Method and apparatus for controlling vehicle

Abstract

Disclosed are a method and apparatus for controlling a vehicle, the vehicle control apparatus including: a rear wheel steering unit configured to steer a rear wheel to measure a rear wheel angle; and a failure determination unit operably connected to the rear wheel steering unit and configured to determine a failure condition of the rear wheel steering unit based on the status signal, a curvature prediction unit configured to generate a predicted curvature of a travel route of the vehicle based on the failure condition; and a position prediction unit operably connected to the curvature prediction unit and configured to generate a predicted position of the vehicle based on the predicted curvature, where the curvature prediction unit generates the predicted curvature based on the rear wheel angle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Korean Patent Application No. 10-2023-0164225 filed on November 23, 2023, which is hereby incorporated by reference in its entirety for all purposes. Technical Field

[0003] The present disclosure relates to a method and apparatus for controlling a vehicle. More particularly, the present disclosure relates to an apparatus and method for controlling a vehicle having a rear wheel steering system mounted thereon. Background Art

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

[0005] In a front-wheel drive vehicle, the direction of the vehicle is changed by moving the front wheels. A typical front-wheel drive vehicle can only move the front wheels, and the rear wheels are fixed. That is, when the steering wheel moves, the angle of the front wheels relative to the longitudinal axis of the vehicle changes according to the change in the angle of the steering wheel, and the direction of the vehicle changes according to the change in the angle of the front wheels.

[0006] However, a method has been developed to reduce the radius of curvature of a vehicle or control the slip angle of a vehicle by moving the rear wheels of a front-wheel drive vehicle together with the front wheels when the vehicle turns. This method is called a rear-wheel steering system. When the vehicle is traveling at high speed, the rear-wheel steering system uses in-phase control for moving the rear wheels in the same direction as the front wheels to control the slip angle of the vehicle, thereby improving the driving safety of the vehicle. On the other hand, when the vehicle is traveling at a low speed, the rear-wheel steering system uses anti-phase control for moving the rear wheels in the opposite direction of the front wheels to reduce the radius of curvature of the vehicle and increase the driving convenience of the driver.

[0007] Among technologies applied to autonomous vehicles, collision avoidance technology predicts the position of a vehicle and determines the possibility of a collision at the predicted position to control the vehicle. A vehicle including a rear-wheel steering system mounted thereon behaves differently from a typical front-wheel drive vehicle when turning due to the movement of the rear wheels. Therefore, a vehicle position prediction method that reflects the movement of the rear wheels is required.

[0008] Furthermore, a control method is required so that the collision avoidance function operates even when the rear wheel steering system fails.

[0009] The information included in this background of the disclosure is only for enhancement of understanding of the general background of the disclosure and should not be taken as an acknowledgment or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Summary of the invention

[0010] [Technical issues]

[0011] The present disclosure provides an apparatus and method for generating a predicted curvature and a predicted position of a vehicle based on rear wheel angles when the vehicle turns.

[0012] In addition, according to an exemplary embodiment of the present disclosure, the present disclosure provides an apparatus and method for generating a predicted curvature and a predicted position of a vehicle based on whether a rear wheel angle is measurable.

[0013] Problems to be solved by the present disclosure are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

[0014] [Technical solution]

[0015] Various aspects of the present disclosure are intended to provide a vehicle control device, including: a rear-wheel steering unit, configured to steer the rear wheels to measure the rear wheel angle; and a fault determination unit, operably connected to the rear-wheel steering unit and configured to determine a fault condition of the rear-wheel steering unit based on a status signal; a curvature prediction unit, configured to generate a predicted curvature of a driving route of the vehicle based on the fault condition; and a position prediction unit, operably connected to the curvature prediction unit and configured to generate a predicted position of the vehicle based on the predicted curvature, wherein the curvature prediction unit generates the predicted curvature based on the rear wheel angle.

[0016] According to another exemplary embodiment of the present disclosure, the present disclosure provides a method for generating a predicted position of a vehicle when the vehicle turns, which is executed by a vehicle control device, the method comprising: measuring a rear wheel angle; generating a status signal of a rear-wheel steering unit; determining a fault condition of the rear-wheel steering unit based on the status signal; generating a predicted curvature based on the fault condition; and generating at least one or more predicted positions of the vehicle based on the predicted curvature, wherein generating the predicted curvature comprises generating the predicted curvature based on the rear wheel angle.

[0017] The methods and apparatus of the present disclosure have other features and advantages that will be apparent from or set forth in more detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain certain principles of the present disclosure.

[0018] [Beneficial Effects]

[0019] According to the exemplary embodiment of the present disclosure, there is an effect that when the vehicle turns, a predicted curvature and a predicted position of the vehicle close to an actual behavior can be generated based on the rear wheel angle.

[0020] Furthermore, according to the exemplary embodiment of the present disclosure, there is an effect that, by generating the predicted curvature and predicted position of the vehicle based on whether the rear wheel angle is measurable, the front collision avoidance function can be used even when the rear wheel angle is not measurable.

[0021] Effects obtained by the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic block diagram of a vehicle control apparatus according to an exemplary embodiment of the present disclosure.

[0023] Figure 2 is a graph illustrating a method in which a curvature prediction unit predicts a curvature of a vehicle turning according to an exemplary embodiment of the present disclosure.

[0024] Figure 3 is a diagram illustrating a predicted position of a vehicle according to an exemplary embodiment of the present disclosure.

[0025] Figure 4 is a flowchart illustrating a method of controlling a vehicle according to an exemplary embodiment of the present disclosure.

[0026] It will be appreciated that the accompanying drawings are not necessarily drawn to scale, and that they present somewhat simplified representations of various features illustrating the basic principles of the present disclosure. The intended design features of the present disclosure as included herein (including, for example, specific dimensions, orientations, locations, and shapes) will be determined in part by the specific intended application and use environment.

[0027] In the drawings, reference numbers refer to the same or equivalent parts of the present disclosure throughout the several figures of the drawing. DETAILED DESCRIPTION

[0028] Reference will now be made in detail to various embodiments of the present disclosure, examples of which are shown in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with exemplary embodiments of the present disclosure, it should be understood that this specification is not intended to limit the present disclosure to those exemplary embodiments of the present disclosure. On the other hand, the present disclosure is intended to cover not only the exemplary embodiments of the present disclosure, but also various replacements, modifications, equivalents and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0029] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals represent the same elements, although the elements are shown in different drawings. In addition, in the following description of various exemplary embodiments of the present disclosure, for the sake of clarity and brevity, detailed descriptions of known functions and configurations incorporated therein will be omitted.

[0030] In addition, various terms such as first, second, A, B, (a), (b), etc. are only used to distinguish one component from another component, and do not imply or suggest the substance, order or sequence of the components. Throughout this specification, when a component "includes" or "comprises" a component, the component is intended to further include other components without excluding these components unless otherwise specifically stated. Terms such as "unit", "module", etc. refer to one or more units for processing at least one function or operation, which can be implemented by hardware, software or a combination thereof.

[0031] The following detailed description and attached Figure 1 The description is intended to describe exemplary embodiments of the present disclosure and is not intended to represent the only embodiments in which the exemplary embodiments of the present disclosure may be practiced.

[0032] Figure 1 is a schematic block diagram of a vehicle control apparatus according to an exemplary embodiment of the present disclosure.

[0033] See also Figure 1 , the vehicle control apparatus 10 includes all or some of a rear-wheel steering unit 100 , a fault determination unit 110 , a curvature prediction unit 120 , and a position prediction unit 130 .

[0034] The vehicle control apparatus 10 receives at least one of a front wheel angle, a yaw rate, and a side slip angle. The front wheel angle refers to an angle formed between a longitudinal axis of the vehicle and the front wheels.

[0035] The front wheel angle, yaw rate and side slip angle are received from the vehicle's sensors or determined by a processor mounted on the vehicle. Here, the vehicle's sensors may include position sensors, speed sensors, pressure sensors, inertial sensors, temperature sensors, image sensors, etc.

[0036] The rear wheel steering unit 100 is configured to control the rear wheels of the vehicle. The rear wheel steering unit 100 is configured to control the rear wheels based on the speed of the vehicle and the angle of the front wheels. The rear wheel steering unit 100 is configured to control the rear wheels of the vehicle using, for example, an actuator. Here, the actuator may include a pneumatic actuator, an electric actuator, a hydraulic actuator, etc. The rear wheel steering unit 100 may measure the rear wheel angle based on the stroke of the actuator.

[0037] The rear wheel steering unit 100 measures the length of the stroke using a stroke measurement sensor. According to an exemplary embodiment of the present disclosure, the rear wheel steering unit 100 can measure the rear wheel angle by converting the stroke length into a rear wheel angle according to a predetermined conversion table defining a relationship between the stroke length and the rear wheel angle. Here, the rear wheel angle refers to an angle formed between the longitudinal axis of the vehicle and the rear wheel.

[0038] The rear-wheel steering unit 100 periodically generates a status signal and sends the status signal to the fault determination unit 110. Here, the status signal includes whether the rear-wheel steering can be performed normally and whether the rear wheel angle is measurable. For example, the rear-wheel steering unit 100 may send a status signal indicating whether the rear wheels are normally controlled to the fault determination unit 110. As an exemplary embodiment of the present disclosure, the rear-wheel steering unit 100 may send a status signal indicating that the rear-wheel steering is not operating normally but the rear wheel angle is measurable. As an exemplary embodiment of the present disclosure, the rear-wheel steering unit 100 may send a status signal indicating that the rear-wheel steering is not operating normally and the rear wheel angle is not measurable to the fault determination unit 110.

[0039] According to an exemplary embodiment of the present disclosure, when the actuator fails, the rear wheel steering unit 100 may send a status signal indicating that “the rear wheel cannot be controlled, but the rear wheel angle is measurable.” According to another exemplary embodiment of the present disclosure, when the travel measurement sensor or network fails, the rear wheel steering unit 100 may send a status signal indicating that “the rear wheel angle is not measurable.”

[0040] The fault determination unit 110 is configured to determine a fault condition of the rear wheel steering unit 100. The fault determination unit 110 is configured to determine a fault condition of the rear wheel steering unit 100 based on a state signal transmitted by the rear wheel steering unit 100. Here, the fault condition includes whether the rear wheel steering operates normally and whether the rear wheel angle is measurable.

[0041] The fault determination unit 110 is configured to control the curvature prediction unit 120 based on the fault condition of the rear-wheel steering unit 100. When the rear-wheel steering unit 100 operates normally, the fault determination unit 110 is configured to control the curvature prediction unit 120 so that the curvature prediction unit 120 generates a predicted position of the vehicle based on the rear wheel angle, the front wheel angle, etc. When the rear-wheel steering unit 100 does not operate normally but the rear wheel angle is measurable, the fault determination unit 110 is configured to control the curvature prediction unit 120 so that the curvature prediction unit 120 generates a predicted position of the vehicle based on, for example, the measured rear wheel angle and the front wheel angle. When the rear-wheel steering unit 100 does not operate normally and the rear wheel angle is not measurable, the fault determination unit 110 is configured to control the curvature prediction unit 120 so that the curvature prediction unit 120 generates a predicted curvature and a predicted position based on a yaw angle rate.

[0042] The curvature prediction unit 120 predicts the curvature when the vehicle travels on a curved road. That is, the curvature prediction unit 120 predicts the travel path when the vehicle turns.

[0043] The curvature prediction unit 120 predicts the curvature of a vehicle turning using a rear wheel angle, a front wheel angle, a distance between the rear wheels and the front wheels, a center of gravity of the vehicle, and the like.

[0044] In the following, we will refer to Figure 2 The process in which the curvature prediction unit 120 predicts the curvature of a vehicle turning is described in more detail.

[0045] According to an exemplary embodiment of the present disclosure, each of the rear-wheel steering unit 100, the fault determination unit 110, the curvature prediction unit 120, and the position prediction unit 130 may be implemented by a processor (e.g., a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, etc.). Alternatively, the rear-wheel steering unit 100, the fault determination unit 110, the curvature prediction unit 120, and the position prediction unit 130 may be integrated into a single processor.

[0046] Figure 2 is a graph illustrating a method in which the curvature prediction unit 120 predicts the curvature of a vehicle turning according to an exemplary embodiment of the present disclosure.

[0047] The curvature prediction unit 120 uses an Ackermann geometry model to predict the curvature of the vehicle when it turns. The curvature prediction unit 120 applies the front wheel angle and the rear wheel angle of the vehicle to the Ackermann geometry model to predict the curvature of the vehicle when it turns.

[0048] The curvature prediction unit 120 is configured to determine an origin O 200. The origin O is a point where a straight line perpendicular to the direction in which the front wheel A 210 is oriented and a straight line perpendicular to the direction in which the rear wheel B 220 is oriented intersect. The direction perpendicular to the straight line OC between the origin O and the center of gravity C 230 of the vehicle is the direction of the velocity at the center of gravity of the vehicle. The angle formed between the direction of the velocity at the center of gravity and the longitudinal axis of the vehicle is referred to as the side slip angle 240.

[0049] In a triangular OCA, when the law of sines is applied, the relationship shown in Equation 1 can be obtained.

[0050] [Equation 1]

[0051]

[0052] Here, δ f represents the front wheel angle, l f represents the distance between the center of gravity 230 and the front wheel 210 , R represents the distance between the center of gravity 230 of the vehicle and the origin O 200 , and β represents the side slip angle 240 .

[0053] When the law of sines is applied to the triangular OCB, the relationship shown in Equation 2 is obtained.

[0054] [Equation 2]

[0055]

[0056] Here, δ r Represents the rear wheel angle, l r represents the distance between the center of gravity 230 and the rear wheel 220, and is the distance between the center of gravity 230 of the vehicle and the origin O 200.

[0057] When Equation 1 and Equation 2 are transformed using trigonometric functions, a relationship as shown in Equation 3 can be obtained.

[0058] [Equation 3]

[0059]

[0060]

[0061] When the two equations in Equation 3 are added, Equation 4 is obtained.

[0062] [Equation 4]

[0063]

[0064] When the vehicle is traveling at a low speed and the radius of curvature R of the vehicle changes slowly, it can be assumed that the yaw rate of the vehicle is equal to the angular velocity of the vehicle When Equation 4 is applied to the angular velocity of the vehicle, the yaw rate of the vehicle is shown in Equation 5.

[0065] [Equation 5]

[0066]

[0067] Additionally, the side slip angle 240 is determined according to Equation 3 as shown in Equation 6.

[0068] [Equation 6]

[0069]

[0070] Therefore, the predicted curvature of the vehicle is shown in Equation 7.

[0071] [Equation 7]

[0072]

[0073] When the rear wheel angle is unknown, the curvature prediction unit 120 may be configured to generate a predicted curvature based on the yaw rate of the vehicle. The method by which the curvature prediction unit 120 generates a predicted curvature based on the yaw rate of the vehicle is as shown in Equation 8.

[0074] [Equation 8]

[0075]

[0076] Here, γ represents the yaw rate. X Indicates the speed of the vehicle.

[0077] Since a method of generating a predicted curvature based on a yaw angle rate is already a known method, a detailed description thereof will be omitted.

[0078] The position prediction unit 130 may be configured to generate a predicted position of the vehicle based on the acceleration, velocity, and predicted curvature of the vehicle. The position prediction unit 130 is configured to determine the yaw rate of the vehicle using the predicted curvature, acceleration, and velocity of the vehicle, as shown in Equation 9.

[0079] [Equation 9]

[0080] when hour,

[0081] here, represents the predicted curvature determined by using Equation 7, represents the yaw rate of the vehicle. α is the acceleration of the vehicle. V X Indicates the speed of the vehicle.

[0082] The position prediction unit 130 uses the yaw rate to determine the position of the vehicle over time. The position prediction unit 130 is configured to determine the position of the vehicle over time as shown in Equation 10.

[0083] [Equation 10]

[0084]

[0085] Here, X[t] represents the X-direction position of the vehicle at t seconds, Y[t] represents the Y-direction position of the vehicle at t seconds, and ψ[t] represents the yaw angle of the vehicle at t seconds.

[0086] The position prediction unit 130 may be configured to determine the position of the vehicle at predetermined time intervals. The position prediction unit 130 may determine the position of the vehicle within a predetermined time. According to an exemplary embodiment of the present disclosure, the position prediction unit 130 may be configured to determine the position of the vehicle within 4 seconds at intervals of 0.1 seconds starting from the current time. In other words, in the position prediction unit 130, t may range from 0 to 4 seconds, and Δt may be 0.1 seconds.

[0087] Figure 3 is a diagram illustrating a predicted position of a vehicle according to an exemplary embodiment of the present disclosure.

[0088] Figure 3 The position of the vehicle predicted by the vehicle control device 10 when the curvature radius R is 30 m and the speed is 10 to 15 km / h is shown. Figure 3 , the predicted position of the vehicle appears as the vehicle travels along the curved actual road. Figure 3 Reference numeral 300 in FIG. 8 indicates a predicted position generated by reflecting the rear wheel angle. Figure 3 Reference numeral 310 in FIG. 8 indicates a predicted position generated using only the front wheel angle without reflecting the rear wheel angle.

[0089] When the predicted curvature and predicted position 300 are generated by reflecting the rear wheel angle, the predicted position 300 of the vehicle is determined along the actual road. However, when the predicted curvature and predicted position 310 are generated without considering the rear wheel angle, the predicted position 310 of the vehicle deviates from the actual road. In other words, the predicted curvature is lower than the actual running curvature.

[0090] Because the radius of curvature of the vehicle decreases due to the rear wheel steering, that is, the running curvature increases, the predicted curvature is lower than the running curvature when the rear wheel angle is not considered. That is, the position prediction unit 130 generates a predicted position based on the predicted curvature reflecting the rear wheel angle, generating a more accurate predicted position than the predicted position generated based on the predicted curvature reflecting only the front wheel angle.

[0091] The rear-wheel steering unit 100 may control rear wheels of the vehicle using the predicted curvature generated by the curvature prediction unit 120 and the predicted position generated by the position prediction unit 130 .

[0092] When the rear-wheel steering unit 100 fails, the collision avoidance function of the automatic vehicle generally ends. However, even if the rear-wheel steering unit 100 fails, the vehicle control apparatus 10 according to an exemplary embodiment of the present disclosure can maintain the collision avoidance function by generating a predicted position of the vehicle.

[0093] Figure 4 is a flowchart illustrating a method of controlling a vehicle according to an exemplary embodiment of the present disclosure.

[0094] See also Figure 4 , the rear-wheel steering unit 100 generates a state signal. The fault determination unit 110 receives the state signal from the rear-wheel steering unit 100 (S400). The fault determination unit 110 is configured to determine a fault state of the rear-wheel steering unit 100 based on the state signal.

[0095] The fault determination unit 110 is configured to determine whether the rear-wheel steering unit 100 operates normally (S410). Here, when there is no fault in the rear-wheel steering unit 100, the fault determination unit 110 may be configured to determine that the rear-wheel steering unit 100 operates normally.

[0096] When the rear-wheel steering unit 100 operates normally, the curvature prediction unit 120 generates a predicted curvature based on the rear wheel angle, the front wheel angle, and the yaw angle rate (S420).

[0097] When the rear wheel steering unit 100 does not operate normally, the fault determination unit 110 is configured to determine whether the rear wheel angle is measurable (S430). When the rear wheel angle is measurable, the curvature prediction unit 120 generates a predicted curvature of the vehicle based on, for example, the rear wheel angle and the front wheel angle.

[0098] When the rear wheel angle is not measurable, the curvature prediction unit 120 generates a predicted curvature of the vehicle based on the yaw angle rate (S440).

[0099] The position prediction unit 130 generates a predicted position of the vehicle based on the predicted curvature generated by the curvature prediction unit 120 (S450). The position prediction unit 130 may be configured to generate the predicted position of the vehicle using a predetermined time interval. For example, the position prediction unit 130 may predict the position of the vehicle at intervals of 0.1 seconds. That is, for example, the position of the vehicle at 0.0 seconds, the position of the vehicle at 0.1 seconds, and the position of the vehicle at 0.2 seconds may be predicted.

[0100] Each element of the device or method according to various aspects of the present disclosure may be implemented in hardware or software or a combination of hardware and software. The functions of each element may be implemented in software, and a microprocessor may be implemented to execute the software functions corresponding to each element.

[0101] Various embodiments of the systems and techniques described herein may be implemented with digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Different implementations may include implementations with one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor, at least one input device, and at least one output device, the at least one programmable processor being a dedicated processor or a general-purpose processor, coupled for receiving data and instructions from and to a storage system. A computer program (also referred to as a program, software, software application, or code) includes instructions for a programmable processor and is stored in a "computer-readable recording medium."

[0102] The computer-readable recording medium may include all types of storage devices that can store computer-readable data. The computer-readable recording medium may be a non-volatile or non-volatile medium, such as a read-only memory (ROM), a compact disc ROM (CD-ROM), a magnetic tape, a floppy disk, a memory card, a hard disk, or an optical data storage device. In addition, the computer-readable recording medium may further include a transient medium such as a data transmission medium. In addition, the computer-readable recording medium may be distributed on a computer system connected via a network, and may store and execute computer-readable program code in a distributed manner.

[0103] Although the operations are shown as being performed in sequence in the flowcharts / sequence diagrams in this specification, this is merely an exemplary description of the technical concept of the exemplary embodiments of the present disclosure. In other words, those skilled in the art to which the exemplary embodiments of the present disclosure belong may recognize that various modifications and changes may be made without departing from the basic features of the exemplary embodiments of the present disclosure, i.e., the order shown in the flowcharts / sequence diagrams may be changed and one or more of the operations may be performed in parallel. Therefore, the flowcharts / sequence diagrams are not limited to a time sequence.

[0104] The control device may be at least one microprocessor operated by a predetermined program, and the predetermined program may include a series of commands for executing the methods included in the above-described various exemplary embodiments of the present disclosure.

[0105] In various exemplary embodiments of the present disclosure, each of the operations described above may be performed by a control device, and the control device may be configured by a plurality of control devices or an integrated single control device.

[0106] In various exemplary embodiments of the present disclosure, the memory and the processor may be provided as one chip, or provided as separate chips.

[0107] In different exemplary embodiments of the present disclosure, the scope of the present disclosure includes software or machine-executable commands (e.g., operating systems, applications, firmware, programs, etc.) for enabling operations of methods according to different embodiments to be executed on a device or computer, and non-transitory computer-readable media including such software or commands stored thereon and executable on a device or computer.

[0108] In various exemplary embodiments of the present disclosure, the control device may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0109] Furthermore, terms such as “unit”, “module” and the like included in the specification mean a unit for processing at least one function or operation, which can be implemented by hardware, software or a combination thereof.

[0110] In an exemplary embodiment of the present disclosure, a vehicle may be referred to as being based on a concept including various vehicles. In some cases, a vehicle may be interpreted as being based on not only various land vehicles (such as cars, motorcycles, trucks, and buses) traveling on roads but also various vehicles such as airplanes, drones, ships, etc.

[0111] For ease of explanation and accurate definition of the appended claims, the terms "up", "down", "inside", "outside", "upward", "downward", "upward", "downward", "front", "rear", "rear", "inside", "outside", "inside", "outside", "inside", "outside", "forward", and "rearward" are used to describe features of the exemplary embodiments with reference to the locations of such features shown in the drawings. It should be further understood that the term "connected" or its derivatives refer to both direct and indirect connections.

[0112] The term "and / or" may include any combination of the multiple related listed items or the multiple related listed items. For example, "A and / or B" includes all three cases, such as "A", "B" and "A and B".

[0113] In an exemplary embodiment of the present invention, “at least one of A and B” may refer to “at least one of A or B” or “at least one of a combination of at least one of A and B”. Furthermore, “one or more of A and B” may refer to “one or more of A or B” or “one or more of a combination of one or more of A and B”.

[0114] In this specification, unless otherwise stated, a singular expression includes a plural expression unless the context clearly indicates otherwise.

[0115] In the exemplary embodiments of the present disclosure, it should be understood that terms such as “including” or “having” are intended to specify the presence of features, quantities, steps, operations, elements, parts, or a combination thereof described in the specification, and do not exclude the possibility of adding or existing one or more other features, quantities, steps, operations, elements, parts, or a combination thereof.

[0116] According to the exemplary embodiment of the present invention, components may be combined with each other to be implemented as one, or some components may be omitted.

[0117] For the purpose of illustration and description, the foregoing descriptions of specific exemplary embodiments of the present disclosure have been presented. They are not intended to be exhaustive or to limit the present disclosure to the precise form disclosed, and it is apparent that many modifications and variations are possible in light of the above teachings. In order to illustrate certain principles of the present invention and their practical applications, exemplary embodiments have been selected and described to enable other persons skilled in the art to carry out and utilize various exemplary embodiments of the present disclosure and various substitutions and modifications thereof. The scope of the present disclosure is intended to be limited by the appended claims and their equivalents.

Claims

1. A vehicle control device, comprising: a rear wheel steering unit configured to steer rear wheels of the vehicle, measure rear wheel angles and generate a status signal; a fault determination unit operatively connected to the rear-wheel steering unit and configured to determine a fault condition of the rear-wheel steering unit based on the status signal; a curvature prediction unit operatively connected to the fault determination unit and configured to generate a predicted curvature of a travel path of the vehicle based on the fault condition; as well as a position prediction unit operatively connected to the curvature prediction unit and configured to generate a predicted position of the vehicle based on the predicted curvature, The curvature prediction unit generates the predicted curvature based on the rear wheel angle.

2. The vehicle control device according to claim 1, wherein: The position prediction unit is further configured to generate the predicted position by the following equation: in is the yaw rate at time t, X[t] indicates the position of the vehicle in the X direction at time t, Y[t] indicates the position of the vehicle in the Y direction at time t, and ψ[t] indicates the yaw angle of the vehicle at time t.

3. The vehicle control device according to claim 2, wherein: The yaw rate Determined by the following equation: in, is the predicted curvature, in, Among them, V X is the speed of the vehicle Wherein, α is the acceleration of the vehicle.

4. The vehicle control device according to claim 1, wherein: The position prediction unit is further configured to generate a plurality of predicted positions, each of the predicted positions being a predicted position generated at predetermined time intervals.

5. The vehicle control device according to claim 4, wherein: The position prediction unit is further configured to generate a predicted position within a predetermined time.

6. The vehicle control device according to claim 1, wherein: The rear-wheel steering unit controls rear wheels of the vehicle using the predicted curvature generated by the curvature prediction unit and the predicted position generated by the position prediction unit.

7. A method for generating a predicted position of a vehicle in response to a vehicle turning, the method being performed by a vehicle control device, the method comprising: measuring rear wheel angles via a processor including a rear wheel steering unit; generating a status signal of the rear wheel steering unit by the processor; determining, by the processor, a fault condition of the rear wheel steering unit based on the status signal; generating, by the processor, a predicted curvature based on the fault condition; as well as generating, by the processor, a predicted position of the vehicle based on the predicted curvature, Wherein, generating the predicted curvature includes generating the predicted curvature based on the rear wheel angle.

8. The method according to claim 7, wherein: Generating a predicted position involves: The predicted position is generated by the following equation: in, is the yaw rate at time t, X[t] indicates the position of the vehicle in the X direction at time t, Y[t] indicates the position of the vehicle in the Y direction at time t, and ψ[t] indicates the yaw angle of the vehicle at time t.

9. The method according to claim 8, wherein: The yaw rate Determined by the following equation: in, is the predicted curvature, in, Among them, V X is the speed of the vehicle Wherein, α is the acceleration of the vehicle.

10. The method according to claim 7, in, Generating a predicted position involves: Generate multiple predicted locations, and Each of the predicted positions is a predicted position generated at a predetermined time interval.

11. The method according to claim 10, wherein: Generating a predicted position involves: The predicted position is generated within a predetermined time.

12. The method according to claim 7, further comprising: Rear wheels of the vehicle are controlled using the predicted curvature and the predicted position.

13. A non-transitory computer-readable recording medium having recorded thereon a program including instructions executed by at least one processor, the instructions being executed by the at least one processor including a rear-wheel steering unit so that the at least one processor: Measure the rear wheel angle; generating a status signal of the rear wheel steering unit; determining a fault condition of the rear wheel steering unit based on the status signal; generating a predicted curvature based on the fault condition; and generating a predicted position of the vehicle based on the predicted curvature, in, Generating a predicted curvature includes generating the predicted curvature based on the rear wheel angle.

14. The non-transitory computer-readable recording medium according to claim 13, wherein: The instructions are executed by the at least one processor to further cause the at least one processor to: Rear wheels of the vehicle are controlled using the predicted curvature and the predicted position.

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