KR20220090233A - A steering system for autonomous vehicles - Google Patents

Abstract

The present invention relates to a steering device for an autonomous driving vehicle, and the autonomous driving controller 200 mounted on the autonomous driving vehicle to control autonomous driving, and various sensors of the autonomous driving vehicle to obtain various information about the driving state and surroundings of the vehicle a lower controller 300, which is connected to the autonomous driving controller through CAN communication to transmit it to the autonomous driving controller, and transmits the autonomous driving control command received from the autonomous driving controller 200 to each driving unit; A steering force generating unit 400 and a steering force transmitting unit 420 that generate a steering force with the control signal transmitted from 300) and transmit the generated steering force to the handle are included, wherein the steering force generating unit 400 is the sub-controller ( A motor 405 operated at a constant number of revolutions and a rotation speed according to a control signal transmitted from 300), and a planetary reduction gear connected to the motor 405 to reduce the number of revolutions output from the motor at a constant rate and output it ( 410), and the steering force transmitting unit 420 is installed horizontally with respect to the driving gear 422 coupled to the output shaft of the planetary reduction gear 410, and the driving gear 422 spaced apart from the driving gear by a predetermined distance. A driven gear 424 that becomes a driven gear 424, a driving chain 426 that transmits the rotational force of the driving gear 422 to the driven gear 424, a handle 450 is installed at the upper portion, and a steering rod 430 is coupled to the lower portion and a steering column 428 that vertically penetrates the center of the driven gear and rotates left and right according to the rotation direction of the driven gear.

Description

A steering system for autonomous vehicles

The present invention relates to a steering device for an autonomous vehicle, and more particularly, to a vehicle steering wheel by controlling the rotational displacement of a steering column by controlling the rotational speed of a motor and a speed reducer according to a command from a sub-controller that has received a steering signal from an autonomous driving controller. It relates to a steering system for an autonomous vehicle that applies a constant steering force to steer in a required direction and angle.

The automobile is a product of a technology group consisting of a combination of numerous parts, and the advancement of automobile technology is highly related to the advancement of surrounding industrial technology.

In other words, due to the advancement of computer, S/W, IT, camera, display, sensor, IoT, communication technology, etc., automobiles with advanced technology applied to safety and convenience devices and driving devices also appeared through the application of these related technologies. are doing

In particular, in the field of autonomous driving of automobiles, with the development of related industries, not only traditional automobile manufacturers but also communication and software-related companies are paying much attention to the development of autonomous vehicles.

Self-driving car refers to a car that moves by itself without the driver's driving. Autonomous car starts at the initial level that supports the driver's driving and goes up to the level of fully autonomous car that does not require any driver's involvement, depending on the level of automation. It is divided into stages.

The automation levels of autonomous vehicles, which are currently classified according to the level of automation in the automobile industry and each country, are classified into Level 1 to Level 5.

Level 1 (Lv1) is a stage to support the driver by controlling a sub-task of controlling a certain limited area of the vehicle's driving system, longitudinal or lateral motion control of the vehicle, and level 2 (Lv2) is level 1 It refers to the state in which some driver automation is performed by upgrading (Lv1).

In addition, in Level 3 (Lv3), the autonomous driving control system of the vehicle executes all dynamic driving tasks (DDT) in a limited area (ODD: Operational Design Domain), and when operation continuation is difficult, system intervention is requested, etc. It is a conditional driver automation state in which the driver is involved.

In addition, in Level 4 (Lv4), the autonomous driving control system of the vehicle performs all dynamic driving tasks (DDT), and it is possible to execute a response in the case of difficulty in operation continuation in the limited area (ODD: Operational Design Domain). Indicates the state of high-altitude driver automation.

Lastly, in Level 5 (Lv5), the autonomous driving control system of the vehicle performs all dynamic driving tasks (DDT) and is configured to execute unlimited responses when operation continuation is difficult to achieve complete driver automation. refers to reaching

In this way, the autonomous vehicle is divided into certain stages according to the level of automation, and as technologies related to autonomous vehicles are developed at various levels according to the road conditions and various laws and regulations of each country, countries around the world are Various types of vehicles up to the advanced stage have been developed and are entering the test and some commercialization stages.

The present invention relates to a steering apparatus for an autonomous driving vehicle in a state where a driver does not intervene to steer a vehicle traveling toward a destination, such as an unexpected situation, the appearance of a pedestrian, or an intersection, in a desired direction during autonomous driving.

As described above, technology development for autonomous vehicles is carried out in various stages, and in particular, it can be divided into two types: a case in which autonomous driving is performed with a driver on board, and a case in which autonomous driving is carried out in a state where the driver is not riding. However, in order for a vehicle to perform autonomous driving in any state, a driving device, a steering device, and a braking device necessary for autonomous driving are essential.

Driving devices, steering devices, and braking devices involved in autonomous driving control vehicle operation through the autonomous driving controller equipped with the vehicle’s autonomous driving control system, and the control commands of each device issued from the autonomous driving controller send the sub-controller. It is transmitted to the lowest level device directly involved in the operation of the corresponding device through the system to generate a certain motion, so that necessary driving, steering and braking are performed.

Typically, an autonomous driving controller mounted on a vehicle receives information collected from various electronic devices and various sensor modules mounted on the vehicle through a sub-controller, and the autonomous driving controller analyzes and processes various information received from the sub-controller. It again issues the necessary autonomous driving control commands to the lower controller, and the lower controller transmits the commands received from the upper controller to each device and accessory so that the necessary vehicle control is achieved and the vehicle safely autonomously drives to the target point. will take control

As such, important devices directly involved in autonomous driving of the vehicle perform autonomous driving control according to the autonomous driving command without driver intervention even when the driver is on board. The vehicle is operated in the operation mode.

Therefore, even if the control technology of the autonomous vehicle is advanced, each major device needs to be configured to satisfy the manual mode controllable by the driver and the automatic mode capable of autonomous control by the autonomous driving system, assuming the driver is in the vehicle. there will be

In other words, in the case of general vehicles except for special vehicles, autonomous driving within the basic platform of the previously designed vehicle is being developed in the form of assuming that the driver is on board and the autonomous driving system is used as an auxiliary method. When steering and braking systems for control are applied, the autonomous driving system must be installed within the limited space of the vehicle, so it is very important to optimize the autonomous driving system suitable for each vehicle.

The present invention relates to the development of a steering system for an autonomous vehicle that is easy to install in the limited space of an existing chassis platform of an autonomous vehicle, has a simple configuration, and can generate a reliable steering force among the main devices of an autonomous vehicle. The need for it was raised and it was created.

- Patent Registration No. 10-2035341 (Registration Date: 2019.10.16) - Patent Publication No. 10-2019-0098783 (published date: August 23, 2019) - Patent Publication No. 10-2007-0104764 (published on October 29, 2007)

An object of the present invention is to provide an efficient steering device for an autonomous vehicle, in particular, to provide a steering device for an autonomous vehicle that is simple in configuration, allows reliable generation and transmission of steering force, and is convenient for post-management after installation in a vehicle. There is a purpose.

In order to achieve the above object, a steering apparatus for an autonomous driving vehicle according to the present invention includes an autonomous driving controller mounted on the autonomous driving vehicle to control autonomous driving, and various sensors of the autonomous driving vehicle to detect the driving state of the vehicle and various surrounding conditions. A sub-controller connected to the autonomous driving controller through CAN communication to acquire information and transmit it to the autonomous driving controller, and transmitting an autonomous driving control command received from the autonomous driving controller to each driving unit; and the control transmitted from the sub-controller A steering force generating unit and a steering force transmitting unit that generate a steering force as a signal and transmit the generated steering force to the handle, wherein the steering force generating unit is operated at a predetermined number of revolutions and rotational speed according to the control signal transmitted from the sub-controller; , a planetary reduction gear connected to the motor to reduce the number of revolutions output from the motor at a predetermined ratio and output it, wherein the steering force transmitting unit includes a driving gear coupled to an output shaft of the planetary reduction gear, and spaced apart from the driving gear by a predetermined distance The driven gear is installed horizontally with respect to the driving gear, a driving chain that transmits the rotational force of the driving gear to the driven gear, a handle is installed on the upper part, and a steering rod is coupled to the lower part, so that the driven gear passes vertically through the center of the driven gear It consists of a configuration including; a steering column that rotates left and right according to the direction of rotation.

In particular, a steering motion sensing unit for monitoring a rotational state of a steering wheel is installed on the steering force transmitting unit or the steering column, and a steering wheel operation sensing unit for detecting that a driver operates the steering wheel is provided on the steering wheel, and the lower controller includes the A steering control signal match determination unit that receives the steering signal value detected by the steering motion detection unit and determines whether it matches the steering control signal value received from the autonomous vehicle, and a signal transmitted from the steering wheel operation detection unit A driver intervention determining unit that determines whether or not the driver has intervened, and a steering information return unit that transmits the information identified by the steering control signal coincidence determining unit and the driver intervention determining unit to the autonomous driving controller; is further included.

In addition, the autonomous driving controller includes a driving mode switching unit that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the steering information provided by the sub-controller; and a steering command confirmation unit that checks whether the steering information is the same as the initially delivered steering control signal, maintains the initial steering control signal value if they are the same, and retransmits the steering control signal value if different.

The steering apparatus of the autonomous vehicle according to the present invention is configured to finally control the rotation angle of the steering wheel according to the steering control signal transmitted through the autonomous driving controller and the sub-controller. Make it easy to install in a vehicle with little space.

In addition, the present invention enables safe driving of an autonomous vehicle by generating a quick and accurate steering force according to a steering control command, and enables safe driving of the autonomous vehicle by accurately determining whether or not a driver is involved.

1 is an overall configuration diagram of a steering apparatus for an autonomous vehicle according to the present invention;
2 is a vertical cutaway cross-sectional view of one side of a steering force generating unit and a steering force transmitting unit in the steering apparatus for an autonomous vehicle according to the present invention;
3 is a main configuration and operation block diagram of a steering apparatus for an autonomous vehicle according to the present invention.

The steering device for an autonomous vehicle according to the present invention (hereinafter, abbreviated as 'steering device') is configured to be applicable to an autonomous driving vehicle reaching an advanced stage from an initial stage of an autonomous driving level.

In addition, the steering device according to the present invention is configured to maintain communication with the control server or to enable complete autonomous driving, so that direction change is performed by transmitting steering force to the steering wheel according to the control of the autonomous driving controller mounted on the vehicle side. will do

The steering control signal transmitted from the autonomous driving controller is configured to be transmitted to the steering device through the lower controller, and vehicle state information and surrounding information obtained from various sensors installed on the vehicle side are collected through the lower controller and autonomous driving. It is configured to feed back to the controller, and the autonomous driving controller is configured to repeatedly perform a series of processes of sending or maintaining a control signal required for steering by checking the information fed back from the lower controller.

To this end, the steering device according to the present invention includes an autonomous driving controller mounted on an autonomous driving vehicle to control autonomous driving while maintaining remote communication with the control server or equipped with a fully autonomous driving system, and various sensors installed in the autonomous driving vehicle. It acquires various information about the driving state of the autonomous driving vehicle and the surroundings of the autonomous driving vehicle from A sub-controller that transmits the autonomous driving control command to each driving unit; It consists of a steering force transmission unit that transmits steering force to the steering column to which the steering wheel is connected.

In particular, the steering force generating unit includes a motor operated at a constant number of rotations and a rotational speed according to the control signal transmitted from the sub-controller, and a planetary reduction gear connected to the motor to reduce the number of rotations output from the motor at a constant rate and output it. is done

In addition, the steering force transmitting unit includes a driving gear coupled to the output shaft of the planetary reduction gear, a driven gear spaced apart from the driving gear by a predetermined distance and horizontally installed with respect to the driving gear, and a driving gear that transmits the rotational force of the driving gear to the driven gear. It consists of a chain and a steering column with a handle installed on the upper part and a steering rod coupled on the lower part to vertically penetrate the center of the driven gear and rotate left and right according to the rotation direction of the driven gear.

In addition, a steering motion sensing unit for monitoring a rotational state of the steering wheel is installed on the steering force transmitting unit or the steering column, and a steering wheel operation sensing unit for detecting that a driver operates the steering wheel is provided on the steering wheel, and the lower controller includes the A steering control signal match determination unit that receives the steering signal value detected by the steering motion detection unit and determines whether it matches the steering control signal value received from the autonomous vehicle, and a signal transmitted from the steering wheel operation detection unit A driver intervention determining unit that determines whether or not the driver has intervened, and a steering information return unit that transmits the information identified by the steering control signal coincidence determining unit and the driver intervention determining unit to the autonomous driving controller; is further included.

In addition, the autonomous driving controller includes a driving mode switching unit that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the steering information provided by the sub-controller, and feedback from the sub-controller A configuration further comprising; a steering command confirmation unit that checks whether the received steering information is the same as the initially delivered steering control signal, maintains the initial steering control signal value if the same, and retransmits the steering control signal value if different is made of

On the other hand, the terms used in the detailed description of the present invention are general terms and terms arbitrarily selected by the applicant in consideration of the function of the configuration of the present invention, and in this case, the meaning of the term refers to the content throughout the present invention. is defined based on

In addition, the term 'autonomous driving vehicle' used in the detailed description is used to include everything from a semi-autonomous driving vehicle in the initial stage that assists the driver in driving, to an autonomous driving vehicle in the advanced stage capable of driving completely without driver intervention.

In addition, the 'steering system' used in the detailed description is a series of hardware that operates the steering wheel according to the control signal received from the autonomous driving controller in order to generate steering force on the wheels of the vehicle in the autonomous driving mode of the autonomous driving vehicle. and software combined with hardware, and the detailed description and drawings of the present invention are limited to the characteristic configuration of the present invention.

In addition, when a part in the detailed description "includes" a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

In addition, the “autonomous driving controller” described in the detailed description is installed in the autonomous vehicle and stores, processes, and processes information collected from various sensor modules of the autonomous vehicle to output various control commands necessary for driving the autonomous vehicle, It refers to an integrated unmanned control system for autonomous vehicles configured to transmit various information acquired from an autonomous vehicle to the control server while communicating with a remote control server as necessary.

In addition, ‘~ unit’ used in the detailed description means a unit module that provides a specific result through one or more hardware or software and an independent device in which hardware and software are combined or a set algorithm to perform a specific function.

In addition, in the detailed description, when a part is “connected” or “coupled” with another part, it is not only “directly connected” but also intervenes other elements, parts, circuits, devices, etc. It is construed to include the case of “indirectly connected” with each other.

And, in the detailed description of the present invention, the description of the technical configuration that is widely known in the art or that can be easily devised based on the known technology by those skilled in the art is omitted as much as possible, and is necessary for understanding the characteristic configuration of the present invention. A detailed description will be given focusing on the technical composition.

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

1 schematically shows the overall configuration of a steering device according to the present invention, and FIG. 2 shows a vertical cut section on one side of the configuration of the steering force generating unit and the steering force transmitting unit in the configuration of the steering device of FIG. 1 , FIG. 3 shows a main configuration of the steering apparatus according to the present invention and a functional operation block diagram of the main configuration.

As shown in the drawing, the steering device 500 according to the present invention includes an autonomous driving controller 200 mounted on an autonomous driving vehicle to control autonomous driving, and steering-related information from the autonomous driving controller 200. The sub-controller 300 transmits to the steering force generating unit, and the steering force generating unit 400 and the steering force transmitting unit 420 that generate the steering force with the control command transmitted from the sub-controller 300 and directly transmit the generated steering force to the handle. ) consists of a configuration containing

In more detail about the configuration of the main part, the autonomous driving controller 200 is equipped with software necessary for autonomous driving as well as basic vehicle information and vehicle characteristics of the autonomous driving vehicle to perform overall autonomous driving control of the autonomous driving vehicle. configured to be able to

In addition, the autonomous driving controller 200 receives a control signal required for autonomous driving from the control server 100 while maintaining the communication state with the separate control server 100 according to the advanced stage of the autonomous driving vehicle to control the autonomous driving vehicle. It may be configured to control or provide various information acquired from the autonomous vehicle to the control server 100 .

In addition, the sub-controller 300 receiving the control signal from the autonomous driving controller 200 collects the driving state of the autonomous vehicle and various information around the autonomous vehicle from various sensor modules installed in the autonomous vehicle, and collects the collected information. It is configured to transmit information to the autonomous driving controller 200 and output a steering control signal received from the autonomous driving controller 200 to the steering force generating unit 400 .

In addition, the sub-controller 300 is connected to the autonomous driving controller 200 and the steering force generating unit 400 through CAN communication to facilitate mutual information transfer.

In addition, the steering force generating unit 400 for generating a steering force according to the control signal transmitted from the sub-controller 300 includes a motor 405 operated at a constant number of revolutions and a rotation speed according to the transmitted control signal, and the motor ( It is connected to 405) and consists of a planetary reduction gear 410 that reduces the number of revolutions output from the motor at a certain rate and outputs it, and the motor 405 and the planetary reduction gear 410 are integrally configured and installed and post-installation. It is desirable to be configured so that management can be made easily.

In addition, the steering force transmitting unit 420 configured to provide the handle 450 through the rotational force output from the steering force generating unit 400 is coupled to the output shaft 415 of the planetary reduction gear 410 to transmit the rotational force. A driving gear 422 that receives and rotates, a driven gear 424 that is horizontally installed with respect to the driving gear while being spaced apart from the driving gear 422 by a predetermined distance, and a driven gear 424 by applying the rotational force of the driving gear 422 The driving chain 426 installed externally to the driving gear and the driven gear to transmit the It consists of a configuration including a steering column 428 that rotates within a range set left and right according to the rotation direction of the gear 424.

The steering force transmitting unit 420 has a power transmission structure in which a gear and a chain are combined so that the rotational force transmitted from the steering force generating unit 400 can be accurately and quickly transmitted to the steering column 440 to which the handle 450 is coupled. .

And, as shown in the drawing, it is preferable that the motor 405 and the planetary reduction gear 410 have a structure in which they are integrally coupled, and the planetary reduction gear 410 integrally coupled with the motor 405 is It is fixed to the upper end of the mounting member 402 fixedly installed on the inner floor surface of the vehicle and has a structure installed in the vertical direction.

In addition, a horizontal fixing member 427 is installed between the output shaft 415 of the planetary reduction gear 410 and the steering column 440 , and the driving gear 422 and driven by the upper surface of the fixing member 427 . The gear 424 is seated so that the distance between the driving gear 422 and the driven gear 424 can be firmly maintained, and a cover 428 is covered on the outside of the driving chain 426 to rotate It is configured to prevent foreign substances from entering the driving chain 426 and prevent interference from other members to enable smooth steering control.

On the other hand, the operation details of the main components of the steering apparatus according to the present invention described above with reference to FIG. 3 will be described below.

The lower controller 300 is configured to notify the autonomous driving controller 200 of the driving state information of the autonomous driving vehicle and various information collected from the outside of the vehicle through the vehicle-side various sensor modules 330 and the camera 340 .

The autonomous driving controller 200 collects, analyzes, and processes various types of information collected and notified by the sub-controller 300, and when a factor necessary for steering control of an autonomous vehicle in driving occurs, a signal required for steering control with the sub-controller will output

The steering angle control signal sent from the autonomous driving controller 200, which is the upper controller, to the lower controller 300 is output in units of 0.1°, and the lower controller 300 receiving the signal is a motor that is the steering force generator 400 . By transmitting a signal, the rotational force of the motor is transferred to the planetary reduction gear, and the planetary reduction gear reduces the inputted rotational speed of the motor to a certain reduction ratio (20:1) and then outputs it to the steering force transmission unit 420 to adjust the steering angle of the handle. configured to be controlled.

The rotational force transmitted to the steering force transmission unit 420 is transmitted to the driven gear 424 through the driving gear 422 and the driving chain 426, and a steering column 440 installed vertically through the center of the driven gear 424. As the final rotational force is transferred to the , the steering force is generated in the handle 450 .

The steering angle range operated by the steering force transmitting unit 420 with the rotational force transmitted from the steering force generating unit 400 is configured to control the handle in the range of 450° (left/right 900°) on one side, but this steering angle range is It can be set differently depending on the type of vehicle.

On the other hand, when steering force is generated in the handle 450, the steering force transmitting unit 420 or the steering angle sensing unit 350 installed in the handle 450 detects the steering angle displacement of the handle and informs the lower controller 300 side. and the lower controller 300 feeds back the received steering information to the autonomous driving controller 200 .

In addition, the steering wheel 450 is provided with a steering wheel manipulation sensing unit 360 for detecting that the driver is tilted to perform a steering wheel manipulation, so that the signal detected by the steering wheel manipulation sensing unit 350 also controls the lower controller 300 . It is configured to be fed back to the autonomous driving controller 200 side.

That is, since the autonomous driving vehicle to which the steering device 500 according to the present invention is applied is applied to an autonomous driving vehicle ranging from the initial stage of autonomous driving to the advanced stage regardless of whether the driver is riding, if the driver is on board, the driver When it is detected that the steering wheel has been arbitrarily manipulated to steer the autonomous vehicle and the driver's steering wheel operation status is notified to the lower controller, the signal is transmitted to the autonomous driving controller, and the autonomous driving controller switches from the autonomous driving control mode to the manual driving mode. The changed control signal is output.

On the other hand, the sub-controller 300 has a steering control signal match determination unit 310 that determines whether the steering operation signal sensed by the steering angle sensing unit 350 matches the steering control signal lowered by the autonomous driving controller. In addition, a driver intervention determining unit 312 that determines whether the driver intervenes and operates the steering wheel based on the signal detected by the steering wheel operation detection unit 360 is provided, and the steering control signal coincidence determination unit 310 is provided. and a steering information return unit 314 for transmitting the contents determined by the driver intervention determining unit 312 to the autonomous driving controller 200 .

In addition, the steering information fed back from the sub-controller 300 is the steering control signal first issued from the steering command confirmation unit 220 of the autonomous driving controller 200 and the steering motion detection signal of the steering wheel collected through the steering of the actual vehicle. If there is an error in the control signal by checking the information, the steering control signal is transmitted to the lower controller 300 again, and when it is determined that the initial steering control signal and the steering motion detection signal detected from the vehicle are matched, the steering control signal is decided to keep.

In this way, the autonomous driving controller transmits the steering control signal of the autonomous vehicle to the lower controller, and the steering control signal received by the lower controller is finally transferred to the steering wheel through the steering force generating unit and the steering force transmitting unit to achieve the necessary steering. .

In addition, the signals detected by the steering angle sensing unit and the steering wheel manipulation sensing unit provided on the side of the steering wheel or the steering force transmitting unit are collected by the real-time sub-controller, and the sub-controller checks the collected sensing information of each part and feeds it back to the autonomous driving controller for autonomous driving The driving controller checks whether the steering wheel is being steered according to the steering control signal, and if necessary, a series of processes of re-outputting the steering control signal are repeated so that the autonomous vehicle's steering system can be controlled.

In the above, the steering apparatus for an autonomous vehicle according to the present invention has been described based on the accompanying drawings, but those skilled in the art can change the steering apparatus according to the present invention to a modified embodiment through a simple design change or addition of some control processes. It will be possible to configure the steering system for autonomous vehicles.

100: control server
200: autonomous driving controller 210: driving mode conversion unit
220: steering command confirmation unit
300: sub-controller 310: steering control signal coincidence determination unit
312: driver intervention determination unit 314: steering information reply unit
320: sensor module 330: camera
350: steering motion detection unit 360: steering wheel operation detection unit
400: steering force generating unit 402: mounting member
405: motor 410: planetary reduction gear
415: output shaft
420: steering force transmission unit 422: driving gear
424: driven gear 426: drive chain
427: fixing member 428: cover
430: steering rod 440: steering column
450 : handle
500: steering device

Claims (3)

The autonomous driving controller 200 is mounted on the autonomous driving vehicle to control autonomous driving, and the autonomous driving controller and the autonomous driving controller to acquire the driving state and various surrounding information of the vehicle from various sensors of the autonomous driving vehicle and transmit it to the autonomous driving controller; A sub-controller 300 connected by CAN communication and transmitting an autonomous driving control command received from the autonomous driving controller 200 to each driving unit, and a control signal transmitted from the sub-controller 300 to generate steering force, It includes a steering force generating unit 400 and a steering force transmitting unit 420 that transmit the generated steering force to the handle,
The steering force generating unit 400,
A motor 405 operated at a constant number of rotations and a rotation speed according to a control signal transmitted from the sub-controller 300, and the motor 405 connected to the motor 405 to reduce the number of rotations output from the motor at a predetermined rate and output Consists of a planetary reduction gear 410,
The steering force transmission unit 420,
A driving gear 422 coupled to the output shaft of the planetary reduction gear 410, a driven gear 424 installed horizontally with respect to the driving gear while being spaced apart from the driving gear 422 by a predetermined distance, and the driving gear 422 A driving chain 426 that transmits the rotational force of the driven gear 424, a handle 450 is installed on the upper portion, and a steering rod 430 is coupled to the lower portion to vertically penetrate the center of the driven gear to rotate the driven gear A steering device for an autonomous vehicle, characterized in that it comprises a steering column (428) that rotates left and right according to the The method of claim 1,
The steering force transmitting unit 420 or the steering column 440 is provided with a steering motion sensing unit 350 for monitoring the rotational state of the handle 450,
The handle 450 is provided with a handle operation detection unit 360 for detecting that the driver operates the handle,
In the sub-controller 300,
a steering control signal match determination unit 310 that receives the steering signal value detected by the steering motion detection unit 350 and determines whether it matches the steering control signal value received from the autonomous vehicle;
a driver intervention determination unit 312 that receives a signal transmitted from the steering wheel operation detection unit 360 and determines whether or not the driver intervenes;
and a steering information return unit 314 for transmitting the information identified by the steering control signal match determination unit 310 and the driver intervention determination unit 312 to the autonomous driving controller. steering system of the driving vehicle. 3. The method of claim 2,
The autonomous driving controller 200 includes a driving mode switching unit 210 that converts the driving mode of the autonomous vehicle to a manual mode when it is determined that driver intervention has been made through the steering information provided by the sub-controller 300; ,
Check whether the steering information fed back from the sub-controller 300 is the same as the first received steering control signal, and if the same, maintain the initial steering control signal value, and if different, check the steering command to retransmit the steering control signal value A steering device for an autonomous vehicle, characterized in that it includes;

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