algorithm or algorithm for controlling the operation of components in the vehicle, and a processor (not shown) for performing the above- Not shown). At this time, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented on a single chip.

The storage unit 182 stores map information, a road name in a map, a road type, a route number of a road, and road position information, stores position information of a preset position, and stores image information of a predetermined position.

The predetermined position may be a toll gate, a curved road having a curvature of a predetermined curvature or more, or may be a speed limiter or a school zone.

The storage unit 182 may store the location information of the destination and store a reference distance for determining the vicinity of the destination.

The storage unit 182 may be a nonvolatile memory device such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) (Random Access Memory), or a storage medium such as a hard disk drive (HDD) and a CD-ROM. However, the present invention is not limited thereto. The storage unit may be a memory implemented in a separate chip from the above-described processor in association with the control unit, and may be implemented as a single chip with the processor.

The storage unit 182 stores the reference illuminance and the reference temperature.

The storage unit 182 can also store the turning radius of the rear wheel steering apparatus or the gear ratio of the current steering apparatus.

At least one component may be added or deleted corresponding to the performance of the components of the vehicle shown in Fig. It will be readily understood by those skilled in the art that the mutual position of the components can be changed corresponding to the performance or structure of the system.

Meanwhile, each of the components shown in FIG. 3 refers to hardware components such as software and / or a Field Programmable Gate Array (FPGA) and an Application Specific Integrated Circuit (ASIC).

Figs. 4A and 4B are flowcharts of a method of controlling a vehicle according to an embodiment, and will be described with reference to Figs. 5 to 8. Fig.

Fig. 4A is a control flowchart of the vehicle in the autonomous driving mode, and Fig. 4B is a control flowchart of the vehicle in the manual driving mode.

As shown in FIG. 4A, when the autonomous mode is selected 201 through the input unit 127 or the input unit 131 of the center fascia, the vehicle interacts with the navigation mode.

The vehicle confirms the current position received by the position receiver 173 and confirms the input destination through the input unit 127 or the input unit 131 of the terminal and searches for the route from the current position to the destination, And displays the route through the display unit 132 of the terminal.

The vehicle performs autonomous travel from the current position to the destination based on the map information, route information, and current position information (202).

More specifically, the vehicle checks the position of the other vehicle traveling in the left-hand side direction and the right-hand side direction on the basis of the distance information with respect to the obstacle detected by the distance detection unit 171 during the self- The distance of the other vehicle corresponding to the position of the other vehicle is checked, and the speed of the subject vehicle is adjusted based on the distance of the identified other vehicle.

The vehicle recognizes the lane of the road based on the image of the road obtained by the image acquisition unit 172 during the running mode of the autonomous driving mode, and recognizes the lane on which the vehicle runs based on the recognized lane position information.

Then, the vehicle controls the running direction (i.e., steering) of the vehicle so that the lane is maintained or changed based on the distance to the other vehicle, the current position, the recognized lane, the recognized lane, and the searched route during the self-running mode.

The vehicle determines whether the current position in the autonomous running mode is a preset position.

Determining whether the current position is a preset position may include determining whether the current position is an entry position of the toll gate, an entry position of the curved road, an entry position of the school zone, or an entry position of the overspeed prevention section.

In the present embodiment, an example in which the current position is the entrance position of the tollgate will be described.

Determining whether the current position is a preset position includes comparing the current position received by the position receiving unit with a preset position stored in the storage unit to determine whether the two positions are the same.

The determining whether the current position is the preset position includes determining whether the image of the tollgate exists in the image acquired through the image acquisition unit and judging that the current position is the predetermined position if the image of the tollgate exists in the acquired image .

When it is determined (203) that the present position is the entry position of the tollgate, the vehicle determines whether the type of the lane on which the subject vehicle is traveling is the high pass lane or the pass passage lane.

Here, the entry position of the toll gate may be a predetermined distance from the toll gate, or may be an entry position stored in the storage section.

Determining whether the lane on which the present vehicle is traveling is a high pass lane or a pass passage lane includes determining whether a high pass phrase image exists in the image obtained through the image obtaining unit, And determining whether a phrase image exists.

When it is determined (204) that the vehicle is traveling in the high-pass lane, it is determined (205) whether there is an overspeed prevention interval in the high-pass lane based on the image acquired by the image acquisition unit.

It is also possible for the vehicle to determine whether or not the overspeed prevention section exists in the high-pass lane based on the navigation information.

As shown in FIG. 5, if the vehicle is in the toll gate entry position P, it is determined whether there is a high-pass lane or a over-speed lane interval based on the image acquired by the image acquiring unit. (206) if it is determined that there is no overspeed prevention section within the overspeed prevention period.

It is also possible for the vehicle to acquire the distance between the toll gate and the vehicle based on the position information of the tollgate and the position information of the vehicle and to start the deceleration if the obtained distance is a certain distance d1. At this time, the vehicle reduces the number of revolutions of the engine so that the running speed is reduced to the limit speed when the tollgate passes, or generates the braking force by using the braking device.

Then, the vehicle compares the current location information with the location information of the tollgate to determine whether it has passed through the toll gate (207). If it is determined that the toll passes through the toll gate, the vehicle performs the restoration control (208). That is, the vehicle increases the number of revolutions of the engine such that the running speed is increased to the set speed of the autonomous running mode.

It is also possible to determine whether the vehicle has passed through the tollgate based on the image information of the image obtained by the image acquiring unit.

In addition, when the running speed of the vehicle increases, the number of revolutions of the engine is increased based on the distance from the preceding vehicle and the speed of the other vehicle.

As shown in FIG. 6, when the vehicle is in the high-pass lane and the over-speed blocking period F is determined to exist in the lane, the vehicle decreases the running speed and reduces the damping force of the damper 209.

More specifically, the vehicle acquires the distance between the tollgate and the vehicle based on the tollgate position information and the vehicle position information, starts deceleration when the obtained distance is a certain distance d1, The damping force of the damper is reduced if it is determined that the present position is the start position (Pf) of the overspeed protection section.

At this time, the vehicle reduces the number of revolutions of the engine so that the running speed is reduced to the limit speed when the tollgate passes, or generates the braking force by using the braking device.

In addition, it is also possible that the height of the vehicle body is increased by controlling the height of the vehicle body through the control of the suspension device before the vehicle travels in the overspeed prevention section, and then the overspeed prevention section is caused to run.

Then, the vehicle compares the current location information with the location information of the tollgate to determine whether it has passed through the toll gate (207). If it is determined that the toll passes through the toll gate, the vehicle performs the restoration control (208). That is, the vehicle increases the number of revolutions of the engine and increases the damping force of the damper to the reference damping force so that the running speed is increased to the set speed of the autonomous running mode.

In addition, when the height of the vehicle body is adjusted by the overspeed prevention section, it is also possible to adjust the height of the vehicle body to a reference height after passing through the tokle.

In this way, when the tollgate is traveling through the high-pass lane, the vehicle can control the suspension device (ECS) according to the driving situation while reducing the traveling speed.

If it is determined that the vehicle is in the right passage, the vehicle is determined 210 based on the image acquired by the image acquisition unit.

In addition, it is also possible for the vehicle to determine whether or not there is a speed limit section in the passport lane based on the navigation information.

If the vehicle is in the tollgate entry position, it is determined whether there is a passage right lane or whether there is a speed limit preventing section based on the image acquired by the image obtaining section. If it is determined that there is no over speed blocking section within the lane passage or the lane passage, The window provided on the door of the driver's seat is opened and the height of the vehicle body is adjusted (211) based on the height of the passage ticket issuing machine.

At this time, the vehicle reduces the number of revolutions of the engine so that the running speed is reduced to the limit speed when the tollgate passes, or generates the braking force by using the braking device.

As shown in Fig. 7, it is also possible for the vehicle to acquire the distance between the tollgate and the vehicle based on the tollgate position information and the vehicle position information, and start the deceleration if the obtained distance is a certain distance d1. At this time, the vehicle reduces the number of revolutions of the engine so that the running speed is reduced to the limit speed when the tollgate passes, or generates the braking force by using the braking device.

Then, the vehicle judges whether the vehicle is adjacent to the passing ticket issuing machine based on the position information of the toll gate and the position information of the vehicle. When it is determined that the vehicle is positioned adjacent to the passing ticket issuer, the vehicle opens the window of the door of the driver's seat, (h), the height of the vehicle body is adjusted.

Here, the height of the passing ticket issuing machine may include an image of the passing ticket issuing machine from the image acquired by the image acquiring section, estimating the height of the acquired passenger ticket issuing machine in the image, and adjusting the height of the vehicle body based on the predicted height of the passing ticket issuing machine have.

In addition, the vehicle judges whether the vehicle is adjacent to the toll booth based on the position information of the toll gate and the position information of the vehicle. When it is determined that the vehicle is positioned adjacent to the toll gate, the window of the driver's door is opened, It is also possible to adjust the height of the vehicle body based on the height of the booth.

When the height of the vehicle body is adjusted, the vehicle starts adjusting the height of the vehicle body at the position Pt before the position t of the ticket issuing machine or the toll booth at a predetermined distance d2.

This is taken into account when the height of the car body is adjusted to 30 mm for about 10 seconds.

In addition, if the vehicle is judged to be a high-pass lane or a highway pass lane based on whether or not the vehicle is capable of communicating with the high-pass terminal of the toll gate, it is possible to open the window provided on the driver's seat door and adjust the height of the vehicle body It is possible.

The vehicle compares the current location information with the location information of the tollgate to determine whether the tollgate has passed through the toll gate (212). If it is determined that the toll passes through the toll gate, the vehicle performs the restoration control (208). That is, the vehicle increases the number of revolutions of the engine so as to increase the running speed to the set speed of the self-running mode, closes the window of the driver's seat, and adjusts the height of the vehicle body to the reference height.

In addition, when the running speed of the vehicle increases, the number of revolutions of the engine is increased based on the distance from the preceding vehicle and the speed of the other vehicle.

Here, the reference height may be a height before the height of the vehicle body is increased, and may be a height before entering the overspeed prevention section.

If the vehicle is judged to be present in the lane of passengers and there is an overspeed prevention section F in the lane, the driving speed is reduced, the damping force of the damper is reduced, the window provided in the door of the driver's seat is opened, Thereby adjusting the height of the vehicle body (213).

8, the vehicle acquires the distance between the tollgate and the vehicle based on the tollgate position information and the vehicle position information, starts deceleration if the obtained distance is a certain distance d1, It is possible to reduce the damping force of the damper when it is judged that the start position Pf of the overspeed prevention section F is reached. At this time, the vehicle reduces the number of revolutions of the engine so that the running speed is reduced to the limit speed when the tollgate passes, or generates the braking force by using the braking device.

Then, the vehicle judges whether the vehicle is adjacent to the passing ticket issuing machine based on the position information of the toll gate and the vehicle position information. If the vehicle is judged to be the position (Pt) adjacent to the passing ticket issuer, the door of the driver's seat is opened, Adjust the height of the vehicle body based on the height (h) of the carding machine.

Here, the height of the passing ticket issuing machine may include an image of the passing ticket issuing machine from the image acquired by the image acquiring section, estimating the height of the acquired passenger ticket issuing machine in the image, and adjusting the height of the vehicle body based on the predicted height of the passing ticket issuing machine have.

In addition, the vehicle judges whether the vehicle is adjacent to the toll booth based on the position information of the toll gate and the position information of the vehicle. When it is determined that the vehicle is positioned adjacent to the toll gate, the window of the driver's door is opened, It is also possible to adjust the height of the vehicle body based on the height of the booth.

When the height of the vehicle body is adjusted, the vehicle starts adjusting the height of the vehicle body at the position Pt before the position t of the ticket issuing machine or the toll booth at a predetermined distance d2.

This is taken into account when the height of the car body is adjusted to 30 mm for about 10 seconds.

In addition, before the vehicle travels in the overspeed prevention section, the height of the vehicle body is adjusted by controlling the height of the vehicle body through the control of the suspension device so that the vehicle passes through the overspeed prevention section. When the vehicle is positioned close to the passage ticket issuing machine, Can be readjusted to the height of the carding machine.

Further, before the vehicle travels in the overspeed prevention section, the height of the vehicle body is adjusted by controlling the height of the vehicle body through the control of the suspension device so that the height of the vehicle body is increased. After passing through the overspeed prevention section, It is also possible to re-adjust the height.

The vehicle compares the current location information with the location information of the tollgate to determine whether the tollgate has passed through the toll gate (212). If it is determined that the toll passes through the toll gate, the vehicle performs the restoration control (208). That is, the vehicle increases the number of revolutions of the engine so that the running speed increases to the set speed of the autonomous running mode, closes the window of the driver's seat, adjusts the height of the vehicle body to the reference height, and increases the damping force of the damper.

In addition, when the running speed of the vehicle increases, the number of revolutions of the engine is increased based on the distance from the preceding vehicle and the speed of the other vehicle.

In this way, when the gate is driven by the passport lane, the vehicle can easily control the ECS and the window of the driver's seat for ticketing and toll payment while reducing the traveling speed.

As shown in FIG. 4B, when the autonomous mode is not selected, the vehicle adjusts the traveling speed based on the information of the brake pedal and the accelerator pedal pressure, and based on the steering information of the steering wheel operated by the driver (214) while controlling the steering direction of the vehicle by controlling the steering apparatus.

When the navigation mode is selected through the input unit 127 provided in the center fascia or the input unit 131 provided in the center fascia and the destination is inputted, the vehicle is searched for a route from the current position to the destination based on the position information of the current position and the position information of the destination It is also possible to perform a navigation mode in which the searched route is matched to the map, displayed on the display unit 132 of the terminal, and the route guidance information is output.

The vehicle determines whether the current position in the running mode is the preset position in the manual running mode.

Determining whether the current position is a preset position may include determining whether the current position is an entry position of the toll gate, an entry position of the curved road, an entry position of the school zone, or an entry position of the overspeed prevention section.

In the present embodiment, an example in which the current position is the entrance position of the tollgate will be described.

Determining whether the current position is a preset position includes comparing the current position received by the position receiving unit with a preset position stored in the storage unit to determine whether the two positions are the same.

The determining whether the current position is the preset position includes determining whether the image of the tollgate exists in the image acquired through the image acquisition unit and judging that the current position is the predetermined position if the image of the tollgate exists in the acquired image .

When it is determined 215 that the current position is the entry position of the tollgate, the vehicle determines whether the lane on which the vehicle is traveling is a high pass lane or a pass passage lane.

Here, the entry position of the toll gate may be a predetermined distance from the toll gate.

Determining whether the lane on which the present vehicle is traveling is a high pass lane or a pass passage lane includes determining whether a high pass phrase image exists in the image obtained through the image obtaining unit, And determining whether a phrase image exists.

When it is determined (216) that the vehicle is traveling in the high-pass lane, it is determined (217) whether there is an overspeed prevention interval in the high-pass lane based on the image acquired by the image acquisition unit.

It is also possible for the vehicle to determine whether or not the overspeed prevention section exists in the high-pass lane based on the navigation information.

That is, if the vehicle is in the tollgate entry position, it is determined whether there is a high-pass lane or a over-speed blocking period based on the image obtained by the image obtaining unit. If it is determined that there is no overspeed prevention period in the lane lane, If the confirmed running speed is equal to or higher than the limit speed, guidance information on the reduction request of the running speed is output.

If the vehicle is a high-pass lane and the speed limit section is present in the lane, the damping force of the damper is reduced (218).

In addition, it is also possible that the height of the vehicle body is adjusted through the control of the suspension device before the vehicle travels in the overspeed prevention zone so that the height of the vehicle body is increased and then passed through the overspeed prevention zone.

Then, the vehicle compares the current location information with the location information of the tollgate to determine whether the tollgate has passed through the toll gate (219). If it is determined that the toll passes the toll gate, the vehicle performs the restoration control (220). That is, the vehicle increases the damping force of the damper to the reference damping force. In addition, when the height of the vehicle body is adjusted, it is also possible to adjust the height of the vehicle body to a reference height.

If it is determined that the vehicle lane is a traffic passage lane, the vehicle is judged (221) based on the image acquired by the image acquiring unit whether a speed limit section exists in the traffic lane lane.

In addition, it is also possible for the vehicle to determine whether or not there is a speed limit section in the passport lane based on the navigation information.

That is, if the vehicle is a tollgate entry position, it is determined whether or not a speed limit passage exists, based on the image acquired by the image acquisition section. If it is determined that there is an overspeed prevention interval in the vehicle lane, The window provided on the door of the driver's seat is opened, and the height of the vehicle body is adjusted 222 based on the height of the passage ticket issuing machine.

It is also possible to open a window provided on a door of a driver's seat if the driving lane is determined to be a high pass lane or a pass lane lane based on whether or not communication with the high-pass terminal of the toll gate is possible.

In addition, it is also possible that the height of the vehicle body is adjusted through the control of the suspension device before the vehicle travels in the overspeed prevention zone so that the height of the vehicle body is increased and then passed through the overspeed prevention zone.

Then, the vehicle compares the current location information with the location information of the toll gate to determine whether the toll gate has passed through the toll gate (223). If it is determined that the toll gate has passed through the toll gate, the recovery control is performed (224). That is, the vehicle closes the window of the driver's door and increases the damping force of the damper to the reference damping force. In addition, when the height of the vehicle body is adjusted before passing through the toll gate, it is also possible to adjust the height of the vehicle body to a reference height.

If the vehicle is in the tollgate entry position, it is determined based on the image acquired by the image acquisition unit whether there is a passage right lane or whether there is an overspeed prevention section. If it is determined that there is no overspeed prevention section in the vehicle lane, Open the window and adjust the height of the vehicle body to the height of the ticket issuing machine (225).

At this time, when the height of the vehicle body is adjusted, the vehicle starts adjusting the height of the vehicle body at a position a certain distance from the position of the ticket issuer or the toll booth.

Then, the vehicle compares the current location information with the location information of the toll gate to determine whether the toll gate has passed through the toll gate (223). If it is determined that the toll gate has passed through the toll gate, the recovery control is performed (224). That is, the vehicle closes the window of the driver's door and increases the damping force of the damper to the reference damping force.

It is also possible for the vehicle to re-adjust the height of the vehicle body based on the height of the booth at the toll booth.

In addition, it is possible to determine whether the vehicle is traveling on a curved road based on navigation information during the self-running mode, and to reduce the traveling speed of the vehicle and to increase the damping force of the damper if it is determined that the vehicle is traveling on a curved road.

It is also possible to determine whether the vehicle is traveling on a curved road based on navigation information while the vehicle is in the manual traveling mode and to increase the damping force of the damper when it is determined that the vehicle is traveling on a curved road.

Fig. 9 is a control flowchart of the vehicle according to the embodiment, and is a control flowchart of the vehicle when the preset position is the destination.

The vehicle compares position information of the current position with position information of the destination during execution of the autonomous running mode or the manual running mode and judges that the current position is near to the destination if it is determined that the distance between the current position and the destination is the reference distance.

That is, if the current position is judged to be close to the destination (231), the vehicle determines whether the air conditioner is in an operating state and turns off the air conditioner if it is determined that the air conditioner is in operation, thereby reducing fuel consumption and preventing the generation of odors in the air conditioner.

In addition, it is also possible to operate only the blowing fan of the air conditioner if it is determined that the current position is near the destination.

Also, if it is determined that the current position is close to the destination, the vehicle determines whether the radio apparatus is in an operation state, and turns off the radio apparatus when it is determined that the radio apparatus is in an operation state.

In addition, if the type is an SUV, the vehicle lowers the height of the vehicle body (232). This makes it easy for the user to get off.

The vehicle compares the current location information with the destination location information to determine whether the current location is the destination, and if the current location is determined to be the destination, confirms the illuminance detected by the illumination detector (234) (Step 235).

If the driver judges that the illuminance is less than the reference illuminance, the vehicle opens the window provided on the driver's seat so as to secure the field of view during parking.

It is also possible for the vehicle to maintain the window closing state of the driver's seat door when the external temperature detected by the temperature detector is below the reference temperature when the current position is the destination.

The vehicle can be configured to open the window of the driver's seat when the external illuminance is lower than the reference illuminance and the external temperature is lower than the reference temperature based on the setting information set by the user, and it is also possible to maintain the window closing of the driver's seat.

The vehicle then checks to see if the auto-hold function and the idle stop-and-high function is being performed, and releases at least one function if the function is being performed (step 236).

On the other hand, if it is determined that the checked illuminance exceeds the reference illuminance, it is checked whether the auto-hold function and the idle stop-and-go function are being performed, and if at least one function is being performed, the function being executed is canceled 237.

By releasing the auto-hold and idle stop-and-go functions as described above, braking is prevented from being performed at the time of parking, and the engine is not turned off during parking so as not to feel inconvenience.

In addition, if it is determined that the current position is the destination, the vehicle is controlled so that the turning radius of the turning radius is adjusted to a preset turning radius, or the steering ratio is adjusted to a predetermined gear ratio to facilitate parking.

Thus, if the present position is the destination, the parking lot, or the predetermined position, the vehicle controls the AUTO HOLD, the engine control device (ISG), the window, the steering devices AFS and RWS.

In this manner, the driver can feel comfortable and convenient to the driving situation by the control by the driving condition.

As described above, the embodiments of the present invention have been described with reference to the accompanying drawings. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. It will be understood that the invention may be practiced. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle 171: distance detector
172: image acquiring unit 173: position receiving unit
174: speed detecting unit 175: illuminance detecting unit
176:

Claims (24)

An image acquiring unit acquiring an image of a road;
An input unit for receiving a destination;
A storage unit for storing position information of a preset position and image information corresponding to the preset position;
A position receiving unit for receiving a current position;
Generating a path from the received current position to the destination and controlling traveling based on the route information of the generated route and the image information of the obtained image, and based on the acquired image information of the image and the stored image information, And decreasing a traveling speed when it is determined that the current position is the predetermined position. The apparatus of claim 1,
And controlling the suspension so that the damping force of the damper and the height of the vehicle body are adjusted when it is determined that the overspeed prevention section is present based on the image information of the obtained image, . The apparatus of claim 1,
Determining whether the driving lane is a passport lane based on the image information of the obtained image if it is determined that the predetermined position is the entering position of the toll gate, And controlling the suspension to adjust the height of the vehicle body. The apparatus of claim 3,
And controlling the suspension to start adjusting the height of the vehicle body at a position a certain distance from the position of the passage ticket issuing machine and the position of the toll booth. The apparatus of claim 3,
Determining whether the toll gate has passed through the toll gate based on the image information of the acquired image and controlling the opening and closing device such that the window of the driver's seat is closed when it is determined that the toll gate has passed the toll gate and controlling the suspension device to return the height of the vehicle body And an autonomous drive control device. The apparatus of claim 1,
The control unit checks the distance between the current position and the destination on the basis of the received position information of the current position and the position information of the destination, and turns off the air conditioner, turns off the radio apparatus, Off of the vehicle. The apparatus of claim 1,
And controlling the opening / closing device so that the window of the driver's seat is opened when the current position is determined as the destination. The apparatus of claim 1,
And turning off the automatic on / off function of the engine and the automatic on / off function of the braking device if it is determined that the current position is the destination. A power unit for applying a driving force to the wheel;
A braking device for applying a braking force to the wheel;
An image acquiring unit acquiring an image of a road;
An input unit for receiving a destination;
A storage unit for storing position information of a preset position and image information corresponding to the preset position;
A position receiving unit for receiving a current position; And
A path is generated from the received current position to the destination when the autonomous driving mode is performed, the traveling is controlled based on the route information of the generated route and the image information of the obtained image, And controlling the operation of at least one of the power device and the braking device so that the traveling speed is reduced when it is determined that the current position is the predetermined position based on the stored image information. 10. The method of claim 9,
Further comprising a suspension for mitigating shock and vibration from the road surface,
Wherein the control unit determines whether a speed over-speed protection period exists based on the image information of the obtained image, and controls the suspension apparatus so that the damping force of the damper and the height of the vehicle body are adjusted when it is determined that the over- vehicle. 10. The method of claim 9,
A suspension for relieving shock and vibration from the road surface;
Further comprising an opening / closing device for opening and closing the window of the door,
Wherein the control unit determines that the driving lane is the passage right lane based on the image information of the obtained image if the predetermined position is determined as the entering position of the toll gate so that the window of the driver's seat is opened when the driving lane is determined as the right passage lane Controlling the opening / closing device, and controlling the suspension so that the height of the vehicle body is adjusted. 10. The method of claim 9,
Further comprising a suspension for mitigating shock and vibration from the road surface,
If it is determined that the preset position is the entrance position of the vehicle when the manual driving mode is performed, the control unit determines whether or not there is an overspeed prevention period based on the image information of the obtained image. If it is determined that the overspeed prevention period exists And controlling the suspension so that the damping force of the damper is reduced and the height of the vehicle body is raised. 13. The method of claim 12,
Further comprising an opening / closing device for opening and closing the window of the door,
Wherein the control unit determines whether the driving lane is a passport lane based on the image information of the obtained image when the passenger driving mode is performed and if the driving lane is judged to be the passport lane, And controlling the suspension to adjust the height of the vehicle body. 14. The apparatus of claim 13,
And controlling the suspension to start adjusting the height of the vehicle body at a position a distance before the position of the toll gate. 14. The apparatus of claim 13,
Determining whether the toll gate has passed through the toll gate based on the image information of the acquired image and controlling the opening and closing device such that the window of the driver's seat is closed when it is determined that the toll gate has passed the toll gate and controlling the suspension device to return the height of the vehicle body Included vehicles. 10. The apparatus according to claim 9,
The control unit checks the distance between the current position and the destination on the basis of the received position information of the current position and the position information of the destination, and turns off the air conditioner, turns off the radio apparatus, Off of the vehicle. 10. The method of claim 9,
An opening / closing device for opening and closing the window of the door;
Further comprising an illuminance detector for detecting an illuminance of the outside,
Wherein the control unit confirms the detected illuminance when the current position is determined to be the destination, and controls the opening / closing apparatus so that the window of the driver's seat is opened when the illuminance is less than the reference illuminance. 10. The apparatus according to claim 9,
And turning off the automatic on / off function of the engine and the automatic on / off function of the braking device if it is determined that the current position is the destination. A power unit for applying a driving force to the wheel;
A braking device for applying a braking force to the wheel;
A suspension for relieving shock and vibration from the road surface;
An opening / closing device for opening and closing the window of the door;
An image acquiring unit acquiring an image of a road;
An input unit for receiving a destination;
A storage unit for storing entry location information of the tollgate;
A position receiving unit for receiving a current position; And
Generates a route from the received current location to the destination, controls route guidance based on the route information of the generated route, and determines whether the received current location is an entry position of the tollgate, The control unit controls the damping force of the suspension to be reduced when the overspeed prevention interval is present and controls the damping force of the suspension unit to decrease when the type of the sub lane is determined to be the passage right car, A control unit for controlling the opening and closing device; And
And a display unit for displaying the generated route and route guidance information. 20. The method of claim 19,
Further comprising an illuminance detector for detecting an illuminance of the outside,
The control unit checks the distance between the current location and the destination based on the received location information of the current location and the location information of the destination. If the determined distance is the reference distance, And controlling the opening / closing device so that the window of the driver's seat is opened when the determined illuminance is lower than the reference illuminance. When a destination is received, a route is generated from the current location to the destination,
Controls the route guidance based on the route information of the generated route,
Determining whether the current location is the entry position of the tollgate based on the image information of the image acquired through the image acquisition unit,
Determining whether the current position is the entry position of the tollgate, determining the existence of the overspeed protection section and the type of the child road based on the image information of the obtained image,
And controlling the suspension device so that the damping force is decreased and the height of the vehicle body is raised when the overspeed prevention section is present,
And controlling the opening / closing device so that the window of the driver's seat is opened when it is determined that the type of the child car is the passage ticket. 22. The method of claim 21,
Further comprising controlling the operation of at least one of the power unit and the braking device such that the running speed is reduced at the entry position of the tollgate when the running mode is the autonomous running mode. 22. The method of claim 21,
The distance between the current position and the destination is confirmed based on the position information of the current position and the position information of the destination,
Off of the air conditioner, off of the radio device, and off of the audio device when it is determined that the identified distance is the reference distance,
If it is determined that the current position is the destination, checking the illuminance detected by the illuminance detector,
And controlling the opening / closing device so that the window of the driver's seat is opened when the illuminance is less than the reference illuminance. 22. The method of claim 21,
If it is determined that the type of the sub-lane is the passway lane, the location of the tollgate is confirmed based on the image information of the image obtained through the image obtaining unit,
Further comprising controlling the suspension to start adjusting the height of the vehicle body at a position a distance before the identified toll gate position.

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