Vehicle control device, method, and non-transitory machine-readable storage medium

Abstract

The present invention relates to a vehicle control device, a method, and a non-transitory machine-readable storage medium. The vehicle control device includes a steering motor that generates a steering force based on steering-related information of a vehicle received from an autonomous driving module of the vehicle in an autonomous driving mode, a control section that learns a current value of the steering motor under one or more set learning conditions, and a storage section that stores the current value of the steering motor learned by the control section under the set learning conditions as learning data. The control section can generate a warning signal when a change in the current value of the steering motor measured at the time of steering exceeds a predetermined range compared to the learning data stored in the storage section or when the change in the current value of the steering motor measured at the time of steering exceeds a predetermined range set based on the learning data stored in the storage section.

Description

Technical Field

[0001] The present invention generally relates to a vehicle control device, method, storage medium and program, and more specifically, to a vehicle control device, method, storage medium and program for monitoring the current value of the steering motor and detecting abnormalities during autonomous driving. Background Technology

[0002] When mechanical anomalies such as increased friction in the steering mechanism occur during autonomous driving, the steering motor may fail to follow the target steering angle set by the autonomous driving mechanism. In such cases, autonomous driving cannot be safely performed, and accidents may occur. Therefore, it is necessary to develop a technology that continuously monitors whether the steering motor follows the target steering angle set by the autonomous driving module during autonomous driving, detects anomalies in advance, and issues warning signals to the driver to prevent accidents. Summary of the Invention

[0003] The problem the invention aims to solve

[0004] The present invention aims to solve the problems of the prior art described above. Some exemplary embodiments of the present invention aim to provide a vehicle control device, method, storage medium and program that warns the driver by detecting whether the vehicle's steering motor is malfunctioning in autonomous driving mode.

[0005] Furthermore, another objective of some exemplary embodiments of the present invention is to provide a vehicle control device, method, storage medium, and program capable of effectively learning the current value of the vehicle's steering motor in autonomous driving mode and effectively detecting abnormalities of the steering motor using the learned steering motor current value.

[0006] The problems of this invention are not limited to those mentioned above, and those skilled in the art will clearly understand other unmentioned problems through the following description.

[0007] means for solving problems

[0008] According to one aspect of the present invention, a vehicle control device is provided, comprising: a steering motor that generates a steering force based on steering-related information received from an autonomous driving module of the vehicle in an autonomous driving mode; a control unit that learns a current value of the steering motor under set learning conditions; and a storage unit that stores the current value of the steering motor learned by the control unit under the learning conditions as learning data; wherein the control unit generates a warning signal when the change in the current value of the steering motor measured during steering compared with the learning data stored in the storage unit exceeds a predetermined range.

[0009] In a vehicle control device according to an embodiment of the present invention, the learning conditions may include the vehicle's speed, steering angle, and steering speed.

[0010] In a vehicle control device according to an embodiment of the present invention, the speed of the vehicle can be pre-specified by more than one.

[0011] In a vehicle control device according to an embodiment of the present invention, the combination of the steering angle and the steering speed can be pre-specified by one or more.

[0012] In a vehicle control device according to an embodiment of the present invention, when the vehicle speed, steering angle and steering speed during steering correspond to the learning conditions, the control unit can directly compare the current value of the steering motor measured during steering with the learning data.

[0013] In a vehicle control device according to an embodiment of the present invention, when the vehicle speed, steering angle and steering speed during the turn do not correspond to the learning conditions, the control unit can estimate the current value of the steering motor during the turn from the learning data, and compare the current value of the steering motor measured during the turn with the estimated current value of the steering motor.

[0014] In a vehicle control device according to an embodiment of the present invention, the current value of the steering motor can be accumulated and measured from the start of steering to the end of steering under the learning conditions.

[0015] In a vehicle control device according to an embodiment of the present invention, the control unit can learn the current value of the steering motor only when the learning execution conditions are met.

[0016] According to another aspect of the present invention, a vehicle control method is provided, comprising the following steps: a control unit learns a current value of a steering motor under set learning conditions, wherein the steering motor generates a steering force in an autonomous driving mode based on steering-related information received from the vehicle's autonomous driving module; a storage unit stores the current value of the steering motor learned by the control unit under the learning conditions as learning data; the control unit compares the current value of the steering motor measured during steering with the learning data; and when the change in the current value of the steering motor measured during steering compared with the learning data stored in the storage unit exceeds a predetermined range, a warning signal is generated.

[0017] In a vehicle control method according to an embodiment of the present invention, the learning conditions may include a pre-specified combination of one or more vehicle speeds, a pre-specified combination of one or more steering angles and steering speeds.

[0018] In a vehicle control method according to an embodiment of the present invention, when the vehicle speed, steering angle and steering speed at the time of steering correspond to the learning conditions, the control unit can directly compare the current value of the steering motor measured at the time of steering with the learning data.

[0019] In a vehicle control method according to an embodiment of the present invention, when the vehicle speed, steering angle and steering speed at the time of steering do not correspond to the learning conditions, the control unit can estimate the current value of the steering motor at the time of steering from the learning data, and compare the current value of the steering motor measured at the time of steering with the estimated current value of the steering motor.

[0020] According to an embodiment of the vehicle control method of the present invention, before the learning step, the method further includes the following step: the control unit determines whether the learning execution conditions are met; the learning step can be executed when the learning execution conditions are met.

[0021] In a vehicle control method according to an embodiment of the present invention, the learning step may include the following steps: the control unit determines whether the learning condition is met when steering; and when the learning condition is met, the control unit learns the current value of the steering motor.

[0022] According to another aspect of the present invention, a vehicle control program stored in a recording medium is provided, which performs the following steps: a control unit learns the current value of a steering motor under set learning conditions, wherein the steering motor generates steering force in autonomous driving mode based on steering-related information received from the vehicle's autonomous driving module; a storage unit stores the current value of the steering motor learned by the control unit under the learning conditions as learning data; the control unit compares the current value of the steering motor measured during steering with the learning data; and when the change of the current value of the steering motor measured during steering compared with the learning data stored in the storage unit exceeds a predetermined range, a warning signal is generated.

[0023] In a vehicle control program according to an embodiment of the present invention, the learning conditions may include a pre-specified combination of one or more vehicle speeds, a pre-specified combination of one or more steering angles and steering speeds.

[0024] In a vehicle control program according to an embodiment of the present invention, when the vehicle speed, steering angle and steering speed at the time of steering correspond to the learning conditions, the control unit can directly compare the current value of the steering motor measured at the time of steering with the learning data.

[0025] In a vehicle control program according to an embodiment of the present invention, if the vehicle speed, steering angle and steering speed at the time of steering do not correspond to the learning conditions, the control unit can estimate the current value of the steering motor at the time of steering from the learning data, and compare the current value of the steering motor measured at the time of steering with the estimated current value of the steering motor.

[0026] According to an embodiment of the vehicle control program of the present invention, before the learning step, the following step is performed: the control unit determines whether the learning execution conditions are met; the learning step can be performed when the learning execution conditions are met.

[0027] In a vehicle control program according to an embodiment of the present invention, the learning step may include the following steps: the control unit determines whether the learning condition is met when steering; and when the learning condition is met, the control unit learns the current value of the steering motor.

[0028] Invention Effects

[0029] According to some exemplary embodiments of the present invention with the above configuration, by continuously monitoring the current value of the steering motor in autonomous driving mode, abnormalities of the steering motor can be effectively detected, and appropriate warnings can be provided to the driver.

[0030] Furthermore, according to some exemplary embodiments of the present invention, since the current value of the vehicle's steering motor can only be learned in autonomous driving mode when the learning execution conditions and learning conditions are met, the current value of the steering motor can be learned effectively.

[0031] It should be understood that the effects of the present invention are not limited to those described above, but include all effects that can be inferred from the configuration of the present invention as described in the detailed description or claims of the present invention. Attached Figure Description

[0032] Figure 1 This is a configuration diagram of a vehicle control device according to an embodiment of the present invention.

[0033] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0034] Figure 3 This is a detailed flowchart of the learning steps of a vehicle control method according to an embodiment of the present invention.

[0035] Explanation of reference numerals in the attached figures

[0036] 100: Vehicle control device

[0037] 110: Steering motor

[0038] 120: Control Department

[0039] 130: Storage Department Detailed Implementation

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the invention. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. For clarity of explanation, parts irrelevant to the description have been omitted from the drawings, and the same reference numerals have been assigned to the same or similar components throughout the specification.

[0041] The words and terms used in this specification and claims should not be construed as limited to their ordinary or dictionary meanings, but rather, in order to best describe the invention, they should be interpreted as meanings and concepts corresponding to the technical ideas of the invention, in accordance with the principle that the inventor is able to define terms and concepts.

[0042] In this specification, the terms "comprising" or "having" are used to describe the presence of a feature, number, step, action, constituent element, component, or combination thereof described in the specification, and do not preclude the presence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, components, or combinations thereof.

[0043] Figure 1 This is a configuration diagram of a vehicle control device according to an embodiment of the present invention.

[0044] Reference Figure 1 According to an embodiment of the present invention, a vehicle control device 100 includes a steering motor 110, a control unit 120, and a storage unit 130. The vehicle control device 100 according to an embodiment of the present invention can effectively learn the current value of the vehicle's steering motor 110 in autonomous driving or driving mode, and effectively detect abnormalities in the steering motor 110 using the learned current value.

[0045] In one embodiment of the invention, an angle overlay function can be executed in autonomous driving or driving mode. For example, when the vehicle is in autonomous driving or driving mode, the angle overlay function compares the vehicle's steering angle measured by a steering angle sensor with a target steering angle set by an autonomous driving or driving module configured as an autonomous vehicle, and controls the vehicle's steering motor 110 to make the vehicle's steering angle follow or control the target steering angle set by the autonomous driving module. Of course, this is exemplary, and the invention can also be applied even when the steering motor 110 is driven by other control methods in autonomous driving or driving mode.

[0046] The autonomous driving or driving module may include, for example, but not limited to, processors, computers, digital signal processors (DSPs), memory, storage devices, registers, timing mechanisms, interrupts, communication interfaces, and input / output signal interfaces, as well as combinations of at least one of the foregoing. For example, the autonomous driving or driving module may include processors, storage media, and / or programmable memory, which are capable of storing and executing one or more algorithms, commands, signals, instructions, or methods to control a vehicle performing autonomous driving and, possibly, other components of the vehicle. The autonomous driving or driving module may communicate with vehicle control unit 100, numerous sensors, communication systems, and other electronic control units (ECUs) of the vehicle, or may be included within vehicle control unit 100.

[0047] Steering motor 110 can be configured to generate a steering force for steering or controlling the vehicle based on steering-related information received from the vehicle's autonomous driving or driving module in autonomous driving or driving mode. For example, steering motor 110 can be configured and set to provide driving force to a steering shaft connected to the vehicle's steering wheel. In this example, steering motor 110 can be a motor for electric power steering (EPS). In another example, steering motor 110 can be applied to a steer-by-wire system and can be configured or set to provide driving force for changing at least one direction of the wheels. In this example, steering motor 110 can be a motor for driving a linearly movable component or member (e.g., a rack) connected to at least one wheel of the vehicle to change the direction of the wheel.

[0048] The control unit 120 learns the current value of the steering motor 110 under set learning conditions. The current value of the steering motor 110 can be measured by a sensor, circuit, or the control unit 120. In embodiments of the invention, learning may include the operation of measuring the current value of the steering motor 110 when the set learning conditions are met. The control unit 120 may be configured as an electronic control unit (ECU) or processor for learning the current value of the steering motor 110. The current value of the steering motor 110 can be accumulated and measured from the start of steering to the end of steering under the learning conditions.

[0049] The learning conditions may include, for example, but not limited to, one or more of the vehicle's speed, steering angle, steering speed, and any conditions associated with vehicle operation. More specifically, the vehicle's speed may be pre-specified and preset with more than one setting. Furthermore, one or more combinations of the steering angle and steering speed may be pre-specified and preset. For example, assuming the vehicle is driving autonomously or in motion, the following learning conditions may be preset: the vehicle's speed is 80 km / h, the steering wheel angle is 10 degrees (which can vary from zero to 10 degrees), and the steering speed is 100 degrees / sec. When these preset learning conditions are met, the control unit 120 continuously learns the current value of the steering motor 110.

[0050] Multiple learning conditions can be specified and set. For example, the learning conditions for the vehicle's speed can be set to multiple speeds of the vehicle, such as 10 km / h, 50 km / h, and 100 km / h, and one or more combinations of steering angle and steering speed can be set to correspond to each corresponding speed of the vehicle. When the steering condition (e.g., the steering correlation level of the vehicle sensed by sensors) corresponds to or meets the preset learning conditions during autonomous driving or driving, the control unit 120 can learn the current value of the steering motor 110 under that steering condition. The learning conditions can be set in various ways according to the state of the vehicle, the external environment, etc., and the set learning conditions can also be changed or adjusted as needed.

[0051] In one embodiment of the present invention, the control unit 120 can learn the current value of the steering motor 110 only when the learning execution conditions are met. The learning execution conditions may mean that a suitable vehicle current value can be measured and used as reference data, wherein the reference data is used to later determine whether the steering motor 110 is operating normally.

[0052] For example, the learning execution condition could be a situation where the outside air temperature is measured to be above zero degrees Celsius. Under steering conditions where the outside air temperature is below zero degrees Celsius, the current value of the steering motor 110 may increase due to the increased mechanical friction in the steering system compared to when the vehicle's air temperature is at normal. Furthermore, because the current value measured under these circumstances is obtained under unusual or special conditions, it is not suitable as a reference for later determining whether the steering motor 110 is operating normally, and therefore the amount of data available for learning is low.

[0053] The storage unit 130 stores the current value of the steering motor 110 learned by the control unit 120 under the learning conditions as learning data. The storage unit 130 can be communicatively connected to or electrically connected to the control unit 120 to store the learning data. In the event that there are two or more current values ​​of the steering motor 110 measured under the same learning conditions, the control unit 120 can calculate the average value of the current values ​​of the steering motor 110 measured under the same learning conditions, and the storage unit 130 can also store the calculated average value as the current value of the steering motor 110 measured under that learning condition.

[0054] The storage unit 130 can accumulate and store the learning data. In addition, considering the storage capacity of the storage unit 130, the storage unit 130 can delete a portion of the learning data based on the storage order, storage period, etc.

[0055] The storage unit 130 can be any storage medium capable of storing the current value of the steering motor 110 learned by the control unit 120 under the learning conditions as learning data. For example, the storage unit 130 can be implemented as an internal memory such as ROM or RAM included in the control unit 120, or it can be implemented independently of or separately from the control unit 120. Furthermore, the storage unit 130 can be implemented in a form embedded in the control unit 120, or in a form that is detachable from the control unit 120.

[0056] In one embodiment of the present invention, the control unit 120 may generate a warning signal when the change in the current value of the steering motor 110 measured during steering, compared to the learning data stored in the storage unit 130, exceeds a predetermined range or exceeds a predetermined range determined or set based on the learning data stored in the storage unit 130. When a malfunction, error, or defect occurs in the steering system, mechanical friction may increase; conversely, friction may decrease due to wear, etc. In the former case, the current value of the steering motor 110 increases, and in the latter case, the current value of the steering motor 110 decreases.

[0057] In this case, the specified range could be a situation where the current value of the steering motor 110 measured during steering increases or decreases by more than 20% compared to the learned data. Of course, this is only for illustrative purposes, and the specified range can be adjusted to take into account factors such as the vehicle and external environment. Furthermore, the warning signal may include, for example, but not limited to, one or more of visual and auditory signals.

[0058] In the following text, an embodiment of comparing the current value of the steering motor 110 measured by the control unit 120, sensors, or circuits during steering with the learning data stored in the storage unit 130 will be described in detail.

[0059] First, when the vehicle speed, steering angle, and steering speed measured during steering correspond to the learning conditions, the control unit 120 can compare the current value of the steering motor 110 measured during steering with the learning data stored in the storage unit 130. That is, when the vehicle's steering situation at any time during autonomous driving or driving corresponds to preset learning conditions, the current value of the steering motor 110 under the corresponding steering situation can be stored in the storage unit 130 as a learning object, and can be compared with existing training data learned under the same learning conditions. At this time, if there are two or more current values ​​of the steering motor 110 learned under a learning condition corresponding to the corresponding steering situation, the control unit 120 can compare the average value of the learned steering motor 110 current values ​​with the current value of the steering motor 110 measured during steering.

[0060] Second, if the vehicle speed, steering angle, and steering speed measured during steering do not correspond to or exceed the learning conditions, the control unit 120 can estimate the current value of the steering motor 110 from the learning data and compare the current value of the steering motor 110 measured during steering with the estimated current value of the steering motor 110. For example, the estimation can be performed by interpolation or the like, and correction factors such as changes in steering friction due to vehicle speed can be taken into account.

[0061] As described above, assuming the vehicle is driving autonomously or in motion, and as learning conditions, the vehicle speed is set to 10 km / h, 50 km / h, and 100 km / h, and one or more combinations of steering angle and steering speed are set at each corresponding speed. When the vehicle performs steering at a speed of 60 km / h with arbitrary steering angle and steering speed, the control unit 120 can compare the estimated value from the learning data with the current value of the steering motor 110 measured during steering. In this way, the control unit 120 can determine whether the steering motor 110 is malfunctioning even when the vehicle is steering in a manner that does not correspond to the learning conditions stored in the storage unit 130.

[0062] As described above, even if the vehicle's steering condition does not correspond to the learning conditions, the control unit 120 can determine whether the steering motor 110 is abnormal through the above estimation, thereby detecting whether the steering motor 110 is abnormal in real time during autonomous driving, and further improving the vehicle's safety.

[0063] On the other hand, the control unit 120 can also learn the current value of the steering motor 110 only when the steering condition corresponds to the learning conditions, while simultaneously determining whether the current value of the steering motor 110 is abnormal. In this case, since the control unit 120 does not perform estimation, etc., the use of resources such as power or computing by the control unit 120 can be minimized. When the control unit 120 operates in this manner, in order to effectively detect whether the steering motor 110 is abnormal, the learning conditions are set to various vehicle speeds, steering angles, and steering speeds.

[0064] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of the present invention. The vehicle control method according to an embodiment of the present invention can be executed by a vehicle control device 100 according to an embodiment of the present invention. (Refer to...) Figure 2 The present invention will describe in detail a vehicle control method according to an embodiment of the present invention.

[0065] First, the control unit 120 determines whether the learning execution conditions are met (S110). The learning execution conditions may refer to conditions that allow for the measurement of a suitable vehicle current value, which is used later to determine whether the steering motor 110 is operating normally. For example, the learning execution conditions may be that the measured air temperature outside the vehicle is above 0 degrees Celsius.

[0066] Next, if the learning execution conditions are met in S110, the control unit 120 learns the current value of the steering motor 110 according to the learning conditions (S120). For example, the current value of the steering motor 110 can be measured by a sensor or circuit. Learning may include the operation of the control unit 120 measuring the current value of the steering motor 110 when the set learning conditions are met. The control unit 120 learns the current value of the steering motor 110 under the set learning conditions, wherein the steering motor 110 generates steering force based on vehicle steering-related information received from the vehicle's autonomous driving or driving module in autonomous driving or driving mode.

[0067] Figure 3 This is a detailed flowchart of the learning steps of a vehicle control method according to an embodiment of the present invention. (Refer to...) Figure 3When the vehicle is turning, the control unit 120 determines whether the learning conditions are met (S121). The learning conditions may include one or more pre-specified or preset combinations of vehicle speed, steering angle, and steering speed. The learning conditions can be set in various ways according to the vehicle's state, external environment, etc., and the set learning conditions can also be adjusted or changed as needed. Next, when the vehicle's steering condition corresponds to the learning conditions, the control unit 120 learns the current value of the steering motor 110 (S123). The current value of the steering motor 110 can be measured by a sensor, circuit, or the control unit 120. In this case, the current value of the steering motor 110 can be accumulated and measured from the start of steering to the end of steering under the learning conditions. Furthermore, when the learning conditions are met, the control unit 120 can continuously learn the current value of the steering motor 110.

[0068] Next, return Figure 2 The storage unit 130 stores the current value of the steering motor 110 learned by the control unit 120 under the learning conditions as learning data (S130). At this time, if there are two or more current values ​​of the steering motor 110 measured under the same learning conditions, the control unit 120 can calculate the average value of the current values ​​of the steering motor 110 measured under the same learning conditions, and the storage unit 130 can also store the calculated average value as the current value of the steering motor 110 measured under that condition.

[0069] The storage unit 130 can accumulate and store the learning data. In addition, considering the storage capacity of the storage unit 130, the storage unit 130 can delete a portion of the learning data based on the storage order, storage period, etc.

[0070] Next, the control unit 120 compares the current value of the steering motor 110 measured during steering with the learning data stored in the storage unit 130 (S140).

[0071] First, when the vehicle speed, steering angle, and steering speed measured during steering correspond to or meet the learning conditions, the control unit 120 can compare the current value of the steering motor measured during steering with the learning data stored in the storage unit 130. That is, when the vehicle's steering situation at any time during autonomous driving or driving corresponds to preset learning conditions, the current value of the steering motor 110 under the corresponding steering situation can be stored as a learning object, and can be compared with existing learning data learned under the same learning conditions. For example, if there are two or more current values ​​of the steering motor 110 learned under the same learning conditions corresponding to the corresponding steering situation, the control unit 120 can compare the average value of the learned steering motor 110 current values ​​with the current value of the steering motor 110 measured during steering.

[0072] Next, if the vehicle speed, steering angle, and steering speed during the turn do not correspond to the learning conditions, the control unit 120 can estimate the current value of the steering motor 110 from the learning data and compare the measured current value of the steering motor 110 during the turn with the estimated current value of the steering motor 110. For example, the estimation can be performed by interpolation or the like, and one or more correction factors, such as changes in steering friction based on vehicle speed, can be taken into account.

[0073] In this way, even in steering situations that do not correspond to or meet the learning conditions, the control unit 120 can determine whether the steering motor 110 is malfunctioning. As described above, even when the vehicle's steering situation does not correspond to the learning conditions, the control unit 120 can determine whether the steering motor 110 is malfunctioning through the above estimation, thereby detecting whether the steering motor 110 is malfunctioning in real time during autonomous driving, and further improving vehicle safety.

[0074] On the other hand, the control unit 120 can also learn the current value of the steering motor 110 only when the steering condition corresponds to the learning conditions, while simultaneously determining whether the current value of the steering motor 110 is abnormal. In this case, since the control unit 120 does not perform estimation, etc., the control unit 120 can effectively perform the determination. When the control unit 120 operates in this manner, in order to effectively detect whether the steering motor 110 is abnormal, multiple learning conditions are set to various vehicle speeds, steering angles, and steering speeds.

[0075] Finally, when the change in the current value of the steering motor measured during steering exceeds a predetermined range or exceeds a predetermined range determined or set based on the learning data stored in the storage unit, the control unit 120 generates a warning signal (S150). When a steering system malfunctions, errs, or is defective, mechanical friction may increase; conversely, friction may decrease due to wear, etc. In the former case, the current value of the steering motor 110 increases, and in the latter case, the current value of the steering motor 110 decreases. Therefore, when the current value of the steering motor changes by a certain level or more, it can be said that the steering system is highly likely to malfunction, err, or be defective. In this case, the predetermined range may be a situation where the current value of the steering motor 110 measured during steering increases or decreases by more than 20% compared to the learning data. Of course, this is only for illustrative purposes, and the predetermined range may be adjusted considering the vehicle and external environment, etc. Furthermore, the warning signal may include, for example, but not limited to, one or more of visual and auditory signals.

[0076] A vehicle control method according to an embodiment of the present invention can be implemented in the form of program instructions executed by various computer means and recorded in a computer-readable recording medium. The recording medium includes magnetic media such as hard disks, floppy disks, and magnetic tapes; optical media such as compact optical disc read-only storage (CD-ROM) and digital video discs (DVDs); magneto-optical media such as floppy disks; and hardware devices such as ROMs, RAMs, and flash memory configured to store and execute program instructions. Furthermore, the program can include not only machine language code generated by a compiler but also computer-executable high-level language code.

[0077] Specifically, according to an embodiment of the present invention, a vehicle control program or instruction can be stored in a recording medium to perform the following steps: the control unit 120 learns the current value of the steering motor 110 under set learning conditions, wherein the steering motor 110 generates steering force based on steering-related information received from the vehicle's autonomous driving or driving module in autonomous driving or driving mode (S120); the storage unit 130 stores the current value of the steering motor 110 learned by the control unit 120 under the learning conditions as learning data (S130); the control unit 120 compares the current value of the steering motor 110 measured during steering with the learning data stored in the storage unit 130 (S140); and when the change in the current value of the steering motor 110 measured during steering compared with the learning data stored in the storage unit 130 exceeds a predetermined range or exceeds a predetermined range determined or set based on the learning data stored in the storage unit 130, a warning signal is generated (S150). When the control unit 120 generates a warning signal, the control unit 120 may generate a warning signal when the increase or decrease of the current value of the steering motor measured during steering exceeds a predetermined range or exceeds a predetermined range determined or set based on the learning data stored in the storage unit 130.

[0078] The learning conditions may include one or more pre-specified or preset speeds of the vehicle, and one or more pre-specified or preset combinations of the vehicle's steering angle and steering speed. Furthermore, if the vehicle speed, steering angle, and steering speed measured during steering correspond to the learning conditions, the control unit 120 can compare the current value of the steering motor 110 measured during steering with the learning data stored in the storage unit 130. Furthermore, if the vehicle speed, steering angle, and steering speed measured during steering do not correspond to the learning conditions, the control unit 120 can estimate the current value of the steering motor 110 from the learning data stored in the storage unit 130, and compare the current value of the steering motor 110 measured during steering with the estimated current value of the steering motor 110.

[0079] On the other hand, according to a vehicle control program of an embodiment of the present invention, before the learning step (S120), the control unit 120 may also perform a step (S110) to determine whether the learning execution conditions are met. At this time, the learning step (S120) can be performed if the learning execution conditions are met.

[0080] Furthermore, as described above, the learning step (S120) executed by the vehicle control program according to an embodiment of the present invention may include: a step (S121) in which the control unit 120 determines whether the learning conditions are met when steering; and a step (S123) in which the control unit 120 learns the current value of the steering motor 110 when the learning conditions are met.

[0081] According to some exemplary embodiments of the present invention, when an anomaly such as increased friction in the steering mechanism occurs during autonomous driving of a vehicle, this anomaly can be effectively detected, and an appropriate warning signal can be provided to the driver. Therefore, vehicle safety is increased during autonomous driving, and accidents can be prevented.

[0082] According to a first aspect of an embodiment of the present invention, the control unit of the vehicle control device can only learn the current value of the steering motor according to the learning conditions when the learning execution conditions are met, and / or the learning execution conditions may be that the external air temperature is measured to be above zero degrees.

[0083] According to a second aspect of an embodiment of the present invention, the warning signal generated by the control unit of the vehicle control device may include at least one of a visual signal and an auditory signal, for notifying the vehicle of an anomaly in its collision system.

[0084] According to a third aspect of an embodiment of the present invention, the steering motor of the vehicle control device can provide driving force to the steering shaft connected to the steering wheel.

[0085] According to a fourth aspect of an embodiment of the present invention, the steering motor of the vehicle control device can be adapted to a steer-by-wire system to provide driving force for changing the direction of at least one wheel of the vehicle.

[0086] According to a fifth aspect of an embodiment of the present invention, the control unit of the vehicle control device may generate a warning signal when the increase in the current value of the steering motor measured during steering exceeds a predetermined range compared with the learning data stored in the storage unit, or when the increase in the current value of the steering motor measured during steering exceeds a predetermined range set based on the learning data stored in the storage unit.

[0087] According to a fifth aspect of an embodiment of the present invention, the control unit of the vehicle control device may generate a warning signal when the reduction of the current value of the steering motor measured during steering compared to the learning data stored in the storage unit exceeds a predetermined range, or when the reduction of the current value of the steering motor measured during steering exceeds a predetermined range set based on the learning data stored in the storage unit.

[0088] Although embodiments of the invention have been described, the spirit of the invention is not limited to the embodiments presented in this specification. Those skilled in the art who understand the spirit of the invention can readily propose other embodiments within the scope of the same spirit by adding, changing, deleting, or supplementing the constituent elements, and such embodiments will also be considered to fall within the spirit of the invention.

Claims

1. A vehicle control device, wherein, The vehicle control device includes: In autonomous driving mode, the steering motor generates steering force based on vehicle steering-related information received from the autonomous driving module's processor. The control unit learns the measured current value of the steering motor under one or more set learning conditions, and The storage unit stores the measured current values ​​of the steering motor, learned by the control unit under one or more set learning conditions, as learning data. The control unit generates a warning signal when the change in the measured current value of the steering motor exceeds a predetermined range set based on the learning data stored in the storage unit. The control unit learns the measured current value of the steering motor only when one or more learning execution conditions are met, under the one or more set learning conditions.

2. The vehicle control device according to claim 1, wherein, The learning conditions set by the one or more settings include one or more speeds, one or more steering angles, and one or more steering speeds of the vehicle.

3. The vehicle control device according to claim 2, wherein, One or more speeds of the vehicle in the one or more learning conditions set are preset.

4. The vehicle control device according to claim 3, wherein, One or more combinations of the one or more steering angles and one or more steering speeds in the one or more learning conditions set are preset.

5. The vehicle control device according to claim 3, wherein, When the measured speed, measured steering angle, and measured steering speed of the vehicle meet one or more of the set learning conditions, the control unit compares the measured current value of the steering motor with the learning data stored in the storage unit.

6. The vehicle control device according to claim 3, wherein, When the measured speed, measured steering angle, and measured steering speed of the vehicle do not meet the learning conditions set by one or more of the above settings, the control unit estimates the current value of the steering motor from the learning data stored in the storage unit, and compares the measured current value of the steering motor with the estimated current value of the steering motor.

7. The vehicle control device according to claim 1, wherein, The storage unit cumulatively stores the current values ​​of the steering motor measured from the start of steering to the end of steering under the learning conditions of the one or more settings.

8. A vehicle control method, wherein, Includes the following steps: The control unit learns the measured current value of the steering motor under one or more set learning conditions. In autonomous driving mode, the steering motor generates steering force based on vehicle steering-related information received from the processor of the autonomous driving module. The storage unit stores the measured current values ​​of the steering motor, learned by the control unit under one or more set learning conditions, as learning data. The control unit compares the measured current value of the steering motor with the learning data stored in the storage unit, and The control unit generates a warning signal when the change in the measured current value of the steering motor exceeds a predetermined range set based on the learning data stored in the storage unit. Before learning the measured current value of the steering motor under the one or more set learning conditions, the following step is also included: the control unit determines whether one or more learning execution conditions are met, and performs the learning when the one or more learning execution conditions are met.

9. The vehicle control method according to claim 8, wherein, The learning conditions set in one or more settings include one or more preset speeds of the vehicle, and one or more preset combinations of one or more preset steering angles and one or more preset steering speeds.

10. The vehicle control method according to claim 9, wherein, It also includes the following steps: When the measured speed, measured steering angle, and measured steering speed of the vehicle meet one or more of the learning conditions set, the control unit compares the measured current value of the steering motor with the learning data stored in the storage unit.

11. The vehicle control method according to claim 9, wherein, It also includes the following steps: When the measured speed, measured steering angle, and measured steering speed of the vehicle do not meet the learning conditions set by one or more of the above, the control unit estimates the current value of the steering motor from the learning data, and the control unit compares the measured current value of the steering motor with the estimated current value of the steering motor.

12. The vehicle control method according to claim 8, wherein, Learning the measured current value of the steering motor under one or more of the set learning conditions includes the following steps: The control unit determines whether the learning conditions set by one or more are met during steering; and When the learning conditions set by one or more of the above settings are met, the control unit learns the current value of the steering motor measured during steering.

13. A non-transitory machine-readable storage medium, wherein, The machine-readable storage medium stores instructions that are executed by one or more processors to perform the following operations: The control unit learns the measured current value of the steering motor under one or more set learning conditions. In autonomous driving mode, the steering motor generates steering force based on vehicle steering-related information received from the processor of the autonomous driving module. The storage unit stores the measured current values ​​of the steering motor, learned by the control unit under one or more set learning conditions, as learning data. The control unit compares the measured current value of the steering motor with the learning data stored in the storage unit, and The control unit generates a warning signal when the change in the measured current value of the steering motor exceeds a predetermined range set based on the learning data stored in the storage unit. Before learning the measured current value of the steering motor under the one or more set learning conditions, the operation further includes: the control unit determining whether one or more learning execution conditions are met, and performing the learning when the one or more learning execution conditions are met.

14. The non-transitory machine-readable storage medium according to claim 13, wherein, The learning conditions set in one or more settings include one or more preset speeds of the vehicle, and one or more preset combinations of one or more preset steering angles and one or more preset steering speeds.

15. The non-transitory machine-readable storage medium according to claim 14, wherein, The operation also includes: When the measured speed, measured steering angle, and measured steering speed of the vehicle meet one or more of the learning conditions set, the control unit compares the measured current value of the steering motor with the learning data stored in the storage unit.

16. The non-transitory machine-readable storage medium according to claim 14, wherein, The operation also includes: When the measured speed, measured steering angle, and measured steering speed of the vehicle do not meet the learning conditions set by one or more of the above, the control unit estimates the current value of the steering motor from the learning data, and the control unit compares the measured current value of the steering motor with the estimated current value of the steering motor.

17. The non-transitory machine-readable storage medium according to claim 13, wherein, Learning the measured current value of the steering motor under one or more of the set learning conditions includes the following steps: The control unit determines whether the learning conditions set by one or more are met during steering; and When one or more of the learning conditions are met, the control unit learns the current value of the steering motor measured during steering.

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