Apparatus and method for controlling vehicle

Abstract

An apparatus and method for controlling a vehicle are disclosed. The apparatus includes a memory and a controller. For example, a device identifies at least one score associated with a driving state of a host vehicle, identifies a final score using the at least one score and at least one weight respectively corresponding to the at least one score, generates a brake control signal based on the final score, and performs brake control of the host vehicle based on the brake control signal.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0111401 filed on August 24, 2023, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an apparatus and method for controlling a vehicle, and more particularly, to a technology for adaptively generating a brake control signal for brake control based on a driving state of a host vehicle. Background Art

[0004] As vehicles that can travel based on autonomous driving or smart cruise control become more widespread, various technologies related to this type of driving are being developed. For example, autonomous driving can be divided into partial automation, conditional automation, high automation, and / or full automation according to its control level.

[0005] In one embodiment, in the vehicle control function, various types of control algorithms (or functions) for brake control of the host vehicle are being developed.

[0006] For example, the vehicle control device may use at least one brake control device (eg, a primary brake device and / or an auxiliary brake device) to perform brake control of the host vehicle. The at least one brake control device may include, for example, an electromagnetic retarder.

[0007] For example, the vehicle control device may optimize the operating state of a battery and / or a coil included in the host vehicle by controlling an electromagnetic retarder included in the auxiliary brake device.

[0008] However, when the vehicle control device performs brake control on the host vehicle, only the durability during operation of the specific brake device is considered, and the riding comfort experienced by the user in the host vehicle is not considered.

[0009] Furthermore, when a situation requiring over-braking occurs while the vehicle control device is performing brake control, the user of the host vehicle may feel uncomfortable because the braking and operation are repeated in order to appropriately adjust the stopping distance.

[0010] In addition, when various items are loaded on the main vehicle controlled by the vehicle control device, the weight of the main vehicle increases, and there may be a situation where the main vehicle is traveling on a road with a slope (e.g., an uphill or downhill road). In this case, when the braking control is performed, the riding comfort of the user may be relatively deteriorated. Summary of the invention

[0011] The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while keeping the advantages achieved by the prior art intact.

[0012] An aspect of the present invention provides a vehicle control device that first identifies information on a driving state of a host vehicle, generates a braking control signal based on at least one score corresponding to each of the identified information, and provides a braking function based on the generated braking control signal.

[0013] Another aspect of the present invention provides a vehicle control device that generates a braking control signal using each of at least one score, wherein the at least one score includes a first score corresponding to the weight of the host vehicle, a second score corresponding to the slope of the road on which the host vehicle is traveling, a third score corresponding to the required deceleration of the host vehicle, and at least one of any combination thereof.

[0014] Another aspect of the present disclosure provides a vehicle control device that uses at least one weight corresponding to at least one score to identify a final score, and generates a braking control signal using at least one of an initial conversion rate (conversion rate), a conversion time, a controller gain, and any combination thereof identified based on the size of the final score.

[0015] Another aspect of the present disclosure provides a vehicle control device that identifies, as a second score, a value generated by subtracting a score identified in proportion to a slope from a specified value when a road on which a host vehicle is traveling is an uphill road.

[0016] Another aspect of the present disclosure provides a vehicle control device that performs brake control by generating a brake control signal to be generated similar to an existing brake control signal generated in advance as a final score increases.

[0017] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein should be clearly understood by ordinary technicians in the field to which the present disclosure belongs from the following description.

[0018] According to one aspect of the present disclosure, a device for controlling a vehicle includes: a memory storing one or more instructions; and a controller operably connected to the memory. When executed by the controller, the instructions cause the device to identify at least one score associated with a driving state of a host vehicle, identify a final score using the at least one score and at least one weight corresponding to the at least one score, generate a brake control signal based on the final score, and perform brake control of the host vehicle based on the brake control signal.

[0019] In one implementation, the instructions, when executed by the controller, may cause the device to identify the driving state of the main vehicle, including at least one of the weight of the main vehicle, the slope of the road on which the main vehicle is traveling, the required deceleration of the main vehicle, and any combination thereof, and identify at least one score including a first score corresponding to the weight, a second score corresponding to the slope, and a third score corresponding to the required deceleration.

[0020] In one implementation, the instructions, when executed by the controller, may cause the device to identify a first fraction that is proportional to the weight.

[0021] In one implementation, the instructions, when executed by the controller, may cause the device to identify a second score that is proportional to the grade.

[0022] In one implementation, when the instructions are executed by the controller, the device may identify, as the second score, a value obtained by subtracting a score identified in proportion to the slope from a designated value when the host vehicle is identified as traveling on an uphill road.

[0023] In one implementation, the instructions, when executed by the controller, may cause the device to identify a third fraction proportional to the absolute value of the desired deceleration.

[0024] In one implementation, the sum of at least one weight may be set not to exceed a predetermined value.

[0025] In one implementation, the instructions, when executed by the controller, may cause the device to identify braking parameters for braking control based on the final score, the braking parameters including at least one of an initial slew rate, a slew time, a controller gain, and any combination thereof, and generate a braking control signal based on at least some of the braking parameters.

[0026] In one implementation, the instructions, when executed by the controller, may cause the apparatus to perform braking control for the host vehicle by generating a braking control signal similar to an existing braking control signal as the final score increases.

[0027] In one implementation, the device may further include a braking device. For example, when the instructions are executed by the controller, the device may send a braking control signal to the braking device, and use the braking device to perform braking control of the host vehicle based on the braking control signal.

[0028] According to another aspect of the present disclosure, a method for controlling a vehicle includes: identifying, by a controller, at least one score associated with a driving state of a main vehicle; identifying, by the controller, a final score using the at least one score and at least one weight corresponding to the at least one score respectively; generating, by the controller, a braking control signal based on the final score; and performing, by the controller, braking control of the main vehicle based on the braking control signal.

[0029] In one implementation, identifying at least one score by a controller may include: identifying by the controller a driving state of the main vehicle, the driving state including at least one of a weight of the main vehicle, a slope of a road on which the main vehicle is traveling, a required deceleration of the main vehicle, and any combination thereof; and identifying by the controller the at least one score, the at least one score including a first score corresponding to the weight, a second score corresponding to the slope, and a third score corresponding to the required deceleration.

[0030] In one implementation, identifying, by the controller, at least one fraction may include identifying, by the controller, a first fraction that is proportional to the weight.

[0031] In one implementation, identifying, by the controller, at least one score may include identifying, by the controller, a second score that is proportional to the grade.

[0032] In one implementation, identifying, by the controller, at least one score may include identifying, by the controller, as the second score, a value obtained by subtracting a score identified in proportion to the slope from a designated value when the host vehicle is identified as traveling on an uphill road.

[0033] In one implementation, identifying, by the controller, at least one fraction may include identifying, by the controller, a third fraction proportional to an absolute value of the desired deceleration.

[0034] In one implementation, the sum of the at least one weight may be set not to exceed a predetermined value.

[0035] In one implementation, generating, by the controller, a braking control signal based on the final score may include: identifying, by the controller, braking parameters for braking control based on the final score, the braking parameters including at least one of an initial slew rate, a slew time, a controller gain, and any combination thereof; and generating, by the controller, a braking control signal based on at least some of the braking parameters.

[0036] In one implementation, the method may further include: performing, by the controller, braking control of the host vehicle by generating a braking control signal similar to an existing braking control signal as the final score increases.

[0037] In one implementation, the method may further include: sending, by the controller, a brake control signal to a brake device, and performing, by the controller, brake control of the host vehicle using the brake device based on the brake control signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0039] Figure 1is a block diagram showing components of a vehicle control device according to an embodiment of the present disclosure;

[0040] Figure 2 is a flowchart showing a vehicle control method according to an embodiment of the present disclosure;

[0041] Figure 3A A diagram showing score recognition in a vehicle control device according to an embodiment of the present disclosure;

[0042] Figure 3B A diagram showing score recognition in a vehicle control device according to an embodiment of the present disclosure;

[0043] Figure 4 shows a graph comparing an existing brake control signal and a brake control signal generated by a vehicle control device according to an embodiment of the present disclosure;

[0044] Figure 5 is a flowchart showing a vehicle control method according to an embodiment of the present disclosure;

[0045] Figure 6 is a flowchart showing a vehicle control method according to an embodiment of the present disclosure; and

[0046] Figure 7 A computing system related to a vehicle control method according to an embodiment of the present disclosure is shown.

[0047] Regarding the description of the drawings, the same or similar reference numerals are used for the same or similar components. DETAILED DESCRIPTION

[0048] In the following, some embodiments of the present disclosure are described in detail with reference to the accompanying drawings. It should be noted that when adding reference numerals to the constituent components of each drawing, the same reference numerals are also marked when the same or equivalent constituent components are shown in other drawings. In addition, when describing the embodiments of the present disclosure, when it is determined that the relevant known configuration or function interferes with the understanding of the embodiments of the present disclosure, the detailed description of the relevant known configuration or function is omitted.

[0049] When describing components according to embodiments of the present disclosure, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are intended only to distinguish components from other components, and these terms do not limit the nature, order, or sequence of components. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meanings as those commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless explicitly defined herein.

[0050] In the following, reference is made to Figures 1 to 7 Embodiments of the present disclosure are described in detail.

[0051] Figure 1 is a block diagram showing components of a vehicle control device according to an embodiment of the present disclosure.

[0052] According to one embodiment, the vehicle control device 100 may include at least one of a braking device 110 , a memory 120 , a controller 130 , and any combination thereof. Figure 1 The structure of the vehicle control device 100 shown is illustrative, and the embodiments of the present disclosure are not limited thereto. For example, the vehicle control device 100 may also include Figure 1 Components not shown (e.g., at least one of an interface, a sensor, a communication device, a display, and any combination thereof).

[0053] According to one embodiment, the brake device 110 may include at least one brake device for brake control of a host vehicle.

[0054] For example, the brake device 110 may include a primary brake device and a secondary brake device.

[0055] For example, the primary braking device may include a mechanical brake (e.g., an inertia brake and a cable parking brake) or a hydraulic brake (e.g., a disc brake and a drum brake). As an example, the auxiliary braking device may include an engine brake, an exhaust brake, an eddy current brake, a hydraulic power brake, an aerodynamic retarding brake, a dog brake, and / or a retarding brake.

[0056] For example, the vehicle control device 100 can usually use the main brake device to perform braking control for the host vehicle. The host vehicle can also further use the auxiliary brake device to perform braking control of the host vehicle under certain circumstances (for example, when traveling on a road with a high slope, etc.).

[0057] For example, the braking device 110 may be operated based on a braking control signal transmitted from the controller 130 .

[0058] According to one 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 vehicle control device 100 to perform various operations.

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

[0060] For example, the memory 120 may store various information related to the vehicle control device 100. As an example, the memory 120 may store information about the operation history of the controller 130. For example, 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 brake device 110, the controller 130, and any combination thereof).

[0061] For example, the memory 120 may store at least one mapping table. The memory 120 may store, for example, a mapping table regarding a final score, an initial conversion rate, a conversion time, and / or a controller gain. For example, the mapping table may contain at least one data stored so that the initial conversion rate, the conversion time, and the controller gain correspond in a manner such that the larger the final score, the stronger the braking control of the host vehicle.

[0062] According to one embodiment, the controller 130 may be operably connected to the braking device 110 and / or the memory 120. For example, the controller 130 may control the operation of the braking device 110 and / or the memory 120.

[0063] For example, the controller 130 may identify at least one score associated with the driving state of the host vehicle.

[0064] For example, the controller 130 may identify a driving state of the host vehicle, the driving state including at least one of a weight of the host vehicle, a grade of a road on which the host vehicle is traveling, a desired deceleration of the host vehicle, and any combination thereof.

[0065] As an example, the controller 130 may identify at least one score including a first score corresponding to the weight, a second score corresponding to the slope, and a third score corresponding to the required deceleration.

[0066] As an example, the controller 130 may identify a first score proportional to the weight. In other words, the controller 130 may identify a first score having a larger value as the weight increases.

[0067] As an example, the controller 130 may identify a second score that is proportional to the slope. In other words, as the slope increases (or as the inclination increases), the controller 130 may identify a second score with a larger value.

[0068] For example, when the host vehicle is identified as traveling on an uphill road, the controller 130 may identify a value obtained by subtracting a score identified in proportion to the slope from a specified value (e.g., 11) as the second score. For example, the controller 130 may first identify a score proportional to the magnitude of the identified slope, and then, when it is determined that the road on which the host vehicle is traveling corresponds to an uphill road, finally identify a value obtained by subtracting the identified score from the specified value as the second score. Therefore, the controller 130 may generate a braking control signal including a smaller deceleration control amount on an uphill road than on a downhill road.

[0069] As an example, the controller 130 may identify a third fraction proportional to the absolute value of the desired deceleration. In other words, as the absolute value of the desired deceleration increases (or because the host vehicle must decelerate more strongly), the controller 130 may identify a third fraction having a larger value.

[0070] For example, the controller 130 may set the sum of the at least one weight not to exceed a predetermined value (eg, 1) and apply each weight to each score of the at least one score.

[0071] As an example, at least one weight may be a setting value pre-stored by a user and / or developer, and may be a setting value that may be changed according to the driving state of the host vehicle. For example, the controller 130 may apply a relatively high weight to a score that has a greater impact on performing braking control of the host vehicle based on the driving state.

[0072] For example, the controller 130 may identify braking parameters for braking control based on the final score, the braking parameters including at least one of an initial slew rate, a slew time, a controller gain, and any combination thereof.

[0073] For example, the controller 130 may generate a brake control signal based on at least some of the brake parameters.

[0074] For example, as the final score increases, the controller 130 may perform braking control of the host vehicle by generating a braking control signal similar to an existing braking control signal.

[0075] As an example, as the final score increases, the controller 130 may generate a braking control signal that is closer to the existing braking control signal, and as the final score decreases, the controller 130 may generate a braking control signal that is different from the existing braking control signal.

[0076] For example, as the final score decreases, the controller 130 may generate a braking control signal to perform braking control of the host vehicle in a relatively weak manner.

[0077] For example, the controller 130 may transmit a brake control signal to the brake device 110 (eg, a primary brake device), and perform brake control of the host vehicle based on the brake control signal using the brake device 110 .

[0078] Figure 1 The components of the vehicle control device 100 shown in FIG. 1 are illustrative, and implementations of the present disclosure are not limited thereto. For example, the vehicle control device 100 may further include a sensor (not shown) and / or a communication device (not shown).

[0079] For example, the sensor may include at least one sensor including at least one of a camera, a radar, a LiDAR, and any combination thereof.

[0080] For example, the sensor may directly sense information about the road on which the host vehicle is traveling (eg, the slope of the road, the type of road, the surface condition of the road, and the amount of traffic on the road).

[0081] For example, the sensor may identify information regarding the driving condition of the host vehicle (eg, at least one of real-time driving speed, acceleration, driving direction, vehicle weight, desired deceleration, and any combination thereof).

[0082] According to one embodiment, the communication device may obtain (or identify) various information regarding the driving usage of the host vehicle.

[0083] According to one embodiment, the communication device may support the establishment of a communication channel (e.g., a wireless communication channel) between the vehicle control device 100 and an external device and the execution of communication via the established communication channel. For example, the communication device may include at least one communication processor (e.g., an application processor) that operates independently of the controller 130 and supports direct (e.g., wired) communication or wireless communication.

[0084] For example, the communication device may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module or a power line communication module). In such a communication module, the corresponding communication module can communicate with an external device via a first network (e.g., a short-range communication network such as Bluetooth, Wireless Fidelity (WiFi) Direct, or Infrared Data Association (IrDA)) or a second network (e.g., a telecommunications network such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)) included in the network. These different types of communication modules may be integrated into one component (e.g., a single chip), or may be implemented as multiple separate components (e.g., multiple chips). In addition, the communication device may be implemented as a single chip together with the controller 130.

[0085] The above-described operations of the sensor and the communication device may be performed under the control of the controller 130 .

[0086] Figure 2 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0087] According to one embodiment, a vehicle control device (e.g., Figure 1 The vehicle control device 100 in the embodiment may execute Figure 2 For example, at least some components (e.g., Figure 1 The braking device 110, the memory 120 and / or the controller 130) may be configured to execute Figure 2 Operations in .

[0088] In the following embodiments, operations S212 to S250 may be performed sequentially, but may not necessarily be performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Figure 2 The contents corresponding to or redundant with the above contents are briefly described or omitted.

[0089] According to one embodiment, the vehicle control device may input a desired deceleration ( S212 ).

[0090] For example, the vehicle control device may identify a desired deceleration of the host vehicle's brake control and provide a desired deceleration to a controller (e.g., Figure 1 The controller 130 in the embodiment of the present invention inputs the required deceleration. The required deceleration may be, for example, one of the braking parameters used to generate the existing braking control signal.

[0091] According to one embodiment, the vehicle control device may estimate the road slope ( S214 ).

[0092] For example, the vehicle controls may use sensors to identify the grade of the road on which the host vehicle is traveling.

[0093] For example, the vehicle control device may further estimate (identify) not only the slope of the road, but also at least one of the road type (e.g., uphill road or downhill road), road curvature, road surface condition, and any combination thereof.

[0094] According to one embodiment, the vehicle control device may estimate the vehicle weight ( S216 ).

[0095] For example, vehicle controls can use sensors to identify the real-time total weight of the vehicle, including all loaded items.

[0096] According to one embodiment, the vehicle control device may perform a scoring operation based on the driving state ( S220 ).

[0097] For example, the vehicle control device may identify at least one score corresponding to each driving state identified based on operations S212 , S214 , and S216 .

[0098] For example, the vehicle control device may identify at least one score including a first score corresponding to weight, a second score corresponding to grade, and a third score corresponding to desired deceleration.

[0099] According to one embodiment, the vehicle control device may perform a final scoring operation of applying a weight ( S230 ).

[0100] For example, the vehicle control device may identify the final score by multiplying at least one score by at least one weight respectively corresponding to the at least one score and adding all multiplication results.

[0101] According to one embodiment, the vehicle control device may determine (or identify) an initial transition (or transition rate) and a transition time ( S242 ).

[0102] For example, the vehicle control device may determine a conversion rate (or conversion slope) at a specific time and a conversion time in an initial stage after the start of the braking control of the host vehicle.

[0103] According to one embodiment, the vehicle control device may determine (or identify) a controller gain ( S244 ).

[0104] According to one embodiment, the vehicle control device may output a braking command ( S250 ).

[0105] For example, the vehicle control device may use a brake command including a brake control signal to operate a brake device (eg, Figure 1 The brake device 110 in FIG.

[0106] For example, the vehicle control device may use at least some of the braking parameters determined in operations S242 and S244 (e.g., initial conversion rate, conversion time, and / or controller gain) to identify a braking control signal and output a braking command including the identified braking control signal to the braking device.

[0107] Figure 3A A diagram illustrating score recognition in a vehicle control device according to an embodiment of the present disclosure.

[0108] According to one embodiment, a vehicle control device (e.g., Figure 1 The vehicle control device 100 in the embodiment may identify a first score L corresponding to the weight of the host vehicle. score and a second score R corresponding to the slope of the road score .

[0109] See also Figure 3A In the top graph, as the weight of the host vehicle (eg, the load on the x-axis) increases, the vehicle control device may identify a first fraction L having a larger value. score .

[0110] For example, the first score L score Can have a value that is one of a minimum value (eg, 0) to a maximum value (eg, 10) of a real number.

[0111] For example, when the host vehicle is loaded (ie, carries) items having an amount corresponding to the maximum load capacity of the vehicle, the first score L score can be identified as having a maximum value.

[0112] For example, when the weight of the host vehicle corresponds to the empty vehicle weight, the first fraction L score can be identified as having a minimum value.

[0113] See also Figure 3A In the bottom graph, when the slope of the road on which the host vehicle is traveling (eg, the road on the x-axis) is greater, the vehicle control device may identify a second score R having a greater value. score .

[0114] For example, the second score R score Can have a value that is one of a minimum value (eg, 0) to a maximum value (eg, 10) of a real number.

[0115] For example, when the host vehicle is traveling on a road with a maximum drivable slope, the second score R score can be identified as having a maximum value.

[0116] For example, when the host vehicle is traveling on flat ground, the second score R scorecan be identified as having a minimum value.

[0117] For example, the above method for identifying the second score R score The method can be applied to the case where the host vehicle is traveling on a downhill road or on flat ground.

[0118] In one embodiment, when the host vehicle is traveling on an uphill road, the vehicle control device may identify a value obtained by subtracting the score identified by the above method from a specified value (eg, 11) as the second score R score .

[0119] For example, in the case where the host vehicle is traveling on an uphill road, when the host vehicle is traveling on a road with a maximum drivable gradient (in other words, when the host vehicle is traveling on an uphill road with a maximum drivable gradient), the second score R score Identified as having the minimum value.

[0120] exist Figure 3A In the first order linear function, the first fraction L score and the second score R score It is shown to be proportional to the weight of the host vehicle and the slope of the road, respectively, but this is an example of a proportional relationship, and implementation of the present disclosure is not limited thereto.

[0121] Figure 3B A diagram illustrating fractional recognition in a vehicle control device according to an implementation of the present disclosure.

[0122] According to one implementation, a vehicle control device (eg, Figure 1 The vehicle control device 100 in the embodiment may identify a third fraction a corresponding to the required deceleration of the host vehicle. score .

[0123] See also Figure 3B In the graph, as the absolute value of the required deceleration of the host vehicle (e.g., a on the x-axis) increases, req ) increases, the vehicle control device can identify a third score a having a larger value score .

[0124] For example, the third score a score Can have a value that is one of a minimum value (eg, 0) to a maximum value (eg, 10) of a real number.

[0125] For example, when the required deceleration based on the existing brake control signal generated by the host vehicle is within a first range (e.g., -2 to -3.5 m 2 ), the third fraction a score Identified as having the maximum value.

[0126] For example, when the required deceleration based on the existing brake control signal generated by the host vehicle is within the second range (e.g., -1 to 0 m 2 ), the third fraction a score The first value identified is the one that has a minimum value or is greater than the minimum value.

[0127] For example, when the required deceleration based on the existing brake control signal generated by the host vehicle is within a third range (eg, -1 to 0 m / s) that is smaller than the second range and larger than the first range, 2 ) in the case where the third fraction a score Identified as having a second value greater than the first value and less than the maximum value.

[0128] exist Figure 3B In the third fraction a score It is shown to be proportional to the magnitude of the absolute value of the required deceleration corresponding to the quadratic function (or exponential function), but this is an example of a proportional relationship and the embodiments of the present disclosure are not limited thereto.

[0129] Figure 4 A graph comparing an existing brake control signal and a brake control signal generated by a vehicle control device according to an embodiment of the present disclosure is shown.

[0130] See also Figure 4 According to one embodiment, a vehicle control device (eg, Figure 1 The vehicle control device 100 in the embodiment may generate a braking control signal 424 that is substantially the same as or different from the existing braking control signal 422 to perform braking control of the host vehicle.

[0131] Referring to reference numeral 410 , according to one embodiment, the vehicle control device may generate a brake control signal based on the final score using at least some driving states of the host vehicle at the first time point t1 where brake control is required.

[0132] The brake control signal according to reference numeral 410 may be a control signal generated to be substantially the same as (or similar to) an existing brake control signal.

[0133] For example, when the final score is identified as being close to a maximum value (eg, 10), the vehicle control device may generate a brake control signal that is relatively more similar to an existing brake control signal to perform brake control of the host vehicle.

[0134] Referring to reference numeral 420 , according to one embodiment, the vehicle control device may generate a brake control signal based on the final score using at least some driving states of the host vehicle at the second time point t21 where brake control is required.

[0135] The brake control signal 424 according to reference numeral 420 may be a control signal generated differently from the existing brake control signal 422 .

[0136] For example, as the final score decreases, the vehicle control device may generate a brake control signal 424 that brakes the host vehicle relatively weaker than the existing brake control signal 422 in the initial stage of the brake control to perform brake control of the host vehicle.

[0137] For example, the vehicle control device may determine an initial conversion rate IninSlew for brake control based on the final score. For example, the vehicle control device may use a mapping table storing initial conversion rates corresponding to the size of the final score to identify the initial conversion rate IninSlew corresponding to the identified final score. The initial conversion rate IninSlew may be a conversion slope from the second time point t21 to the third time point t22, and the third time point t22 is a time point after a specified time has passed. The vehicle control device may use the identified initial conversion rate IninSlew to identify the brake control signal 424.

[0138] For example, the vehicle control device may identify the transition time ΔT of the brake control based on the final score InitSlew For example, the vehicle control device may use a conversion time ΔT corresponding to the size of the final score to be stored. InitSlew The mapping table is used to identify the transition time corresponding to the identified final score. InitSlew The vehicle control device may use the identified transition time ΔT to determine the time from the second time point t21 to the third time point t22, which is a time point after a specified time has passed. InitSlew To identify the brake control signal 424 .

[0139] Figure 5 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0140] According to one embodiment, a vehicle control device (e.g., Figure 1 The vehicle control device in Figure 5 For example, at least some components (e.g., Figure 1 The braking device 110, the memory 120 and / or the controller 130) may be configured to execute Figure 5 Operations in .

[0141] In the following embodiments, operations S510 to S550 may be performed sequentially, but may not necessarily be performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Figure 5The contents corresponding to or redundant with the above contents are briefly described or omitted.

[0142] According to one embodiment, the vehicle control device may monitor systems related to the travel of the host vehicle ( S510 ).

[0143] For example, the vehicle control device may monitor the driving status of the host vehicle.

[0144] For example, the vehicle control device may monitor information regarding the host vehicle's driving environment.

[0145] For example, the vehicle control device may monitor at least one of the vehicle weight of the host vehicle, the grade of the road on which the host vehicle is traveling, the desired deceleration of the host vehicle based on pre-identified existing brake control signals, and any combination thereof.

[0146] According to one embodiment, the vehicle control device may determine at least one score based on the monitoring result ( S520 ).

[0147] For example, the vehicle control device can identify at least one score which is respectively assigned to the identified driving state.

[0148] For example, the vehicle control device may identify at least one score including a first score corresponding to the weight, a second score corresponding to the grade, and a third score corresponding to the required deceleration.

[0149] For example, the vehicle control device may identify a first fraction, a second fraction, and a third fraction that are respectively proportional to the magnitudes of the absolute values ​​of the weight, the slope, and the required deceleration.

[0150] According to one embodiment, the vehicle control device may determine a final score using at least one score and at least one weight respectively corresponding to the scores ( S530 ).

[0151] For example, the vehicle control device may recognize the sum of results of respectively multiplying the at least one score by the at least one weight as the final score.

[0152] According to one embodiment, the vehicle control device may determine at least one of an initial conversion rate (conversion rate), a conversion time, a controller gain, and any combination thereof based on the final score (S540).

[0153] For example, the vehicle control device may use a pre-stored Figure 1 A mapping table in the memory 120 in the controller 100 is used to identify at least one of an initial conversion rate, a conversion time, a controller gain, and any combination thereof based on the size of the final score.

[0154] According to one embodiment, the vehicle control device may output a braking command ( S550 ).

[0155] For example, the vehicle control device may use at least some of the braking parameters identified in operation S540 to identify a braking control signal and send a braking control signal to the braking device (eg, Figure 1 At least one component (eg, a primary braking device) of the braking device 110 outputs a braking command including the identified braking control signal.

[0156] Figure 6 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0157] According to one embodiment, a vehicle control device (e.g., Figure 1 The vehicle control device in Figure 6 For example, at least some components (e.g., Figure 1 The braking device 110, the memory 120 and / or the controller 130) may be configured to execute Figure 6 Operations in .

[0158] In the following embodiments, operations S610 to S640 may be performed sequentially, but may not necessarily be performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Figure 6 The contents corresponding to or redundant with the above contents are briefly described or omitted.

[0159] According to one embodiment, the vehicle control device may identify at least one score associated with a driving state of the host vehicle ( S610 ).

[0160] For example, the vehicle control device may identify at least one score including a first score corresponding to the weight, a second score corresponding to the slope, and a third score corresponding to the required deceleration.

[0161] According to one embodiment, the vehicle control device may identify a final score using at least one score and at least one weight respectively corresponding to the at least one score ( S620 ).

[0162] For example, the vehicle control device may recognize the sum of results of respectively multiplying the at least one score by the at least one weight as the final score.

[0163] According to one embodiment, the vehicle control device may generate a brake control signal based on the final score ( S630 ).

[0164] For example, the vehicle control device may use a pre-stored Figure 1A mapping table in the memory 120 in the memory 120 is used to identify braking parameters including at least one of an initial conversion rate, a conversion time, a controller gain, and any combination thereof based on the size of the final score, and at least some of these braking parameters are used to generate (or identify) a braking control signal.

[0165] According to one embodiment, the vehicle control device may perform brake control of the host vehicle based on the brake control signal ( S640 ).

[0166] For example, the vehicle control device may perform brake control for the host vehicle by operating one component of the brake device (eg, the main brake device) based on the brake control signal.

[0167] Figure 7 A computing system related to a vehicle control method according to an embodiment of the present disclosure is shown.

[0168] See also Figure 7 , a computing system 1000 related to a method for controlling a vehicle 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 connected via a bus 1200 .

[0169] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that performs processing on commands 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 nonvolatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) and a RAM (Random Access Memory).

[0170] Thus, the operations of the methods or algorithms described in conjunction with the embodiments disclosed herein may be directly embodied in a hardware or software module or a combination thereof executed by the processor 1100. The software module may reside on a storage medium (i.e., memory 1300 and / or storage device 1600) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0171] The storage medium is coupled to the processor 1100, and the processor 1100 can read information from the storage medium and write information to the storage medium. In another method, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another method, the processor and the storage medium can reside in a user terminal as separate components.

[0172] The above description is merely an illustration of the technical concept of the present disclosure, and a person skilled in the art may make various modifications and changes without departing from the basic features of the present disclosure.

[0173] Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical concept of the present disclosure, but are used to illustrate the present disclosure, and the scope of the technical concept of the present disclosure is not limited by the embodiments. The scope of the present disclosure should be interpreted as being covered by the scope of the attached claims, and all technical concepts falling within the scope of the claims should be interpreted as being included in the scope of the present disclosure.

[0174] Effects of the apparatus and method for controlling a vehicle according to the present disclosure are as follows.

[0175] According to at least one embodiment of the present disclosure, when a braking situation occurs, the vehicle control device can generate a braking control signal based on at least one parameter based on the driving state of the host vehicle, thereby not only improving the durability of the braking device but also providing the user with better riding comfort.

[0176] In addition, according to at least one embodiment of the present disclosure, when generating a braking control signal for the operation of a braking device (e.g., a main braking device), the vehicle control device can adaptively and stably perform braking control even in various driving environments by fully considering the various driving environments of the main vehicle.

[0177] In addition, according to at least one embodiment of the present disclosure, the vehicle control device can identify a score based on the slope of the road on which the main vehicle is traveling, the weight of the main vehicle, the real-time required deceleration of the main vehicle, and at least one of any combination thereof, and apply a greater weight to the score that has a significant impact on the travel of the main vehicle to generate a braking control signal appropriate to the situation.

[0178] Furthermore, various effects directly or indirectly recognized by this document can be provided.

[0179] Although the present disclosure has been described above with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various modifications and changes may be made by a person skilled in the art to which the present disclosure belongs without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

Claims

1. A device for controlling a vehicle, the device comprising: a memory configured to store one or more instructions; as well as a controller operatively connected to the memory, Wherein, when the instructions are executed by the controller, the device: identifying at least one score associated with a driving state of the host vehicle; identifying a final score using the at least one score and at least one weight respectively corresponding to the at least one score; generating a brake control signal based on the final score; and Braking control for the host vehicle is performed based on the brake control signal.

2. The device according to claim 1, wherein: The instructions, when executed by the controller, cause the device to: identifying the driving state of the host vehicle, the driving state comprising at least one of a weight of the host vehicle, a grade of a road on which the host vehicle is traveling, a desired deceleration of the host vehicle, and any combination thereof; as well as The at least one score is identified, the at least one score comprising a first score corresponding to the weight, a second score corresponding to the grade, and a third score corresponding to the desired deceleration.

3. The device according to claim 2, wherein: The instructions, when executed by the controller, cause the device to: identify the first fraction that is proportional to the weight.

4. The device according to claim 2, wherein: The instructions, when executed by the controller, cause the device to: identify the second fraction that is proportional to the grade.

5. The device according to claim 4, wherein: The instructions, when executed by the controller, cause the device to: when the host vehicle is identified as traveling on an uphill road, identify, as the second score, a value obtained by subtracting a score identified in proportion to the slope from a specified value.

6. The device according to claim 2, wherein: The instructions, when executed by the controller, cause the device to: identify the third fraction that is proportional to an absolute value of the desired deceleration.

7. The device according to claim 1, wherein: The sum of the at least one weight is set not to exceed a predetermined value.

8. The device according to claim 1, wherein: The instructions, when executed by the controller, cause the device to: identifying a braking parameter for the braking control based on the final score, the braking parameter comprising at least one of an initial slew rate, a slew time, a controller gain, and any combination thereof; and The brake control signal is generated based on at least some of the brake parameters.

9. The device according to claim 1, wherein: The instructions, when executed by the controller, cause the apparatus to: perform the braking control of the host vehicle by generating the braking control signal similar to an existing braking control signal as the final score increases.

10. The apparatus according to claim 1, further comprising: Braking device, Wherein, when the instructions are executed by the controller, the device: sending the brake control signal to the brake device; and The brake control for the host vehicle is performed based on the brake control signal using the brake device.

11. A method for controlling a vehicle, the method comprising: identifying, by the controller, at least one score associated with a driving state of the host vehicle; identifying, by the controller, a final score using the at least one score and at least one weight respectively corresponding to the at least one score; generating, by the controller, a brake control signal based on the final score; as well as Braking control for the host vehicle is performed by the controller based on the brake control signal.

12. The method according to claim 11, wherein: Identifying, by the controller, the at least one score comprises: identifying, by the controller, the driving state of the host vehicle, the driving state comprising at least one of a weight of the host vehicle, a grade of a road on which the host vehicle is traveling, a desired deceleration of the host vehicle, and any combination thereof; and The at least one score is identified by the controller, the at least one score including a first score corresponding to the weight, a second score corresponding to the grade, and a third score corresponding to the desired deceleration.

13. The method according to claim 12, wherein: Identifying, by the controller, the at least one score comprises: The first fraction proportional to the weight is identified by the controller.

14. The method according to claim 12, wherein: Identifying, by the controller, the at least one score comprises: The second fraction is identified by the controller as being proportional to the grade.

15. The method according to claim 14, wherein: Identifying, by the controller, the at least one score comprises: When the host vehicle is identified as traveling on an uphill road, a value obtained by subtracting a score identified in proportion to the slope from a specified value is identified as the second score by the controller.

16. The method according to claim 12, wherein: Identifying, by the controller, the at least one score comprises: The third fraction is identified by the controller as being proportional to an absolute value of the desired deceleration.

17. The method according to claim 11, wherein: The sum of the at least one weight is set not to exceed a predetermined value.

18. The method according to claim 11, wherein: Generating, by the controller, the brake control signal based on the final score comprises: identifying, by the controller, a braking parameter for the braking control based on the final score, the braking parameter comprising at least one of an initial slew rate, a slew time, a controller gain, and any combination thereof; and The brake control signal is generated by the controller based on at least some of the brake parameters.

19. The method according to claim 11, further comprising: As the final score increases, the braking control of the host vehicle is performed by the controller by generating the braking control signal similar to an existing braking control signal.

20. The method according to claim 11, further comprising: The controller sends the brake control signal to the brake device; as well as The brake control for the host vehicle is performed by the controller using the brake device based on the brake control signal.

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