WO2021177555A1 - Système d'assistance de direction disposé dans un volant et procédé de commande de direction l'utilisant - Google Patents

Système d'assistance de direction disposé dans un volant et procédé de commande de direction l'utilisant Download PDF

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Publication number
WO2021177555A1
WO2021177555A1 PCT/KR2020/017544 KR2020017544W WO2021177555A1 WO 2021177555 A1 WO2021177555 A1 WO 2021177555A1 KR 2020017544 W KR2020017544 W KR 2020017544W WO 2021177555 A1 WO2021177555 A1 WO 2021177555A1
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WO
WIPO (PCT)
Prior art keywords
steering
assistance system
vehicle
manipulation
touch
Prior art date
Application number
PCT/KR2020/017544
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English (en)
Korean (ko)
Inventor
최재현
김중원
문유성
Original Assignee
유니텔전자(주)
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Publication of WO2021177555A1 publication Critical patent/WO2021177555A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
    • B60Q3/20—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors for lighting specific fittings of passenger or driving compartments; mounted on specific fittings of passenger or driving compartments
    • B60Q3/283—Steering wheels; Gear levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
    • B60Q3/80—Circuits; Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/20—Multi-color single source or LED matrix, e.g. yellow blinker and red brake lamp generated by single lamp
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/089—Driver voice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/143—Speed control

Definitions

  • the present invention relates to steering control of a vehicle, and more particularly, to performing steering control using a steering assistance system provided in a steering wheel.
  • ADAS Advanced Driver Assistance Systems
  • HMI Human-Machine Interface
  • Typical ADAS are In-Vehicle Navigation System, Cruise Control System, Lane Departure Warning System or Lane Keeping Assist System, Adaptive Front Light Control, These include Automatic Parking, Driver Drowsiness Detiction System, Forward Collision Warning System, and Forward Collision-Avoidance Assist System.
  • An object of the present invention is to provide a steering assistance system provided in a steering wheel and a steering control method using the same.
  • Another object of the present invention is to provide a steering assistance system provided in a steering wheel capable of performing steering control more intuitively and conveniently.
  • Another object of the present invention is to provide a steering control method in which steering control is adaptively performed according to a change in driving environment.
  • the plurality of manipulation areas include a first manipulation area formed along an outer handle of the steering wheel and a second manipulation area formed inside the steering wheel, and the first manipulation area and the second manipulation area
  • Each region includes a plurality of the touch LED sensors arranged at a predetermined angle, and the illuminance and lighting color of the touch LED sensor may be differently output depending on whether the manipulation region is activated and the calculated steering angle.
  • the vehicle control mode setting information includes auto cruise mode setting information and parking assist mode setting information, and when the auto cruise mode is activated and the driving speed of the vehicle is greater than or equal to a predetermined reference speed, the first manipulation area is is activated, when the parking assist mode is activated and the driving speed of the vehicle is less than the reference speed, the second manipulation area may be activated.
  • At least one of the number of the touch LED sensors disposed in the first manipulation area and the second manipulation area and the size of the steering angle controllable in the first manipulation area and the second manipulation area may be different have.
  • the steering assistance system is activated when user authentication is successful through a fingerprint recognition sensor disposed on one side of the steering wheel, and the steering control command is recognized through voice recognition information recognized through a voice recognition sensor and a touch screen It may be recognized based on any one of user's touch input information and route guidance information obtained from vehicle navigation.
  • a steering assistance system includes a communication unit for collecting vehicle control mode setting information and driving speed information, a sensor for recognizing a steering control command, and a plurality of steering wheel steering angles corresponding to the steering control command. Activates any one of the plurality of manipulation areas provided in the steering assistance system based on a steering wheel touch manipulation unit including a manipulation area of a controller for calculating the steering angle of the steering wheel according to the and the driving direction of the vehicle may be controlled by the calculated steering angle according to selection of the lit touch LED sensor.
  • the plurality of manipulation areas include a first manipulation area formed along an outer handle of the steering wheel and a second manipulation area formed inside the steering wheel, and the first manipulation area and the second manipulation area
  • Each region includes a plurality of the touch LED sensors arranged at a predetermined angle, and the controller controls so that the illuminance and the lighting color of the touch LED sensor are output differently depending on whether the manipulation region is activated and the calculated steering angle can do.
  • the vehicle control mode setting information includes auto cruise mode setting information and parking assist mode setting information, and when the auto cruise mode is activated and the driving speed of the vehicle is equal to or greater than a predetermined reference speed, the first When the manipulation area is activated, the parking assist mode is activated, and the driving speed of the vehicle is less than the reference speed, the second manipulation area may be activated.
  • At least one of the number of the touch LED sensors disposed in the first manipulation area and the second manipulation area and the size of the steering wheel steering angle controllable in the first manipulation area and the second manipulation area is may be different.
  • the controller activates the steering assistance system when user authentication is successful through a fingerprint recognition sensor disposed on one side of the steering wheel, and the steering control command includes voice recognition information recognized through a voice recognition sensor, a touch screen It may be recognized based on any one of the user's touch input information recognized through , and route guidance information obtained from vehicle navigation.
  • the present invention has the advantage of providing a steering assistance system provided in a steering wheel and a steering control method using the same.
  • Another object of the present invention is to provide a steering assistance system provided in a steering wheel capable of performing steering control more intuitively and conveniently.
  • Another object of the present invention is to provide a steering control method in which steering control is adaptively performed according to a change in driving environment.
  • FIG. 1 is a view for explaining the configuration of a steering assistance system provided in a steering wheel according to an embodiment of the present invention.
  • FIG. 2 is a view for explaining the structure of a steering wheel equipped with a steering assistance system according to an embodiment of the present invention.
  • FIG 3 is a view for explaining a method of driving a touch LED sensor in a steering assistance system according to an embodiment of the present invention.
  • FIG. 4 shows an example of a VR screen configuration according to an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a steering control method in a steering assistance system according to an embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating a steering control method in a steering assistance system according to another embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a steering control method in a vehicle according to another exemplary embodiment of the present invention.
  • FIG. 8 is a flowchart illustrating a steering control method in a vehicle according to another embodiment of the present invention.
  • FIG. 9 is a view for explaining a method of calculating a steering wheel rotation angle according to an embodiment of the present invention.
  • FIG. 1 is a view for explaining the configuration of a steering assistance system provided in a steering wheel according to an embodiment of the present invention.
  • the steering assistance system 10 provided in the steering wheel will be simply referred to as the steering assistance system 10 .
  • the steering assistance system 10 includes a touch input sensor 101 , a fingerprint recognition sensor 102 , a voice recognition sensor 103 , a Hand Off Detection (HOD) sensor 104 , a display 105 , and a steering wheel. It may be configured to include a touch manipulation unit 106 , a camera 107 , a microphone 108 , a VR interlocking unit 109 , a communication unit 110 , and a controller 111 .
  • the touch input sensor 101 is provided with a touch screen panel to detect a user's touch input.
  • the touch screen panel may include a pressure-sensitive touch screen panel, a capacitive touch screen panel, and an infrared touch screen panel, but is not limited thereto.
  • the driver may activate the steering assistance system 10 by selecting a predetermined touch input button displayed on the touch screen panel or performing a predetermined gesture on the touch screen.
  • the fingerprint recognition sensor 102 may activate the steering assistance system 10 by acquiring a digital image of a user's fingerprint through the provided fingerprint recognition dedicated sensor, and authenticating the user by comparing it with pre-registered fingerprint information of the user.
  • the fingerprint recognition sensor includes an optical fingerprint recognition sensor that acquires a fingerprint image reflected in visible light, an ultrasonic fingerprint recognition sensor that acquires a fingerprint image using the ultrasonic inspection principle, and acquires a fingerprint image using a difference in capacitance It may include a capacitive fingerprint recognition sensor and the like.
  • the voice recognition sensor 103 may recognize a user's voice signal input through the microphone 108 and extract start words and commands included in the user's voice. For example, when the driver speaks a specific angle displayed on the steering wheel, the voice recognition sensor 103 may recognize the voice and extract the angle control command. As another example, when the driver speaks a lane movement direction, the voice recognition sensor 103 may recognize the voice and extract a lane movement command.
  • the controller 111 may transmit a predetermined control signal to the steering wheel touch manipulation unit 106 according to the recognized angle control command to control the touch LED sensor corresponding to the corresponding angle to be activated.
  • the purpose and structure of the touch LED sensor will become clearer through the description of the drawings to be described later.
  • the HOD sensor 104 is mounted on the vehicle steering wheel, and an electrostatic sensing system is provided to detect whether the driver's hand is holding the steering wheel.
  • the controller 111 determines that the driver wants to switch to manual driving. By judging, the steering assist function can be automatically activated.
  • the display 105 may include, but is not limited to, an audio video navigation (AVN) display, a head up display (HUD), a center information display (CID), a hologram output device, a cluster, and the like.
  • APN audio video navigation
  • HUD head up display
  • CID center information display
  • hologram output device a cluster, and the like.
  • the steering wheel touch manipulation unit 106 may be provided with a touch LED sensor for each steering angle. When the touch LED sensor lights up, the driver can adjust the steering angle of the steering wheel by pressing the corresponding touch LED sensor.
  • the camera 107 may capture an image outside the vehicle and the driver.
  • a plurality of cameras may be mounted at a predetermined location of the vehicle.
  • the plurality of cameras may capture images of the front/rear/left/right side of the vehicle.
  • the microphone 108 may receive the driver's spoken voice when the voice recognition mode is activated.
  • the voice recognition mode may be activated by default, but this is only one embodiment and the voice recognition mode according to the design of those skilled in the art may be deactivated by default or activated according to a predetermined input signal.
  • the VR linkage unit 109 calculates the expected moving path of the vehicle based on the driver's touch input detected by the steering wheel touch manipulation unit 106 and the image captured by the camera 107, and the calculated expected moving path is
  • the displayed screen can be configured.
  • the configured screen is output through the display 105 so that the driver can check it.
  • the communication unit 110 may communicate with an external device - for example, the vehicle controller 20 and the navigation unit 30 .
  • the vehicle controller 20 may include, but is not limited to, a steering controller, an engine controller, a speed controller, a ramp controller, and the like, and various driver assistance systems provided in the vehicle - for example, an auto cruise controller, parking auxiliary controllers, etc.;
  • the communication unit 110 may be interlocked with an external device through CAN (Controller Area Network) communication, but this is only one embodiment, and may be interlocked using other vehicle internal communication such as vehicle Ethernet, FlexRay, etc. .
  • CAN Controller Area Network
  • Communication unit 110 is equipped with a V2X (Vehicle to Everything) communication function, as shown in the figure 40, communication between vehicles (V2V, Vehicle to Vehicle), vehicle and infrastructure communication (V2I, Vehicle to Infrastructure), communication between a vehicle and a pedestrian terminal (V2P, Vehicle to Pedestrian), etc. may be performed.
  • V2X Vehicle to Everything
  • V2I Vehicle to Infrastructure
  • V2P Vehicle to Pedestrian
  • the VR interworking unit 109 may configure a VR screen further based on various information collected through V2X communication. As an example, information on pedestrians and other vehicles located on the expected driving path of the vehicle may be displayed on the VR screen.
  • the steering assistance system 10 may further include an alarm unit (not shown) for outputting a predetermined alarm sound or alarm vibration.
  • the controller 111 determines a steering angle, and when a touch LED sensor corresponding to the determined steering angle is activated, a predetermined alarm sound is output through a speaker provided or a predetermined vibration is performed through a vibration motor provided on a steering wheel provided. You can print the pattern.
  • FIG. 2 is a view for explaining the structure of a steering wheel equipped with a steering assistance system according to an embodiment of the present invention.
  • the steering wheel may include a frame, a substrate layer surrounding the frame, and a covering layer surrounding the substrate layer.
  • the coating layer is provided with a plurality of touch LED sensors, and the touch LED sensors may be electrically connected to the substrate layer.
  • the touch LED sensor according to the embodiment may be disposed at regular angular intervals based on the center of the steering wheel.
  • the touch LED sensor may include an external touch LED sensor and an internal touch LED sensor.
  • the external touch LDE sensor may be disposed in the first manipulation area 210 of the steering wheel, and the internal touch LED sensor may be disposed in the second manipulation area 220 of the steering wheel.
  • the number of external touch LDE sensors disposed in the first manipulation area 210 may be arranged at a predetermined angular interval equal to the number of internal touch LED sensors disposed in the second manipulation area 220 , but this is one embodiment. , and according to the design of those skilled in the art, the number of external touch LDE sensors disposed in the first manipulation area 210 may be greater or less than the number of internal touch LED sensors disposed in the second manipulation area 220. have. In this case, as the number of touch LED sensors disposed in the corresponding manipulation area increases, more precise steering control may be possible.
  • a fingerprint recognition module is provided on one side of the steering wheel and can be used for driver authentication.
  • the steering assistance system 10 may be activated.
  • the first manipulation area 210 and the second manipulation area 220 are shown to be capable of steering control between 0 and 355 degrees, but this is only one embodiment, and another embodiment may be designed to enable steering control in a smaller or larger range of angles.
  • the first operation area 210 is designed to allow steering control between 0 and 179 degrees to facilitate control in high-speed driving and auto cruise mode
  • the second operation area 210 is configured for low-speed driving and It can be designed to allow steering control between 0 and 719 to facilitate control in parking mode.
  • the steering assistance system 10 may be designed to have a different steering control range in the first manipulation area 210 and the second manipulation area 220 .
  • FIG 3 is a view for explaining a method of driving a touch LED sensor in a steering assistance system according to an embodiment of the present invention.
  • the controller 111 of the steering assistance system 10 may activate only one of the first manipulation area 210 and the second manipulation area 220 according to the driving speed of the vehicle.
  • the controller 111 activates the first manipulation area 210 when the vehicle traveling speed is a reference speed—for example, 30 km/h—or higher or auto cruise is activated, and performs the second manipulation The region 220 may be controlled to be deactivated.
  • the controller 111 activates the second operation area 220 and One manipulation area 210 may be inactivated.
  • the steering assistance system 10 dynamically controls the manipulation area according to the driving environment, thereby effectively preventing the driver's manipulation error.
  • the steering assistance system 10 may include a touch input pad 310 on one side of the steering wheel to receive a driver's input signal.
  • the driver may activate or deactivate the steering assistance system 10 by performing a predetermined touch gesture or touch operation on the touch input pad 310 .
  • the driver may perform a predetermined touch gesture on the touch input pad 310 to control one of the first manipulation area 210 and the second manipulation area 220 to be activated.
  • the steering assistance system 10 may dynamically control the illuminance and illumination color of the corresponding LED as shown in reference numeral 330 according to whether the manipulation area is activated and whether the steering angle is displayed.
  • the driver may perform steering control of the vehicle by touch-inputting the touch LED sensor 320 on which the steering angle is displayed.
  • the driver may perform steering control of the vehicle by performing a predetermined touch gesture or touch operation on the touch input pad 310 while the steering angle is displayed through the touch LED sensor 320 .
  • the steering assistance system 10 may transmit a predetermined control signal to the corresponding vehicle controller so that the steering control is performed at an angle corresponding to the touch LED sensor 320. have.
  • FIG. 4 shows an example of a VR screen configuration according to an embodiment of the present invention.
  • the VR screen 400 includes a voice recognition state display region 410 , a driving direction display region 420 , a steering angle display region 430 , a driving speed display region 440 , and an image display region 450 . ) may be included.
  • the ON/OFF state of the voice recognition function of the current steering assistance system 10 may be displayed.
  • driving directions such as straight forward/left turn/right turn/U-turn may be displayed.
  • a steering angle corresponding to the activated touch LED sensor 460 may be displayed in the steering angle display area 430 .
  • the current driving speed of the host vehicle may be displayed in the driving speed display area 440 .
  • the driver when the driver confirms that the touch LED sensor 460 is activated while driving, the driver may select the touch LED sensor 460 by touch input.
  • the steering assistance system 10 may perform steering control so as to turn right by entering at an angle of 30 degrees from a point 150 m in front.
  • the steering assistance system 10 may obtain real-time route guidance information by interworking with a navigation device.
  • the steering assistance system 10 may identify a steering control position, a steering direction, and a steering angle according to the route guidance information, configure a VR screen according to the identification result, and output it to the display 105 . At the same time, the steering assistance system 10 may activate the touch LED sensor 460 corresponding to the identified steering angle.
  • FIG. 5 is a flowchart illustrating a steering control method in a steering assistance system according to an embodiment of the present invention.
  • the steering assistance system 10 may collect vehicle control mode information (S510).
  • the vehicle control mode information may include auto cruise setting information and parking assistance mode setting information.
  • the steering assistance system 10 may collect driving speed information (S520).
  • the steering assistance system 10 may determine whether the auto cruise mode is activated ( S530 ).
  • the steering assistance system 10 may determine whether the current driving speed is equal to or greater than the first reference speed ( S540 ).
  • the steering assistance system 10 may activate the first manipulation area 210 of the steering wheel and deactivate the second manipulation area 220 ( S550 ).
  • the steering assistance system 10 may activate the second manipulation area 220 of the steering wheel and deactivate the first manipulation area 210 (S560). ).
  • the steering assistance system 10 may determine whether the parking assistance mode is activated (S570).
  • the steering assistance system 10 may determine whether the current driving speed is equal to or greater than the second reference speed (S580).
  • the steering assistance system 10 may activate the first manipulation area 210 of the steering wheel and deactivate the second manipulation area 220 ( S550 ).
  • the steering assistance system 10 may activate the second manipulation area 220 of the steering wheel and deactivate the first manipulation area 210 (S560). ).
  • the first reference speed and the second reference speed may be the same.
  • first reference speed and the second reference speed may be different from each other.
  • the first reference speed may be greater than the second reference speed.
  • FIG. 6 is a flowchart illustrating a steering control method in a steering assistance system according to another embodiment of the present invention.
  • FIG. 6 is a view for explaining a method of moving a lane through steering control through the steering assistance system 10 during high-speed driving.
  • the high-speed driving may mean a driving speed of 30 km or more, but this is only one embodiment, and the high-speed driving standard may be set differently according to a design of those skilled in the art.
  • the steering assistance system 10 may recognize a keyword through the voice recognition sensor 103 ( S601 ).
  • the keyword may include a wakeup word and a command word.
  • the steering assistance system 10 may determine whether the recognized keyword is a lane change command (S602).
  • the steering assistance system 10 may output the front camera image to the display 105 (S603).
  • the steering assistance system 10 may identify a moving lane selected by the driver ( S604 ).
  • the steering assistance system 10 may identify a moving lane based on voice recognition of the driver's spoken voice, recognition of a touch gesture or touch gesture on the driver's touch display and touch pad, and a button input by the driver.
  • the steering assistance system 10 may calculate a steering angle corresponding to the identified moving lane ( S605 ).
  • the steering assistance system 10 may determine a steering angle for lane movement in consideration of at least one of a driving road type, a current driving speed, and information on other nearby vehicles. For example, the steering assistance system 10 may determine the steering angle so that the angle of entry into the moving lane is set to be smaller as the current driving speed increases.
  • the steering assistance system 10 may turn on the touch LED sensor disposed at a position corresponding to the calculated steering angle and then drive the light off timer (S606).
  • the steering assistance system 10 may turn on a turn indicator corresponding to the identified moving lane when the touch LED sensor lit before the extinction timer expires is selected by the driver ( S607 and S608 ).
  • the steering assistance system 10 may perform lane movement by controlling the steering wheel to rotate at a steering angle calculated in association with a controller controlling the steering of the vehicle ( 609 ).
  • the steering assistance system 10 may turn off the turned on the touch LED sensor and the direction indicator ( S610 and S611 ).
  • step 607 when the light-off timer expires, the steering assistance system 10 may turn off the turned-on touch LED sensor (S612).
  • FIG. 7 is a flowchart illustrating a steering control method in a vehicle according to another embodiment of the present invention.
  • FIG. 7 is a view for explaining a method of moving a lane through steering control while driving at a low speed.
  • the low-speed driving may mean a driving speed of less than 30 km, but this is only an example, and the low-speed driving criterion may be defined differently according to a design of those skilled in the art.
  • the steering assistance system 10 may perform keyword recognition through the voice recognition sensor 103 ( S701 ).
  • the keyword may include a wakeup word and a command word.
  • the steering assistance system 10 may determine whether the recognized keyword is a lane change command ( S702 ).
  • the steering assistance system 10 may output the front camera image to the display 105 ( S703 ).
  • the steering assistance system 10 may drive an image analysis through a camera and/or a proximity detection sensor to detect objects around the vehicle (S704).
  • the object may include not only dynamic objects such as other vehicles and pedestrians, but also static objects such as roadside facilities and obstacles.
  • the steering assistance system 10 may output the images captured by the left and right cameras and the sensing results by the up/down/left/right proximity detection sensors as a VR screen and output through the provided display 105. have.
  • the steering assistance system 10 may identify the moving lane selected by the driver ( S705 ).
  • the steering assistance system 10 may identify a moving lane based on voice recognition of the driver's spoken voice, recognition of a touch gesture or touch gesture on the driver's touch display and touch pad, and a button input by the driver.
  • the steering assistance system 10 may calculate a steering angle corresponding to the identified moving lane ( S706 ).
  • the steering assistance system 10 may determine a steering angle for lane movement in consideration of at least one of a type of a currently driven road, a current driving speed, and information on other nearby vehicles. As an example, the steering assistance system 10 may determine the steering angle so that the angle of entry into the moving lane is set to be smaller as the current driving speed increases.
  • the steering assistance system 10 may turn on the touch LED sensor disposed at a position corresponding to the calculated steering angle and then drive the light-off timer ( S707 ).
  • the steering assistance system 10 may turn on a turn indicator corresponding to the identified moving lane when the touch LED sensor lit before the extinguishing timer expires is selected by the driver ( S708 and S709 ).
  • the steering assistance system 10 may perform lane movement by controlling the steering wheel to rotate at the steering angle calculated in association with the vehicle steering controller ( 710 ).
  • the steering assistance system 10 may turn off the turned on the touch LED sensor and the direction indicator (S711 and S712).
  • step 708 when the light-off timer has expired, the steering assistance system 10 may turn off the turned-on touch LED sensor (S713).
  • FIG. 8 is a flowchart illustrating a steering control method in a vehicle according to another embodiment of the present invention.
  • FIG. 8 is a view for explaining a steering control method during parking.
  • the steering assistance system 10 may determine that the corresponding vehicle is being parked.
  • the steering assistance system 10 may perform keyword recognition through the voice recognition sensor 103 ( S801 ).
  • the keyword may include a wakeup word and a command word.
  • the steering assistance system 10 may determine whether the recognized keyword is a parking assistance command (S802).
  • the steering assistance system 10 may output the left and right camera images to the display 105 (S803).
  • the steering assistance system 10 may drive an image analysis through a camera and/or a proximity detection sensor to detect objects around the vehicle (S804).
  • the object may include not only dynamic objects such as other vehicles and pedestrians, but also static objects such as roadside facilities and obstacles.
  • the steering assistance system 10 configures the image captured by the left/right camera and the sensing result by the up/down/left/right proximity sensor as a VR screen and outputs it through the provided display 105 can do.
  • the steering assistance system 10 may identify a moving lane selected by the driver (S805).
  • the steering assistance system 10 may identify the direction of movement based on voice recognition of the driver's spoken voice, recognition of touch gestures or touch gestures on the driver's touch display and touch pad, and button input of the driver.
  • the identified movement direction may be at least one of front/rear/left/right. For example, if the driver says rear left, the steering assistance system may calculate a safe entry angle in the rear left direction, and display information about the calculated entry angle by turning on the corresponding touch LED sensor.
  • the steering assistance system 10 may calculate a steering angle corresponding to the identified movement direction (S806).
  • the steering assistance system 10 may turn on the touch LED sensor disposed at a position corresponding to the calculated steering angle and then drive the light-off timer (S807).
  • the steering assistance system 10 may turn on a turn indicator and/or a reversing lamp corresponding to the identified moving lane when the touch LED sensor lit before the extinction timer expires is selected by the driver (S808 and S809) .
  • the steering assistance system 10 may perform vehicle movement by controlling the steering wheel to rotate at the steering angle calculated in association with the vehicle steering controller ( 810 ).
  • the steering assistance system 10 may turn off the turned on the touch LED sensor, the turn indicator, and/or the reversing lamp (S811 and S812).
  • the steering assistance system 10 may turn off the turned-on touch LED sensor (S813).
  • FIG. 9 is a view for explaining a method of calculating a steering wheel rotation angle according to an embodiment of the present invention.
  • the steering ratio of the vehicle refers to the angle of rotation of the steering wheel required to rotate the front wheels of the vehicle by one degree.
  • the steering wheel rotation angle may be calculated by multiplying the front wheel rotation angle by the steering ratio of the corresponding vehicle as shown in Equation 1 below.
  • Steering handle rotation angle steering ratio * front wheel rotation angle ⁇ Equation 1>
  • the steering wheel rotation angle is 540 degrees.
  • the steering ratio for each vehicle type may be different.
  • the steering ratio of the small car may be 14 to 18
  • the steering ratio of the mid-size car may be 18 to 22
  • the steering ratio of the large car may be 22 to 26.
  • the steering assistance system 10 may determine the steering angle of the steering wheel in consideration of the steering ratio of the corresponding vehicle.
  • a software module may reside in a storage medium (ie, memory and/or storage) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM.
  • a storage medium ie, memory and/or storage
  • An exemplary storage medium is coupled to the processor, the processor capable of reading information from, and writing information to, the storage medium.
  • the storage medium may be integral with the processor.
  • the processor and storage medium may reside within an application specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • the ASIC may reside within the user terminal.
  • the processor and storage medium may reside as separate components within the user terminal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de commande de direction dans un système d'assistance de direction disposé dans un volant de véhicule qui, selon un mode de réalisation, peut comprendre les étapes consistant à : collecter des informations de configuration de mode de commande de véhicule et des informations de vitesse de déplacement de véhicule ; activer une des multiples régions de manipulation, fournies dans le système d'assistance de direction, sur la base des informations de configuration de mode de commande de véhicule et des informations de vitesse de déplacement ; reconnaître une instruction de commande de direction par l'intermédiaire d'un capteur fourni ; calculer l'angle de braquage du volant sur la base de l'instruction de commande de direction reconnue ; et allumer un capteur à DEL tactile qui est disposé dans la région de manipulation activée et qui correspond à l'angle de direction calculé ; et commander la direction de déplacement du véhicule à l'angle de direction calculé par sélection du capteur à DEL tactile qui a été allumé.
PCT/KR2020/017544 2020-03-03 2020-12-03 Système d'assistance de direction disposé dans un volant et procédé de commande de direction l'utilisant WO2021177555A1 (fr)

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KR102588610B1 (ko) * 2021-06-29 2023-10-17 주식회사 이노핀 차량 내 인포테인먼트 시스템과 연계된 주식 거래 시스템 및 그에 의한 방법
WO2024111684A1 (fr) * 2022-11-21 2024-05-30 주식회사 이노핀 Système de transaction boursière lié à un système d'infodivertissement dans un véhicule, et procédé associé

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