KR20200017571A - Lateral control parameter correction apparatus and method for autonomous vehicle - Google Patents

Abstract

The present invention relates to a transverse control parameter correcting device for an automatic driving vehicle and a method for the same. The transverse control parameter correcting device for an automatic driving vehicle includes: an estimated mileage calculating unit calculating an estimated mileage of a vehicle using vehicle information provided by a sensor installed in the vehicle; a turning radius calculating unit calculating a turning radius of the vehicle based on the vehicle information provided by the sensor installed in the vehicle; a side slip angle estimating unit estimating a side slip angle of the vehicle; a forward distance calculating unit calculating a forward distance using the turning radius of the vehicle provided by the turning radius calculating unit and the estimated mileage provided by the estimated mileage calculating unit; and a transverse controller pressure value correcting unit correcting a transverse controller input parameter by using the side slip angle provided by the side slip angle estimating unit, the forward distance provided by the forward distance calculating unit, and route information of the vehicle provided by the sensor.

Description

Lateral control parameter correction apparatus and method for autonomous vehicle

The present invention relates to an apparatus for correcting lateral control parameters for an autonomous vehicle, and more particularly, to an adaptive driver assistance system and an apparatus and method for estimating a position of an autonomous vehicle for autonomous driving of an autonomous vehicle.

In general, a vehicle equipped with an autonomous vehicle and a lateral safety system needs steering control to follow a path, and for such steering control, a relative correlation between the path and the vehicle must be calculated.

Here, the relative correlation between the path and the vehicle can be measured using a sensor such as an image or a GPS, but a system delay occurs due to a communication delay of the sensor and a time delay of the actuator.

Such a system delay may hinder the real-time and stability of the driving control, and may cause serious problems, especially at high speeds.

In order to solve this problem, conventionally, as shown in FIG. 1, a look ahead distance is calculated using only a difference between a vehicle speed, a driving path, and a heading angle of the vehicle, and the position of the own vehicle is estimated by using the difference.

[Table 1] is a description of the terms and variables of FIG.

As described above, since the conventional method of estimating the position of the own vehicle simply assumes straight driving, as shown in FIG. 2A, straightness decreases at high speed, and as shown in FIG. 2B, excessive steering control is performed during curved driving. There is a problem that the ride comfort and stability fall.

SUMMARY OF THE INVENTION The present invention has been made to solve the conventional problems, and estimates the position of the host vehicle by reflecting the turning radius and the side slip angle, which are the behavior information of the vehicle, and finally corrects the input parameters of the steering control to improve the riding comfort and safety at the same time. An object of the present invention is to provide a lateral control parameter correction device for an autonomous vehicle.

The object of the present invention is not limited to the above-mentioned object, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

An apparatus for correcting lateral control parameters for an autonomous vehicle according to an embodiment of the present invention for achieving the above object includes: an expected mileage calculator configured to calculate an expected mileage of the own vehicle; A turning radius calculator for calculating a turning radius of the own vehicle; A side slip angle estimator for estimating a side slip angle of the host vehicle; A forward circumference distance calculator configured to calculate a forward circumference distance using an expected mileage provided through the estimated mileage calculator and a turning radius of the own vehicle provided through the turning radius calculator; And a horizontal controller pressure correcting a horizontal controller input parameter by using a side slip angle provided through the side slip angle estimator, a front peripheral distance provided through the front peripheral distance calculator, and route information of a vehicle provided from a sensor. It includes a value correction unit.

In this case, the estimated driving distance is preferably multiplied by the vehicle speed and the system delay.

The expected driving distance sets minimum and maximum limit values to prevent sudden curvature changes in the low speed section and excessive lateral controller input parameter generation at high speed.

On the other hand, if the steering angle is included in the vehicle information, the turning radius calculator calculates the turning radius of the own vehicle by dividing the distance between the front and rear axles of the vehicle by the front wheel steering angle of the vehicle.

And the steering angle includes gear ratio information between the steering and wheel angles.

Here, if the steering angle is not included in the vehicle information, the turning radius calculation unit may calculate the turning radius of the own vehicle by dividing the yaw rate of the vehicle by the speed of the vehicle.

In addition, the forward peripheral distance calculation unit calculates the center angle of the fan shape calculated by dividing the turning radius of the host vehicle and the moving distance of the vehicle predicted after the system delay, and then using the calculated fan center angle for the turning radius of the host vehicle. Calculate the forward distance by multiplying the law of sines.

The side slip angle estimating unit estimates the side slip angle using vehicle dynamics at high speed.

The side slip angle estimator estimates the side slip angle using only kinematics at low speed.

In addition, the side slip angle estimator imparts hysteresis properties to each of the side slip angle estimation methods during acceleration and deceleration.

Meanwhile, the horizontal controller pressure value correction unit calculates a reference path parameter at a front peripheral distance, calculates a host vehicle position parameter at a front peripheral distance, and adds the calculated reference path parameter and the host vehicle position parameter to a horizontal direction. Calculate the controller input parameter.

The lateral controller pressure value corrector predicts a future position of the vehicle by applying the front peripheral distance and the side slip angle to the clothoid model.

Here, the initial value of the lateral deviation distance, which is the coefficient of the clothoid model, is set to 0, the initial value of the heading angle is set to be equal to the side slip angle, and the initial value of the curvature is set to be equal to the inverse of the turning radius of the vehicle. Compute the own vehicle position parameter.

According to an embodiment of the present invention, when following the path of autonomous driving, the position of the own vehicle is estimated using the speed and the steering angle of the vehicle, thereby predicting and applying the predicted path of the own vehicle, thereby improving the stability and riding comfort of the vehicle. It can be effective.

1 is a reference diagram for explaining a method for calculating conventional host vehicle position information.
2A and 2B are reference diagrams for describing a problem according to speed in the method of calculating the host vehicle position information of FIG. 1.
3 is a functional block diagram illustrating a lateral control parameter correction device for an autonomous vehicle according to an embodiment of the present invention.
4 is a reference diagram for describing parameter information according to an embodiment of the present invention.
FIG. 5 is a diagram for explaining side slip angle estimation at low speed in one embodiment of the present invention; FIG.
6 is a reference diagram for explaining hysteresis properties according to speed in an embodiment of the present invention.
7 is a reference diagram for explaining parameters required for calculating a parameter of a reference path among lateral controller input correction parameters according to an embodiment of the present invention.
8 is a reference diagram for explaining parameters required for calculating a host vehicle position parameter among lateral controller input correction parameters according to an embodiment of the present invention.
9 is a flowchart illustrating a method of correcting lateral control parameters for an autonomous vehicle according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the present embodiments make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “comprising” refers to a component, step, operation and / or device that is present in one or more other components, steps, operations and / or elements. Or does not exclude additions.

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

3 is a functional block diagram illustrating an apparatus for correcting lateral control parameters for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 3, the apparatus for correcting a lateral control parameter for an autonomous vehicle according to an embodiment of the present invention includes an expected mileage calculator 100, a turning radius calculator 200, and a side slip angle estimator. 300, the front peripheral distance calculator 400 and the horizontal controller pressure value correction unit 500 are included.

The estimated mileage calculator 100 calculates an estimated mileage of the own vehicle using vehicle information provided from a sensor mounted on the vehicle. Here, the vehicle information includes a vehicle speed, steering angle, or yaw rate from the vehicle, as shown in FIG. 4.

In this case, the lateral deviation distance, the heading angle, the path curvature and the curvature change amount may be acquired using all sensors capable of measuring correlation between the vehicle and the reference path, such as a GPS or an image sensor mounted on the vehicle.

Table 2 is a description of the terms and variables of FIG.

In the present embodiment, as shown in Equation 1 below, the expected driving distance may be calculated by multiplying the vehicle speed by the system delay. Here, the speed of the vehicle is preferably to use the average of the wheel speed, but may also use the speed of the cluster.

는 자차의 예상 주행거리이고,

는 시스템 딜레이이며,

는 차량의 속도이고,

는 최소 제한값이고,

는 최대 제한값이다. here,

Is the estimated mileage of your vehicle,

Is the system delay,

Is the speed of the vehicle,

Is the minimum limit,

Is the maximum limit.

As such, the anticipated mileage calculator 100 according to an embodiment of the present invention may prevent a sudden change in curvature in the low speed section and prevent excessive lateral controller input parameters from being generated in the high speed section. There is an advantage.

And the turning radius calculation unit 200 calculates the turning radius of the own vehicle from the vehicle information provided from the sensor mounted on the vehicle.

In addition, the side slip angle estimation unit 300 estimates the side slip angle of the host vehicle.

The forward peripheral distance calculation unit 400 calculates the forward peripheral distance using the anticipated driving distance provided through the estimated driving distance calculation unit 100 and the turning radius of the own vehicle provided through the turning radius calculation unit 200. do.

Here, the estimated mileage is equal to the length of the arc in consideration of the turning radius, and the length of the arc is equal to the product of the turning angle and the turning radius between the current vehicle position and the position of the vehicle after the system delay. It can be expressed as shown in Equation 2].

는

와

이 이루는 부채꼴의 중심각이고,

는 전방 주시거리이다. here,

Is

Wow

Is the central angle of the fan

Is the forward looking distance.

Then, the lateral controller pressure value correction unit 500 is a side slip angle provided through the side slip angle estimation unit 300, the front peripheral distance provided through the front peripheral distance calculation unit and the path of the vehicle provided from the sensor The information is used to correct the transverse controller input parameters.

Therefore, according to one embodiment of the present invention, when driving tracking control of autonomous driving, it is possible to expect the improvement of the safety and the ride comfort by predicting and applying the expected path according to the speed.

On the other hand, the turning radius calculation unit 200 according to an embodiment of the present invention determines whether the steering angle is included in the vehicle information.

If the steering information is included in the vehicle information, the turning radius calculator 200 divides the distance between the front and rear axles of the vehicle by the steering angle of the front wheels of the vehicle as shown in Equation 3 below to determine the turning radius of the own vehicle. Calculate

은 선회반경이고,

는 차량의 전축과 후축간의 거리이며,

는 차량의 전륜조향각이다. 한편, 상기 조향각은 스티어링고 휠각 사이의 기어비 정보를 포함하는 것이 바람직하다. here,

Is the turn radius,

Is the distance between the vehicle's front and rear axles,

Is the front wheel steering angle of the vehicle. Meanwhile, the steering angle preferably includes gear ratio information between the steering and wheel angles.

On the other hand, if the steering angle is not included in the vehicle information, the turning radius calculator 200 calculates the turning radius of the own vehicle by dividing the yaw rate of the vehicle by the speed of the vehicle as shown in Equation 4 below. It may be.

은 선회반경이고,

는 요레이트이며,

는 차량속도이다. 이때,

는 비구동륜의 평균값을 이용하는 것이 바람직하나 이를 한정하는 것은 아니다. here,

Is the turn radius,

Is yorate,

Is the vehicle speed. At this time,

It is preferable to use the average value of the non-driven wheel, but is not limited thereto.

The side slip angle estimator 300 according to an embodiment of the present invention may estimate the side slip angle using vehicle dynamics at high speed, and may estimate the side slip angle using only kinematics at low speed.

Hereinafter, a method of estimating the side slip angle by the side slip angle estimator 300 using the vehicle dynamics at high speed will be described.

When driving at high speeds, it is necessary to assume that the steering angle of the vehicle is small for driving stability, and assuming that the sum of the forces acting on the front and rear wheels is parallel to the lateral force acting on the body, the moment of inertia when the vehicle rotates by the steering angle The sum of is zero.

Therefore, the side slip angle estimator 300 may estimate the side slip angle through Equations 5 to 6 below.

값을 표현한다. First, the side slip angle estimation unit 300 through the following [Equation 5]

Represents a value.

는 요레이트이며, β는 질량중심에서의 사이드 슬립각이고,

는 전륜에 작용하는 횡력이고,

는 후륜에 작용하는 횡력이다. Where m is the mass of the magnetic field, α _y is the lateral acceleration, V is the velocity,

Is the yaw rate, β is the side slip angle at the center of mass,

Is the lateral force acting on the front wheels,

Is the lateral force acting on the rear wheel.

The side slip angle estimator 300 may obtain the moment of inertia at the center of mass through Equation 6 below.

는 질량중심에서의 관성모멘트이고,

는 요레이트이며,

는 질량중심으로부터 전축까지의 거리이고,

는 전륜에 작용하는 횡력이며,

는 질량중심으로부터 후축까지의 거리이고,

는 후륜에 작용하는 횡력이다. here,

Is the moment of inertia at the center of mass,

Is yorate,

Is the distance from the center of mass to the front axis,

Is the lateral force acting on the front wheels,

Is the distance from the center of mass to the rear axis,

Is the lateral force acting on the rear wheel.

On the other hand, the lateral force in the bicycle model can be expressed as a linear relationship between the stiffness coefficient and the side slip angle by the magic tire formula through the following equation [7] in the vehicle dynamics.

는 전륜 선회 강성 계수,

는 후륜 선회 강성 계수,

는 차량의 전륜조향각(스티어링이 아닌 실제 조향각을 의미), V는 속도, β는 질량중심에서의 사이드 슬립각이다. here,

Is the front wheel turning stiffness coefficient,

Is the rear wheel stiffness coefficient,

Is the front wheel steering angle of the vehicle (not the steering, but the actual steering angle), V is the speed, and β is the side slip angle at the center of mass.

Meanwhile, the side slip angle estimator 300 may calculate the side slip angle using only kinematics at a low speed through FIGS. 5 and 8.

Table 3 is a description of the terms and variables of FIG.

는 차량의 전륜조향각(스티어링이 아닌 실제 조향각을 의미)이며,

는 차량의 후륜조향각(스티어링이 아닌 실제 조향각을 의미)이고,

는 질량중심으로부터 전축까지의 거리이며,

는 질량중심으로부터 후축까지의 거리이다. Where β is the side slip angle at the center of mass,

Is the front wheel steering angle of the vehicle (not the steering, but the actual steering angle).

Is the vehicle's rear steering angle (meaning the actual steering angle, not steering),

Is the distance from the center of mass to the front axis,

Is the distance from the center of mass to the rear axis.

As described above, the side slip angle estimator 300 provides hysteresis properties as shown in FIG. 6 by using different methods of estimating side slip angles during acceleration and deceleration.

For example, the side slip angle estimator 300 uses a vehicle dynamics model when the acceleration is 20 Km / h or more, and uses a kinematic model when the acceleration is less than 20 Km / h.

On the contrary, the side slip angle estimator 300 uses a vehicle dynamics model at a deceleration rate of 15 Km / h or more, and uses a kinematic model if it is less than 15 km / h.

Therefore, according to the slip angle estimating unit of the embodiment of the present invention, it is possible to prevent the frequent state transition of the calculated value according to the speed change of the vehicle.

On the other hand, the horizontal controller pressure value correction unit 500 calculates the reference path parameter at the front peripheral distance with reference to Figure 7, and calculates the host vehicle position parameter at the front peripheral distance with reference to FIG.

That is, to calculate the reference path parameters, as shown in FIG. The estimated value of each variable may be calculated by applying the distance information C ₀ , the heading angle information C ₁ , the curvature information C ₂ , and the curvature change amount C ₃ .

And, in order to calculate the parameters for obtaining the host vehicle position, as shown in Figure 8, the horizontal controller pressure value correction unit 500 is the front peripheral distance and the side slip angle using the following equation (10) To predict the future location of the vehicle.

At this time, in predicting a parameter for obtaining the host vehicle position, since the future position of the host vehicle should be predicted, the initial value C ₀ of the lateral deviation distance is set to 0, and the initial value C ₁ of the heading angle. By setting the same as the side slip angle, and by setting the initial value (C ₂ ) of the curvature equal to the inverse of the turning radius of the vehicle, it is possible to calculate the longitudinal estimated value, heading angle and curvature information for the future position of the host vehicle. .

Thereafter, the lateral controller pressure value correction unit 500 may calculate the lateral controller input parameters by adding the calculated reference path parameter and the host vehicle position parameter as shown in Equation 11 below.

는 T_delay를 고려하여 보정된 차량중심좌표계상 차체의 종방향 추정값이고,

는 T_delay를 고려하여 보정된 기준경로의 헤딩각 추정값이다. here,

Is the longitudinal estimate of the body on the vehicle center coordinate system corrected for T _delay ,

Is an estimated heading angle of the reference path corrected for T _delay .

According to an embodiment of the present invention, when tracking the path of autonomous driving, estimating the position of the own vehicle using the speed of the vehicle and the steering angle of the vehicle, and predicting and applying the predicted path of the own vehicle through the vehicle's stability and riding comfort There is an effect that can be improved.

In addition, according to an embodiment of the present invention, when the calculated transverse control input parameter is calculated for Time To Lane Crossing (TTCL), a Lane Departuer Warning System (LDWS) and a Lane Maintenance Assist System (LKAS; Lane) are calculated. There is an advantage that can contribute to the performance improvement of the driving assistance system such as Keeping Assist System.

FIG. 9 is a flowchart illustrating a lateral control parameter correction method for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 9, the method of correcting lateral control parameters for an autonomous vehicle according to an embodiment of the present invention is preferably performed by a process installed in the vehicle.

First, an estimated driving distance of the own vehicle is calculated using vehicle information provided from a sensor mounted on the vehicle (S100). Here, the vehicle information is preferably a vehicle speed and a system delay value. The estimated mileage is preferably multiplied by the vehicle speed and the system delay as shown in Equation 1, and the minimum and maximum limit values are preferably set.

Then, the turning radius of the own vehicle is calculated from the vehicle information provided from the sensor mounted on the vehicle (S200). The step (S200) of calculating the turning radius of the own vehicle includes, as shown in [Equation 3], when the vehicle information includes a steering angle, the distance between the front and rear axes of the vehicle is divided by the front wheel steering angle of the vehicle to turn the own vehicle. Calculate the radius. The steering angle preferably includes gear ratio information between the steering and wheel angles.

Meanwhile, in one embodiment of the present invention, the steering angle is included in the vehicle information in the step S200 of calculating the turning radius of the own vehicle, but in [Equation 4] in which the steering angle is not included in the vehicle information. In this case, the turning radius of the own vehicle may be calculated by dividing the yaw rate of the vehicle by the speed of the vehicle.

In addition, the side slip angle of the host vehicle is estimated (S300). In estimating the side slip angle (S300), the side slip angle is estimated using vehicle dynamics at high speed.

In the step S300 of estimating the side slip angle, the side slip angle is estimated using only kinematics at a low speed.

In addition, the step of estimating the side slip angle (S300) may be given a hysteresis property by using a different method of estimating the side slip angle during acceleration and deceleration.

Thereafter, the forward peripheral distance is calculated from the calculated expected driving distance and the turning radius of the own vehicle (400).

On the other hand, the step of calculating the forward peripheral distance (S400) after calculating the center angle of the fan shape calculated by dividing the turning radius of the vehicle and the moving distance of the vehicle predicted after the system delay, the calculated radius of rotation of the vehicle It is preferable to calculate the forward looking distance by multiplying the sinusoidal law using the central angle of the sector. Here, since the expected driving distance is equal to the length of the arc in consideration of the turning radius, and the length of the arc is equal to the product of the turning angle and the turning radius between the current vehicle position and the position of the vehicle after the system delay, it can be expressed as [Equation 2]. .

Subsequently, the lateral controller input parameter is corrected using the side slip angle, the front peripheral distance, and the vehicle route information (S500).

On the other hand, the step of correcting the lateral input parameter (S500) is to calculate the reference path parameter at the front peripheral distance, the host vehicle position parameter at the forward peripheral distance, the calculated reference path parameter and the host vehicle position parameter It is desirable to calculate the transverse controller input parameters in sum.

As described above, in the step S500 of correcting the lateral input parameter, the future position of the vehicle is predicted by applying the front peripheral distance and the side slip angle to the clothoid model. Here, the initial value of the lateral deviation distance, which is the coefficient of the clothoid model, is set to 0, the initial value of the heading angle is set to be equal to the side slip angle, and the initial value of the curvature is set to be equal to the inverse of the turning radius of the vehicle. Own vehicle position parameter can be calculated.

In the above, the configuration of the present invention has been described in detail with reference to the accompanying drawings, which are merely examples, and those skilled in the art to which the present invention pertains various modifications and changes within the scope of the technical idea of the present invention. Of course this is possible. Therefore, the protection scope of the present invention should not be limited to the above-described embodiment but should be defined by the description of the claims below.

100: estimated driving distance calculation unit 200: turning radius calculation unit
300: side slip angle estimation unit 400: front peripheral distance calculation unit
500: horizontal input parameter correction unit

Claims (24)

An estimated mileage calculator configured to calculate an estimated mileage of the own vehicle;
A turning radius calculator for calculating a turning radius of the own vehicle;
A side slip angle estimator for estimating a side slip angle of the host vehicle;
A forward peripheral distance calculation unit configured to calculate a forward peripheral distance using the expected driving distance and the turning radius of the vehicle; And
And a lateral controller pressure value corrector configured to correct a lateral controller input parameter by using the side slip angle, the front peripheral distance, and the route information of the vehicle.
The method of claim 1,
The expected mileage is,
Lateral control parameter correction device for autonomous vehicles, which is multiplied by vehicle speed and system delay.
The method of claim 2,
The expected distance
A transverse control parameter correction device for an autonomous vehicle, characterized in that minimum and maximum limit values are set.
The method of claim 1,
The turning radius calculation unit,
And if the steering angle is included in the vehicle information, calculating the turning radius of the own vehicle by dividing the distance between the front and rear axes of the vehicle by the front wheel steering angle of the vehicle.
The method of claim 4, wherein
The steering angle is,
12. A transverse control parameter correction apparatus for an autonomous vehicle that includes gear ratio information between steering and wheel angles.
The method of claim 1,
The turning radius calculation unit,
And if the steering angle is not included in the vehicle information, dividing the yaw rate of the vehicle by the speed of the vehicle to calculate a turning radius of the own vehicle.
The method of claim 1,
The front peripheral distance calculation unit,
After calculating the center angle of the fan shape calculated by dividing the turning radius of the own vehicle and the moving distance of the vehicle predicted after the system delay,
And calculating the forward looking distance by multiplying the turning radius of the own vehicle by the sine law using the calculated center angle of the fan shape.
The method of claim 1,
The side slip angle estimation unit,
Lateral control parameter correction apparatus for autonomous vehicles for estimating the side slip angle using the vehicle dynamics at high speed.
The method of claim 1,
The side slip angle estimation unit,
Lateral control parameter correction apparatus for an autonomous vehicle that estimates the side slip angle using only kinematics at low speed.
The method of claim 1,
The side slip angle estimation unit,
A device for correcting a lateral control parameter for an autonomous vehicle, in which acceleration and deceleration impart hysteresis properties to each other using a side slip angle estimation method.
The method of claim 1,
The horizontal controller pressure value correction unit,
Computing a reference path parameter at a forward peripheral distance, calculates a vehicle position parameter at a forward peripheral distance, and calculates a transverse controller input parameter by combining the calculated reference path parameter and the vehicle position parameter. Lateral control parameter correction device for
The method of claim 11,
The horizontal controller pressure value correction unit,
Predict the future position of the vehicle by applying the forward peripheral distance and the side slip angle to the clothoid model, set the initial value of the lateral deviation distance, which is the coefficient of the clothoid model, to 0, and set the initial value of the heading angle equal to the side slip angle. And setting the initial value of the curvature equal to the reciprocal of the turning radius of the vehicle to calculate the position control parameter for the autonomous vehicle.
Calculating an expected mileage of the own vehicle;
Calculating a turning radius of the own vehicle;
Estimating a side slip angle of the host vehicle;
Calculating a forward looking distance from the calculated expected driving distance and the turning radius of the own vehicle; And
And correcting the lateral controller input parameters by using the side slip angle, the forward peripheral distance, and the vehicle route information.
The method of claim 13,
The expected mileage is,
Lateral control parameter correction method for autonomous vehicles, which is multiplied by vehicle speed and system delay.
The method of claim 14,
The expected distance
12. A transverse control parameter correction method for an autonomous vehicle, characterized in that minimum and maximum limit values are set.
The method of claim 13,
Calculating the turning radius of the host vehicle,
And if the steering angle is included in the vehicle information, calculating the turning radius of the own vehicle by dividing the distance between the front and rear axes of the vehicle by the front wheel steering angle of the vehicle.
The method of claim 16,
The steering angle is,
12. A method of correcting lateral control parameters for an autonomous vehicle, comprising gear ratio information between steering and wheel angles.
The method of claim 13,
Calculating the turning radius of the host vehicle,
And when the steering angle is not included in the vehicle information, dividing the yaw rate of the vehicle by the speed of the vehicle to calculate a turning radius of the own vehicle.
The method of claim 13,
The step of calculating the forward peripheral distance,
After calculating the center angle of the fan shape calculated by dividing the turning radius of the own vehicle and the moving distance of the vehicle predicted after the system delay,
And calculating the forward looking distance by multiplying the turning radius of the own vehicle by the sine law using the calculated center angle of the fan shape.
The method of claim 13,
Estimating the side slip angle,
Lateral control parameter correction method for autonomous vehicles in which the side slip angle is estimated using vehicle dynamics at high speed.
The method of claim 13,
Estimating the side slip angle,
Lateral control parameter correction method for autonomous vehicle which estimates side slip angle using kinematics only at low speed.
The method of claim 13,
Estimating the side slip angle,
A method of correcting a lateral control parameter for an autonomous vehicle for accelerating and decelerating a hysteresis property by using a different method of estimating side slip angles.
The method of claim 13,
Correcting the lateral controller input parameter,
Computing a reference path parameter at a forward peripheral distance, calculates a vehicle position parameter at a forward peripheral distance, and calculates a transverse controller input parameter by combining the calculated reference path parameter and the vehicle position parameter. Lateral control parameter correction method for
The method of claim 13,
Correcting the lateral controller input parameter,
Predict the future position of the vehicle by applying the forward peripheral distance and the side slip angle to the clothoid model, set the initial value of the lateral deviation distance, which is the factor of the clothoid model, to 0, and set the initial value of the heading angle equal to the side slip angle. And setting the initial value of the curvature equal to the reciprocal of the turning radius of the vehicle to calculate the position control parameter for the autonomous vehicle.

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