Automatic driving control apparatus and method

Abstract

The invention relates to an automatic driving control apparatus and method. The automatic driving control apparatus includes a steering device, a memory, and a controller. The automatic driving control apparatus determines a user-required torque received through a steering device, determines a torque sensor value corresponding to the user-required torque using the steering device, and controls the vehicle based on a required steering angle. A control attenuation amount related to a use ratio between the required steering angle and the user required torque is adjusted based on the torque sensor value, and steering control of the host vehicle is performed based on at least one of the required steering angle, the user required torque, or the control attenuation amount, or any combination thereof.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0099889 filed in the Korean Intellectual Property Office on July 31, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an automatic driving control device and method, and more specifically, to a technology for performing steering control on a vehicle by controlling attenuation. Background Art

[0004] The statements in this section merely provide background information related to the present invention and may not constitute prior art.

[0005] As autonomous vehicles become more common, various technologies related to autonomous driving have been developed. Based on the level of control, autonomous driving can be divided into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and / or fully autonomous driving.

[0006] In the automatic driving control function, various functions and / or devices for controlling a control amount of driving control of the own vehicle (for example, torque for steering control) have been developed.

[0007] Generally speaking, a power-assisted steering system (referred to as power steering) is a system in a vehicle designed to reduce the force required by the driver to turn the steering wheel (i.e., steering effort), and also provides stability in the steering state. Unlike the existing hydraulic scheme that uses hydraulic pressure, an electric power steering system (EPS) for utilizing the rotational force of a motor to assist the user's steering effort is generally installed in a vehicle.

[0008] This type of EPS is divided into column-EPS (C-EPS) in a column drive scheme, rack-EPS (R-EPS) in a rack drive scheme, etc. C-EPS is in the form of a drive motor arranged between the steering wheel and the transmission, and is configured to have a motor mounted on the outside of the steering column to transmit the driver's steering wheel rotation force to the lower side and rotate the steering shaft in the steering column. R-EPS is in the form of a drive motor mounted on a component (rack and pinion) connected to the tie rod, and since its mounting position is the same as the position where the existing hydraulic steering system operates, it is a scheme that shows a response similar to that of a hydraulic steering system compared to C-EPS.

[0009] Since an electronic control unit (ECU) drives a motor based on information detected by a vehicle speed sensor, a steering sensor, a torque sensor, etc., a steering device according to the related art actively provides a steering assist force based on the vehicle speed. Such a control scheme may include an assist current mapping scheme to receive information of the vehicle and generate a torque to be compensated.

[0010] However, in the method according to the related art, when the user manipulates the steering wheel to intervene in the steering control of the vehicle when the automatic driving control device performs steering control on the vehicle, the user may feel a sense of difference due to the reaction force generated by the steering wheel, etc.

[0011] In particular, in the method according to the prior art, when the user attempts to intervene in the steering when the autonomous driving control device performs the steering control based on the steering angle required by the vehicle, the autonomous driving control device determines the user's intervention in the steering as interference. The autonomous driving control device performs the steering angle control with a stronger force, and the user feels a sense of difference due to the reaction force caused by the steering angle control. Summary of the invention

[0012] The present invention is intended to solve the above-mentioned problems occurring in the prior art while completely maintaining the advantages achieved by the prior art.

[0013] One aspect of the present invention provides an automatic driving control device, which is used to adjust the control attenuation amount to a specified value within a specified range when identifying the user's required torque when controlling the vehicle based on the required steering angle.

[0014] Another aspect of the present invention provides an automatic driving control device for identifying a torque sensor value corresponding to a user's required torque using a power steering included in a steering device.

[0015] Another aspect of the present invention provides an automatic driving control device, which is used to identify a torque sensor value corresponding to the torque required by the user through a torque map stored in a memory based on the vehicle speed and the size of the torque required by the user.

[0016] Another aspect of the present invention provides an automatic driving control device for adjusting the control attenuation amount to be inversely proportional to the size of the torque sensor value.

[0017] Another aspect of the present invention provides an automatic driving control device, which is used to provide a function of performing steering control of the vehicle based on at least one or an implementation scheme of a required steering angle, a user required torque, or a controlled attenuation amount.

[0018] The technical problems to be solved by the present invention are not limited to the above-mentioned problems, and a person skilled in the art in the art to which the present invention belongs should clearly understand any other technical problems not mentioned herein from the following description.

[0019] According to one aspect of the present invention, an automatic driving control device may include: a steering device, a memory, and a controller; the memory stores at least one instruction; the controller is operably connected to the steering device and the memory. In one embodiment, the at least one instruction may be configured such that, when executed by the controller, the automatic driving control device: when controlling the vehicle based on the required steering angle, determines the user required torque received through the steering device, determines the torque sensor value corresponding to the user required torque using the steering device, adjusts the control attenuation amount related to the usage ratio between the required steering angle and the user required torque based on the torque sensor value, and performs steering control of the vehicle based on at least one of the required steering angle, the user required torque, or the control attenuation amount, or any combination thereof.

[0020] According to an embodiment, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: determine a torque sensor value corresponding to the torque required by the user using a power steering included in the steering device.

[0021] According to an embodiment, the at least one instruction can be configured to, when executed by the controller, enable the autonomous driving control device to: determine the vehicle speed of the vehicle, and determine the torque sensor value based on the user's required torque and vehicle speed through the torque map pre-stored in the memory.

[0022] According to an embodiment, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: adjust the control attenuation amount to be inversely proportional to the torque sensor value.

[0023] According to the implementation scheme, the at least one instruction can be configured to, when executed by the controller, cause the autonomous driving control device to: attenuate the motor control amount used to perform steering control of the vehicle based on the adjusted control attenuation amount to follow the required steering angle, and perform steering control of the vehicle based on the attenuated motor control amount.

[0024] According to an embodiment, the at least one instruction can be configured to, when executed by the controller, enable the autonomous driving control device to: attenuate the torque sensor value by an attenuation ratio identified based on the adjusted control attenuation amount, and further perform steering control of the vehicle based on the attenuated torque sensor value.

[0025] According to an embodiment, the at least one instruction can be configured to, when executed by the controller, enable the autonomous driving control device to: adjust the control attenuation amount to any value within a specified range based on the torque sensor value, and determine the attenuation ratio generated by subtracting the adjusted control attenuation amount from the specified value.

[0026] According to the embodiment, the automatic driving control device may further include a sensor device. In one embodiment, the at least one instruction may be configured to, when executed by the controller, cause the automatic driving control device to: determine the driving environment information of the vehicle using the sensor device, and reduce the control attenuation when it is identified that the control of the vehicle must be transferred to the user based on the driving environment information.

[0027] According to the implementation scheme, the at least one instruction can be configured to, when executed by the controller, enable the autonomous driving control device to: utilize a sensor device to identify sensing information including at least one or any combination of biometric information of the user, internal information of the vehicle, or driving environment information of the vehicle, determine whether the torque required by the user is based on the user's intention based on at least a portion of the sensing information, and when it is determined that the torque required by the user is not based on the intention, do not adjust the control attenuation amount.

[0028] According to an embodiment, the at least one instruction can be configured to, when executed by the controller, cause the autonomous driving control device to: stop steering control based on the required steering angle when the control attenuation amount is adjusted to correspond to the minimum value within a predetermined range, and perform steering control based on the torque required by the user.

[0029] According to another aspect of the present invention, an automatic driving control method may include: when controlling the vehicle based on a required steering angle, the controller determines the user required torque received through the steering device, the controller uses the steering device to determine the torque sensor value corresponding to the user required torque, the controller adjusts the control attenuation amount related to the usage ratio between the required steering angle and the user required torque based on the torque sensor value, and the controller performs steering control of the vehicle based on at least one of the required steering angle, the user required torque or the control attenuation amount or any combination thereof.

[0030] According to an embodiment, determining the torque sensor value corresponding to the user required torque using the steering device may include: determining, by the controller, the torque sensor value corresponding to the user required torque using power steering of the steering device.

[0031] According to the implementation scheme, determining the torque sensor value corresponding to the user required torque using the steering device may include: the controller determining the vehicle speed of the vehicle, and the controller determining the torque sensor value based on the user required torque and the vehicle speed through a torque map pre-stored in a memory.

[0032] According to an embodiment, adjusting the control attenuation amount associated with the usage ratio between the required steering angle and the user required torque based on the torque sensor value signal may include: adjusting the control attenuation amount to be inversely proportional to the torque sensor value by the controller.

[0033] According to the implementation scheme, performing steering control of the vehicle based on at least one of a required steering angle, a user required torque or a control attenuation amount or any combination thereof may include: based on the adjusted control attenuation amount, a controller attenuates a motor control amount used to perform steering control of the vehicle to follow the required steering angle, and the controller performs steering control of the vehicle based on the attenuated motor control amount.

[0034] According to the implementation scheme, performing steering control of the vehicle based on at least one of a required steering angle, a user required torque or a control attenuation amount or any combination thereof may further include: attenuating the torque sensor value by the controller through an attenuation ratio identified based on the adjusted control attenuation amount, and further performing steering control of the vehicle based on the attenuated torque sensor value by the controller.

[0035] According to the implementation scheme, the automatic driving control method may further include: based on the torque sensor value, the controller adjusts the control attenuation amount to any value within a specified range; and the controller determines the attenuation ratio generated by subtracting the adjusted control attenuation amount from the specified value.

[0036] According to the implementation scheme, the automatic driving control method may further include: the controller using a sensor device to determine the driving environment information of the vehicle; when it is identified based on the driving environment information that the control of the vehicle must be transferred to the user, the controller reduces the control attenuation.

[0037] According to the implementation scheme, the automatic driving control method may further include: the controller uses a sensor device to identify sensing information including at least one of the user's biometric information, the vehicle's internal information, or the vehicle's driving environment information, or any combination thereof; the controller determines whether the user's required torque is based on the user's intention based on at least a part of the sensing information; when it is determined that the user's required torque is not based on the intention, the control attenuation amount is not adjusted.

[0038] According to the implementation scheme, the automatic driving control method may further include: when the control attenuation amount is adjusted to correspond to the minimum value within a predetermined range, the controller stops the steering control based on the required steering angle; and the controller performs the steering control based on the torque required by the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0040] Figure 1 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention;

[0041] Figure 2 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention;

[0042] Figure 3 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention;

[0043] Figure 4 is an operation flow chart of an automatic driving control device according to an embodiment of the present invention;

[0044] Figure 5 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0045] Figure 6 A computing system for an automatic driving control method according to an embodiment of the present invention is shown.

[0046] Regarding the description of the drawings, the same or similar reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0047] Hereinafter, some embodiments of the present invention are described in detail with reference to the attached drawings. In the accompanying drawings, the same reference numerals are used throughout to represent the same or equivalent components. In addition, detailed description of well-known features or functions is excluded to avoid unnecessary obscurity of the subject matter of the present invention.

[0048] When describing the components according to the embodiments of the present invention, terms such as first, second, "A", "B", (a), (b) etc. may be used. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, and are independent of the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms (including technical and scientific terms) used in this article are interpreted according to the conventions of the field to which the present invention belongs. It should be understood that the terms used in this article should be interpreted as having a meaning consistent with the meaning in the context of the present invention and related fields, and should not be interpreted as idealized or overly formal meanings, unless clearly defined in this article. When a component, device or element of the present invention, etc. is described as having a purpose or performing an operation, function, etc., the component, device or element should be regarded as "configured to" meet the purpose or perform the operation or function in this article.

[0049] In the following, reference will be made to Figures 1 to 6 Embodiments of the present invention are described in detail.

[0050] Figure 1 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention.

[0051] According to the embodiment, the automatic driving control apparatus 100 may include at least one of a steering device 110, a memory 120, a controller 130, or a sensor device 140, or any combination thereof. Figure 1The components of the automatic driving control device 100 shown are illustrative, and embodiments of the present invention are not limited thereto. For example, the automatic driving control device 100 may further include Figure 1 Components not shown (eg, at least one of an interface, a communication device, or a display, or any combination thereof).

[0052] According to the embodiment, the steering device 110 may include at least one component for steering control of the vehicle. For example, the steering device 110 may include at least one of a steering angle controller, a user intervention determination device, a user power steering controller, or a drive device controller, or any combination thereof.

[0053] In addition, the operation of the steering device 110 (which is described below) can be an operation performed by the steering device 110 alone, but when at least a portion of the steering device 110 and the controller 130 are implemented as a chipset, the operation of the steering device 110 can also be an operation performed by the controller 130.

[0054] In one embodiment, the steering device 110 may include a motor driven power steering (MDPS) system and / or an electric power steering (EPS).

[0055] For example, the steering device 110 may receive a user input from the user and may determine (or identify) a user-required torque based on the user input. For example, the steering device 110 may determine (or identify) a user-required torque corresponding to the user input to the steering wheel.

[0056] In one embodiment, the steering device 110 may include a power steering system that may determine (or identify) a torque sensor value using a user desired torque determined based on a user input.

[0057] A detailed description of the components included in the steering device 110 is provided by Figure 2 , which is described as follows.

[0058] According to the embodiment, the memory 120 may store instructions or data. For example, the memory 120 may store one or more instructions that, when executed by the controller 130, cause the automatic driving control device 100 to perform various operations.

[0059] In one form, the memory 120 and the controller 130 may be implemented as a chipset. The controller 130 may include at least one of a communication processor or a modem.

[0060] For example, the memory 120 may store various information related to the automatic driving control device 100. As an example, the memory 120 may store information about the operation history of the controller 130. In one embodiment, the memory 120 may store information related to the state and / or operation of a component of the host vehicle (e.g., at least one of an engine control unit (ECU), the steering device 110, the controller 130, or the sensor device 140, or any combination thereof).

[0061] According to an embodiment, the controller 130 may be operably connected to the steering device 110, the memory 120, and / or the sensor device 140. For example, the controller 130 may control the operation of the steering device 110, the memory 120, and / or the sensor device 140.

[0062] In one embodiment, the controller 130 may control the host vehicle based on the desired steering angle. The desired steering angle may correspond to a control amount for steering control of the host vehicle identified by the controller 130 when the controller 130 performs autonomous driving control of the host vehicle.

[0063] As an example, the controller 130 may identify (or generate, determine) a motor control amount corresponding to a desired steering angle using the steering device 110. For example, the motor control amount may be a control amount for performing steering control of the vehicle to follow the desired steering angle.

[0064] For example, when performing autonomous driving control (or when controlling the host vehicle based on a desired steering angle), the controller 130 may determine (or identify) a user-required torque received through the steering device 110 .

[0065] In one embodiment, the controller 130 can determine (or identify) a torque sensor value corresponding to the user's required torque using the steering device 110. As an example, the torque sensor value can be a control amount actually input to a drive device (eg, a motor) to control the drive device.

[0066] As an example, the controller 130 may determine (or identify) a torque sensor value corresponding to a user-required torque using the power steering of the steering device 110 .

[0067] As an example, the controller 130 may determine (or identify) the torque sensor value through a torque map pre-stored in the memory 120 based on the user required torque and the vehicle speed.

[0068] In one embodiment, the controller 130 may adjust the control damping amount associated with the usage ratio between the required steering angle and the user-required torque based on the magnitude of the torque sensor value.

[0069] As an example, the controller 130 may adjust the control attenuation amount to be inversely proportional to the magnitude of the torque sensor value.

[0070] In one embodiment, the controller 130 may perform steering control of the host vehicle based on at least one of a desired steering angle, a user-required torque, or a control damping amount, or any combination thereof.

[0071] In another embodiment, the controller 130 may perform steering control of the host vehicle based on a torque value identified by multiplying a torque value determined based on a desired steering angle (the torque value identified to perform steering control based on the desired steering angle) by a control damping amount.

[0072] In one embodiment, the controller 130 may attenuate the torque sensor value by an attenuation ratio identified based on the adjusted control attenuation amount, and then may further perform steering control of the host vehicle based on the attenuated torque sensor value. The control attenuation amount and / or the attenuation ratio may be one of certain real value values ​​from "0" to "1".

[0073] As an example, the controller 130 may attenuate the motor control amount used to perform steering control of the host vehicle based on the adjusted control attenuation amount to follow the desired steering angle, and may then perform steering control of the host vehicle based on the attenuated motor control amount.

[0074] As an example, the controller 130 may adjust the control damping amount to any value within a specified range based on the magnitude of the torque sensor value. For example, the specified range may include a range between "0" and "1".

[0075] As an example, the controller 130 may determine (or identify) the attenuation ratio by subtracting the adjusted control attenuation amount from the specified value. For example, the specified value may be, for example, "1". For example, when the adjusted control attenuation amount is 0.3, the attenuation ratio may be 0.7. In other words, the sum of the control attenuation amount and the attenuation ratio may be "1". However, the above numerical values ​​are described for ease of description, and the embodiments of the present invention are not limited thereto.

[0076] According to the embodiment, the sensor device 140 can obtain (or identify) various information used for driving the vehicle (for example, sensing information including at least one or any combination of the user's biometric information, the vehicle's internal information, or the vehicle's driving environment information).

[0077] For example, the sensor device 140 may include at least one sensor including at least one of a camera, a radar (RADAR), or a laser radar (LiDAR), or any combination thereof.

[0078] For example, the sensor device 140 can determine (or identify) driving environment information, which includes information about at least one of the vehicle's driving speed, the vehicle's driving acceleration, the vehicle's driving direction, the vehicle's destination, the vehicle's driving route, the vehicle's driving mode, the vehicle's road, or an area adjacent to the vehicle, or any combination thereof.

[0079] As an example, the controller 130 may identify a situation in which the control of the vehicle must be handed over to the user based on the driving environment information identified by the sensor device 140. The above situation may include a problematic situation, wherein the problematic situation includes at least one of a situation in which the vehicle may collide with an external object (e.g., another vehicle), a situation in which an external object approaches the vehicle, or a situation in which a problem occurs in at least a portion of the drivability and / or components of the vehicle, or any combination thereof.

[0080] For example, the sensor device 140 may recognize biometric information of a user, the biometric information of the user including information about at least one of a user's face, a user's body, a user's movement, a user's blinking, or any combination thereof.

[0081] For example, the sensor device 140 can identify the interior information of the vehicle, which includes at least one or any combination of information about the interior temperature of the vehicle, the humidity of the vehicle, the user riding in the vehicle, or the opening state of the vehicle door.

[0082] As an example, the controller 130 may determine whether the user's required torque for the steering device 110 is based on the user's intention based on at least one or any combination of the user's biometric information, the vehicle's internal information, or the vehicle's driving environment information recognized by the sensor device 140. In other words, the controller 130 may determine whether the user intentionally performs an input to the steering device 110.

[0083] For example, when the driving environment information of the vehicle is recognized by the sensor device 140 and a situation in which the control of the vehicle must be handed over to the user is recognized based on the driving environment information, the controller 130 may reduce the control attenuation amount.

[0084] For example, the controller 130 may use the sensor device 140 to identify at least one or any combination of sensing information including biometric information of the user, internal information of the vehicle, or driving environment information of the vehicle. For example, the controller 130 may determine whether the user's required torque is based on the user's intention based on at least a portion of the sensing information. For example, when it is determined that the user's required torque is not based on the intention, the controller 130 may not adjust the control attenuation amount.

[0085] For example, when the control attenuation amount is adjusted to correspond to the minimum value (e.g., "0") within a predetermined range, the controller 130 may stop the steering control based on the required steering angle, and may perform the steering control based on the user's required torque. In other words, the controller 130 may stop the steering control based on the autonomous driving control, and may perform the steering control based on the user's required torque. In other words, the controller 130 may hand over the autonomous driving control right regarding the steering control to the user.

[0086] Figure 2 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention.

[0087] According to the embodiment, the autonomous driving control device (e.g., Figure 1 The automatic driving control device 100 may include a steering device 210 and / or a controller 230 (eg, Figure 1 Controller 130).

[0088] Figure 2 The structure of the components shown is illustrative, and the embodiments of the present invention are not limited thereto. For example, Figure 2 At least a portion of the components included in the steering device 210 in the embodiment may be implemented as one chip together with the controller 230. In other words, at least a portion of the operation of the steering device 210 described below may be performed by the controller 230 (or control of the controller 230).

[0089] For example, the controller 230 may transmit the required steering angle to the steering device 210 (or the steering angle controller 212). As an example, the controller 230 may identify the required steering angle for steering control of the vehicle when performing the autonomous driving control of the vehicle, and may transmit the identified required steering angle to the steering angle controller 212 included in the steering device 210.

[0090] For example, the steering device 210 may execute control logic for driving a drive device (e.g., a motor) using a desired steering angle transmitted by the steering angle controller 212. For example, the steering angle controller 212 may transmit a result obtained by the control logic (e.g., a desired steering angle following logic corresponding to the desired steering angle) to the drive device controller 218.

[0091] For example, the steering device 210 may receive a user-required torque from the user 250. As an example, the steering device 210 may identify a user-required torque corresponding to a user input to an input device (e.g., a steering wheel). In other words, the user-required torque may be a torque corresponding to a user input of the user 250 intervening in the steering control input when the vehicle is traveling based on the automatic driving control.

[0092] For example, the steering device 210 can execute control logic for driving the drive device using the user required torque transmitted through the user power steering controller 214 (or power steering). For example, the user power steering controller 214 can transmit the result obtained by the control logic (e.g., the torque sensor value corresponding to the user required torque) to the drive device controller 218.

[0093] For example, the drive device controller 218 may transmit at least a portion of the parameters for controlling the drive device to the controller 230. For example, the drive device controller 218 may transmit a torque sensor value corresponding to the user's required torque to the controller 230.

[0094] For example, the controller 230 may adjust the control attenuation amount based on the transmitted torque sensor value, and may transmit the adjusted control attenuation amount to the user intervention determination device 216 .

[0095] As an example, the controller 230 may adjust the control attenuation amount associated with the usage ratio between the required steering angle and the user's required torque based on the magnitude of the torque sensor value.

[0096] As an example, the controller 230 may adjust the control attenuation to be inversely proportional to the magnitude of the torque sensor value. The controller 230 may adjust the control attenuation to any value within a specified range. For example, the specified range may include a range between "0" and "1". In other words, the control attenuation may be any real value between "0" and "1".

[0097] For example, the controller 230 may further identify a damping ratio using the control damping amount, and may transmit the damping ratio to the steering device 210 .

[0098] As an example, the controller 230 may identify a value obtained by subtracting the control attenuation amount from a designated value (eg, "1") as the attenuation ratio. In other words, the sum of the control attenuation amount and the attenuation ratio may be the designated value.

[0099] For example, the steering device 210 may perform steering control of the host vehicle using each of the transmitted control attenuation amount and attenuation ratio.

[0100] As an example, the steering device 210 can utilize the drive device controller 218 to attenuate the motor control amount used to perform the steering control of the vehicle based on the adjusted control attenuation amount to follow the required steering angle, and then the steering control of the vehicle can be performed based on the attenuated motor control amount.

[0101] As an example, the steering device 210 may attenuate the torque sensor value by the attenuation ratio identified based on the adjusted control attenuation amount using the drive device controller 218, and may then further perform steering control of the host vehicle based on the attenuated torque sensor value.

[0102] As an example, when the control attenuation amount is "0" (for example, when the attenuation ratio is "1"), the steering device 210 can perform steering control of the vehicle using only the torque sensor value. As another example, when the attenuation ratio is "0" (for example, when the control attenuation amount is "1"), the steering device 210 can perform steering control of the vehicle using only the required steering angle.

[0103] Figure 3 is a block diagram illustrating components of an automatic driving control device according to an embodiment of the present invention.

[0104] According to the embodiment, the autonomous driving control device (e.g., Figure 1 The automatic driving control device 100 may include a steering device 310 (eg, Figure 1 The steering device 110) and / or the controller 330 (e.g., Figure 1 Controller 130).

[0105] For example, the automatic driving control device may adjust (or generate) the control attenuation amount A using the controller 330 based on the torque sensor value transmitted from the steering device 310 to the controller 330 .

[0106] For example, the controller 330 may transmit the control attenuation amount A to the user intervention determination device 316 .

[0107] For example, the controller 330 may transmit the desired steering angle to the steering angle controller 312. For example, the steering angle controller 312 may use the motor sensing angle θ transmitted from the angle sensor for sensing the motor. sensor and the required steering angle to identify the steering control amount (e.g., steering angle torque T angle ), and the steering control amount can be transmitted to the user intervention determination device 316.

[0108] For example, the user intervention determination device 316 can determine the steering angle torque T angle Multiply by the control attenuation amount A. As an example, due to the calculation of the control attenuation amount A, the steering angle torque T angle May decrease or remain the same.

[0109] For example, the automatic driving control device may identify the torque sensor value using the user required torque received from the user.

[0110] For example, the autonomous driving control device may utilize the user power steering controller 314 to identify a torque sensor value corresponding to the user desired torque.

[0111] As an example, the power steering controller 314 may utilize a power steering included in the steering device 310 to identify a torque sensor value corresponding to a user-required torque.

[0112] As an example, the user power steering controller 314 may identify the vehicle speed of the host vehicle, and may further identify the torque sensor value using the user required torque and the vehicle speed through a torque map pre-stored in a memory.

[0113] For example, the automatic driving control device can convert the user torque T assist The user torque T is transmitted to the user intervention determination device 316. assist is obtained by converting the torque (eg, the torque sensor value T) output from the user power steering controller 314 boost ) and the torque (eg, other torque T ) transmitted from the steering device additional function controller 350 for operating the additional function of the steering device 310 torque ) added together.

[0114] As an example, the automatic driving control device can set the user torque T assist The attenuation ratio B is multiplied by the attenuation ratio B obtained by subtracting the control attenuation amount A from a specified value (eg, "1"). As an example, due to the calculation of the control attenuation amount A, the user torque T assist May decrease or remain the same.

[0115] For example, the automatic driving control device may add the torques identified by the user intervention determination device 316 using the control attenuation amount A and the attenuation ratio B to identify the control torque T control , and the control torque T control Sent to the drive device controller 318.

[0116] For example, in response to the control torque T control , the drive device controller 318 can identify the required current I required for the motor to operate motor and can be based on the identification of the required current I motor Control the motor.

[0117] For example, the steering device 310 can change the operating torque T of the running motor motor The rack torque T of the rack (or rack and pinion) included in the vehicle rack The torques are added together and the added torque can be transmitted to the rack.

[0118] Figure 4is an operation flow chart of an automatic driving control device according to an embodiment of the present invention.

[0119] According to the embodiment, the autonomous driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 4 For example, components included in the autonomous driving control device (e.g., Figure 1 At least a portion of the steering device 110, the memory 120, the controller 130 and / or the sensor device 140 may be configured to perform Figure 4 operation.

[0120] The operations in step S410 to step S440 in the following embodiments may be performed in sequence, but are not necessarily performed in sequence. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations related to the combination may be briefly described or omitted. Figure 4 Content that corresponds to or repeats the above content.

[0121] According to the implementation scheme, in step S410, the autonomous driving control device may receive autonomous driving control input.

[0122] For example, when a user input (e.g., touch input or pressure input) to a designated area (e.g., a button) in the vehicle is recognized, the autonomous driving control device can recognize that the input for autonomous driving control has been received and can start the autonomous driving control of the vehicle.

[0123] According to the implementation scheme, in step S420, the automatic driving control device can perform steering angle control of the vehicle based on the control attenuation amount having a specified value.

[0124] For example, the initial value of the control attenuation amount may be a predetermined value or a set value changeable by the user.

[0125] According to the embodiment, in step S430, the automatic driving control device may determine whether the torque sensor value meets a specified standard.

[0126] For example, when the torque sensor value exceeds the specified range, the automatic driving control device may determine that the torque sensor value meets the specified standard. In other words, when the torque sensor value exceeds the specified range, the automatic driving control device may recognize that the user can feel the reaction force, and may determine that the torque sensor value meets the specified standard for adjusting the magnitude of the control attenuation amount.

[0127] For example, when the torque sensor value satisfies a specified criterion (eg, “yes” in step S430 ), the automatic driving control device may execute step S440 .

[0128] For example, when the torque sensor value does not meet the specified criteria (eg, "No" in step S430), the automatic driving control device may execute step S435.

[0129] According to the implementation scheme, in step S435, the automatic driving control device can identify whether the driving environment of the vehicle corresponds to a risk environment.

[0130] For example, the automatic driving control device can identify the driving environment information of the vehicle, and can identify whether there is a situation where the control of the vehicle must be transferred to the user based on the driving environment information.

[0131] For example, when the driving environment of the vehicle corresponds to a risk environment (eg, "yes" in step S435), the automatic driving control device may execute step S440.

[0132] For example, when the driving environment of the vehicle does not correspond to a risk environment (eg, "No" in step S435), the automatic driving control device may repeat step S420.

[0133] According to the embodiment, in step S440, the automatic driving control device may adjust the magnitude of the control attenuation amount and may perform steering angle control.

[0134] For example, the autonomous driving control device may adjust the magnitude of the control attenuation to any value within a specified range. As an example, the autonomous driving control device may adjust the magnitude of the control attenuation to one of certain values ​​between "0" and "1". As an example, the autonomous driving control device may reduce the magnitude of the control attenuation.

[0135] For example, the autonomous driving control device may perform steering control of the vehicle according to the autonomous driving control based on a result calculated by multiplying the adjusted control attenuation amount by a steering control parameter for the autonomous driving control (which is identified in response to a desired steering angle).

[0136] Figure 5 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0137] According to the embodiment, the autonomous driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 5 For example, components included in the autonomous driving control device (e.g., Figure 1 At least a portion of the steering device 110, the memory 120, the controller 130 and / or the sensor device 140 may be configured to perform Figure 5 operation.

[0138] The operations in step S510 to step S540 in the following embodiments may be performed in sequence, but are not necessarily performed in sequence. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations related to the combination may be briefly described or omitted. Figure 5 Content that corresponds to or repeats the above content.

[0139] According to the embodiment, in step S510, the automatic driving control device may identify the user's required torque received through the steering device when controlling the vehicle based on the required steering angle.

[0140] For example, the autonomous driving control device may identify a user-required torque identified based on a user input (eg, a rotational input) to a steering wheel.

[0141] According to the implementation scheme, in step S520, the automatic driving control device can use the steering device to generate (or identify) a torque sensor value corresponding to the torque required by the user.

[0142] For example, the automatic driving control device may utilize the power steering included in the steering device to identify a torque sensor value corresponding to the torque required by the user.

[0143] For example, the autonomous driving control device can identify the vehicle speed of the vehicle, and can identify the torque sensor value based on the user's required torque and vehicle speed through the torque map pre-stored in the memory.

[0144] According to the embodiment, in step S530, the automatic driving control device may adjust the control attenuation amount associated with the usage ratio between the required steering angle and the user's required torque based on the size of the torque sensor value.

[0145] For example, the autonomous driving control device may adjust the control attenuation amount to be inversely proportional to the magnitude of the torque sensor value.

[0146] For example, the autonomous driving control device may adjust the control attenuation amount to any value within a specified range based on the magnitude of the torque sensor value. As an example, the autonomous driving control device may adjust the control attenuation amount to one of the values ​​between "0" and "1".

[0147] As an example, the autonomous driving control device may identify a decay ratio generated by subtracting the adjusted control decay amount from a specified value.

[0148] For example, even when the control attenuation amount has been adjusted based on the size of the torque sensor value, or even when it is determined that the control attenuation amount does not need to be adjusted, the automatic driving control device can reduce the control attenuation amount when it is identified based on the driving environment information identified by the sensor device that the control of the vehicle must be transferred to the user.

[0149] For example, even in the case where the control attenuation amount is determined to be adjusted based on the magnitude of the torque sensor value, the automatic driving control device may determine whether the user required torque is based on the user's intention based on at least a portion of the sensing information (e.g., at least one of the user's biometric information, the vehicle's internal information, or the vehicle's driving environment information or any combination thereof) recognized by the sensor device. When it is determined that the user required torque is not based on the intention, the automatic driving control device may not adjust the control attenuation amount.

[0150] According to the implementation scheme, in step S540, the automatic driving control device can perform steering control of the vehicle based on at least one of the required steering angle, the user's required torque or the control attenuation amount, or any combination thereof.

[0151] For example, the autonomous driving control device may attenuate the motor amount used to control the steering of the vehicle based on the adjusted control attenuation amount to follow the desired steering angle, and may then perform steering control of the vehicle based on the attenuated motor control amount.

[0152] For example, the automatic driving control device can attenuate the torque sensor value by an attenuation ratio identified based on the adjusted control attenuation amount, and can then further perform steering control of the vehicle based on the attenuated torque sensor value.

[0153] Figure 6 A computing system for an automatic driving control method according to an embodiment of the present invention is shown.

[0154] refer to Figure 6 , the computing system 1000 regarding the autonomous driving control method 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 by a bus 1200.

[0155] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. 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) 1310 and a random access memory (RAM) 1320.

[0156] Therefore, the operation of the method or algorithm described in conjunction with the embodiments disclosed in the specification can be directly implemented using a hardware module, a software module, or a combination thereof, which is executed by the processor 1100. The software module may exist in a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disks, removable disks, and compact disk ROMs (CD-ROMs).

[0157] 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 be present in an application specific integrated circuit (ASIC). The ASIC may be present in a user terminal. In another case, the processor and the storage medium may be present in a user terminal as separate components.

[0158] A description is given of the effects of the automatic driving control device and method according to an embodiment of the present invention.

[0159] According to at least one embodiment of the present invention, the automatic driving control apparatus can perform steering angle control, thereby performing more accurate and subtle steering control than performing control based on torque.

[0160] In addition, according to at least one embodiment of the present invention, the autonomous driving control device can set a control quantity usage ratio between the steering angle control (which is based on the control attenuation amount identified using the torque sensor value) and the user's steering control, thereby reducing the sense of difference that the user can feel when performing vehicle intervention.

[0161] Furthermore, according to at least one embodiment of the present invention, the autonomous driving control device can perform steering control based on the controlled attenuation amount, thereby relatively easily transferring the control of the vehicle (eg, the control for steering control) to the user.

[0162] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0163] Although the present invention has been described above with reference to the exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, but various modifications and changes may be made by a person skilled in the art to which the present invention belongs without departing from the spirit and scope of the present invention as claimed in the appended claims.

[0164] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. An automatic driving control device, comprising: Steering device; a memory storing at least one instruction; as well as a controller operatively connected to the steering device and the memory; Wherein, the at least one instruction is configured to, when executed by the controller, cause the automatic driving control device to: determining a user requested torque received through the steering device when controlling the vehicle based on the requested steering angle; determining a torque sensor value corresponding to a user-requested torque using a steering device; adjusting a control decay amount associated with a usage ratio between a desired steering angle and a user-required torque based on a torque sensor value; The steering control of the host vehicle is performed based on at least one of a required steering angle, a user required torque, or a control damping amount, or any combination thereof.

2. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: A torque sensor value corresponding to a user-requested torque is determined using power steering of the steering device.

3. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Determine the speed of the vehicle; The torque sensor value is determined by a torque map stored in memory based on the user requested torque and vehicle speed.

4. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: The control damping amount is adjusted to be inversely proportional to the torque sensor value.

5. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Based on the adjusted control attenuation amount, the motor control amount for performing the steering control of the vehicle is attenuated to follow the desired steering angle, The steering control of the host vehicle is performed based on the attenuated motor control amount.

6. The automatic driving control device according to claim 5, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: The torque sensor value is damped by a damping ratio identified based on the adjusted control damping amount, and further the steering control of the host vehicle is performed based on the damped torque sensor value.

7. The automatic driving control device according to claim 6, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Based on the torque sensor value, the control attenuation is adjusted to any value within a specified range; An attenuation ratio is determined, the attenuation ratio being generated by subtracting the adjusted control attenuation amount from the specified value.

8. The automatic driving control device according to claim 1, further comprising: Sensor device, Wherein, the at least one instruction is configured to, when executed by the controller, cause the automatic driving control device to: Determine driving environment information of the vehicle using a sensor device; When it is recognized based on the driving environment information that the control right of the own vehicle must be handed over to the user, the control decay amount is reduced.

9. The automatic driving control device according to claim 1, further comprising: Sensor device, Wherein, the at least one instruction is configured to, when executed by the controller, cause the automatic driving control device to: Using a sensor device to identify sensing information including at least one of biometric information of a user, internal information of the vehicle, or driving environment information of the vehicle, or any combination thereof; determining whether the user-requested torque is based on the user's intent based on at least a portion of the sensed information; When it is determined that the user required torque is not based on the intention, the control damping amount is not adjusted.

10. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When the control attenuation amount is adjusted to correspond to the minimum value within the predetermined range, the steering control based on the required steering angle is stopped, Performs steering control based on the torque requested by the user.

11. An automatic driving control method, comprising: When controlling the vehicle based on the desired steering angle, the controller determines a user desired torque received through the steering device; The controller determines a torque sensor value corresponding to the torque required by the user using the steering device; adjusting, by the controller, a control attenuation amount associated with a usage ratio between a required steering angle and a user-required torque based on a torque sensor value; The controller performs steering control of the vehicle based on at least one of a required steering angle, a user required torque, or a control attenuation amount, or any combination thereof.

12. The automatic driving control method according to claim 11, wherein: Determining the torque sensor value corresponding to the user's desired torque includes: A torque sensor value corresponding to a user-required torque is determined using a power steering included in the steering device.

13. The automatic driving control method according to claim 12, wherein: Determining the torque sensor value corresponding to the user's desired torque includes: Determine the speed of the vehicle; The torque sensor value is determined based on the user required torque and the vehicle speed through a torque map pre-stored in the memory.

14. The automatic driving control method according to claim 11, wherein: Adjusting the control attenuation associated with the usage ratio includes: The control damping amount is adjusted to be inversely proportional to the torque sensor value.

15. The automatic driving control method according to claim 11, wherein: The steering control of the vehicle includes: Based on the adjusted control attenuation amount, the motor control amount for executing the steering control of the host vehicle is attenuated to follow the required steering angle, and the steering control of the host vehicle is executed by the controller based on the attenuated motor control amount.

16. The automatic driving control method according to claim 15, wherein: Executing the steering control of the vehicle further includes: The torque sensor value is damped by the controller at a damping ratio identified based on the adjusted control damping amount, and the steering control of the host vehicle is further performed by the controller based on the damped torque sensor value.

17. The automatic driving control method according to claim 16, further comprising: Based on the torque sensor value, the controller adjusts the control attenuation to any value within a specified range; A damping ratio is determined by the controller and is generated by subtracting the adjusted control damping amount from the specified value.

18. The automatic driving control method according to claim 11, further comprising: The controller determines the driving environment information of the vehicle using the sensor device; When a situation in which the control right of the vehicle must be handed over to the user is recognized based on the driving environment information, the controller reduces the control attenuation amount.

19. The automatic driving control method according to claim 11, further comprising: The controller uses the sensor device to identify sensing information including at least one of the user's biometric information, the vehicle's interior information, or the vehicle's driving environment information, or any combination thereof; determining, based on the sensed information, whether the user-required torque is based on the user's intention; When it is determined that the user required torque is not based on the intention, the control damping amount is not adjusted.

20. The automatic driving control method according to claim 11, further comprising: When the control attenuation amount is adjusted to correspond to the minimum value within the predetermined range, the controller stops the steering control based on the required steering angle. The controller performs steering control based on the torque requested by the user.

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