System and method of controlling driving of a trunking vehicle

Abstract

The invention relates to a system and a method for controlling driving of a travel vehicle. The system for controlling driving of a trip vehicle may include a front terrain scanning unit configured to detect lidar point data in front of the trip vehicle and scan a road surface image in front of the trip vehicle, and a driving unit configured to provide power to move the trip vehicle. The system may further include a controller configured to store a specification of a travel vehicle including a dynamic radius of each wheel, generate a travel route using the lidar point data, detect depth data of a road surface within the travel route based on a road surface image, and determine a depth of the road surface within the travel route based on the depth data. And the depth data of the road surface in the driving route and the dynamic radius of each wheel of the traveling vehicle are utilized to acquire the actual driving route of each wheel, a driving command for the actual driving route of each wheel is generated, and the operation of the driving unit is controlled according to the generated driving command.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority and benefit of Korean Patent Application No. 10 - 2023 - 0182799, filed on December 15, 2023, the entire content of which is incorporated herein by reference. Technical Field

[0003] This application relates to a system and method for controlling the travel of a mobility vehicle. Background Art

[0004] When a mobility vehicle travels on a curved road surface, in a plan view looking down from above, the travel distances required for the left and right wheels to go straight are different from each other. Therefore, if the curvature is not considered when traveling on a curved plane, the mobility vehicle will not be able to travel along the required route. In some cases, the wheels may get stuck in a recess and not move at all.

[0005] According to the related art, to solve this problem, a dynamic suspension is installed in the mobility vehicle. However, in order to install the dynamic suspension, the hardware of the mobility vehicle should be changed. In addition, compared with the required performance, installing a high - performance suspension in a mobility vehicle that does not transport people or non - shaking objects may excessively increase the manufacturing cost.

[0006] The above information disclosed in the background art section is only used to enhance the understanding of the background of this application. Therefore, the information in the background art section may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0007] Aspects of this application provide a system and method that can cope with a curved road surface by only executing motor control logic without modifying the hardware.

[0008] Other aspects of this application provide a system and method for controlling the travel of a mobility vehicle, which obtains the surface information of the road surface by using a camera and obtains the actual travel route according to the surface information, and executes speed control and torque control of the motor according to the actual travel route.

[0009] According to an embodiment of the present application, a system for controlling the travel of a vehicle is provided. The system includes a front terrain scanning unit configured to detect lidar point data in front of the traveling vehicle and scan the road surface image in front of the traveling vehicle. The system further includes a driving unit configured to provide power for moving the traveling vehicle. The system further includes a controller configured to store the specifications of the traveling vehicle including the dynamic radius of each wheel. The controller is further configured to generate a travel route of the traveling vehicle using the lidar point data. Additionally, the controller is configured to detect the depth data of the road surface within the travel route based on the road surface image in front of the traveling vehicle. The controller is further configured to obtain the actual travel route of each wheel using the depth data of the road surface within the travel route and the dynamic radius of each wheel of the traveling vehicle. The controller is further configured to generate a travel command for the actual travel route of each wheel. Additionally, the controller is configured to control the operation of the driving unit according to the generated travel command.

[0010] The controller may be further configured to determine whether the travel route of a wheel is suitable for travel. The controller may also be configured to determine whether the travel routes of multiple wheels are suitable for travel.

[0011] The controller may be configured to generate a travel command for the actual travel route of each wheel in response to determining that the travel route of a wheel is suitable for travel and the travel routes of multiple wheels are suitable for travel.

[0012] The controller may be further configured to regenerate the travel route in response to determining that the travel route of a wheel is not suitable for travel or determining that the travel routes of multiple wheels are not suitable for travel.

[0013] The controller may be configured to determine that the travel route of a wheel is not suitable for travel in response to determining that the actual travel route of a wheel is expected to bend beyond a preset angle.

[0014] The controller may be configured to determine that the travel routes of multiple wheels are not suitable for travel in response to determining that the road surface between the wheels among multiple wheels is expected to collide with the bottom surface of the traveling vehicle.

[0015] The controller may be configured to generate a travel command for the actual travel route of each wheel by generating a speed command for the actual travel route of each wheel and generating a torque command for the actual travel route of each wheel.

[0016] The controller may be configured to generate a speed command for the actual travel route of each wheel based on the actual travel route of each wheel and the target speed command of the traveling vehicle.

[0017] The controller can be configured to generate torque commands for the actual driving routes of the respective wheels based on the actual driving routes of the respective wheels and the target torque commands of the traveling vehicle.

[0018] The controller can be further configured to determine whether the driving commands for the actual driving routes of the respective wheels are suitable. The controller can also be configured to control the drive unit according to the driving commands in response to determining that the driving commands for the actual driving routes of the respective wheels are suitable.

[0019] The controller can be further configured to regenerate the driving route in response to determining that the driving commands for the actual driving routes of the respective wheels are not suitable.

[0020] According to another embodiment of the present application, a method for controlling the driving of a traveling vehicle is provided. The method includes detecting lidar points in front of the traveling vehicle by a front terrain scanning unit. The method further includes scanning a road surface image in front of the traveling vehicle by the front terrain scanning unit. Additionally, the method includes generating a driving route of the traveling vehicle by the controller using the lidar point data. The method further includes detecting depth data of the road surface within the driving route by the controller based on the road surface image in front of the traveling vehicle. The method also includes obtaining the actual driving routes of the respective wheels by the controller using the depth data of the road surface within the driving route and the dynamic radii of the respective wheels of the traveling vehicle. The method further includes generating driving commands for the actual driving routes of the respective wheels by the controller. Additionally, the method includes controlling the operation of the drive unit by the controller according to the generated driving commands.

[0021] The method can further include the controller determining whether the driving route of one wheel is suitable for driving. The method can also include the controller determining whether the driving routes of multiple wheels are suitable for driving.

[0022] Generating driving commands for the actual driving routes of the respective wheels can include: the controller generating driving commands in response to determining that the driving route of one wheel is suitable for driving and the driving routes of multiple wheels are suitable for driving.

[0023] The method can further include: the controller regenerating the driving route in response to determining that the driving route of one wheel is not suitable for driving or determining that the driving routes of multiple wheels are not suitable for driving.

[0024] Generating driving commands for the actual driving routes of the respective wheels can include: generating speed commands for the actual driving routes of the respective wheels, and generating torque commands for the actual driving routes of the respective wheels.

[0025] Speed commands for the actual driving routes of the respective wheels can be generated based on the actual driving routes of the respective wheels and the target speed command of the traveling vehicle.

[0026] Torque commands for the actual driving routes of the respective wheels can be generated based on the actual driving routes of the respective wheels and the target torque command of the traveling vehicle.

[0027] The method may further include: determining, by the controller, whether the driving commands for the actual driving routes of the respective wheels are suitable, wherein, in response to determining that the driving commands for the actual driving routes of the respective wheels are suitable, the controller may control the operation of the drive unit according to the generated driving commands.

[0028] The method may further include: in response to determining that the driving commands for the actual driving routes of the respective wheels are not suitable, regenerating the driving routes by the controller.

[0029] According to an embodiment of the present application, when driving on an uneven road surface, motor control can be utilized to reduce the unexpected behavior of the traveling vehicle without modifying the hardware.

[0030] By utilizing the surface information of the road surface, it is possible to prevent the traveling vehicle from being unable to move due to getting stuck in a pothole or being blocked by a speed bump.

[0031] By observing and correcting the interference factors that may affect the behavior of the traveling vehicle by using a camera, the influence of the interference can be reduced.

[0032] Other effects that can be obtained or expected from the embodiments of the present application are explicitly or implicitly described in the specific embodiments of the present application. In other words, various effects obtained or expected from the embodiments of the present application are directly or implicitly disclosed in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Embodiments of the present application can be more clearly understood by referring to the following description and in conjunction with the accompanying drawings, wherein the same reference numerals represent the same or functionally similar elements.

[0034] Figure 1 is a block diagram of a system for controlling the driving of a traveling vehicle according to an embodiment of the present application.

[0035] Figure 2 is a flowchart of a method for controlling the driving of a traveling vehicle according to an embodiment of the present application.

[0036] Figure 3 is according to an embodiment, in Figure 2 a flowchart of the step or operation of determining whether the driving route is suitable in the method.

[0037] Figure 4 is a flowchart of the steps or operations for generating a driving command in the method according to an embodiment, Figure 2 as shown in FIG.

[0038] Figures 5A to 5D FIG. shows a driving route generated without scanning the road surface, the road surface within the scanned driving route, and the actual driving route according to the dynamic radius of the tire, according to an embodiment of the present application.

[0039] Figure 6A and 6B FIG. shows a driving route suitable for driving and a driving route not suitable for driving according to an embodiment of the present application.

[0040] Figures 7A to 7C FIG. shows the target speed command when a traveling vehicle travels on a driving route generated without scanning the road surface and the speed commands of two wheels when traveling on the actual driving route, according to an embodiment of the present application.

[0041] Figures 8A to 8C FIG. shows the target torque command when a traveling vehicle travels on a driving route generated without scanning the road surface and the torque commands of two wheels when traveling on the actual driving route, according to an embodiment of the present application.

[0042] It should be understood that the accompanying drawings are not drawn to scale and are merely a suitably simplified drawing for illustrating the basic principles and various features of the present invention. The specific design features of the present invention disclosed herein, including, for example, specific dimensions, directions, positions, and shapes, will be determined in part by the specific application and use environment. Detailed Description

[0043] The terms used herein are for the purpose of describing specific embodiments. The terms are not intended to limit the present application. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. When used herein, the terms "comprises," "comprising," "includes," "including," "has," "having," etc. specify the presence of the stated features, values, steps, operations, elements, and / or components. However, it should be understood that these terms do not preclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of the associated listed items.

[0044] As used in this specification, the term "travel vehicle" or "of a travel vehicle" or other similar terms generally includes motor vehicles. Such motor vehicles include, for example, passenger vehicles such as sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles. Such motor vehicles also include marine vehicles such as various types of boats and ships, and aerial vehicles such as, for example, airplanes and drones. Such motor vehicles generally include all objects that can move by receiving power from a power source. In addition, as used in this specification, the term "travel vehicle" or "of a travel vehicle" or other similar terms include hybrid travel vehicles, electric travel vehicles, plug-in hybrid travel vehicles, hydrogen-powered travel vehicles, and other alternative fuel (e.g., fuel derived from non-petroleum energy sources) travel vehicles. As described in this specification, a hybrid travel vehicle includes a travel vehicle having two or more power sources, such as a travel vehicle powered by gasoline and electricity. The travel vehicles according to the embodiments of the present application include travel vehicles that are to some extent autonomous and / or automatically driven, as well as manually driven travel vehicles.

[0045] In addition, it should be understood that the method or aspects thereof according to one or more of the embodiments of the present application can be executed by at least one or more controllers. The term "controller" may refer to a hardware device including a memory and a processor. The memory is configured to store program instructions, and the processor is specifically programmed to execute the program instructions to perform one or more processes described in more detail below. The controller can control the operation of the units, modules, components, devices, etc. described herein. It should also be understood that the method according to the embodiments of the present application can be executed by a device including a controller and one or more other components, as recognized by those of ordinary skill in the art.

[0046] Furthermore, the controller of the present application can be implemented as a non-transitory computer-readable recording medium, which includes executable program instructions that can be executed by a processor. Examples of computer-readable recording media include ROM, RAM, compact disc (CD) ROM, magnetic tape, floppy disk, flash drive, smart card, and / or optical data storage device. However, the computer-readable recording media are not limited thereto. The computer-readable recording media can also be distributed over a computer network so that the program instructions can be stored and executed in a distributed manner (e.g., on a telematics server or a controller area network (CAN)).

[0047] When a component, device, element, etc. of the present application is described as having a purpose or performing an operation, function, etc., the component, device, or element should be regarded as "configured to" meet that purpose or perform that operation or function herein.

[0048] Hereinafter, the embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0049] Figure 1 It is a block diagram of a system for controlling the travel of a vehicle according to an embodiment of the present application.

[0050] As Figure 1 shown, the system for controlling the travel of a vehicle according to an embodiment of the present application includes a front terrain scanning unit 10, a controller 20, and a driving unit 30.

[0051] The front terrain scanning unit 10 can be installed on the vehicle 40 for travel (e.g., as Figure 6A and 6B shown), and can scan the terrain in front of the vehicle 40 for travel. The front terrain scanning unit 10 can include a lidar and a camera.

[0052] The lidar can emit laser pulses in front of the vehicle 40 for travel, and detect the return time of the laser pulses reflected by objects (e.g., fixed terrain and obstacles, etc.) within the detection range of the lidar, so as to detect information about the objects (e.g., the distance from the lidar to the object, the direction of the object, speed, temperature, material distribution, and concentration characteristics). The object can be other vehicles for travel, people, objects, pillars, walls, etc. outside the vehicle 40 for travel equipped with the lidar. However, the present application is not specifically limited to the type of the object. The lidar can be connected to the controller 20 to detect 2D lidar point data (e.g., 2D data of multiple lidar points) within the detection range, and send the 2D lidar point data to the controller 20. However, the lidar is not limited to the lidar that detects 2D lidar point data. For example, the lidar can include a lidar that detects 3D lidar point data.

[0053] The camera can scan an image in front of the vehicle 40 for travel within the detection range of the camera, such as the road surface image in front of the vehicle 40 for travel. The camera can be connected to the controller 20, and can send the scanned image to the controller 20. The image can be composed of pixel data including multiple pixels. The type of the camera is not specifically limited as long as the camera can detect the depth data of the road surface in front of the vehicle 40 for travel or detect data that can calculate the depth data.

[0054] The controller 20 includes a travel route generation unit 22 and a travel command generation unit 24.

[0055] The travel route generation unit 22 can receive 2D lidar point data from a lidar and can receive a road surface image in front of the traveling vehicle 40 from a camera. The travel route generation unit 22 can generate a route of the traveling vehicle 40 by using the received 2D lidar point data and map data. The travel route generation unit 22 can also detect depth data of the road surface within the route based on the road surface image in front of the traveling vehicle 40. The travel route generation unit 22 can obtain the actual travel routes of the respective wheels 44 by using the depth data of the road surface within the route and the dynamic radius of the wheels 44 of the traveling vehicle 40. The travel route generation unit 22 can evaluate whether the actual travel route is suitable for travel based on the specifications of the traveling vehicle 40, and can send a command to generate a travel command according to the actual travel route to the travel command generation unit 24 in response to the evaluation that the travel route is suitable for travel.

[0056] The travel command generation unit 24 can receive the command from the travel route generation unit 22 and can generate a travel command according to the actual travel route. The travel command can include a speed command and a torque command. The travel command generation unit 24 can evaluate whether the travel command is suitable for the traveling vehicle 40 to travel based on the specifications of the traveling vehicle 40, and can perform travel control of the traveling vehicle 40 in response to the evaluation that the travel command is suitable for the traveling vehicle 40 to travel.

[0057] In an embodiment, the controller 20 is equipped with one or more microprocessors programmed to execute the respective steps of a method for controlling the travel of a traveling vehicle according to an embodiment of the present application.

[0058] The drive unit 30 can be installed in the traveling vehicle 40 and can provide power for moving the traveling vehicle 40. The operation of the drive unit 30 is controlled by the controller 20. The drive unit 30 can include at least one wheel 44 (e.g., as Figure 6A and 6B shown) and at least one drive motor for rotating the at least one wheel 44. In one example, each wheel 44 can be equipped with a corresponding drive motor, and each drive motor can independently control the speed and torque of the corresponding wheel 44. For example, the traveling vehicle 40 can include at least a left wheel 44 and a right wheel 44, and can further include a left drive motor for the left wheel 44 and a right drive motor for the right wheel 44. However, the number of wheels 44 and the number of drive motors included in the drive unit 30 are not specifically limited.

[0059] Figure 2 is a flowchart of a method for controlling the travel of a traveling vehicle according to an embodiment of the present application. Figure 3 is according to an embodiment, in Figure 2Flowchart of steps or operations for determining whether a driving route is suitable in the method. Figure 4 According to an embodiment, in Figure 2 Flowchart of steps or operations for generating a driving command in the method.

[0060] As Figure 2 shown, the method for controlling the driving of a travel vehicle according to an embodiment of the present application starts when the travel vehicle 40 is started. For example, the user can press the start button of the travel vehicle 40 or start the travel vehicle 40 using a remote control device.

[0061] The travel vehicle 40 can receive a destination etc. from the user. The travel vehicle 40 can call map data stored in the memory of the controller 20, or can start creating a map through a front terrain scanning unit 10 etc. For example, the lidar detects 2D lidar point data in front of the travel vehicle 40 and sends the detected 2D lidar point data to the controller 20, while the camera scans an image in front of the travel vehicle 40 and sends the scanned image to the controller 20. In step or operation S110, the driving route generation unit 22 of the controller 20 can detect the position of the travel vehicle 40 based on the called map data, 2D lidar point data, and / or the image in front of the travel vehicle 40, and can generate a driving route of the travel vehicle 40 based on the map data, 2D lidar point data, the image in front of the travel vehicle 40, and / or the position of the travel vehicle 40. In an embodiment, the logic for generating the driving route of the travel vehicle 40 is stored in the memory of the controller 20. For example, multiple driving routes from the current position of the travel vehicle 40 to the destination can be calculated, and the driving route with the lowest cost among the multiple driving routes can be selected. Since the logic for generating the driving route of the travel vehicle 40 is well-known to those of ordinary skill in the art, its detailed description is omitted.

[0062] When the driving route generation unit 22 of the controller 20 generates a driving route of the travel vehicle 40, the driving route generation unit 22 can evaluate whether the generated driving route is suitable for the actual driving of the travel vehicle 40. For this purpose, in step or operation S120, the camera of the front terrain scanning unit 10 scans the road surface image within the driving route of the travel vehicle 40 and sends the road surface image within the driving route to the controller 20. In step or operation S130, the driving route generation unit 22 of the controller 20 determines whether the driving route generated in step or operation S110 is suitable for the travel vehicle 40 to drive.

[0063] Referring to Figure 3 it is described in more detail how to determine whether a driving route is suitable in step or operation S130 according to an embodiment.

[0064] As Figure 3As shown, step or operation S130 may start by having the travel route generation unit 22 extract 3D points on the travel route from the road surface image within the travel route in step or operation S132. For example, the travel route generation unit 22 may extract 3D pixel data on the travel route that the wheels 44 of the traveling vehicle 40 will pass through from the road surface image within the travel route. When the traveling vehicle 40 includes a left wheel 44 and a right wheel 44, 3D pixel data on the route of the left wheel 44 and 3D pixel data on the route of the right wheel 44 may be extracted.

[0065] When the 3D points of each wheel 44 are extracted, in step or operation S134, the travel route generation unit 22 converts the extracted 3D point coordinates (e.g., 3D pixel data) into 2D point coordinates (e.g., 2D pixel data). Generally, each wheel 44 can rotate to move forward and backward, but cannot move in the width direction of the traveling vehicle 40. To reduce the computational amount for evaluating the travel route, the travel route generation unit 22 may convert the extracted 3D pixel data into 2D pixel data in the front-rear direction and the vertical direction. Since the conversion matrix for converting 3D pixel data into 2D pixel data is well-known to those of ordinary skill in the art, its detailed description is omitted.

[0066] When the extracted 3D point coordinates are converted into 2D point coordinates (including depth data), in step or operation S136, the travel route generation unit 22 obtains the actual travel route of each wheel 44 according to the dynamic radius of each wheel 44. For example, Figure 5A shows the travel route of one wheel 44 generated in step or operation S110 according to an embodiment. In Figures 5A to 5D , the left-right direction corresponds to the front-rear direction, and the up-down direction corresponds to the vertical direction (i.e., depth). Figure 5A The travel route of the one wheel 44 shown is a straight line route without bending in the vertical direction. Figure 5B shows, according to an embodiment, the conversion of the 3D point coordinates extracted from the road surface of the travel route in Figure 5A into 2D point coordinates. Figure 5B reflects the actual depth data of the predicted flat travel route.

[0067] The travel route on a road surface that bends in the vertical direction may vary according to the size of the wheel 44. Figure 5C The dashed line in Figure 5D shows the travel route of the wheel 44 with a relatively large dynamic radius, and Figure 5A and 5DAs shown, the actual driving route of the wheel 44 varies according to the size of the corresponding wheel 44. Therefore, the driving route generation unit 22 uses the depth data of the road surface of the driving route of each wheel 44 and the dynamic radius of the wheel 44 to obtain the actual driving route of the wheel 44.

[0068] When the actual driving route of the wheel 44 is obtained, at step or operation S137, the driving route generation unit 22 determines whether the driving route of one wheel 44 is suitable for driving. For example, as Figure 5D shown, when the dynamic radius of the wheel 44 is less than the bending depth, such that the actual driving route of the wheel 44 is expected to bend to a preset angle or a larger angle, it can be determined that the actual driving route of the wheel 44 is not suitable for driving. In this case, the method proceeds to step or operation S170. Here, the preset angle can be 90°. However, the preset angle is not limited to this.

[0069] However, as Figure 5C shown, when the actual driving route of the wheel 44 does not bend to a preset angle or a larger angle, it can be determined that the actual driving route of the wheel 44 is suitable for driving. In this case, at step S138, the driving route generation unit 22 determines whether the driving routes of multiple wheels 44 are suitable for driving. Even if the driving routes of each wheel 44 are suitable for driving, due to the terrain between the wheels 44, the traveling vehicle 40 may not be suitable for driving. For example, as Figure 6B shown, when the road surface between the wheels 44 is expected to protrude upward and collide with the bottom surface 42 of the traveling vehicle 40 between the wheels 44, the driving route generation unit 22 can determine that the driving routes of multiple wheels 44 are not suitable for driving. In addition, when one of the wheels 44 passes through a deep road surface and the road surface between the wheels 44 is expected to collide with the bottom surface 42 of the traveling vehicle 40, the driving route generation unit 22 can determine that the driving routes of multiple wheels 44 are not suitable for driving. In this case, the method advances to step or operation S170.

[0070] On the contrary, as Figure 6A shown, the road surface between the wheels 44 protrudes upward or one of the wheels 44 passes through a deep road surface, but if the road surface between the wheels 44 is not expected to collide with the bottom surface 42 of the traveling vehicle 40 between the wheels 44, the driving route generation unit 22 can determine that the driving routes of multiple wheels 44 are suitable for driving. In this case, the method advances to step or operation S140.

[0071] Return to refer to Figure 2, when it is determined in step or operation S130 that the driving route is not suitable for driving (being "No" in step or operation S137 or step or operation S138), in step or operation S170, the driving route generation unit 22 regenerates the driving route, and the method returns to step or operation S120 and scans the road surface image within the regenerated driving route.

[0072] On the other hand, when it is determined in step S130 that the driving route is suitable for driving (being "Yes" in step or operation S137 and step or operation S138), the driving route generation unit 22 generates a command for generating a driving command of the driving route, and sends the command to the driving command generation unit 24. In step or operation S140, the driving command generation unit 24 receives the command and generates a driving command for the actual driving route of each wheel 44.

[0073] As Figure 4 shown, in step or operation S142, the driving command generation unit 24 may first generate a speed command for the actual driving route of each wheel 44. For example, Figure 7A shows a target speed command when the travel vehicle 40 moves along the driving route generated in step or operation S110. The travel vehicle 40 moves along a straight-ahead driving route, and as the travel vehicle 40 moves, the target speed command gradually increases to 0 m / s, 0.2 m / s, 0.4 m / s, 0.6 m / s, 0.8 m / s, and 1.0 m / s. Figure 7B shows, according to an embodiment, in order for the travel vehicle 40 to move as Figure 7A shown, the speed command when the left wheel 44 travels on the actual driving route, and Figure 7C shows, according to an embodiment, in order for the travel vehicle 40 to move as Figure 7A shown, the speed command when the right wheel 44 travels on the actual driving route. As the depth of the road surface passed by the wheel 44 becomes deeper, the corresponding wheel 44 must move a greater distance. Therefore, the wheel 44 should move at a speed faster than the target speed of the travel vehicle 40 so that the travel vehicle 40 moves at the target speed. Therefore, the driving command generation unit 24 generates a speed command for the actual driving route of each wheel 44 based on the actual driving route of each wheel 44 and the target speed command of the travel vehicle 40.

[0074] In step or operation S144, the driving command generation unit 24 may also generate a torque command for the actual driving route of each wheel 44. For example, Figure 8AShows the target torque command when the traveling vehicle 40 moves along the driving route generated in step or operation S110. The traveling vehicle 40 moves along a straight-ahead driving route, and the target torque command for moving the traveling vehicle 40 is 5 N / m. Figure 8B Shows, according to an embodiment, in order for the traveling vehicle 40 to Figure 8A move as shown, the torque command when the left wheel 44 moves along the actual driving route, and Figure 8C shows, according to an embodiment, in order for the traveling vehicle 40 to Figure 8A move as shown, the torque command when the right wheel 44 moves along the actual driving route. When the wheel 44 passes over a downwardly curved road surface, the corresponding wheel 44 can move with a torque less than the target torque, and when the wheel 44 passes over an upwardly curved road surface, the corresponding wheel 44 can move with a torque greater than the target torque. Accordingly, the driving command generation unit 24 generates a torque command for the actual driving route of each wheel 44 based on the actual driving route of each wheel 44 and the target torque command of the traveling vehicle 40.

[0075] Returning to reference Figure 2 , when the driving commands for the actual driving routes of each wheel 44 are generated, in step or operation S150, the driving command generation unit 24 may determine whether the generated driving commands are suitable. For example, when the actual driving route of one wheel 44 includes a speed bump and the torque required to cross the speed bump exceeds the maximum torque of the drive unit 30, the driving command generation unit 24 determines that the driving commands for the actual driving routes of each wheel 44 are not suitable, and the method proceeds to step S170 such that the driving route generation unit 22 regenerates the driving routes of each wheel 44.

[0076] On the other hand, when it is determined in step or operation S150 that the driving commands for the actual driving routes of each wheel 44 are suitable, in step or step S160, the driving command generation unit 24 controls the drive unit 30 according to the driving commands. Accordingly, the speed of the drive unit 30 is controlled according to the speed command, and the torque of the drive unit 30 is controlled according to the torque command.

[0077] Although the present application has been described in connection with several embodiments, it should be understood that the present application is not limited to the disclosed embodiments. On the contrary, the present application is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A system for controlling the travel of a vehicle, the system comprising: A front terrain scanning unit configured to detect laser radar point data in front of the traveling vehicle and scan a road surface image in front of the traveling vehicle; a drive unit configured to provide power to move the travel vehicle; as well as The controller is configured as: Store the specifications of the traveling vehicle including the dynamic radius of each wheel, and generate the driving route of the traveling vehicle using the LiDAR point data. Detecting depth data of the road surface within the driving route based on the road surface image in front of the traveling vehicle, The actual driving route of each wheel is obtained by using the depth data of the road surface within the driving route and the dynamic radius of each wheel of the traveling vehicle. Generates driving commands for the actual driving routes of the individual wheels, The operation of the drive unit is controlled according to the travel command.

2. The system for controlling the travel of a vehicle according to claim 1, wherein: The controller is further configured to: Determine whether a wheel's path is suitable for driving; Determine whether the travel paths of multiple wheels are suitable for driving.

3. The system for controlling the travel of a vehicle according to claim 2, wherein: The controller is configured to generate a driving command for an actual driving route of each wheel in response to determining that the driving route of one wheel is suitable for driving and the driving routes of multiple wheels are suitable for driving.

4. The system for controlling the travel of a vehicle according to claim 2, wherein: The controller is further configured to regenerate the driving route in response to determining that the driving route of one wheel is not suitable for driving or determining that the driving routes of multiple wheels are not suitable for driving.

5. The system for controlling the travel of a vehicle according to claim 2, wherein: The controller is configured to determine that the driving path of the one wheel is not suitable for driving in response to determining that the actual driving path of the one wheel is expected to bend above a preset angle.

6. The system for controlling the travel of a vehicle according to claim 2, wherein: The controller is configured to determine that the travel paths of the plurality of wheels are unsuitable for travel in response to determining that a road surface between wheels of the plurality of wheels is expected to collide with an underside of the traveling vehicle.

7. The system for controlling the travel of a vehicle according to claim 1, wherein: The controller is configured to generate a travel command for the actual travel path of each wheel by at least generating a speed command for the actual travel path of each wheel and generating a torque command for the actual travel path of each wheel.

8. The system for controlling the travel of a vehicle according to claim 7, wherein: The controller is configured to generate a speed command for an actual driving route of each wheel based on the actual driving route of each wheel and a target speed command of the traveling vehicle.

9. The system for controlling the travel of a vehicle according to claim 7, wherein: The controller is configured to generate a torque command for an actual driving path of each wheel based on the actual driving path of each wheel and a target torque command of the traveling vehicle.

10. The system for controlling the travel of a vehicle according to claim 1, wherein: The controller is further configured to: determining whether the driving command for the actual driving route of each wheel is suitable; In response to determining that the driving commands for the actual driving routes of the individual wheels are suitable, the drive units are controlled according to the driving commands.

11. The system for controlling the travel of a vehicle according to claim 10, wherein: The controller is further configured to regenerate the driving route in response to determining that the driving command for the actual driving route of each wheel is not suitable.

12. A method for controlling the travel of a vehicle, the method comprising: The front terrain scanning unit detects the laser radar point in front of the traveling vehicle; The front terrain scanning unit scans the road surface image in front of the vehicle; The controller generates a driving route for the traveling vehicle using the laser radar point data; The controller detects depth data of the road surface in the driving route based on the road surface image in front of the traveling vehicle; The controller uses the depth data of the road surface within the driving route and the dynamic radius of each wheel of the traveling vehicle to obtain the actual driving route of each wheel; The controller generates a driving command for the actual driving route of each wheel; The operation of the drive unit is controlled by the controller according to the generated travel command.

13. The method according to claim 12, further comprising: The controller determines whether the driving route of a wheel is suitable for driving; The controller determines whether the driving routes of the plurality of wheels are suitable for driving.

14. The method according to claim 13, wherein: Generating a driving command for the actual driving route of each wheel includes: in response to determining that the driving route of one wheel is suitable for driving and the driving routes of multiple wheels are suitable for driving, generating a driving command by a controller.

15. The method according to claim 13, further comprising: In response to determining that the driving route of one wheel is not suitable for driving or determining that the driving routes of multiple wheels are not suitable for driving, the driving route is regenerated by the controller.

16. The method according to claim 12, wherein: The driving command for generating the actual driving route for each wheel includes: Generate speed commands for actual driving paths of individual wheels; A torque command is generated for the actual driving path of each wheel.

17. The method according to claim 16, wherein: Speed ​​commands for the actual travel routes of the respective wheels are generated based on the actual travel routes of the respective wheels and the target speed command of the traveling vehicle.

18. The method according to claim 16, wherein: A torque command for the actual driving path of each wheel is generated based on the actual driving path of each wheel and the target torque command of the traveling vehicle.

19. The method according to claim 12, further comprising: Determining by the controller whether the driving command for the actual driving route of each wheel is suitable; In response to determining that the travel commands for the actual travel routes of the respective wheels are suitable, the operation of the drive unit is controlled by the controller according to the travel commands.

20. The method according to claim 19, further comprising: In response to determining that the driving command for the actual driving route of each wheel is not suitable, the driving route is regenerated by the controller.

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