Vehicle control device, system having the device, and method thereof

Abstract

The present disclosure relates to a vehicle control apparatus, a system having the same, and a method thereof. The vehicle control apparatus can include a curve generator generating at least one speed curve including a hysteresis section in which deceleration and acceleration due to coasting of a vehicle are repeated, based on an environmental condition of the vehicle, a curve selector selecting a speed curve satisfying a predetermined condition from the at least one speed curve, and a controller controlling a speed of the vehicle according to the speed curve selected by the curve selector.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the priority benefit of Korean Patent Application No. 10-2021-0045432, filed on April 7, 2021, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein in its entirety by reference. TECHNICAL FIELD

[0003] The disclosure relates to a vehicle control device, a system including the same, and a method thereof. BACKGROUND

[0004] Generally, a vehicle travels based on a speed limit for each section without driver intervention in autonomous driving. In addition, a plurality of driving curves (patterns) are generated to determine a longitudinal travel speed during autonomous driving, and one driving curve is selected from the plurality of driving curves. Meanwhile, regardless of which route the vehicle selects in the city, the speed limit should not exceed 50 km / h (about 30 mph). Accordingly, when the vehicle is autonomously driven in the city, when the current speed of the vehicle reaches the maximum speed of 50 km / h, there is only a speed maintaining mode or a braking mode in which the vehicle can travel.

[0005] In particular, when a sudden brake is required due to excessive speed on a section where parking is required, there is a risk of an accident and a driver's discomfort due to deterioration of sensor performance, etc. In addition, when accurate information on an object in front of a lane in a travel direction of a vehicle is given in real time, optimal longitudinal travel can be determined. However, there is still a risk when the front situation is constantly changing and the sensor has an error. SUMMARY

[0006] The disclosure is to solve the above-mentioned problems occurring in the prior art while maintaining the advantages achieved by the prior art.

[0007] One aspect of the disclosure provides a vehicle control device capable of implementing a longitudinal driving mode similar to an actual driving mode of a driver by performing speed control including coasting during a certain time when information on a front situation of an autonomously driven vehicle is insufficient, preventing sudden braking of a vehicle due to an error of a sensor, and improving ride comfort. The disclosure also provides a system including the same and a method thereof.

[0008] In addition, one aspect of the disclosure provides a vehicle control device capable of improving fuel economy by including a hysteresis section in an autonomous driving region of a vehicle, a system including the same, and a method thereof.

[0009] The technical problems to be solved by the present inventive concept are not limited to the above-mentioned problems. Any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0010] According to one aspect of the present disclosure, a vehicle control device can include a curve generator that generates at least one speed curve including a hysteresis section in which deceleration and acceleration due to coasting of a vehicle are repeated, based on environmental conditions of the vehicle. The vehicle control device can also include a curve selector that selects a speed curve satisfying a predetermined condition from the at least one speed curve. The vehicle control device can also include a controller that controls a speed of the vehicle according to the speed curve selected by the curve selector.

[0011] In one embodiment, the hysteresis section can be a section in which deceleration and acceleration are repeated between a first speed limit and a second speed limit less than the first speed limit.

[0012] In one embodiment, the environmental conditions of the vehicle include object information around the vehicle, position information of the vehicle, and map information.

[0013] In one embodiment, the curve generator generates the speed curve to satisfy a speed limit condition set according to a surrounding situation of the vehicle.

[0014] In one embodiment, the curve generator generates the speed curve when there is no object within a reference distance ahead of the vehicle.

[0015] In one embodiment, the curve generator can generate the speed curve when the vehicle reaches a reference speed.

[0016] In one embodiment, the curve generator generates the speed curve considering acceleration due to at least one of rolling resistance, air resistance, and grade resistance of the vehicle.

[0017] In one embodiment, the curve generator selects a speed curve from the at least one speed curve in which the vehicle is driven with the lowest acceleration.

[0018] In one embodiment, the controller can end speed control according to the selected speed curve when the vehicle reaches a reference speed.

[0019] According to an aspect of the disclosure, a vehicle system can include a sensor that detects objects around a vehicle. The vehicle system can also include an information acquisition device that obtains map information and a location of the vehicle. The vehicle system can also include a vehicle control device that controls a speed of the vehicle according to a speed curve selected from among speed curves that satisfy a predetermined condition, the speed curves being generated based on environmental conditions of the vehicle and including a hysteresis section in which deceleration and acceleration due to coasting of the vehicle are repeated.

[0020] In one embodiment, the sensor can obtain state information of the vehicle.

[0021] In one embodiment, the information acquisition device obtains the map information and the location of the vehicle from an external server.

[0022] According to an aspect of the disclosure, a method of controlling a vehicle can include generating at least one speed curve including a hysteresis section in which deceleration and acceleration due to coasting of the vehicle are repeated, based on environmental conditions of the vehicle. The method can also include selecting a speed curve that satisfies a predetermined condition from among the at least one speed curve. The method can also include controlling a speed of the vehicle according to the selected speed curve.

[0023] In one embodiment, the hysteresis section can be a section in which deceleration and acceleration are repeated between a first speed limit and a second speed limit that is less than the first speed limit.

[0024] In one embodiment, the environmental conditions of the vehicle include object information around the vehicle, location information of the vehicle, and map information.

[0025] In one embodiment, generating the at least one speed curve can include generating the speed curve to satisfy a speed limit condition set according to a surrounding situation of the vehicle.

[0026] In one embodiment, generating the at least one speed curve can include generating the speed curve when there is no object within a reference distance ahead of the vehicle.

[0027] In one embodiment, generating the at least one speed curve can include generating the speed curve when the vehicle reaches a reference speed.

[0028] In one embodiment, generating the at least one speed curve can include generating the speed curve considering acceleration due to at least one of rolling resistance, air resistance, and grade resistance of the vehicle.

[0029] In one embodiment, selecting the speed profile can include selecting, from the at least one speed profile, a speed profile with which the vehicle is to be driven with the lowest acceleration. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0031] Figure 1 is a block diagram illustrating a configuration of a vehicle system including a vehicle control device according to one embodiment of the present disclosure;

[0032] Figure 2 is a block diagram illustrating a configuration of a vehicle control device according to one embodiment of the present disclosure;

[0033] Figure 3 is a diagram for describing an operation condition of a vehicle control device according to one embodiment of the present disclosure;

[0034] Figure 4 is a diagram illustrating a speed profile of a hysteresis section including a vehicle control device according to one embodiment of the present disclosure;

[0035] Figure 5 is a flowchart illustrating an operation of a vehicle control device according to one embodiment of the present disclosure;

[0036] Figure 6 is a flowchart illustrating a vehicle control method according to various embodiments of the present disclosure; and

[0037] Figure 7 illustrates a computing system according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In adding reference numerals to components in each drawing, it should be noted that the same or equivalent components are denoted by the same reference numerals even though they are shown in different drawings. Further, in describing embodiments of the present disclosure, a detailed description of well-known features or functions will be omitted in order not to unnecessarily obscure the spirit of the present disclosure.

[0039] In describing components of embodiments according to the present disclosure, terms such as first, second, "A," "B," "a," "b," and the like can be used. These terms are used only to distinguish one component from another component, and the terms do not limit the nature, sequence, or order of constituent components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art, and are not to be interpreted in an idealized or overly formal sense unless expressly so defined herein. When components of the present disclosure are described as having purposes or performing operations, functions, etc., the components herein are to be considered as "configured to" satisfy the purposes or perform the operations or functions.

[0040] Hereinafter, reference will be made to Figures 1 to 7 Various embodiments of the present disclosure are described in detail.

[0041] Figure 1 is a block diagram illustrating a configuration of a vehicle system including a vehicle control device according to one embodiment of the present disclosure.

[0042] Referring to Figure 1 The vehicle control device 130 according to one embodiment of the present disclosure can be implemented inside a vehicle. At this time, the vehicle control device 130 can be integrally formed with an internal control unit of the vehicle. In another embodiment, the vehicle control device 130 can be implemented as a separate device so as to be connected to a control unit of the vehicle through a separate connection device.

[0043] Referring to Figure 1 The vehicle system 100 according to one embodiment of the present disclosure can include a sensor 110, an information acquisition device 120, and a vehicle control device 130.

[0044] The sensor 110 can detect objects around a vehicle. In other words, the sensor 110 can detect distances and relative speeds of objects (e.g., a preceding vehicle, a sign, an obstacle, etc.) in front of the vehicle. For example, the sensor 110 can include a camera, a radar, and a lidar.

[0045] In addition, the sensor 110 can include state information of various actuators of the vehicle. For example, the state information of the actuators of the vehicle can include a speed, an acceleration, an angular velocity, etc. of the vehicle.

[0046] The information acquisition device 120 can obtain map information or a position of the vehicle. For example, the information acquisition device 120 can obtain current position information of the vehicle through a global positioning system ("GPS"), and can obtain information such as a curvature of a road on which the vehicle is driving, a current lane position of the vehicle, etc. In this case, the information acquisition device 120 can store the map information in a separate storage (not shown), or can receive the map information or the position information of the vehicle from an external server through a communication device (not shown).

[0047] The vehicle control device 130 can generate various curves associated with a driving mode of the vehicle, and can perform operations such as various calculations, determinations, etc. In one embodiment, the vehicle control device 130 can generate a speed curve based on environmental conditions of the vehicle to include a hysteresis section in which deceleration and acceleration due to coasting of the vehicle is repeated. In addition, the vehicle control device 130 can select a speed curve that satisfies a predetermined condition from among at least one generated speed curve, and can control a speed of the vehicle according to the selected speed curve. See Figure 2 The detailed configuration of the vehicle control device 130 is described in detail below.

[0048] Accordingly, the vehicle system 100 according to one embodiment of the disclosure can obtain various information such as a map, objects around an autonomous vehicle, etc. through the sensor 110 and the information acquisition device 120. The vehicle system 100 can also perform driving according to a curve that is suitable for a situation and conditions based on the obtained information.

[0049] In one embodiment, when information about a front is insufficient in many situations for determining a driving operation (for example, when sensitivity or effectiveness of a sensor is limited due to the sensor being covered by a large vehicle, when determination of other risks is delayed due to calculation of a region of interest (ROI), etc.), the vehicle system 100 according to one embodiment of the disclosure can perform coasting by temporarily eliminating driving torque of the vehicle.

[0050] Accordingly, the vehicle system 100 according to one embodiment of the disclosure can prevent sudden braking due to an error in a sensor, and can increase ride comfort of passengers. In addition, fuel efficiency of the vehicle can be improved by including a hysteresis section during autonomous driving.

[0051] Figure 2 is a block diagram illustrating a configuration of a vehicle control device according to one embodiment of the disclosure.

[0052] Referring to Figure 2 The vehicle control device 130 according to one embodiment of the disclosure can include a curve generator 131, a curve selector 132, and a controller 133.

[0053] The vehicle control device 130 can generate at least one speed curve including a lag segment based on the vehicle's environmental conditions, in which the deceleration and acceleration caused by the vehicle's coasting are repeated. In this case, the lag segment can be a segment that repeats deceleration and acceleration between an upper speed limit (first speed limit) and a lower speed limit (second speed limit).

[0054] For example, the vehicle's environmental conditions may include information about objects around the vehicle, the vehicle's location, and map information. In this case, it can be achieved through... Figure 1 Sensor 110 obtains information about objects around the vehicle. This can be achieved through... Figure 1 The information acquisition device 120 acquires the vehicle's location information and map information.

[0055] The curve generator 131 generates the speed curve to satisfy speed limit conditions set according to the surrounding conditions of the vehicle. At this time, the curve generator 131 can set speed limit conditions based on various factors such as vehicles ahead, speed limits on the road, vehicles at intersections, and / or lane changes.

[0056] When there are no objects within a reference distance (e.g., 30m) in front of the vehicle, the curve generator 131 generates a velocity curve. Furthermore, the curve generator 131 can generate a velocity curve when the vehicle reaches the reference speed. Moreover, the curve generator 131 considers acceleration caused by at least one of the vehicle's rolling resistance, air resistance, and gradient resistance when generating the velocity curve.

[0057] In one embodiment, when determining to generate a speed curve including a lag segment, the curve generator 131 may set necessary conditions for the speed curve. In one embodiment, coasting refers to a method of driving by inertia in a powerless state. Therefore, in order to change the driving state of the vehicle to a powerless driving state, it is necessary to control the output torque of the sub-controller of the vehicle system 100 to 0 Nm. Therefore, the curve generator 131 may output this speed curve to ensure that the output torque of the sub-controller is similar to 0 Nm.

[0058] Furthermore, the curve generator 131 can calculate the acceleration required for the velocity curve by taking into account the vehicle's driving force and various resistances applied to the vehicle (e.g., rolling resistance, air resistance, gradient resistance, etc.). For example, the curve generator 131 can calculate the acceleration required for the velocity curve from the initial acceleration of the velocity curve (e.g., 0 m / s²). 2 The acceleration used for gliding on this velocity curve is calculated by subtracting the acceleration caused by various resistances such as rolling resistance, air resistance, and slope resistance from the velocity curve.

[0059] The curve selector 132 can select a speed curve that meets predetermined conditions from at least one speed curve. For example, the curve selector 132 can select the speed curve from multiple speed curves generated by the curve generator 131, indicating that the vehicle is driving with the lowest acceleration or the lowest power. However, this disclosure is not limited to this, and various factors can be considered to set the predetermined conditions of the curve selector 132.

[0060] The controller 133 can control the vehicle speed according to the speed curve selected by the curve selector 132. For example, when the vehicle reaches a reference speed, the controller 133 can perform speed control according to the selected speed curve. Then, when the vehicle reaches the target lower limit speed, the controller 133 can end the speed control according to the selected speed curve. At this time, the controller 133 can output a dot array according to the control value of the selected speed curve.

[0061] Therefore, the vehicle control device according to one embodiment of the present disclosure can achieve a longitudinal driving mode similar to the actual driving mode of a driver by performing speed control including coasting during a specific period of time when information about the situation ahead of the autonomous vehicle is insufficient, which can prevent sudden braking of the vehicle and improve ride comfort.

[0062] Furthermore, according to one embodiment of the present disclosure, the vehicle control device 130 can improve fuel efficiency by including a lag segment in the vehicle's autonomous driving region.

[0063] Figure 3 This is a diagram illustrating the operating conditions of a vehicle control device according to an embodiment of the present disclosure.

[0064] See Figure 3 The horizontal axis represents time, while the vertical axis represents the vehicle's speed. Furthermore, Figure 3 Region A in the diagram represents the coasting operation area. V1 represents the reference speed at which control begins based on the vehicle's speed curve. V2 represents the target speed (i.e., the coasting release speed) at which control ends based on the same speed curve.

[0065] At this time, when the vehicle reaches the reference speed V1, the vehicle control device 130 according to an embodiment of the present disclosure can perform speed control according to the selected speed curve. Furthermore, when the vehicle reaches the set target speed V2, the vehicle control device 130 can terminate (release) speed control according to the speed curve. Additionally, when the vehicle control device 130 performs speed control according to the speed curve, the vehicle control device 130 can perform speed control to... Figure 3 Region A includes a lag segment.

[0066] Specifically, when there are no road targets within a set reference distance in front of the vehicle and the vehicle's current speed reaches a reference speed V1 (e.g., road speed limit, user-set speed, etc.), the vehicle control device 130 according to an embodiment of this disclosure can generate a speed curve. In this case, the speed curve can be configured to include a lag segment in which deceleration and acceleration caused by coasting are repeated.

[0067] Furthermore, when the vehicle control unit 130 performs speed control based on the speed curve to include a lag segment, the speed curve can be as follows: Figure 3 The vehicle moves downwards as shown. When the vehicle speed reaches the target speed V2, the vehicle control device 130 can release speed control according to the speed curve.

[0068] Figure 4 This is a diagram illustrating a speed curve including a vehicle control device in the lag phase according to an embodiment of the present disclosure.

[0069] See Figure 4 The horizontal axis represents time, while the vertical axis represents the vehicle's speed. Additionally, as... Figure 4 As shown, according to one embodiment of the present disclosure, the vehicle control device 130 can generate a speed curve to include a lag segment in which the vehicle's acceleration segment and deceleration segment are repeated based on coasting. At this time, in Figure 4 On the time axis, T1 represents the acceleration segment based on the glide. T2 represents the deceleration segment based on the glide.

[0070] At the same time, Figure 4 In the graph, curve P1 represents the traditional driving method. For example... Figure 4 As shown, in conventional autonomous driving systems, this lag segment is not included in the speed curve. Conventional autonomous driving systems can only control speed based on a specific target speed. Therefore, when maintaining the current lane and there are no objects in front of the vehicle, the vehicle may maintain a set speed according to road speed limits, potentially resulting in a difference from manual operation by the driver. Furthermore, when information about the situation ahead is insufficient due to sensor errors, sudden braking may occur, which could make the driver uncomfortable.

[0071] On the other hand, such as Figure 4 As shown in graph P2, when the situation ahead remains unchanged (e.g., no object is visible ahead), the vehicle control device 130 according to an embodiment of this disclosure can perform speed control based on this lag segment to repeatedly decelerate by coasting and accelerate to the upper speed limit. Therefore, a speed curve similar to the actual driving pattern of a driver can be generated, and sudden braking can be prevented. This increases the user's ride comfort.

[0072] Figure 5This is a flowchart illustrating the operation of a vehicle control device according to an embodiment of the present disclosure.

[0073] Reference Figure 5 First, according to one embodiment of the present disclosure, the vehicle control device 130 identifies the current position of the vehicle using GPS coordinates (S10). Furthermore, the vehicle control device 130 obtains distance information of objects ahead (e.g., vehicles ahead, obstacles, etc.) (S20). Additionally, the vehicle control device 130 compares the distance to the object ahead with a reference distance (S30). When the distance to the object ahead is less than the reference distance (No), the program returns to operation S20.

[0074] On the other hand, in operation S30, when the distance to the object ahead is not less than the reference distance (yes), the vehicle control device 130 determines whether the vehicle's current speed is not less than a preset reference speed (S40). When the object's current speed is less than the reference speed (no), the program returns to operation S20. On the other hand, when the current speed is not less than the reference speed (yes), the vehicle control device 130 generates a speed curve including a lag segment, in which the deceleration and acceleration based on coasting are repeatedly calculated (S50).

[0075] Furthermore, when multiple speed curves are generated, the vehicle control device 130 compares the speed curves with each other and then selects the speed curve that meets preset conditions (S60). In this case, the preset conditions may include conditions that minimize acceleration or power consumption among the multiple curves. Alternatively, operation S60 may be performed if there are no unexpected situations (e.g., objects entering the lane, abnormal objects, etc.) in the lane currently being driven by the vehicle.

[0076] Next, the vehicle control unit 130 controls the vehicle speed according to the selected speed curve (S70). In other words, the vehicle control unit 130 can drive the vehicle to decelerate to the lower limit speed by coasting, and then accelerate the vehicle speed back to the upper limit speed. When the vehicle speed reaches the target speed while driving according to the speed curve (S80), the vehicle control unit 130 ends the driving according to the speed curve (S90).

[0077] In the following text, see references Figure 6 A vehicle control method according to an embodiment of the present disclosure is described in detail. Figure 6 This is a flowchart describing a vehicle control method according to an embodiment of the present disclosure.

[0078] In the following text, it is assumed that... Figure 1 or Figure 2 The vehicle control device 130 executes Figure 6 The process. Additionally, in Figure 6As can be understood from the description, the operations described as being performed by the device are controlled by the processor (not shown) of the vehicle control unit 130.

[0079] Reference Figure 6 Most importantly, the vehicle control method according to one embodiment of this disclosure can generate at least one speed curve including a lag segment based on the vehicle's environmental conditions, in which deceleration and acceleration caused by vehicle coasting are repeated (S110). In this case, the lag segment can be a segment that repeats deceleration and acceleration between an upper speed limit (first speed limit) and a lower speed limit (second speed limit). Furthermore, the vehicle's environmental conditions may include information about objects around the vehicle, the vehicle's position information, and map information.

[0080] Furthermore, in operation S110, the vehicle control method can generate a speed curve to satisfy speed limit conditions set according to the vehicle's surrounding conditions. At this time, the vehicle control method can set speed limit conditions based on various factors such as vehicles ahead, speed limits on the road, vehicles at intersections, and lane changes.

[0081] In one embodiment, when there are no objects within a reference distance (e.g., 30m) in front of the vehicle and the vehicle reaches a reference speed, the vehicle control method can generate the speed curve in operation S110. Alternatively, the vehicle control method can generate the speed curve taking into account acceleration caused by at least one of the vehicle's rolling resistance, air resistance, and gradient resistance.

[0082] Next, the vehicle control method can select a speed curve that meets predetermined conditions from at least one speed curve (S120). For example, in operation S120, the vehicle control method can select a speed curve from multiple speed curves where the vehicle drives with the lowest acceleration or the lowest power.

[0083] Furthermore, the vehicle control method can control the vehicle's speed according to a selected speed curve (S130). For example, in operation S130, when the vehicle reaches a reference speed, the vehicle control method can perform speed control according to the selected speed curve. Then, when the vehicle reaches a target lower limit speed, the vehicle control method can terminate speed control according to the selected speed curve. At this time, the vehicle control method can output a dot array based on the control value of the selected speed curve.

[0084] Therefore, the vehicle control method according to one embodiment of the present disclosure can achieve a longitudinal driving mode similar to the actual driving mode of a driver by performing speed control including coasting during a specific time period when there is insufficient information about the situation ahead of the autonomous vehicle, which can prevent sudden braking of the vehicle and improve ride comfort.

[0085] Furthermore, a vehicle control method according to one embodiment of the present disclosure can improve fuel efficiency by including a lag segment in the vehicle's autonomous driving region.

[0086] Figure 7 A computing system according to an embodiment of the present disclosure is shown.

[0087] refer to Figure 7 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 interconnected via a bus 1200.

[0088] Processor 1100 may be a central processing unit (CPU) or semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

[0089] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented in hardware or software modules executed by processor 1100, or a combination thereof. Software modules may reside on storage media (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0090] The storage medium is coupled to the processor 1100, and the processor 1100 can read information from and record information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within the user terminal. In another case, the processor and storage medium can reside as separate components in the user terminal.

[0091] In the foregoing, although the present disclosure has been described with reference to embodiments and accompanying drawings, the present disclosure is not limited thereto. Various modifications and changes may be made by those skilled in the art to which this disclosure pertains without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0092] Therefore, embodiments of this disclosure are provided to explain but not to limit the spirit and scope of this disclosure, and thus the spirit and scope of this disclosure are not limited by the embodiments. The scope of this disclosure should be interpreted based on the appended claims, and all technical concepts within the scope of the claims should be included within the scope of this disclosure.

[0093] According to one embodiment of this disclosure, a vehicle control device, including a system and method thereof, can achieve a longitudinal driving mode similar to a driver's actual driving mode by performing speed control including coasting during a specific time period when information about the situation ahead of the autonomous vehicle is insufficient, which can prevent sudden braking of the vehicle and improve ride comfort.

[0094] Furthermore, according to one embodiment of this disclosure, a vehicle control device, a system including the device, and a method thereof can improve fuel efficiency by including a lag segment in the autonomous driving region of the vehicle.

[0095] In addition, it can provide a variety of effects that can be understood directly or indirectly through this instruction manual.

Claims

1. A vehicle control device, comprising: A curve generator is configured to generate at least one velocity curve including a lag segment based on the vehicle's environmental conditions, in which the deceleration and acceleration caused by the vehicle's coasting are repeated. A curve selector is configured to select a speed curve that meets predetermined conditions from the at least one speed curve; as well as The controller is configured to control the speed of the vehicle according to a speed curve selected by the curve selector; The controller performs speed control, including the coasting, during specific periods when there is insufficient information about the situation ahead of the vehicle for autonomous driving.

2. The vehicle control device according to claim 1, wherein, The lag segment is a segment in which deceleration and acceleration are repeated between a first speed limit and a second speed limit less than the first speed limit.

3. The vehicle control device according to claim 1, wherein, The environmental conditions of the vehicle include information about objects around the vehicle, the vehicle's location information, and map information.

4. The vehicle control device according to claim 1, wherein, The curve generator generates the speed curve to meet speed limit conditions set according to the vehicle's surrounding conditions.

5. The vehicle control device according to claim 1, wherein, The curve generator generates the velocity curve when there is no object within a reference distance in front of the vehicle.

6. The vehicle control device according to claim 1, wherein, When the vehicle reaches the reference speed, the curve generator generates the speed curve.

7. The vehicle control device according to claim 1, wherein, The curve generator takes into account the acceleration caused by at least one of the vehicle's rolling resistance, air resistance, and gradient resistance to generate the speed curve.

8. The vehicle control device according to claim 1, wherein, The curve selector selects from the at least one speed curve the speed curve at which the vehicle is driven with the lowest acceleration.

9. The vehicle control device according to claim 1, wherein, When the vehicle reaches the target speed, the controller terminates speed control according to the selected speed curve.

10. A vehicle system comprising: Sensors are configured to detect objects around the vehicle; The information acquisition device is configured to acquire map information and vehicle location; as well as A vehicle control device is configured to control the speed of the vehicle according to a speed curve selected from at least one speed curve that satisfies predetermined conditions, the at least one speed curve being generated based on the environmental conditions of the vehicle and including a lag segment in which acceleration and deceleration caused by the vehicle's coasting are repeated. The vehicle control device performs speed control, including the coasting, during a specific period when there is insufficient information about the situation ahead of the vehicle for autonomous driving.

11. The vehicle system according to claim 10, wherein, The sensor obtains the vehicle's status information.

12. The vehicle system according to claim 10, wherein, The information acquisition device obtains the map information and the location of the vehicle from an external server.

13. A method for controlling a vehicle, the method comprising: Based on the vehicle's environmental conditions, at least one velocity curve is generated, including a lag segment in which the deceleration and acceleration caused by the vehicle's coasting are repeated. Select a speed curve that satisfies a predetermined condition from the at least one speed curve; and The vehicle speed is controlled according to the selected speed curve; During specific periods when information about the situation ahead of the vehicle's autonomous driving is insufficient, speed control, including the coasting, is performed.

14. The method according to claim 13, wherein, The lag segment is a segment that repeatedly decelerates and accelerates between a first speed limit and a second speed limit that is less than the first speed limit.

15. The method according to claim 13, wherein, The environmental conditions of the vehicle include information about objects around the vehicle, the vehicle's location information, and map information.

16. The method according to claim 13, wherein, Generating the at least one velocity curve includes: The speed curve is generated to meet the speed limit conditions set according to the surrounding conditions of the vehicle.

17. The method according to claim 13, wherein, Generating the at least one velocity curve includes: The velocity curve is generated when there is no object within a reference distance in front of the vehicle.

18. The method according to claim 13, wherein, Generating the at least one velocity curve includes: The speed curve is generated when the vehicle reaches the reference speed.

19. The method according to claim 13, wherein, Generating the at least one velocity curve includes: The velocity curve is generated by taking into account the acceleration caused by at least one of the vehicle's rolling resistance, air resistance, and gradient resistance.

20. The method according to claim 13, wherein, Selecting the velocity curve includes: Select the speed curve from the at least one speed curve for driving the vehicle with the lowest acceleration.

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