Device for controlling automatic driving of a vehicle, system including the device and method thereof

Abstract

A vehicle automatic driving control device for a vehicle, comprising: a processor, which adjusts a control band for controlling vehicle acceleration and deceleration based on target acceleration and deceleration and an acceleration / deceleration response gear, the acceleration / deceleration response gear adjustment being used to set a response speed of vehicle acceleration and deceleration that complies with the target acceleration and deceleration, and a memory, which is used to store a driving mode learning result, target acceleration and deceleration, and the control band calculated by the processor.

Description

Technical Field

[0001] The present invention relates to an apparatus for controlling automatic driving of a vehicle, a system including the apparatus and a method thereof, and more particularly to a technology for adjusting a control tendency of acceleration / deceleration of a vehicle in multiple ways. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] For the convenience of users, various functions such as automatic driving that assist drivers have been developed. Among the functions that assist users, there is a smart cruise control (SCC) system that controls the distance between a host vehicle and a vehicle ahead (i.e., an inter-vehicle distance) so as to constantly maintain the inter-vehicle distance to the vehicle ahead.

[0004] Since the SCC system has an entry of a user setting menu (USM) indicating the control response of the vehicle-to-vehicle distance, the driver can personally set the SCC acceleration / deceleration control response in three gears: "fast", "normal" and "slow".

[0005] Figure 1 is a graph showing the acceleration required and the vehicle acceleration when the automatic driving of the vehicle is conventionally controlled. Figure 1 , controlling the vehicle acceleration to comply with the requested acceleration sent from the device controlling the automatic driving of the vehicle.

[0006] Figure 2 is a graph showing three response stages of acceleration required for controlling automatic driving of a vehicle in a conventional manner. Figure 2 It can be seen that the maximum value of the required acceleration is limited based on the response stage set by the user (e.g., the driver of the vehicle) using the device for controlling the automatic driving of the vehicle. In particular, the conventional SCC system calculates the maximum value of the required acceleration based on the response gear set by the user, so that the maximum value can be changed according to the response gear set by the user and is also limited.

[0007] However, we have found that it is difficult for a user to perceive an improved response by changing the maximum value of the acceleration requested. Summary of the invention

[0008] One aspect of the present invention provides a device for controlling the automatic driving of a vehicle. Based on the acceleration / deceleration response gear of the device for controlling the automatic driving of a vehicle, the control band for controlling the acceleration and deceleration of the vehicle is adjusted in a variety of ways so that a user can actually feel the change in the acceleration / deceleration response. The present invention also provides a system of the device and a method thereof.

[0009] The technical problems to be solved by the present invention are not limited to the above problems, and those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein from the following description.

[0010] According to one form of the present invention, a vehicle automatic driving control device for a vehicle includes: a processor for adjusting a control band for controlling the acceleration and deceleration of the vehicle based on a required acceleration and deceleration (or target acceleration, target deceleration) for controlling the acceleration / deceleration of the vehicle and an acceleration / deceleration response gear, the acceleration / deceleration response gear being used to set a response speed of the acceleration and deceleration of the vehicle in compliance with the required acceleration and deceleration; and a memory for storing a driving mode learning result calculated by the processor, the required acceleration and deceleration, and the control band. The processor controls the acceleration and deceleration of the vehicle based on the adjusted control band and the required acceleration and deceleration.

[0011] According to one form, the processor may include receiving the acceleration / deceleration response gear from a user, or calculating the acceleration / deceleration response gear based on a driving pattern learning result.

[0012] According to another form, the processor may include calculating the requested acceleration and deceleration based on at least one of a speed set by a user, a distance to a leading vehicle, or a relative speed of a leading vehicle compared to the speed of the vehicle (e.g., the host vehicle).

[0013] According to one form, the processor may include: when the acceleration / deceleration response gear is a first gear, setting the bandwidth of the control band to be equal to or greater than a first width, and when the acceleration / deceleration response gear is a second gear that is faster in response than the first gear, setting the bandwidth of the control band to a second width that is narrower than the first width.

[0014] According to another form, the processor may include settings for upper and lower limits of the control band based on the requested acceleration and deceleration.

[0015] According to other forms, the processor may set the upper limit of the control band to be closer to the requested deceleration than the lower limit of the control band, so that the response of the vehicle deceleration in compliance with the requested deceleration is increased.

[0016] In another form, the processor may set the lower limit of the control band to be closer to the requested acceleration than the upper limit of the control band so that the response of the vehicle acceleration in compliance with the requested acceleration becomes faster.

[0017] According to one form, the processor may include calculating the acceleration / deceleration response gear by reflecting the driving tendency of the user when calculating the acceleration / deceleration response gear based on the driving pattern learning result.

[0018] According to another exemplary form, the processor may include setting the acceleration / deceleration response gear to a fast following gear and setting the width of the control range to be narrower when the user's driving tendency is wild.

[0019] In other forms, the processor may include control of acceleration / deceleration or no control of acceleration / deceleration based on the difference between the requested acceleration and the vehicle acceleration.

[0020] According to another form, the processor may include: not controlling the acceleration / deceleration in an interval in which the difference between the required acceleration and the vehicle acceleration is equal to or less than a preset reference value; and controlling the acceleration / deceleration in an interval in which the difference between the required acceleration and the vehicle acceleration exceeds the preset reference value.

[0021] According to other forms, the processor may include control of acceleration / deceleration to a greater or lesser degree based on the difference between the requested acceleration and the vehicle acceleration.

[0022] According to another form, the processor may include controlling the acceleration / deceleration at a weak degree in an interval in which the difference between the required acceleration and the vehicle acceleration is equal to or less than a specific reference value, and controlling the acceleration / deceleration at a strong degree in an interval in which the difference between the required acceleration and the vehicle acceleration exceeds the specific reference value.

[0023] According to one form of the present invention, a vehicle system for a vehicle may include: a user input device configured to: receive an input of an acceleration / deceleration response gear, wherein the acceleration / deceleration gear input is configured to set a response speed of the vehicle acceleration that complies with a target acceleration; and a vehicle automatic driving control device that adjusts a control band based on the target acceleration and the acceleration / deceleration response gear, wherein the control band is configured to control the acceleration of the vehicle, and the control device controls the acceleration of the vehicle based on the control band and the target acceleration.

[0024] According to another form of the present invention, a method for controlling automatic driving of a vehicle may include: adjusting, by a processor of the vehicle, a control band for controlling acceleration and deceleration of the vehicle based on a target acceleration and a target deceleration and an acceleration / deceleration response gear, the acceleration / deceleration response gear being configured to set a response speed for acceleration and deceleration of the vehicle in compliance with the target acceleration and deceleration; and controlling, by the processor, the acceleration and deceleration of the vehicle based on the control band and the target acceleration and deceleration.

[0025] According to another form, the method may further include receiving, by the processor, a target acceleration / deceleration response gear from a user or calculating the acceleration / deceleration response gear based on a driving pattern learning result.

[0026] In one form, the method may further include calculating, by the processor, the target acceleration and deceleration based on at least one of a speed set by a user, a distance from the host vehicle to a leading vehicle, or a relative speed of the leading vehicle to the host vehicle.

[0027] According to one form, adjusting the control band may include setting the bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response gear is a first gear, and setting the bandwidth of the control band to a second width narrower than the first width when the acceleration / deceleration response gear is a second gear that responds faster than the first gear.

[0028] According to another form, the change of the control band may include setting an upper limit value and a lower limit value of the control band based on target acceleration and deceleration; setting the upper limit value of the control band to be closer to the target deceleration than the lower limit value of the control band, so that the response of vehicle deceleration in accordance with the target deceleration is increased; and setting the lower limit value of the control band to be closer to the required acceleration than the upper limit value of the control band, so that the response of vehicle acceleration in accordance with the target acceleration is increased.

[0029] According to another form, calculating the acceleration / deceleration response gear may include calculating the acceleration / deceleration response gear by reflecting a driving tendency of a user of the vehicle when calculating the acceleration / deceleration response gear based on the driving pattern learning result.

[0030] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order that the invention may be better understood, various forms thereof will now be described, given by way of example, with reference to the accompanying drawings, in which:

[0032] Figure 1 is a graph showing the required acceleration and the vehicle acceleration during the conventional automatic driving of the vehicle;

[0033] Figure 2 is a graph showing a response gear of acceleration required when a vehicle is conventionally controlled for automatic driving;

[0034] Figure 3 is a block diagram showing components of a vehicle system including an apparatus for controlling autonomous driving of a vehicle;

[0035] Figure 4 is a flow chart showing a method for controlling automated driving of a vehicle to adjust a control band for acceleration / deceleration;

[0036] Figure 5is a graph showing the acceleration / deceleration control response when a wider control band is applied;

[0037] Figure 6 is a graph showing the acceleration / deceleration control response when a narrow control band is applied;

[0038] Figure 7 is a graph showing the acceleration / deceleration control response when the upper region of the control band is narrow;

[0039] Figure 8 is a graph showing the acceleration / deceleration control response when the lower region of the control band is narrow;

[0040] Fig. 9 is a graph showing variable control of acceleration / deceleration within or outside the control band;

[0041] Fig.10 is a graph showing that acceleration / deceleration control is performed by applying control gain differently inside and outside the control band;

[0042] Fig.11 1101 and 1102 are graphs showing the difference in acceleration / deceleration control based on the setting of the response when controlling the automatic driving of the vehicle; and

[0043] Fig.12 is a block diagram illustrating a computing device.

[0044] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0045] The following description is merely exemplary in nature and is not intended to limit the invention, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0046] When adding reference numerals to the components of each drawing, it should be noted that the same or equivalent components are designated by the same numerals even when they are shown on other drawings. In addition, when describing the exemplary forms of the present invention, detailed descriptions of well-known features or functions will be excluded to avoid unnecessarily obscuring the subject matter of the present invention.

[0047] When describing components according to the form of the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, sequence or order of the constituent components. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by technicians in the field related to this application. Those terms defined in commonly used dictionaries should be interpreted as having the same meaning as the contextual meaning in the relevant technical field, and should not be interpreted as having an ideal or overly formal meaning unless explicitly defined as having such a meaning in this application.

[0048] The present invention discloses a technology for differentiating acceleration / deceleration control by adjusting a control band based on the setting of an acceleration / deceleration response gear in a smart cruise control (SCC) system.

[0049] In the following, reference will be made to Figures 3 to 12 Exemplary forms of the present invention are described in detail.

[0050] Figure 3 is a block diagram showing components of a vehicle system including an apparatus for controlling automatic driving of a vehicle (hereinafter, referred to as a “vehicle automatic driving control apparatus”) according to one form of the present invention.

[0051] Reference Figure 3 The vehicle system may include a vehicle automatic driving control device 100, a user input device 200, a display 300, a steering controller 400, a brake controller 500 and an engine controller 600.

[0052] The vehicle automatic driving control device 100 can receive the acceleration / deceleration response gear set by the user or calculate the acceleration / deceleration response gear based on the driving mode learning result, can adjust the control band based on the required acceleration and deceleration, that is, the target acceleration and deceleration, and the acceleration / deceleration response gear, and can control the acceleration / deceleration of the vehicle based on the required acceleration and deceleration and the control band.

[0053] In this case, the acceleration / deceleration response gear can be set to a plurality of stages of "fast", "normal" and "slow", and the control band refers to an acceleration and deceleration range set to have an upper limit value and a lower limit value for controlling the vehicle acceleration and deceleration of the vehicle automatic driving control device 100. For example, when the vehicle automatic driving control device 100 sets the lower limit value of the controlled vehicle acceleration to 5m / s 2 The upper limit of vehicle acceleration is set to 10m / s 2 , the vehicle acceleration can be controlled at 5m / s 2Up to 10m / s 2 Therefore, the vehicle automatic driving control device 100 cannot control the vehicle acceleration to less than 5m / s based on the control band. 2 Or more than 10m / s 2 .

[0054] The vehicle automatic driving control device 100 may include a communication device 110 , a memory 120 and a processor 130 .

[0055] The communication device 110 is a hardware device implemented with various electronic circuits to send and receive signals through wireless or wired connections. According to the present invention, the communication device 110 can perform in-vehicle communication through controller area network (CAN) communication or local interconnect network (LIN) communication.

[0056] The memory 120 may store the driving pattern learning result, the algorithm for learning, the calculated required acceleration and deceleration, and the control band calculated by the processor 130. The memory 120 may be implemented with at least one storage medium of a flash memory type, a hard disk type, a micro type, a card type (e.g., a secure digital (SD) card or an ultra-fast digital card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable programmable ROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk type memory, and an optical disk type memory.

[0057] The processor 130 may be electrically connected to the communication device 110 and the memory 120, may electrically control each component, and may be a circuit that executes software commands. Therefore, the processor 130 may perform various data processing and calculations to be described below.

[0058] The processor 130 can adjust a control band for controlling the acceleration and deceleration of the vehicle based on the required acceleration and the required deceleration for controlling the acceleration / deceleration of the vehicle and an acceleration / deceleration response gear, which acceleration / deceleration response gear sets a response speed that allows the vehicle to accelerate and decelerate in compliance with the required acceleration and deceleration, and can control the acceleration / deceleration of the vehicle based on the control band and the required acceleration and deceleration.

[0059] The processor 130 may receive the acceleration / deceleration response gear from a user, or may calculate the acceleration / deceleration response gear based on a driving pattern learning result.

[0060] The processor 130 may calculate the required acceleration and deceleration based on at least one of a speed set by the user, a distance to a preceding vehicle, or a relative speed to a preceding vehicle.

[0061] When the acceleration / deceleration response gear is the first gear (slow), the processor 130 may set the bandwidth of the control band to be equal to or greater than the first width (wider). When the acceleration / deceleration response gear is the second gear that responds faster than the first gear, the processor 130 may set the bandwidth of the control band to a second width that is narrower than the first width (narrower).

[0062] The processor 130 may set the upper limit value and the lower limit value of the control band based on the required acceleration and deceleration. The processor 130 may set the width of the upper area based on the upper limit value of the control band to be narrower to quickly perform deceleration based on the acceleration / deceleration response gear. The processor 130 may set the width of the lower area based on the lower limit value of the control band to be narrower to then quickly perform acceleration and deceleration based on the acceleration / deceleration response gear.

[0063] When calculating the acceleration / deceleration response gear based on the driving pattern learning result, the processor 130 may calculate the acceleration / deceleration response gear by reflecting the driving tendency of the user.

[0064] When the user's driving tendency is wild, the processor 130 sets the acceleration / deceleration response gear to a fast follow-up gear and sets the width of the control band to be narrower. When the user's driving tendency is mild, the processor 130 sets the acceleration / deceleration response gear to a slow follow-up gear and sets the width of the control band to be wider.

[0065] Depending on the difference between the required acceleration and the vehicle acceleration, the processor 130 may or may not control the acceleration / deceleration. In other words, the processor 130 may not control the acceleration / deceleration in an interval in which the difference between the required acceleration and the vehicle acceleration is equal to or less than a preset reference value, and may control the acceleration / deceleration in an interval in which the difference between the required acceleration and the vehicle acceleration exceeds the preset reference value.

[0066] The processor 130 may control the acceleration / deceleration to a strong degree or a weak degree according to the difference between the required acceleration and the vehicle acceleration. In other words, the processor 130 may control the acceleration / deceleration to a weak degree in an interval in which the difference between the required acceleration and the vehicle acceleration is equal to or less than a preset reference value, and may control the acceleration / deceleration to a strong degree in an interval in which the difference between the required acceleration and the vehicle acceleration exceeds the preset reference value.

[0067] In this case, although the present invention in which the acceleration / deceleration of the vehicle is controlled by the processor 130 has been described by way of example, the acceleration / deceleration of the vehicle may be controlled based on an electronic stability control (ESC) and an engine management system (EMS) in the vehicle. The ESC may receive the required acceleration and deceleration, calculate the required engine torque, and perform deceleration control based on the required acceleration and deceleration.

[0068] The user input device 200 may receive an input of an acceleration / deceleration response gear from a user, and may receive the input through, for example, a switch, a button, or a touch pad.

[0069] The display 300 may display information about the automatic driving of the vehicle. The display 300 may be implemented with a head-up display (HUD), an instrument cluster, or an audio video navigation (AVN). In addition, the display 300 may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), a light emitting diode (LED), an organic light emitting diode (OLED), an active matrix OLED (AMOLED), a flexible display, a curved display, or a three-dimensional (3D) display. Among them, some displays may be implemented with a transparent display configured as a transparent type or a light-transmitting type so that the display is viewed from the outside. In addition, in addition to the output device, the display 300 may also be implemented using a touch screen including a touch pad used as an input device.

[0070] The steering controller 400 may be configured to control a steering angle of a vehicle, and may include a steering wheel, an actuator operating with the steering wheel, and a controller controlling the actuator.

[0071] The brake controller 500 may be configured to control braking of a vehicle, and may include a controller to control the brakes.

[0072] The engine controller 600 may be configured to control engine driving of the vehicle, and may include a controller to control the speed of the vehicle.

[0073] In the following, reference will be made to the form according to the present invention. Figure 4 A method for controlling autonomous driving of a vehicle to adjust a control band for acceleration / deceleration is described in detail. Figure 4 A method for controlling automatic driving of a vehicle to adjust a control band for acceleration / deceleration according to one form of the present invention is shown.

[0074] The following description will be based on Figure 3 The vehicle automatic driving control device 100 executes Figure 4 In addition, in reference Figure 4In the following description, it can be understood that the operations performed by the vehicle automatic driving control device 100 are controlled by the processor 130 of the vehicle automatic driving control device 100.

[0075] Reference Figure 4 The vehicle automatic driving control device 100 may receive an input of an acceleration / deceleration response gear from a user, or may calculate the acceleration / deceleration response gear through a driving pattern learning result based on driving data (S110).

[0076] When the user sets the acceleration / deceleration response gear personally, the acceleration / deceleration response gear can be input from the user through the user input device 200 such as a switch. In this case, the acceleration / deceleration response gear can be set to multiple stages of "fast", "normal" and "slow", and can be associated with the setting of the driving mode.

[0077] When the acceleration / deceleration response level is set by learning, the acceleration / deceleration response level may be calculated by training the user's driving tendency, and the acceleration / deceleration response level may be calculated using a continuous numerical value or a relative numerical value.

[0078] The vehicle automatic driving control device 100 can calculate the required acceleration and deceleration for controlling the automatic driving of the vehicle based on the vehicle speed set by the user, the relative distance to the vehicle in front, and the relative speed of the vehicle in front, and can calculate the control band (S120) using the required acceleration and deceleration and the acceleration / deceleration response gear.

[0079] For example, when the user sets the acceleration / deceleration response gear to "slow", the control band can be set to ±1.0m / s based on the required acceleration and deceleration. 2 When the acceleration / deceleration response position is "Normal", the control band can be set to ±0.5m / s based on the required acceleration and deceleration. 2 When the acceleration / deceleration response gear is "fast", the control band can be set to ±0.1m / s based on the required acceleration and deceleration. 2 As described above, the vehicle automatic driving control device 100 can adjust the control band based on the acceleration / deceleration response gear.

[0080] In other words, the vehicle automatic driving control device 100 can set the control band wider when the acceleration / deceleration response gear is set to "slow", and can set the control band narrower when the acceleration / deceleration response gear is set to "fast".

[0081] As another example, when the control band is calculated by calculating the acceleration / deceleration response gear based on the user's driving tendency, the size of the control band may be calculated by multiplying the control band reference value by the response weight.

[0082] In this case, the vehicle automatic driving control device 100 can set the control band reference value to ±1m / s 2 、±2m / s 2 Etc., and the control band reference value can be determined based on the variable range. In addition, the response weight as a relative numerical value can be set in the range of 0 to 1 or 0 to 100, and can be set by determining the user's driving tendency as a relative stage. For example, in the case where the user has a wilder driving tendency, the response weight can be set to a higher value. In the case where the user has a milder driving tendency, the response weight can be set to a lower value. In this case, when the response weight is a higher value, the width of the control band is widened. When the response weight is a lower value, the width of the control band is narrowed.

[0083] The vehicle automatic driving control device 100 controls the acceleration or deceleration of the vehicle based on the calculated required acceleration and deceleration and the control band (S130).

[0084] In this case, the vehicle automatic driving control device 100 may control or not control the acceleration / deceleration in the control band according to the difference between the required acceleration and the vehicle acceleration. In addition, the vehicle automatic driving control device 100 may control the acceleration / deceleration to a strong degree or a weak degree according to the degree of the difference between the required acceleration and the vehicle acceleration.

[0085] In the following, reference will be made to Figures 5 to 10 A method for controlling acceleration or deceleration according to a change in a control band is described in detail. In this case, the vehicle acceleration is the actual acceleration of the vehicle measured, and the required acceleration is the speed information of the vehicle control of the vehicle automatic driving control device 100. In other words, the vehicle automatic driving control device 100 controls the vehicle acceleration to approach the required acceleration.

[0086] Figure 5 is a graph showing acceleration / deceleration control response when a wider control band is applied according to one form of the present invention.

[0087] like Figure 5 As shown in FIG. 1 , when the control band is set to a wider value, the speed (control response) at which the vehicle is allowed to accelerate in accordance with the requested acceleration becomes lower. In other words, based on the requested acceleration, the upper limit of the control band is drawn above the graph of the requested acceleration, and the lower limit of the control band is drawn below the graph of the requested acceleration. The bandwidth has a specific size in the graph of the requested acceleration. It can be understood that a wider bandwidth means that a wider control band is set.

[0088] Figure 5The setting of a wider control band is shown by way of example, wherein the vehicle acceleration is controlled within the control band and the control response of the vehicle acceleration is slowed down. For example, based on the required acceleration, the control band may be set at +5 m / s 2 Up to +5m / s 2 within the range.

[0089] Figure 6 is a graph showing acceleration / deceleration control response when a narrower control band is applied according to one form of the present invention.

[0090] See also Figure 6 , the vehicle automatic driving control device 100 sets the control band narrower by way of example, wherein the control band is set narrower based on a curve graph of the required acceleration. Therefore, the vehicle acceleration is controlled within the control band set to be narrower. The upper limit of the control band and the lower limit of the control band become closer to the required acceleration, so the control response becomes faster.

[0091] Figure 7 is a graph showing acceleration / deceleration control response when the upper region of the control band is narrow according to one form of the present invention.

[0092] See also Figure 7 , the lower limit of the control band is set to be away from the required acceleration, and the upper limit of the control band is set to be closer to the required acceleration. Therefore, the upper area of ​​the control band above the required acceleration is set to be narrower, and the lower area of ​​the control band below the required acceleration is set to be wider.

[0093] As described above, when the upper region of the control band is set narrower, the deceleration subsequently performed by the vehicle can be accelerated.

[0094] Figure 8 is a graph showing acceleration / deceleration response when the lower region of the control band is narrower according to one form of the present invention.

[0095] See also Figure 8 , the lower limit of the control band is set closer to the required acceleration, and the upper limit of the control band is set farther from the required acceleration. Therefore, the area of ​​the control band above the required acceleration is set wider, and the area of ​​the control band below the required acceleration is set narrower.

[0096] As described above, when the lower region of the control band is set to be narrower, the acceleration following performance of the vehicle can be improved.

[0097] Fig. 9 : is a graph showing variable control of acceleration / deceleration within or outside the control band according to another form of the present invention.

[0098] like Fig. 9 As shown, the vehicle autonomous driving control device 100 does not control the acceleration / deceleration in an interval in which the measured acceleration of the vehicle is close to the required acceleration, controls the acceleration of the vehicle in an interval in which the acceleration of the vehicle is less than the required acceleration, and controls the deceleration of the vehicle in an interval in which the acceleration of the vehicle is greater than the required acceleration.

[0099] Since the acceleration of the vehicle continues to increase in a state where the vehicle acceleration is less than the required acceleration, the vehicle automatic driving control device 100 does not perform acceleration / deceleration control in a section where the vehicle acceleration becomes greater than the required acceleration.

[0100] Fig.10 : is a graph showing that acceleration / deceleration control is performed by applying control gain differently within a control band and outside the control band according to another form of the present invention.

[0101] See also Fig.10 The vehicle automatic driving control device 100 performs acceleration / deceleration control at a weak degree in an interval where the vehicle acceleration is close to the required acceleration, performs acceleration control at a strong degree in an interval where the vehicle acceleration is less than the required acceleration, and performs deceleration control at a strong degree in an interval where the vehicle acceleration is greater than the required acceleration.

[0102] Since the vehicle acceleration continues to increase in a state where the vehicle acceleration is less than the required acceleration, the vehicle automatic driving control device 100 can perform acceleration / deceleration control at a weak degree in a section where the vehicle acceleration becomes greater than the required acceleration.

[0103] Fig.11 1101A and 1102 are graphs showing the difference in acceleration / deceleration control based on the setting of the response during automatic driving of the vehicle according to the form of the present invention.

[0104] In graph 1101, the vehicle acceleration is controlled within a set control band based on the requested acceleration, and as the control band becomes narrower, the response becomes faster. In contrast, graph 1102 shows that as the control band becomes wider, the response becomes slower.

[0105] As described above, the present invention enables the user to actually feel the change in control response by differently adjusting the control band for controlling the acceleration of the vehicle based on the response phase of the apparatus for controlling the automatic driving of the vehicle, thereby increasing the user's sense of satisfaction.

[0106] Fig.12 is a block diagram illustrating one form of computing device in accordance with the present invention.

[0107] refer to Fig.12 The computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 , which are interconnected via a system bus 1200 .

[0108] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0109] Therefore, the operation of the method or algorithm described in the form disclosed in the present invention can be directly implemented using a hardware module, a software module, or a combination thereof executed by the processor 1100. The software module can reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600) such as RAM, flash memory, ROM, erasable programmable ROM (EPROM), electrical EPROM (EEPROM), registers, hard disk, removable optical disk, or read-only compact disk (CD-ROM).

[0110] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and the storage medium may reside as separate components of a user terminal.

[0111] Although the present invention has been described above with reference to exemplary forms and drawings, the present invention is not limited thereto but may be variously modified and changed by those skilled in the art without departing from the spirit and scope of the invention as claimed in the following claims.

[0112] Therefore, the exemplary form of the present invention is not restrictive but illustrative, and the spirit and scope of the present invention are not limited thereto. The spirit and scope of the present invention should be interpreted by the following claims, and should be interpreted as all technical concepts equivalent to the present invention are included in the spirit and scope of the present invention.

[0113] As described above, the present invention is based on the acceleration / deceleration response gear of the device for controlling the automatic driving of the vehicle. By adjusting the control band for controlling the acceleration and deceleration of the vehicle in a variety of ways, the user can actually feel the change of the acceleration / deceleration control response, thereby increasing the user's sense of satisfaction.

[0114] Furthermore, various effects directly or indirectly realized by the present invention can be provided.

Claims

1. A device for controlling automatic driving of a vehicle, the device comprising: Processor, configured as: adjusting a control band for controlling acceleration and deceleration of a vehicle based on the requested acceleration and deceleration and an acceleration / deceleration response gear for setting a response speed of acceleration and deceleration of the vehicle in compliance with the requested acceleration and deceleration, controlling the acceleration and deceleration of the vehicle based on an adjusted control band and the requested acceleration and deceleration, wherein the control band is a range of acceleration and deceleration that controls upper and lower limits of the acceleration and deceleration of the vehicle; When the acceleration / deceleration response gear is the first gear, setting the bandwidth of the control band to be equal to or greater than a first width; and When the acceleration / deceleration response gear is a second gear that is faster in response than the first gear, setting the bandwidth of the control band to a second width that is narrower than the first width; and A memory configured to store at least one of the acceleration / deceleration response gear, the requested acceleration and deceleration, or the control band received from a user or calculated by the processor.

2. The device according to claim 1, wherein: The processor is configured to calculate the acceleration / deceleration response gear based on a driving pattern learning result.

3. The apparatus of claim 1 , wherein the processor is configured to: The requested acceleration and deceleration are calculated based on at least one of a speed set by a user, a distance to a preceding vehicle, or a relative speed of a preceding vehicle to the vehicle.

4. The device according to claim 1, wherein: The processor is configured to: The upper and lower limits of the control band are set based on the requested acceleration and deceleration.

5. The device according to claim 1, wherein: The processor is configured to: When the acceleration / deceleration response gear is calculated based on the driving pattern learning result, the acceleration / deceleration response gear is calculated by reflecting the driving tendency of the user.

6. The device according to claim 5, wherein: The processor is configured to: When the user's driving tendency is wild, the acceleration / deceleration response gear is set to a fast follow-up gear; and The width of the control band is set narrower.

7. The device according to claim 1, wherein: The processor is configured to: Whether to control acceleration and deceleration of the vehicle is determined based on a difference between the requested acceleration and the vehicle acceleration.

8. The device according to claim 7, wherein: The processor is configured to: determining not to control acceleration and deceleration of the vehicle in a section in which a difference between the requested acceleration and the vehicle acceleration is equal to or smaller than a specific reference value; and In a section where the difference between the requested acceleration and the vehicle acceleration exceeds the specific reference value, control acceleration and deceleration are determined.

9. The device according to claim 1, wherein: The processor is configured to: Based on the difference between the requested acceleration and the vehicle acceleration, acceleration and deceleration of the vehicle are controlled to a greater or lesser extent.

10. The device according to claim 9, wherein: The processor is configured to: controlling acceleration and deceleration of the vehicle at a weak degree in a section in which a difference between the requested acceleration and the vehicle acceleration is equal to or less than a specific reference value; and In a section where the difference between the requested acceleration and the vehicle acceleration exceeds the specific reference value, acceleration and deceleration are controlled to a strong degree.

11. The device according to claim 1, wherein: The processor is further configured to: Setting the upper limit value of the control band closer to the requested deceleration than the lower limit value of the control band increases the response speed of vehicle deceleration in compliance with the requested deceleration.

12. The device according to claim 1, in, The processor is further configured to: Setting the lower limit value of the control band closer to the requested acceleration than the upper limit value of the control band increases the response speed of the vehicle acceleration in compliance with the requested acceleration.

13. A vehicle system for a vehicle, the system comprising: A user input device configured to: receive an acceleration / deceleration response gear input, the acceleration / deceleration gear input being a response speed of the vehicle acceleration for setting an acceleration that complies with a target; and The vehicle automatic driving control device is configured to: adjusting a control band configured to control acceleration of the vehicle based on the acceleration and acceleration / deceleration response gear of the target, wherein the control band is an acceleration and deceleration range of upper and lower limits for controlling acceleration and deceleration of the vehicle; controlling acceleration of the vehicle based on the control band and the target acceleration; When the acceleration / deceleration response gear is a first gear, setting the bandwidth of the control band to be equal to or greater than a first width; and When the acceleration / deceleration response gear is a second gear that responds faster than the first gear, the bandwidth of the control band is set to a second width that is narrower than the first width.

14. A method for controlling automatic driving of a vehicle, the method comprising the following steps: adjusting, by a processor of the vehicle, a control band for controlling acceleration and deceleration of the vehicle based on a target acceleration and a target deceleration and an acceleration / deceleration response gear for setting a response speed of acceleration and deceleration of the vehicle in compliance with the target acceleration and deceleration; as well as Based on the control band and the target acceleration and deceleration, the processor controls acceleration and deceleration of the vehicle, wherein the control band is an acceleration and deceleration range of upper and lower limits for controlling acceleration and deceleration of the vehicle; The step of adjusting the control band comprises: When the acceleration / deceleration response gear is the first gear, setting the bandwidth of the control band to be equal to or greater than a first width; as well as When the acceleration / deceleration response gear is a second gear that responds faster than the first gear, the bandwidth of the control band is set to a second width that is narrower than the first width.

15. The method according to claim 14, further comprising the steps of: The acceleration / deceleration response gear is received by the processor from a user or calculated based on a driving pattern learning result.

16. The method according to claim 15, wherein the step of calculating the acceleration / deceleration response gear comprises: The acceleration / deceleration response gear is calculated by reflecting the driving tendency of the user.

17. The method according to claim 14, further comprising the steps of: The target acceleration and deceleration are calculated by the processor based on at least one of a speed set by a user, a distance from the vehicle to a preceding vehicle, or a relative speed of a preceding vehicle to the vehicle.

18. The method of claim 14, wherein the step of adjusting the control band further comprises: setting an upper limit value and a lower limit value of the control band based on the target acceleration and deceleration; setting an upper limit value of the control band closer to a target deceleration than a lower limit value of the control band so that a response speed of vehicle deceleration in compliance with the target deceleration is increased; as well as Setting the lower limit value of the control band closer to the required acceleration than the upper limit value of the control band increases the response speed of the vehicle acceleration in compliance with the target acceleration.

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