KR20210083603A - control system for vehicle - Google Patents

Abstract

According to an embodiment of the present invention, a control device for a vehicle comprises: a driver control unit which is moved by first external force to select one of a plurality of shift stages; and at least one guide unit guiding movement of the driver control unit when the driver control unit is moved. The driver control unit is moved by second external force to change a position of a wheel of a vehicle when a driving stage or a reverse stage is selected among the plurality of shift stages.

Description

control system for vehicle

The present invention relates to a control system for a vehicle, and more particularly, to a control system for a vehicle including a vehicle control device capable of controlling steering of a vehicle by manipulating a driver's control unit.

With the recent development of vehicles, autonomous driving systems are gradually being applied. The autonomous driving system is responsible for allowing the vehicle to operate in autonomous driving mode.

The autonomous driving mode is a mode in which the vehicle makes its own judgment and operates the vehicle using machine learning, lidar, and camera. However, even when the vehicle is driven in the autonomous driving mode, there are moments when the driver's intervention is required. For example, in lane change, parking, country road, etc., for safety, the driver needs to intervene in autonomous driving mode operation as the vehicle shift stage and driving direction are changed.

As such, as the autonomous driving system is applied, the need for a conventional steering device is gradually decreasing, and the role of the transmission device is also changing.

The transmission may change the gear ratio to keep the engine rotation constant according to the speed of the vehicle, and the driver operates the shift lever to change the gear ratio of the transmission.

Recently, instead of the mechanical shift lever, the use of an electronic shift lever, which replaces the mechanical connection structure between the transmission and the shift lever with an electrical connection structure, is increasingly used. As a type of such an electronic shift lever, a lever for selecting a shift stage by moving the shift lever Type, a dial type that selects a shift stage by rotating a dial, and a button type that selects a shift stage by operating a button.

However, as the autonomous driving system is applied as described above, there is a need for a new type of steering device and transmission device.

Korean Patent Publication No. 10-2017-0080083 (2017.07.10.)

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle control system including a vehicle control device capable of selecting any one of a plurality of shift stages and simultaneously controlling steering of a vehicle.

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

The control apparatus for a vehicle according to an embodiment of the present invention is moved by a first external force transmitted from a driver to select a shift stage to select one of a plurality of shift stages, and a driver manipulation unit formed to select any one of a plurality of shift stages When the driver manipulation unit moves, the driver At least one guide unit for guiding movement of the manipulation unit, wherein the driver manipulation unit responds to a second external force transmitted from the driver for steering control of the vehicle when a driving stage or a reverse stage is selected among the plurality of shift stages It can be moved by the control of the vehicle.

A direction of the driver manipulation unit moved by the first external force and a direction of the driver manipulation unit moved by the second external force may be different from each other.

The driver manipulation unit may be configured to be moved by the first external force and the second external force when the vehicle is driven in a manual driving mode among the autonomous driving mode and the manual driving mode.

The driver manipulation unit may be configured to rotate at an initial position based on a first rotation axis by the first external force, and may be returned to the initial position by the guide unit when the first external force is removed.

The driver manipulation unit is moved from a reference position in a direction perpendicular to the first rotation axis by the second external force to control the steering of the vehicle, and when the second external force is removed, the driver manipulation unit is the guide It can be returned to the reference position by a part.

The driver manipulation unit may be configured to move from an initial position in a first direction by the first external force, and return to the initial position by the guide unit when the first external force is removed.

The driver manipulation unit is formed to be moved from the initial position in a direction perpendicular to the first direction by the second external force, and is returned to the initial position by the guide unit when the second external force is removed. can

The driver manipulation unit may be moved in a first direction by the first external force and may be moved in a direction perpendicular to the first direction by the second external force to control steering of the vehicle.

When the second external force is removed, the driver manipulation unit may be moved to a position at a driving end or a reverse end among a plurality of shift stages by the guide unit.

The driver manipulation unit may be moved in a first direction by the first external force, and when the first external force is removed, the driver manipulation unit may be positioned at a neutral stage among a plurality of shift stages by the guide unit.

The driver manipulation unit may be moved in a direction perpendicular to the first direction by the second external force, and may be positioned at a neutral stage among a plurality of shift stages by the guide unit when the second external force is removed.

There are one or more of the following effects of the present invention.

When a driving stage or a reverse stage is selected from among a plurality of shift stages, the vehicle control apparatus according to an embodiment of the present invention may control the steering of the vehicle as it is moved by an external force.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram schematically showing a control system for a vehicle according to an embodiment of the present invention.
2 is a view showing a position of a control device for a vehicle according to an embodiment of the present invention.
3 to 7 are views illustrating a driver manipulation unit and a guide unit of the control device for a vehicle according to the first embodiment of the present invention.
8 to 13 are views illustrating a driver manipulation unit and a guide unit according to a second exemplary embodiment of the present invention.
14 to 18 are views illustrating a driver manipulation unit and a guide unit according to a third exemplary embodiment of the present invention.
19 to 24 are views illustrating a driver manipulation unit and a guide unit according to a fourth embodiment of the present invention.

Advantages and features of the present invention, and a method for achieving them will become 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 different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Accordingly, in some embodiments, well-known process steps, well-known structures, and well-known techniques have not been specifically described in order to avoid obscuring the present invention.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, includes and/or comprising means not excluding the presence or addition of one or more other components, steps and/or actions other than the stated components, steps and/or actions. use it as And, “and/or” includes each and every combination of one or more of the recited items.

Further, the embodiments described herein will be described with reference to perspective, cross-sectional, side view and/or schematic views that are ideal illustrative views of the present invention. Accordingly, the form of the illustrative drawing may be modified due to manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in the form generated according to the manufacturing process. In addition, in each drawing shown in the embodiment of the present invention, each component may be illustrated in a somewhat enlarged or reduced manner in consideration of convenience of description.

Hereinafter, preferred embodiments of the vehicle control device 4 according to the present invention will be described in detail based on the accompanying illustrative drawings.

1 is a block diagram schematically showing a control system for a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram showing a position of a control device 4 for a vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle control system according to an embodiment of the present invention may include a control unit 1 , a detection unit 2 , an autonomous driving system 3 , and a vehicle control device 4 .

The controller 1 determines a driving mode selected by the driver among a plurality of driving modes and controls the vehicle control system according to the selected driving mode. The driving mode may include a first driving mode and a second driving mode, but is not limited thereto.

The driver may select any one of a plurality of driving modes through manipulation of various manipulation units such as buttons, switches, levers, and pedals provided in the vehicle, and the driving mode determining unit 100 receives an input signal according to the driver's manipulation. It is possible to determine the driving mode selected by .

For example, when a preset button or device is operated by the driver in the first driving mode, the controller 1 determines that the second driving mode is selected, and similarly, the pedal is released in the second driving mode. When the operation is performed, it may be determined that the first driving mode is selected.

In the embodiment of the present invention, the case in which the driver selects the driving mode by manipulating the various manipulation units is described as an example, but the present invention is not limited thereto, and the driver may select the driving mode through voice recognition or gesture recognition. .

In addition, it is possible to determine the driving mode divided according to the subject controlling the driving of the vehicle, and in the embodiment of the present invention, the first driving mode is the manual driving mode and the second driving mode is the autonomous driving mode. listen and explain.

The manual driving mode is a mode in which the driver controls the driving of the vehicle by manipulating the steering device, transmission device, accelerator pedal, and brake pedal in most situations, and it can be understood as a driving mode in which the driver is the subject of controlling the driving of the vehicle. , the autonomous driving mode is a driving mode in which the vehicle performs all driving-related controls on its own without driver intervention in most situations, except for limited situations where a manual driving mode is required (for example, in a narrow alley or off-road, etc.) For this purpose, when the autonomous driving mode is selected, the controller 1 of the present invention may be formed so that the vehicle can be operated by the autonomous driving system 3 .

In the above-described embodiment, the case in which the driver selects the driving mode has been described as an example, but the present invention is not limited thereto, and the driving mode may be selected by the driving environment of the vehicle, and the control unit 1 adjusts to the driving situation of the vehicle. You can change the driving mode accordingly.

For example, when drowsy driving is detected through the driver's pupil tracking or face recognition in the manual driving mode, the controller 1 may change to the autonomous driving mode.

In addition, in the autonomous driving mode, when weather conditions around the vehicle, such as fog, rain, snow, etc., are not suitable for the autonomous driving mode, or when the road conditions such as narrow alleyways or off-road are not suitable for the autonomous driving mode, You can change to driving mode.

The detection unit 2 includes a driver information detection unit 22 that detects the driver's condition through various sensors mounted on the vehicle and an external environment detection unit 24 that can detect objects around the vehicle, road conditions, weather conditions, etc. can do.

The driver information detection unit 22 may include, for example, a camera sensor, a haptic device, or the like, and may detect the driver's state by detecting the driver's face, pulse, pupil, etc. For example, drowsy driving may be detected.

The external environment detection unit 24 can detect objects around the vehicle through a camera sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, etc., and corresponds to the map data with the location of the vehicle measured through a satellite navigation system such as GPS. A road condition (eg, a highway, an alleyway, an off-road, etc.) in which the vehicle is located may be detected. Accordingly, a case in which the external environment detection units 24 and 2 store map data in advance will be described as an example, but the present invention is not limited thereto, and the map data may be provided through wired or wireless communication.

In addition, the external environment detector 24 may detect a weather condition around the vehicle based on weather information provided through wired or wireless communication.

On the other hand, the above-described detection results are Forward Collision-Avoidance Assist (FCA), Lane Keeping Assist (LKA), Blind Spot Collision Warning (BCW), and distance-sensitive cruising. It is used in a system (Adaptive Cruise Control, ACC) and the like to control acceleration and deceleration of a vehicle, and a driving direction of the vehicle.

Accordingly, as described above, the control unit 1 may switch to the autonomous driving mode or the manual driving mode according to the driver's state and surrounding conditions detected by the detection unit 2 .

The autonomous driving system 3 may serve to cause the vehicle to follow an optimized autonomous driving path, and to control at least one of steering and braking for autonomous driving of the vehicle. (34), may include a steering control unit (36).

The route controller 32 serves to detect an optimal route according to at least one of the surrounding objects and road conditions detected by the external environment detector 24 to generate a driving route. Accordingly, it can be connected to the detection unit 2 to receive various data.

The traveling speed control unit 34 serves to control the traveling speed of the vehicle so that the vehicle autonomously travels along the traveling path generated by the path control unit 32 . Accordingly, it controls the AEB (Autonomous Emergency Braking) and ABS (Anti-lock Brake System) for braking the vehicle along with the internal combustion engine or motor to generate power for autonomous driving of the vehicle. Acceleration and deceleration can be controlled.

The steering control unit 36 serves to control the traveling direction of the vehicle along the traveling path generated by the path control unit 32 . Accordingly. It is possible to control MDPS (Motor Driven Power Steering), AFS (Active Front Steering), RWS (Rear Wheel Steering), etc. for controlling the driving direction of the vehicle.

The vehicle control device 4 may be configured to be operated by a driver in a manual driving mode.

At least a portion of the vehicle control device 4 may be configured to be accommodated in the housing portion. Specifically, the case of being installed between the center fascia and the console box of the vehicle will be described as an example, but the present invention is not limited thereto, and the vehicle control device 4 of the present invention provides a driver's accessibility It can be installed in a variety of excellent locations.

In addition, when the autonomous driving mode is selected, the vehicle control device 4 may be in the first position by the controller 1 and move to the second position when the manual driving mode is selected. The first position may be a position accommodated in the housing unit, and the second position may be a position popped up in the housing unit, but is not limited thereto.

For example, as shown in FIG. 2 , in the manual driving mode, the pop-up state vehicle control device 4 is located, and when the control unit 1 changes to the autonomous driving mode, the vehicle control device 4 pops down. and can be accommodated in the console.

The vehicle control device 4 serves to allow the driver to efficiently select any one of a plurality of shift stages, and the control unit 1 may control the transmission of the vehicle according to the shift stage selected by the vehicle control device 4 . have. In addition, in the case of the manual driving mode, the vehicle control device 4 may be operated by the driver to control steering of the vehicle. That is, the driving direction of the vehicle can be changed by changing the shift stage and the wheels of the vehicle by using the vehicle control device 4 of the present invention.

In addition, the vehicle control device 4 of the present invention may include a driver manipulation unit 42 , a guide unit 44 , and a sensor unit 46 .

The driver manipulation unit 42 may be moved by a first external force to select any one of a plurality of shift stages, and the first external force may be transmitted from a driver who wants to select the shift stage. Accordingly, at least a portion of the driver's manipulation unit 42 may be formed to be exposed to the outside of the housing unit in order to be in contact with the driver's hand. In addition, the driver control unit 42 may be formed to be completely accommodated in the housing unit or the console when it is popped up in the housing unit or the console in the manual driving mode and is switched to the automatic driving mode by the control unit 1 . have.

At least one guide unit 44 serves to guide the movement of the driver control unit and generate a manipulation feeling in the driver control unit when the driver control unit 42 moves.

The sensor unit 46 detects the position of the driver control unit 42 according to the movement of the driver control unit 42 , generates a signal according to the selected shift stage, and transmits it to the control unit 1 so that the control unit 1 can transmit the vehicle's transmission. can be made to control.

Meanwhile, when the driving stage D or the reverse stage is selected among the plurality of shift stages, the driver manipulation unit 42 of the present invention may be moved by the second external force to control the steering of the vehicle. Here, the second external force is a force transmitted from the driver, and may be generated to move the driver manipulation unit 42 after the driving stage D or the reverse gear is selected from among the shift stages by the first external force. That is, the second external force is a force transmitted from the driver to control the steering of the vehicle.

In this case, the sensor unit 46 detects the position of the driver manipulation unit 42 moved by the second external force, and the control unit 1 controls the steering of the vehicle in response to the movement position of the driver manipulation unit 42 . can Accordingly, the vehicle control device 4 of the present invention can control the steering of the vehicle as well as the selection of the shift stage, so that the traveling direction of the vehicle can be efficiently changed.

For example, when the driver's manipulation unit 42 is moved in the first direction by the second external force, the wheels of the vehicle may be rotated counterclockwise, and the driver's manipulation unit 42 moves in the second direction. In this case, the wheels of the vehicle may be formed to rotate in a clockwise direction. Here, the second direction may be formed in a direction opposite to the first direction. When the first direction is to the left with respect to the vehicle front direction, the first direction may be formed to the right in the second direction.

Also, when the vehicle is driven in the manual driving mode among the aforementioned autonomous driving mode and manual driving mode, the driver manipulation unit 42 may be formed to be moved by a first external force and a second external force, and the first external force The direction of the driver's manipulation unit moved by the .2 and the direction of the driver's manipulation unit moved by the second external force may be formed to be different from each other.

As a result, according to the present invention, since steering control is possible only at the driving end and the reverse end, the driver can easily perform the steering control and improve the stability in driving the vehicle.

Hereinafter, it will be described in detail by the driver manipulation unit 42 and the guide unit 44 according to an embodiment of the present invention.

3 to 7 are views illustrating the driver's manipulation unit and the guide unit 300 of the vehicle control device 4 according to the first embodiment of the present invention.

The driver manipulation unit may be formed to rotate from an initial position based on the first rotation axis Ax1 by a first external force, and may be formed to return to the initial position by the guide unit when the first external force is removed. Here, the initial position may be formed with a NULL end.

In addition, the driver manipulation unit is moved from the reference position in the direction perpendicular to the first rotation axis Ax1 by the second external force to control the steering of the vehicle, and when the second external force is removed, the driver manipulation unit is the guide unit may be formed to return to the reference position by

That is, the driver's manipulation unit may be rotated with respect to the rotation axis by the first external force so that any one of the plurality of shift stages is selected, and may be moved in the left and right directions by the second external force to control the steering of the vehicle. It is not limited.

Specifically, referring to FIGS. 3 to 7 , the driver manipulation unit 42 according to the first embodiment of the present invention may include a knob 100 and a shaft 200 .

The knob 100 serves as a handle to which the driver's hand comes into contact, and may be formed to rotate from an initial position with respect to the first rotation axis Ax1 so that any one of a plurality of shift stages is selected by a first external force. .

The plurality of shift stages may include a driving stage D, a first neutral stage Nd, a null stage, a second neutral stage Nr, and a reverse stage R, but is not limited thereto.

The initial position may be formed with a NULL end. Accordingly, when a first external force is applied to the knob 100 , the knob 100 is rotated in the first rotational direction so that any one of the plurality of shift stages is selected from the NULL stage, or is rotated in the first rotational direction opposite to the first rotational direction. It can be rotated in two rotational directions. The first rotation direction may be set to a counterclockwise direction and the second rotation direction may be set to a clockwise direction, but is not limited thereto.

When the first external force is removed, the knob 100 may be rotated back to the NULL stage by the guide unit 300 to be described later and returned. In this case, the NULL stage is the shift stage selected prior to the return of the knob 100 . can be understood as

In addition, when the NULL stage is rotated in the first rotational direction, the shift stage may be selected in the order of the first neutral stage Nd and the driving stage D according to the rotation angle, and on the contrary, the second rotation direction from the NULL stage may be selected. , the shift stage may be selected in the order of the second neutral stage Nr and the reverse stage R according to the rotation angle.

At this time, in the first neutral stage Nd and the second neutral stage Nr, the first external force applied to the knob 100 is removed and the shift stage selection sequence is described above in a state in which the knob 100 returns to the NULL stage. This is to make the shift stage selectable according to the

For example, after the knob 100 is rotated in the first rotation direction to select the driving end D by a first external force applied by the driver, the first external force applied by the driver is removed to remove the knob ( In the state in which 100) is returned to the NULL stage, the driver rotates the knob 100 in the second rotation direction to select a shift stage in the order of the second neutral stage Nr and the reverse stage R.

On the contrary, after the knob 100 is rotated in the second rotation direction by the first external force applied by the driver and the reverse end (R) end is selected, the first external force applied by the driver is removed to remove the knob ( In the state in which 100) is returned to the NULL stage, the driver rotates the knob 100 in the first rotation direction to select a shift stage in the order of the first neutral stage Nd and the driving stage D.

That is, it may be understood that the rotation direction of the knob 100 for selecting the first neutral end Nd and the driving end D is the same but the rotation angle is different, and similarly, the second neutral end Nr And it may be understood that the rotation direction of the knob 100 for selecting the reverse end R is the same, but the rotation angle is different.

The shaft 200 may include a shaft 200 connected to the lower side of the knob 100 and rotated with respect to the first rotation axis Ax1 like the knob 100 by a first external force. Specifically, the shaft 200 may be inserted into the knob 100 and rotated along with the rotation of the knob 100 .

In addition, when the driving stage D or the reverse stage R is selected among the plurality of shift stages, the knob 100 moves the first direction perpendicular to the first rotation axis Ax1 from the reference position by the second external force. direction or the second direction to rotate the shaft 200 based on the second rotation axis Ax2 which is a direction perpendicular to the longitudinal direction of the shaft 200 . Here, the reference position is the position of the knob 100 before the second external force is applied. Here, the first direction and the second direction may be respectively formed in the left and right directions, but are not limited thereto. The left and right directions may be set based on the front of the vehicle.

In this case, the sensor unit 46 detects a rotation radius of the shaft 200 that rotates with respect to the second rotation axis Ax2 , and the control unit 1 controls the shaft 200 detected by the sensor unit 46 . The steering of the vehicle can be controlled according to the turning radius.

Accordingly, when the knob 100 according to the first embodiment of the present invention is moved from the reference position in the first direction or the second direction after the driving end D or the reverse end is selected, the wheel position of the vehicle can be changed. have.

For example, after the knob 100 is rotated by the first external force and the driving end D is selected, the knob 100 is moved from the reference position in the first direction by the second external force in the state returned to the NULL end. When moving to , the vehicle moves forward, but the wheels of the vehicle may be rotated counterclockwise.

Unlike the above, after the knob 100 is rotated by the first external force and the reverse end R is selected, the knob 100 is moved in the second direction from the reference position by the second external force in the state returned to the NULL end. When moved, the vehicle is reversed, but the wheels of the vehicle may be rotated clockwise.

Meanwhile, the guide unit 300 of the vehicle control device 4 according to the first embodiment of the present invention may guide the movement of the driver control unit and generate a feeling of operation through the driver control unit when the driver control unit moves. The guide unit 300 may include a first guide unit 310 and a second guide unit 320 .

When the first external force is removed, the first guide part 310 rotates the shaft 200 based on the first rotation axis Ax1 to rotate the knob 100 to the initial position as described above. The second guide part 320 may serve to move the knob 100 to the reference position by rotating the shaft 200 based on the second rotation axis Ax2 when the second external force is removed. have.

Therefore, after the knob 100 is rotated in the first rotational direction or the second rotational direction by the first external force, when the first external force is removed, the NULL end which is the initial position by the first guide part 310 is After being returned to and moved in the first direction or the second direction by the second external force, when the second external force is removed, it may return to the reference position.

The first guide part 310 may include a first bullet 312 , a first detent groove 314 , and a first elastic member 316 .

The first bullet 312 may be formed to protrude from the shaft 200 in a direction perpendicular to the longitudinal direction of the shaft 200 . The first detent groove 314 may be formed along a rotation radius of the knob 100 rotated with respect to the first rotation axis Ax1 , and the first bullet 312 may be in contact. The first elastic member may generate an elastic force so that the first bullet 312 is in contact with the first detent groove 314 . For example, the first elastic member 316 may include a spring.

At this time, when the first external force is removed by forming such that the elastic deformation rate of the elastic member increases as the contact position of the first bullet 312 is further away from the initial position, the knob 100 is rotated back to the initial position. can do it

Specifically, the first detent groove 314 is a first rotation shaft from the first insertion groove 3141 and the first insertion groove 3141 formed so that at least a portion of the first bullet 312 is inserted and positioned at the initial position It may include a first contact surface 3142 formed to extend in the rotation direction of the knob 100 rotated by (Ax1), and the first contact surface 3142 is at least one in a direction such that the elastic deformation rate of the elastic member is increased. A step portion may be formed.

As a result, as the first bullet 312 is positioned in the first insertion groove 3141 as shown in FIG. 6( a ), the knob 100 is positioned at the null end by a first external force. ) is rotated counterclockwise, as shown in FIGS. 6 (b) and 6 (c), the first neutral end (Nd) and the driving end (D) are moved in the order, and the first elastic member 316 ) may be increased as the first bullet 312 moves in contact with the first contact surface 3142 . Thereafter, when the first external force is removed, the first bullet 312 may be positioned in the first insertion groove 3141 by the first elastic member 316 as shown in Fig. 6(a), The knob 100 may be returned to the null end position.

Again, when the knob 100 is rotated clockwise by the first external force at the null end, the second neutral end Nr and the reverse end R as described in FIGS. 6(d) and 6(e) ), and the elastic deformation rate of the first elastic member 316 may be increased as the first bullet 312 moves in contact with the first contact surface 3142 . Thereafter, when the first external force is removed, the first bullet 312 is positioned in the first insertion groove 3141 by the first elastic member 316 as shown in FIG. 6(a), and the knob 100 ) can be returned to the null stage.

The second guide part 320 may include a second bullet 322 , a second detent groove 324 , and a second inertia member 326 .

The second bullet 322 may be formed to protrude from the shaft 200 in the longitudinal direction of the shaft 200 . The second detent groove 324 may be formed along a rotation radius of the shaft 200 that is rotated based on the second rotation axis Ax2 , and the second bullet 322 may come into contact with it. The second inertia member 326 may generate an elastic force so that the second bullet 322 comes into contact with the second detent groove 324 . For example, the second inertia member 326 may include a spring.

At this time, the second bullet 322 is formed to increase the elastic deformation rate of the second inertia member 326 as the contact position is further away from the reference position. When the second external force is removed, the knob 100 is again referenced. position can be returned.

Specifically, the second detent groove 324 is a second insertion groove 3241 formed so that at least a portion of the second bullet 322 is inserted and positioned at a reference position, and the second insertion groove 3241 is formed from the second insertion groove 3241 . A second contact surface 3242 formed to extend in the rotation direction of the shaft 200 along the rotation axis Ax2 may be included. In addition, the second contact surface 3242 may be formed such that the elastic deformation rate of the second inertia member 326 increases as the second bullet 322 moves away from the reference position.

As a result, when the knob 100 is moved in the first direction by the second external force in the reference position as shown in FIG. 7( a ), as shown in FIG. 7( b ), the second bullet As the 322 moves the second contact surface 3242 , the elastic deformation rate of the second inertia member 326 may be increased. Thereafter, when the second external force is removed, the second bullet 322 may be positioned in the second insertion groove 3241 by the second inertia member 326 as shown in FIG. 7(a), The knob 100 may be returned to the reference position.

Again, when the knob 100 is moved in the second direction by a second external force from the reference position, the second bullet 322 moves the second contact surface 3242 as shown in FIG. 7(c). Accordingly, the elastic deformation rate of the second inertia member 326 may be increased. Thereafter, when the second external force is removed, the second bullet 322 may be located in the second insertion groove 3241 by the second inertia member 326 as shown in FIG. 7(a), The knob 100 may be returned to the reference position.

8 to 13 are views illustrating the driver manipulation unit 42 and the guide unit 600 according to the second embodiment of the present invention.

The driver manipulation unit 42 according to the second embodiment is formed to be moved from the initial position in the first direction by the first external force, and is formed to return to the initial position by the guide unit when the first external force is removed. can Here, the initial position may be formed with a NULL end.

Also, the driver manipulation unit may be configured to move from an initial position in a direction perpendicular to the first direction by the second external force, and may be formed to return to the initial position by the guide unit when the second external force is removed.

That is, the driver control unit may be moved in the front-rear direction by the first external force so that any one of the shift stages is selected, and may be moved in the left-right direction by the second external force to control the steering of the vehicle, but is limited thereto. no.

Specifically, referring to FIGS. 8 to 13 , the driver manipulation unit 42 according to the second embodiment of the present invention may include a knob 400 and a rod 500 .

The knob 400 serves as a handle to which the driver's hand comes into contact, and may be moved from an initial position in the first direction so that any one of the plurality of shift stages is selected by a first external force. Specifically, the knob 400 may be moved from the initial position in the front-rear direction by the first external force, but is not limited thereto. Here, the front-rear direction may be set based on the front of the vehicle.

Also, the initial position may be formed as a NULL end. Accordingly, when the first external force is applied, the knob 400 may be moved so that any one of the plurality of shift stages is selected from the NULL stage.

When the first external force is removed, the knob 400 may be returned to the NULL stage again by the guide unit 600 , and in this case, the NULL stage may be understood as a shift stage selected prior to the return of the knob 400 . have.

In addition, when moving backward from the NULL stage, the shift stage may be selected in the order of the first neutral stage (Nd) and the driving stage (D) according to the movement position. Conversely, when moving forward from the NULL stage, the shift stage is moved Depending on the position, the shift stage may be selected in the order of the second neutral stage (Nr) and the reverse stage (R).

At this time, the plurality of neutral stages can be selected according to the shift stage selection sequence described above in a state where the first external force applied to the knob 400 is removed and the knob 400 returns to the NULL stage as described above to make it happen

That is, it may be understood that the moving direction of the knob 400 for selecting the driving end D and the first neutral end Nd is the same but the moving positions are different, and similarly, the second neutral end Nr , it can be understood that the moving direction of the knob 400 for selecting the reverse end R is the same, but the moving position is different.

The rod 500 may be connected to the lower side of the knob 400 and rotated based on the first rotational axis Ax1 perpendicular to the longitudinal direction by a first external force. That is, the shaft may be inserted into the knob 400 and rotated based on the first rotation axis Ax1 according to the movement of the knob 400 . As a result, the knob 400 may also be moved in the front-rear direction by the first external force, but may be rotated based on the first rotation axis Ax1 by the shaft.

In addition, when the driving stage (D) or the reverse stage (R) is selected among the plurality of shift stages, the knob 400 is moved from the initial position in the first direction or the second direction by the second external force to move the rod 500 ) may be rotated based on the second rotation axis Ax2, which is a direction perpendicular to the longitudinal direction of the rod 500 . That is, the rod 500 may be rotated based on the first and second rotation axes Ax2 according to the first and second external forces. Here, the second rotation axis Ax2 may be formed in a direction perpendicular to the first rotation axis Ax1 .

Even in this case, the knob 400 may also be moved in the first direction or the second direction by the second external force, but may be rotated by the shaft based on the second rotation axis Ax2 .

On the other hand, the sensor unit 46 detects the rotation radius of the rod 500 which is rotationally moved based on the first rotation axis Ax1 and the second rotation axis Ax2 , and the control unit 1 is detected by the sensor unit 46 . The shift stage of the vehicle may be changed according to the rotation radius moved to the first rotation axis Ax1 of the rod 500 and the steering may be controlled according to the rotation radius moved to the first rotation axis Ax1 .

Accordingly, after the driving end D or the reverse end is selected, when the knob 400 according to the second embodiment of the present invention is moved from the initial position in the first direction or the second direction, the steering of the vehicle can be controlled. have.

For example, after the knob 400 is moved by the first external force and the driving end D is selected, the knob 400 is moved in the first direction by the second external force in the state returned to the NULL end. In this case, the vehicle moves forward, but the wheels of the vehicle may be rotated counterclockwise.

Contrary to the above, when the knob 400 is moved by the first external force and the reverse end R is selected, and then the knob 400 is moved in the second direction by the second external force in a state that returns to the NULL end. , but the vehicle is reversed, the wheels of the vehicle may be rotated in a clockwise direction.

When the first external force is removed, the guide part 600 of the vehicle control device 4 according to the second embodiment of the present invention rotates the rod 500 with respect to the first rotation axis Ax1 to rotate the knob 400 . ) to the initial position, and when the second external force is removed, the rod 500 may be rotated based on the second rotational axis Ax2 to have a mechanics of moving it to the initial position.

Accordingly, the knob 400 is moved to any one of the plurality of shift stages by the first external force, and when the first external force is removed, the knob 400 returns to the NULL stage, which is the reference position, by the guide unit 600, After being moved in the first direction or the second direction by the second external force, when the second external force is removed by the guide part 600 , it may return to the initial position.

In addition, the guide unit 600 may include a bullet 610 , a detent groove 620 , and an elastic member 630 .

The bullet 610 may be formed to protrude from the shaft in the longitudinal direction of the shaft, and the detent groove 620 is rotated based on the first rotational axis Ax1 and the second rotational axis Ax2 along the rotation radius of the shaft. can be formed. The elastic member 630 may include an elastic member 630 generating an elastic force so that the bullet 610 comes into contact with the detent groove 620 .

At this time, when the position of the detent groove 620 to which the bullet 610 is contacted is formed to increase the elastic deformation rate of the elastic member 630 as the position of the detent groove 620 is further away from the reference position, the first external force and the second external force are removed. , it is possible to return the knob 400 back to the reference position.

Specifically, the detent groove 620 is an insertion groove 621 formed so that at least a portion of the bullet 610 is inserted and positioned at a reference position, and rotation of the shaft along the first rotation axis Ax1 in the insertion groove 621 It may include a first contact surface 622 formed to extend in the direction, and a second contact surface 623 formed to extend in the rotation direction of the shaft along the second rotation axis Ax2 in the insertion groove 621 .

In addition, at least one step portion may be formed on the first contact surface 622 in a direction to increase the elastic deformation rate of the elastic member 630 .

As a result, as the bullet 610 is positioned in the insertion groove 621 as shown in FIG. 12( a ), when the knob 400 is moved backward by a first external force in a state positioned at the null end, FIG. As shown in 12(b) and 12(c), it is moved to the first neutral end Nd and the driving end D, and the strain rate of the elastic member 630 is determined by the bullet 610 on the first contact surface 622 ) can be increased as it moves in contact with Thereafter, when the first external force is removed, the bullet 610 may be positioned in the insertion groove 621 by the elastic member as shown in FIG. 12( a ), so that the knob 400 is returned to the null end. can In this case, the NULL stage may be understood as the driving end (D).

Again, when the knob 400 is moved forward by the first external force at the null end, as described in FIGS. 12(d) and 12(e), the second neutral end (Nr) and the reverse end (R) and the strain rate of the elastic member 630 may be increased as the bullet 610 moves in contact with the first contact surface 622 . Thereafter, when the first external force is removed, the knob 400 may be returned to the null end by the elastic member 630 as shown in FIG. 12( a ). In this case, the NULL stage may be understood as a backward diagnosis (R).

In addition, when the knob 400 is in the initial position and the NULL end is the driving end (D) or the reverse end (R) as shown in FIG. 13( a ), the knob 400 is operated by a second external force. 13(b) and 13(c), it may move in the first direction or the second direction. In this case, the strain rate of the elastic member 630 may be increased as the bullet 610 moves in contact with the second contact surface 623 . Therefore, when the second external force is removed, the bullet 610 is positioned in the insertion groove 621 by the elastic member 630 as shown in FIG. 13(a), so that the knob 400 moves to the null end. can be returned

14 to 18 are views illustrating the driver manipulation unit 42 and the guide unit 900 according to the third embodiment of the present invention.

The driver manipulation unit according to the third exemplary embodiment may be configured to move in a first direction by a first external force and move in a direction perpendicular to the first direction by the second external force to control steering of the vehicle.

Also, when the second external force is removed, the driver manipulation unit may be configured to move to a position at a driving end or a reverse end among a plurality of shift stages by the guide unit.

That is, the driver control unit may be moved in the front-rear direction by the first external force so that any one of the plurality of shift stages is selected, and may be moved in the left-right direction by the second external force to control the steering of the vehicle, but is limited thereto no.

Specifically, referring to FIGS. 14 to 18 , the driver manipulation unit 42 according to the third embodiment of the present invention may include a knob 700 and a rod 800 .

The knob 700 serves as a handle to which the driver's hand is in contact, and may be moved to select any one of the plurality of shift stages in the first direction by a first external force. In the case of the third embodiment, the plurality of shift stages may include a driving stage D, a reverse stage R, and a neutral stage N.

Specifically, the knob 700 may be moved in the front-rear direction by a first external force to select any one of the plurality of shift stages, but is not limited thereto.

For example, when moving rearward with respect to the neutral end N, the driving end D may be selected. On the contrary, when moving forward from the neutral end N, the reverse end R is can be chosen,

The rod 800 may be connected to the lower side of the knob 700 and rotated based on the first rotational axis Ax1 perpendicular to the longitudinal direction by a first external force. That is, the shaft may be inserted into the knob 700 and rotated based on the first rotation axis Ax1 according to the movement of the knob 700 . As a result, the knob 700 may also be moved in the front-rear direction by the first external force, but may be rotated based on the first rotation axis Ax1 by the shaft.

In addition, when the driving stage D or the reverse stage R is selected among the plurality of shift stages, the knob 700 is moved in the first direction by the second external force at the driving stage D or the reverse stage R position. Alternatively, the rod may be moved in the second direction to rotate the rod based on the second rotation axis Ax2, which is a direction perpendicular to the longitudinal direction of the rod. That is, the rod may be rotated based on the first and second rotation axes Ax1 and Ax2 according to the first and second external forces.

In this case, the knob 700 may also be moved in the first direction or the second direction by the second external force, but may be rotated based on the second rotation axis Ax2 by the shaft.

On the other hand, the sensor unit 46 detects a rotation radius of the rod 800 which is rotationally moved based on the second rotation axis Ax2 , and the control unit 1 detects the second rotation axis Ax2 detected by the sensor unit 46 . The steering of the vehicle may be controlled according to the rotation radius of the rod 800 rotated based on .

Accordingly, after the driving end D or the reverse end R is selected, the knob 700 according to the third embodiment of the present invention is moved in the first direction or the second direction from the driving end D or the reverse end. In this case, it is possible to control the steering of the vehicle.

For example, after the knob 700 is moved by the first external force and the driving end D is selected, the knob 700 is moved in the first direction by the second external force at the driving end D position. In this case, the vehicle moves forward, but the wheels of the vehicle may be rotated counterclockwise.

Unlike the above, when the knob 700 is moved by the first external force and the reverse end (R) is selected, and then the knob 700 is moved in the second direction from the position of the reverse end (R) by the second external force , but the vehicle is reversed, the wheels of the vehicle may be rotated in a clockwise direction.

On the other hand, the guide part 900 according to the third embodiment of the present invention can return the knob 700 to the driving end (D) or the reverse end (R) position when the second external force is removed. .

Accordingly, when the second external force is removed after the knob 700 is moved in the first direction or the second direction from the driving end (D) or the reverse end (R) position by the second external force, the guide part By 900 , the knob 700 may be returned to the driving end (D) or the reverse end (R) position.

In addition, the guide unit 900 may include a bullet 910 , a detent groove 920 , and an elastic member 930 .

The bullet 910 may protrude from the rod in the longitudinal direction of the rod, and the detent groove 920 may be formed along the moving direction of the knob 700 so that the bullet 910 may come into contact with the elastic member ( The 930 may generate an elastic force so that the bullet 910 is in contact with the detent groove 920 .

At this time, the deformation rate of the elastic member 930 increases as the position of the diet groove, which is in contact with the bullet 910 by the second external force, is further away from the driving end (D) or the reverse end (R) position, When the second external force is removed, the knob 700 may be returned to the driving end (D) or the reverse end (R) position again.

Specifically, the deturned groove is formed such that the first insertion groove 921 is formed such that the knob 700 is positioned at a neutral end among the plurality of shift stages, and the knob 700 is positioned at the driving end D among the plurality of shift stages. The formed second insertion groove 922, the third insertion groove 923 formed so that the knob 700 is positioned at the reverse end of the plurality of shift stages, and a first contact surface connecting the first to third insertion grooves 923 ( 924), the second rotation axis Ax2 in the second contact surface 925 and the third insertion groove 923 formed along the rotation radius of the rod formed on the basis of the second rotation axis Ax2 in the second insertion groove 922 A third contact surface 926 formed along a rotation radius of the rod formed as a reference may be included.

As a result, as the bullet 910 is positioned in the first insertion groove 921 as shown in FIG. 18( a ), the knob 700 is moved by a first external force in a state where the knob 700 is positioned at the neutral end. When moved to the rear, the bullet 910 is positioned in the second insertion groove 922 , so that the knob 700 may be positioned at the driving end D. In addition, the knob 700 is moved in the first direction or the second direction as shown in FIGS. 18(d) and 18(c) by the second external force, and the elastic deformation rate of the elastic member 930 is Bullet It may increase as 910 is moved in contact with the second contact surface 925 . Thereafter, when the second external force is removed, the bullet 910 may be positioned in the second insertion grooves 922 and 922 by the elastic member 930 as shown in FIG. 18(b), so the knob 700 may be returned to the driving end (D) position.

Conversely, as shown in FIG. 17( a ), as the bullet 910 is positioned in the first insertion groove 921 , the knob 700 is moved by a first external force in a state where the knob 700 is positioned at the neutral end. When moved backward, the bullet 910 is positioned in the third insertion groove 923 , so that the knob 700 may be positioned at the rear end. In addition, the knob 700 is moved in the first direction or the second direction as shown in FIGS. 17 (f) and 17 (g) by a second external force, and the elastic deformation rate of the elastic member 930 is Bullet It can be increased as 910 is moved in contact with the third contact surface 926 . Thereafter, when the second external force is removed, the bullet 910 may be positioned in the third insertion groove 923 by the elastic member 930 as shown in FIG. 17(e), so the knob 700 can be returned to the retracting position.

19 to 24 are views illustrating the driver manipulation unit 42 and the guide unit 1300 according to the fourth embodiment of the present invention.

The driver's manipulation unit may be moved in the first direction by the first external force, and when the first external force is removed, the driver's manipulation unit may be positioned at a neutral stage among the plurality of shift stages by the guide unit.

In addition, the driver's manipulation unit may be moved in a direction perpendicular to the first direction by the second external force, and when the second external force is removed, the driver's manipulation unit may be positioned at a neutral stage among the plurality of shift stages by the guide unit.

That is, the driver manipulation unit may be moved in the front-rear direction by the first external force so that any one of the plurality of shift stages is selected, and may be moved in the left-right direction by the second external force to control the steering of the vehicle.

Specifically, referring to FIGS. 19 to 24 , the driver manipulation unit 42 according to the fourth embodiment may include a knob 1100 and a rod 1200 .

The knob 1100 serves as a handle to which the driver's hand is in contact, and may be moved to select any one of the plurality of shift stages by a first external force. The plurality of shift stages may include a driving stage D, a reverse stage R, and a first neutral stage Nd and a second neutral stage Nr that are a plurality of neutral stages.

Specifically, the knob 1100 may be moved forward and backward by a first external force to select any one of a plurality of shift stages, but is not limited thereto.

Accordingly, the knob 1100 may be moved by the first external force or the second external force at any one position among the plurality of neutral ends.

For example, when the knob 1100 is moved rearward with respect to the first neutral end Nd, the D stage may be selected, and on the contrary, when the knob 1100 is moved forward from the first neutral end Nd, the first 2 The neutral end (Nr) and the backward end (R) can be selected sequentially,

Also, when the first external force is removed, the knob 1100 may be positioned at any one of a plurality of neutral ends by a guide part 1300 to be described later.

For example, after the knob 1100 is moved rearward by the first external force applied by the driver and the driving end D is selected, the first external force is removed so that the knob 1100 is moved to the guide part 1300 . may be moved to the first neutral end (Nd) end by Again, the knob 1100 is moved forward by the first external force to select the shift stage in the order of the second neutral stage (Nr) and the reverse stage (R), and then the first external force is removed to guide the knob The second neutral end Nr may be formed by the unit 1300 .

The rod 1200 may be connected to the lower side of the knob 1100 and rotated based on the first rotational axis Ax1 perpendicular to the longitudinal direction by a first external force. That is, the rod may be inserted into the knob 1100 and rotated based on the first rotation axis Ax1 according to the movement of the knob 1100 . As a result, the knob 1100 may also be moved in the front-rear direction by the first external force, but may be rotated based on the first rotation axis Ax1 by the rod.

In addition, when the driving stage D or the reverse stage R is selected among the plurality of shift stages, the knob 1100 is moved in the first direction or the second direction at any one position of the plurality of neutral stages by the second external force. may be moved to rotate the rod based on the second rotation axis Ax2, which is a direction perpendicular to the longitudinal direction of the rod. That is, the shaft may be rotated based on the first and second rotation axes Ax2 according to the first and second external forces.

In this case, the knob 1100 may also be moved in the first direction or the second direction by the second external force, but may be rotated based on the second rotation axis Ax2 by the rod.

On the other hand, the sensor unit 46 detects a rotation radius of the rod 1200 that is rotationally moved based on the second rotation axis Ax2 , and the control unit 1 detects the rotation of the rod 1200 detected by the sensor unit 46 . It is possible to control the steering of the vehicle according to the radius.

Accordingly, after the driving end D or the reverse end R is selected, the knob 1100 according to the fourth embodiment of the present invention is moved from any one position of the plurality of neutral ends in the first direction or the second direction. In this case, it is possible to control the steering of the vehicle.

For example, after the knob 1100 is moved by the first external force and the driving end D is selected, the knob 1100 is released by the second external force in the state returned to the first neutral end Nd. When moving in one direction, the vehicle moves forward, but the wheels of the vehicle may be rotated counterclockwise.

Unlike the above, after the knob 1100 is moved by the first external force and the reverse end R is selected, the knob 1100 is moved to the second position by the second external force in the state returned to the second neutral end Nr. When moving in the direction, the vehicle is reversed, but the wheels of the vehicle may be rotated clockwise.

Meanwhile, the guide unit 1300 according to the fourth embodiment of the present invention may position the knob 1100 at one of a plurality of neutral end positions when the first external force is removed.

Accordingly, when the knob 1100 is moved to the driving end D or the reverse end R by the first external force, the knob 1100 returns to any one of the plurality of neutral ends, and again to the second external Even if the knob 1100 is moved in the first direction or the second direction by the force, the knob 1100 may return to any one of the plurality of neutral ends.

In addition, the guide unit 1300 may include a bullet 1310 , a detent groove 1320 , and an elastic member 1330 .

The bullet 1310 may protrude from the rod in the longitudinal direction of the rod, and the detent groove 1320 is formed along the moving direction of the knob 1100 so that the bullet 1310 can come into contact with the elastic member. At 1330 , an elastic force may be generated so that the bullet 1310 is in contact with the detent groove 1320 .

At this time, when the contact position of the bullet 1310 is moved away from the plurality of neutral ends by the first external force or the second external force, the elastic deformation rate of the elastic member 1330 is increased to increase the first and second external forces. When the force is removed, the knob 1100 may be positioned again at any one of the plurality of neutral ends.

Specifically, the detent groove 1320 includes a first insertion groove 1321 formed such that the knob 1100 is positioned at a first neutral end Nd among the plurality of neutral ends, and the knob 1100 is a second one of the plurality of shift stages. 2 The second insertion groove 1322, the first insertion groove 1321, and the second insertion groove 1322 formed to be positioned at the neutral end Nr are connected and the first contact surface formed along the front-rear direction of the knob 1100 ( 1323), the second contact surface 1324 along the rotation radius of the rod formed on the basis of the second rotation axis Ax2 in the first insertion groove 1321, and the second rotation axis Ax2 in the second insertion groove 1322 A third contact surface 1325 formed along the rotation radius of the rod formed as a reference may be included.

In addition, the second contact surface 1324 and the third contact surface 1325 may be formed to increase the elastic deformation rate of the elastic member as the distance from the first insertion groove 1321 and the second insertion groove 1322 is increased, The second contact surface 1324 and the third contact surface 1325 may be integrally formed.

As a result, as shown in FIG. 23( a ), as the bullet 1310 is positioned in the first insertion groove 1321 , the knob 1100 is positioned at the first neutral end Nd by a first external force. When the knob 1100 is moved backward by this, as shown in FIG. 23(b), the knob 1100 is moved to the driving end D, and the deformation rate of the elastic member 1330 is the bullet 1310. It may increase as it moves in contact with the first contact surface 1323 . Thereafter, when the first external force is removed, the knob 1100 may be returned to the first neutral end Nd by the elastic member 1330 as shown in FIG. 23A . In this case, the first neutral end Nd may be understood as the driving end D.

Therefore, since the knob 1100 can be moved by the second external force, the knob 1100 can be moved in the first direction or the second direction as shown in FIGS. 23(c) and 23(d). have. In this case, the strain rate of the elastic member 1330 may be increased as the bullet 1310 moves in contact with the second contact surface 1324 . When the second external force is removed, the bullet 1310 is positioned in the first insertion groove 1321 by the elastic member 1330 as shown in FIG. 23(a), so that the knob 1100 is first neutral. It can be returned to the end (Nd) position.

Conversely, as shown in FIG. 24( a ), as the bullet 1310 is positioned in the second insertion groove 1322 , the knob 1100 is positioned at the second neutral end Nr, and the first external force When the knob 1100 is moved forward by the , as shown in FIG. 24(b), the knob 1100 is moved to the reverse end, and the elastic deformation rate of the elastic member 1330 is determined by the bullet 1310. 1 It can be increased as it moves in contact with the contact surface 1323 . Thereafter, when the first external force is removed, as the bullet 1310 is positioned in the second insertion groove 1322 by the elastic member 1330 as shown in FIG. 2 It can be returned to the neutral end (Nr). In this case, the second neutral end Nr may be understood as a backward end.

Accordingly, since the knob 1100 can be moved by the second external force, the knob 1100 can be moved in the first direction or the second direction as shown in FIGS. 24(c) and 24(d). have. In this case, the strain rate of the elastic member 1330 may be increased as the bullet 1310 moves in contact with the third contact surface 1325 . When the second external force is removed, the bullet 1310 is positioned in the second insertion groove 1322 by the elastic member 1330 as shown in FIG. It may return to the stage (Nr).

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: control unit 2: detection unit
3: Autonomous Driving System 4: Vehicle Control Unit
22: driver information detection unit 24: external environment detection unit
32: route control unit 34: traveling speed control unit
36: steering control unit 42: driver control unit
44, 300, 600, 900, 1300: guide part
46: sensor unit 100, 400, 700, 1100: knob
200: shaft 500, 800, 1200: rod

Claims (11)

a driver manipulation unit configured to be moved by a first external force transmitted from a driver to select a shift stage to select any one of a plurality of shift stages; and
When the driver control unit moves, it includes at least one guide unit for guiding the movement of the driver control unit
When a driving stage or a reverse gear is selected from among the plurality of shift stages, the driver control unit is moved by a second external force transmitted from the driver for steering control of the vehicle to control steering of the vehicle. According to claim 1,
A direction of the driver manipulation unit moved by the first external force and a direction of the driver manipulation unit moved by the second external force are different from each other. According to claim 1,
The driver control unit is configured to be moved by the first external force and the second external force when the vehicle is driven in the manual driving mode among the autonomous driving mode and the manual driving mode. According to claim 1,
The driver's control unit
The control device for a vehicle is configured to rotate at an initial position based on a first rotation axis by the first external force, and is returned to the initial position by the guide unit when the first external force is removed. 5. The method of claim 4,
The driver manipulation unit is moved from a reference position in a direction perpendicular to the first rotation axis by the second external force to control the steering of the vehicle, and when the second external force is removed, the driver manipulation unit is the guide A control device for a vehicle returned to the reference position by a unit. According to claim 1,
The driver manipulation unit is configured to be moved from an initial position in a first direction by the first external force, and is returned to the initial position by the guide unit when the first external force is removed. 7. The method of claim 6,
The driver manipulation unit is formed to move from the initial position in a direction perpendicular to the first direction by the second external force, and is returned to the initial position by the guide unit when the second external force is removed. vehicle control unit. According to claim 1,
The driver control device is configured to move in a first direction by the first external force and move in a direction perpendicular to the first direction by the second external force to control steering of the vehicle. 9. The method of claim 8,
When the second external force is removed, the driver manipulation unit is moved to a position at a driving end or a reverse end among a plurality of shift stages by the guide unit. According to claim 1,
The driver manipulation unit is moved in a first direction by the first external force, and is positioned at a neutral stage among a plurality of shift stages by the guide unit when the first external force is removed. 11. The method of claim 10,
The driver manipulation unit is moved in a direction perpendicular to the first direction by the second external force, and when the second external force is removed, the driver control device is positioned at a neutral stage among a plurality of shift stages by the guide unit .

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