VEHICLE AND METHOD FOR ITS CONTROL

Abstract

Vehicle (1), comprising: a speed sensor configured to detect the vehicle's speed (1); a detection sensor (200) configured to obtain information regarding the position and / or speed of an object in the vicinity of the vehicle (1); a steering angle sensor (85) configured to detect a steering angle of the vehicle's steering wheel (1), a yaw rate sensor (88) for determining the yaw rate of the vehicle frame (1); and a control unit (100) that is configured: to determine a yaw rate required to steer the vehicle (1) so that it avoids the object, If it is not possible to generate the specified yaw rate, obtain a yaw moment required for partial braking at an inside wheel of the vehicle (1) based on the vehicle's (1) speed, the yaw rate detected by the yaw rate sensor (88), the specified yaw rate, and a yaw rate determined based on the detected steering angle. to apply partial braking at the inner wheel of the vehicle (1) based on the obtained yaw moment required for partial braking at the inner wheel, if the generation of the specified yaw rate is possible and a beta value of the vehicle (1) obtained during the steering evasive maneuver exceeds a predetermined value, Obtaining a yaw moment required for partial braking at an outer wheel of the vehicle (1), based on the vehicle's (1) speed and the obtained beta value, and Applying partial braking at the outer wheel of the vehicle (1) based on the yaw moment required to partially brake at the outer wheel of the vehicle (1) to reduce the beta value of the vehicle.

Description

BACKGROUND 1. Field of the invention

[0001] The present invention relates to a vehicle and a method for controlling it, and in particular a technology for ensuring the maximum distance between the vehicle and an object in its vicinity by performing an auxiliary yaw rate control and taking into account lateral slip of the vehicle in order to steer it in such a way that it avoids the object. 2. Explanation of the related technique

[0002] Vehicles are driven on roads or tracks to transport people or goods to destinations. A vehicle can move to different locations on one or more wheels mounted on the vehicle frame. Such vehicles can be classified as three- or four-wheeled vehicles, two-wheeled vehicles such as motorcycles, construction machinery, bicycles, trains that travel on rails along tracks, and the like. With the development of automotive technology, vehicles that can travel long distances, taking traffic conditions into account, have become advantageous.

[0003] To relieve the driver and increase their comfort, current studies are focusing on vehicles equipped with Advanced Driver Assistance Systems (ADAS), which actively provide information about the vehicle's condition, the driver's condition, and environmental conditions. Examples of ADAS systems installed in vehicles include Autonomous Emergency Brake (AEB) and Autonomous Emergency Steering (AES). These systems are collision avoidance systems that assess the risk of a collision with other vehicles in the vicinity and, if necessary, apply emergency braking or avoid collisions altogether.

[0004] Furthermore, drivers may encounter situations requiring emergency steering to avoid a collision with a vehicle, object, animal, etc., that suddenly appear in front of the vehicle. Recently, many different systems, such as electronically controlled suspension (ECS), all-wheel drive (AWD) or permanent all-wheel drive, and electronic stability control (ESC), have been developed to assist with emergency steering and vehicle stability. However, further research is needed to reduce the occurrence of wheel slip (slip angle) during emergency steering to avoid collisions.

[0005] Document JP 2017-88 164 A is known, which provides a driver assistance device for a vehicle. The driver assistance device assigns half of a yaw moment to an inner wheel and the other half to an outer wheel. The braking force of the inner wheel increases the greater the yaw moment assigned to the inner wheel, and the braking force of the outer wheel increases the greater the yaw moment assigned to the outer wheel. The braking force of the inner wheel is increased in proportion to the increased magnitude of the braking force of the inner wheel, and the braking force of the outer wheel is decreased in proportion to the decreased magnitude of the braking force of the outer wheel. SUMMARY

[0006] The present disclosure provides a vehicle and a method for controlling it, which performs auxiliary yaw rate control for steering to avoid a nearby object while the vehicle is being driven, and ensures the maximum distance between the vehicle and the object, taking into account lateral slip of the vehicle.

[0007] According to the invention, a vehicle has the features according to claim 1.

[0008] The control unit can be configured to terminate partial braking at the vehicle's inner wheel if the vehicle's beta value exceeds the predetermined value. The vehicle's inner wheel can be a wheel positioned on the inside of a pivot axis around which the vehicle rotates to steer and avoid the object, and the vehicle's outer wheel can be a wheel positioned on the outside of a pivot axis around which the vehicle rotates and avoids the object.

[0009] The control unit can further be configured to obtain the yaw rate required to steer the vehicle to avoid the object, based on the vehicle's length, the vehicle's width, and the object's position coordinates, where the distance between the steering-based evasive path for the vehicle to steer to avoid the object and the object itself is minimized. The control unit can also be configured to determine the object's position coordinates where the vertical distance to the steering-based evasive path is minimized, based on the object's position information obtained from the detection sensor and the vehicle's steering-based evasive path.

[0010] The yaw moment required for partial braking at the vehicle's inner wheel may correspond to a yaw moment in a steering-based evasive direction of the vehicle, and the control unit may then be configured to apply partial braking to the vehicle's inner wheel with brake pressure determined on the basis of the calculated yaw moment.

[0011] The yaw moment required for partial braking at the vehicle's outer wheel can correspond to a yaw moment in a direction opposite to the vehicle's steering-based evasive maneuver direction, and the control unit can then be configured to apply partial braking to the vehicle's outer wheel with brake pressure determined based on the calculated yaw moment. The vehicle's beta value can have a numerical value representing the extent to which the vehicle experiences slip in a direction opposite to the steering-based evasive maneuver direction during steering-based evasive action.

[0012] According to another aspect of the present disclosure, a method with the features according to claim 9 is provided.

[0013] Applying partial braking to the vehicle's outer wheel may involve terminating partial braking at the vehicle's inner wheel when the vehicle's beta value exceeds the predetermined value. Determining the yaw rate required to steer the vehicle to avoid the object may involve calculating a yaw rate required to steer the vehicle to avoid the object based on the vehicle's length, the vehicle's width, and the object's position coordinates, minimizing the distance between a steering-based evasive path and the object.

[0014] The method can further include determining the coordinates of the object's position where a vertical distance to the steering-based evasive path is minimized, based on position information of the object obtained by the detection sensor and the vehicle's steering-based evasive path.

[0015] Applying partial braking to the vehicle's inner wheel may involve applying partial braking to the inner wheel with a brake pressure determined based on the calculated yaw moment. Applying partial braking to the vehicle's outer wheel may also involve applying partial braking to the outer wheel with a brake pressure determined based on the calculated yaw moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other tasks, features and advantages of the present disclosure will be better understood by the person skilled in the art by the detailed description of exemplary embodiments thereof with reference to the accompanying drawings, in which: Fig. 1 a vehicle equipped with detection sensors and sensors for detecting vehicles behind and to the side of it, according to an exemplary embodiment of the present disclosure; Fig. 2 a conceptual representation according to an exemplary embodiment of the present disclosure, illustrating how a moving vehicle avoids an object located in front of it; Fig. 3 shows a distance between a vehicle and an object located in front of it when the vehicle avoids the object, according to an exemplary embodiment of the present disclosure; Fig. 4 is a conceptual representation illustrating a control strategy for an event when a vehicle is driven to avoid an object, according to an exemplary embodiment of the present disclosure; Fig. 5 a control block diagram of a vehicle according to an exemplary embodiment of the present disclosure; Fig. 6 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of the present disclosure; and Fig. Figure 7 shows curves of control flows of a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] It is understood that the term "vehicle" or "vehicle-" or any other similar term as used herein includes motor vehicles in general, such as passenger cars including SUVs, buses, trucks, various commercial vehicles, watercraft including various boats and ships, aircraft and the like, and hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and other vehicles powered by alternative fuels (e.g., fuels derived from resources other than petroleum). A hybrid vehicle referred to herein is a vehicle that has two or more power sources, for example, a gasoline-powered vehicle and an electric-powered vehicle.

[0018] An exemplary configuration is described as using multiple units to execute the exemplary process; however, it is understood that the exemplary processes can also be carried out by one or more modules. Furthermore, it is understood that the term control unit refers to a hardware device that includes memory and a processor. The memory is configured to store the modules, and the processor is specifically configured to execute the aforementioned modules to perform one or more processes, which are described in more detail below.

[0019] Furthermore, the control logic of the present disclosure can be implemented as non-volatile, computer-readable media on a computer-readable data carrier containing program instructions executed by a processor, a control unit, or the like. Examples of computer-readable data carriers include, but are not limited to, ROM, RAM, compact discs (CD-ROMs), magnetic tapes, floppy disks, flash memory, smart cards, and optical data storage devices. The computer-readable recording medium can also be distributed in networked computer systems, so that the computer-readable media are stored and distributed, for example, via a telematics server or CAN bus (Controller Area Network).

[0020] The terminology used herein serves only to describe specific configurations and is not intended to limit disclosure. As used herein, the singular forms "a" and "the" are understood to include the plural forms unless the context clearly indicates otherwise. It is further understood that the terms "exhibit" and / or "exhibiting," when used in this description, indicate the presence of the aforementioned features, integers, steps, processes, elements, and / or components, but do not preclude the presence or addition of one or more further features, integers, steps, processes, elements, components, and / or groups thereof. The term "and / or," as used herein, includes any and all combinations of one or more of the associated elements listed.

[0021] Unless specifically stated or evident from the context, the term "approximately," as used herein, is understood to mean within a range of normal engineering tolerances, for example, within 2 standard deviations from the mean. "Approximately" may be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the stated value. Unless otherwise clear from the context, all numerical values ​​given herein are modified by the term "approximately."

[0022] In this description, identical numbers consistently refer to the same elements. Not all elements of embodiments of this disclosure are described, and the description of those elements that are generally known in the art or that overlap in the embodiments is omitted. Terms used throughout this description, such as "-part," "-module," "-unit," "-block," etc., may be implemented in software and / or hardware, and several "-parts," "-modules," "-units," or "-blocks" may be implemented in a single element, or a single "-part," "-module," "-unit," or "-block" may contain multiple elements.

[0023] It is further understood that the term "connect" or words derived from it refer to both direct and indirect connections, and that an indirect connection includes a connection via a wireless communication network. It is understood that while the terms first, second, third, etc., may be used herein to describe different elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections must not be limited by these terms. These terms are used only to distinguish one element, component, region, layer, or section from another.

[0024] Reference numerals used for process steps are employed for the sake of clarity and explanation only, and do not restrict the sequence of steps. Therefore, the written sequence may be carried out differently unless the context clearly dictates otherwise. The principle and embodiments of the present invention will now be described with reference to the accompanying drawings.

[0025] Fig. Figure 1 shows a vehicle equipped with detection sensors and sensors configured to detect vehicles behind and to the side of a vehicle of the same name, according to an exemplary embodiment of the present disclosure. For the sake of simplicity, the direction in which a vehicle 1 moves (e.g., drives) is referred to as a forward direction, and the right and left directions are distinguished based on the forward direction. If the forward direction corresponds to the twelve o'clock position, the right direction is defined as corresponding to the three o'clock position or approximately the three o'clock position, and the left direction is defined as corresponding to the nine o'clock position or approximately the nine o'clock position. The direction opposite to the forward direction is the reverse direction.Furthermore, a downward direction towards the floor of vehicle 1 is referred to as a downward direction, and a direction opposite to the downward direction is referred to as an upward direction. Additionally, a front side is referred to as a front, a rear side as a back, and sides on both sides are referred to as sides. The sides include a left and a right side.

[0026] In vehicle 1, at least one detection device 350 (see Fig. 5) be provided, although they are in Fig. 1 is not shown. The detection device 350 can be a camera, a video camera, or the like, and can be configured to capture an image around the vehicle 1 while the vehicle is moving or stationary, and to obtain information regarding the type and position of the object. The object captured in the image around the vehicle 1 can include another vehicle (e.g., a vehicle in the vicinity), a pedestrian, a bicycle, etc., and can be a moving object or various stationary obstacles.

[0027] The detection device 350 can be configured to determine an object type in the vicinity of the vehicle 1 by capturing an image of the object and identifying a shape of the captured object by image recognition, and can be configured to transmit the captured information to a control unit 100 (see Fig. 5) be configured. The detection device 350 can be positioned at any location that allows the detection device 350 to obtain image information by capturing images from inside or outside the vehicle 1. The detection device 350 can include at least one camera and can further include a three-dimensional (3D) spatial detection sensor, a radar sensor, an ultrasonic sensor, etc., for capturing a more accurate image.

[0028] Vehicle 1, referring to Fig. Vehicle 1 can include a detection sensor 200 configured to detect an object located in front of the vehicle 1 and to obtain information about the object's position and / or speed of movement. In one exemplary embodiment, the detection sensor 200 can be configured to obtain information regarding the position and / or speed of the object located in the vicinity of the vehicle 1 (e.g., the vehicle in question). This means that the detection sensor 200 can be configured to obtain real-time coordinate information, which may change as the object moves, and to determine the distance between the vehicle 1 and the object.

[0029] The control unit 100 can then be configured to calculate a relative distance and relative speed between the vehicle 1 and the object based on the information received from the detection sensor 200 regarding the object's position and speed, and to calculate the time to collision (TTC) of the vehicle with the object based on the calculation result. Furthermore, the steering to avoid the object can be adjusted based on the information received from the detection sensor 200 regarding the object's position and speed.

[0030] The detection sensor 200 can be mounted in a position where an object, e.g., another vehicle, located in front of, to the side of, or to the side of vehicle 1, can be detected, as shown in Fig. Figure 1 shows an exemplary embodiment. Several detection sensors 200 can be installed on the front and on both sides of the vehicle 1 to detect all objects located in front of the vehicle 1 in one direction between the left side and the front (hereinafter referred to as "front left") of the vehicle 1 and in one direction between the right side and the front ("front right") of the vehicle 1.

[0031] For example, a first detection sensor 200a can be installed in a part, e.g., on the inside, of a radiator grille 6, or it can be installed at any location on the vehicle 1 that allows the detection of a vehicle in the vicinity in front of the vehicle 1. In an exemplary embodiment of the present disclosure, it can be assumed that a first detection sensor 200a is located in the center of the front surface of the vehicle 1. Furthermore, a second detection sensor 200b can be arranged on a left side of the vehicle 1, and a third detection sensor 200c can be arranged on a right side of the vehicle 1.

[0032] The detection sensor 200 may include a rear and side detection sensor 201, which is used to detect a pedestrian or another vehicle that is at or approaching the rear, side, or in a direction between the side and the rear (hereinafter referred to as "rear") of vehicle 1. The rear detection sensor 201 (201a to 201d) may be installed in a position where an object, e.g., another vehicle, located to the side, behind, or rear of vehicle 1 can be detected, as shown in Fig. 1 shown.

[0033] Furthermore, the detection sensor 200 can be implemented with many different devices, such as a millimeter-wave or microwave radar, a pulsed laser lidar (light detection and ranging), a visible beam sight, an infrared beam infrared sensor, an ultrasonic ultrasonic sensor, and / or the like. The detection sensor 200 can be implemented with any of these or any combination thereof. If several detection sensors 200 are installed in the vehicle 1, the detection sensors 200 can be implemented with the same type or different types of devices. In addition, the detection sensors 200 can be implemented with other diverse devices or combinations thereof that the designer may consider.

[0034] Furthermore, a display may be installed on an upper trim element of the dashboard (not shown) of vehicle 1. The display may be configured to output various information in the form of images to the driver or passenger of vehicle 1. For example, the display may be configured to visually output various information such as maps, weather, news, various moving or still images, information regarding the status or operation of vehicle 1, e.g., information regarding the air conditioning, etc. The display may also be configured to provide the driver or passenger with a warning corresponding to a level of danger to vehicle 1 (e.g., a notification regarding the risk of collision).

[0035] A central instrument panel (not shown) may be installed in the center of the dashboard and may include input devices 318 (318a to 318c) for receiving various commands relating to the vehicle 1. The input devices 318a to 318c may be configured with mechanical buttons, switches, knobs, a keypad, a touchscreen, a lever-like actuator, a trackball, or the like. The driver can control many different functions of the vehicle 1 by operating the input devices 318a to 318c.

[0036] In front of the driver's seat are a control panel and an instrument panel. The control panel can be rotated in a specific direction by the driver, thereby turning the front or rear wheels of the vehicle 1 and steering it. The control panel may include a spoke connected to a rotating shaft and a steering wheel coupled to the spoke. The spoke may have an input for receiving various commands, which may be implemented using mechanical buttons, switches, knobs, a keypad, a touchscreen, a lever-like actuator, a trackball, or the like.

[0037] Fig. 2 is a conceptual representation according to an exemplary embodiment of the present disclosure, illustrating how a moving vehicle avoids an object located in front of it, and Fig. Figure 3 shows a distance between a vehicle and an object located in front of it when the moving vehicle avoids the object, according to an exemplary embodiment of the present disclosure. Fig. Figure 4 is a conceptual representation illustrating a control strategy for an event when a vehicle is driven to avoid an object, according to an exemplary embodiment of the present disclosure;

[0038] Vehicle 1 can, with reference to Fig. 2. The control unit 100 is configured to determine a steering-based evasive maneuver when there is a risk of collision between the moving vehicle 1 and an object in the vicinity of vehicle 1 (e.g., a vehicle in the surrounding area) in order to avoid the potential collision with the object by driving along the determined steering-based evasive maneuver. Furthermore, the driver of vehicle 1 can steer vehicle 1 by operating the steering wheel so that vehicle 1 can evade the object.

[0039] The object in the environment can be any number of things, such as a pedestrian, another vehicle, a bicycle, an obstacle, etc., but in the following description, it is assumed that the object corresponds to a vehicle 2 in the environment. When the driver begins to steer vehicle 1, the yaw rate can be generated, and the control unit 100 can be configured to assist the steering-based evasive maneuver of vehicle 1. In an exemplary embodiment, the control unit 100 can include an electronically controlled suspension (ECS) configured to assist the evasive movement of vehicle 1 and an electronic stability control (ESC) system for the stability of vehicle 1.

[0040] If an evasive steering assist system of vehicle 1 supports the steering-based evasive maneuver initiated by the driver, the system can assist vehicle 1 when partial braking is applied by adjusting the individual braking of each wheel. As in Fig. As shown in Figure 2, if vehicle 1 (e.g., the vehicle in question) is being steered to avoid the other vehicle 2 (e.g., the vehicle in the vicinity), the evasive steering system can assist vehicle 1 by applying partial braking and operating an inner wheel of the wheels of vehicle 1.

[0041] In this context, the “inner wheel” of vehicle 1 refers to a wheel of vehicle 1 that is located on the inside of a pivot axis around which vehicle 1 rotates for steering-based evasive action, and an “outer wheel” of vehicle 1 refers to a wheel of vehicle 1 that is located on the outside of the pivot axis.

[0042] If the vehicle 1, referring to Fig. When the driver of vehicle 1 turns in the direction of d1 to avoid the other vehicle 2 (hereinafter referred to as the "steering-based evasive maneuver direction"), one of the four wheels of vehicle 1 that lies in the direction of d1 corresponds to the inner wheel, while a wheel that lies in the direction of d2, which is opposite to the steering-based evasive maneuver direction (hereinafter referred to as the "direction opposite to the steering-based evasive maneuver direction"), corresponds to the outer wheel. When the driver steers vehicle 1 in the direction of d1 to avoid the other vehicle 2 in front of it, the evasive maneuver system of vehicle 1 can be configured to perform partial braking of vehicle 1 by adjusting the individual braking action for the inner wheel of vehicle 1.This means that the evasive steering assist system of vehicle 1 can be configured to ensure a yaw rate for steering-based evasive steering by performing partial braking on vehicle 1 based on the driver's intention to evade steering.

[0043] Meanwhile, when the evasive steering assist system supports vehicle 1 by applying partial braking, vehicle 1 experiences lateral slip in direction d2, which is opposite to the direction of the steering-based evasive maneuver. Specifically, as vehicle 1 rotates in the direction of the steering-based evasive maneuver d1, the value of the beta coefficient (β) (hereinafter referred to as the "beta value") increases due to the slip occurring in direction d2, which is opposite to the direction of the steering-based evasive maneuver. Because of this increase in the beta value in direction d2, which is opposite to the direction of the steering-based evasive maneuver, the distance between vehicle 1 and the other vehicle 2 decreases.

[0044] As in Fig. As shown in Figure 3, increasing the beta value due to the slip of vehicle 1 in direction d2, which is opposite to the direction of the steering-based evasive maneuver, while vehicle 1 is steering to avoid the other vehicle 2, reduces the distance D between vehicle 1 and vehicle 2. That is, to assist the driver in adjusting the steering to avoid the other vehicle 2, the evasive steering assist system can be configured to support the steering-based evasive maneuver of vehicle 1. Vehicle 1 may experience slip due to partial braking applied based on the steering-based evasive maneuver support, and the distance to the other vehicle 2 will therefore decrease.Accordingly, there is a need to ensure that the distance between vehicle 1 and an object is greater than a certain distance by reducing the beta value generated by the slip of vehicle 1, while ensuring a yaw rate required for steering-based evasive action by assisting vehicle 1 when steering to avoid an object.

[0045] The evasive steering assist system, referring to Fig. 4, when steering-based evasive action of vehicle 1 is supported, can be configured to ensure the yaw rate γ by applying partial braking to the inside wheel of vehicle 1 and to reduce the beta value generated by the slip of vehicle 1 by applying partial braking to the outside wheel of vehicle 1. The evasive assistance system can be configured, with reference to the control strategy of the evasive assistance system, as described in Fig. As shown in Figure 4, in Region A, the steering system can improve the yaw rate by applying partial braking to the inside wheel of vehicle 1. Specifically, since the current yaw rate of vehicle 1 is less than the yaw rate required for steering-based evasive action, the evasive steering system can be configured to ensure the yaw rate required for steering-based evasive action by applying partial braking to the inside wheel of vehicle 1 to assist with steering-based evasive action when the driver initiates steering-based evasive action for vehicle 1.

[0046] Meanwhile, the beta value increases because vehicle 1 can experience slip in the direction opposite to the direction of the steering-based evasive maneuver while partial braking is applied to the inside wheel of vehicle 1. In region B, the beta value increases to the point where it exceeds a predetermined reference value. In this case, the distance between vehicle 1 and the other vehicle 2, which is to be avoided, decreases, even though the evasive steering system applies partial braking to the inside wheel of vehicle 1, making it difficult to avoid vehicle 2.

[0047] Furthermore, if the evasive steering assist system applies partial braking to the outer wheel of vehicle 1 to reduce the beta value, the yaw rate required for steering-based evasive action may not increase, and consequently, it may be impossible to steer in such a way as to avoid the other vehicle 2. In particular, the steering-based evasive action provided by the evasive steering assist system may therefore be terminated.

[0048] In region C, a yaw rate greater than required for steering-based evasive action of vehicle 1 can be ensured, and the beta value is smaller than the predetermined reference value. Therefore, a sufficient safety distance can be maintained to steer vehicle 1 to avoid the other vehicle 2. Specifically, no additional control of the evasive action system is necessary for steering-based evasive action of vehicle 1, and the steering-based evasive action control by the evasive action system can therefore be terminated.

[0049] In region D, the beta value exceeds the predetermined reference value, even though the yaw rate is maintained at a level higher than required for steering-based evasive action by vehicle 1. Specifically, the distance to the other vehicle 2 decreases due to the wheel slip of vehicle 1. Accordingly, the evasive steering assist system can intervene to reduce the beta value by applying partial braking to the outer wheel of vehicle 1.

[0050] Fig. Figure 5 is a control block diagram of a vehicle according to an exemplary embodiment of the present disclosure and Fig. Figure 6 is a flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of the present disclosure. Fig. Figure 7 shows curves of control flows of a vehicle according to an exemplary embodiment of the present disclosure.

[0051] In an exemplary design, referring to Fig. 5, the vehicle 1 may include: a speed controller 70 configured to adjust the driving speed of the vehicle 1 driven by the driver, a speed sensor 80 configured to detect the driving speed of the vehicle 1, a steering angle sensor 85 configured to detect a steering angle of the steering wheel 322, a yaw rate sensor 88 configured to detect a rate at which the rotation angle of the vehicle body is changed, a memory 90 configured to store data related to the control of the vehicle 1, and the control unit 100 configured to operate the respective components of the vehicle 1 and to adjust the driving speed of the vehicle 1.

[0052] The speed controller 70 can be configured, in particular, to adjust the speed of the vehicle 1. The speed controller 70 can include an acceleration driver 71 and a braking driver 72. The acceleration driver 71 can be configured to increase the speed of the vehicle 1 by activating the accelerator pedal upon receiving a control signal from the control unit 100, and the braking driver 72 can be configured to decrease the speed of the vehicle by activating the brake upon receiving a control signal from the control unit 100.

[0053] The control unit 100 can be configured to increase or decrease the speed of vehicle 1, or to increase or decrease the distance between vehicle 1 and an object based on the distance between vehicle 1 and the object and a predetermined reference distance stored in memory 90. The control unit 100 can also be configured to calculate the time to collision (TTC) of vehicle 1 with the object based on a relative distance and relative speed between vehicle 1 and the object, and can be configured to transmit a signal to the speed controller 70 to adjust the speed of vehicle 1 based on the calculated TTC.

[0054] The control unit 100 can also be configured to apply partial braking to the inner or outer wheel of the vehicle 1 by actuating the brake driver 72. For example, the control unit 100 can be configured to perform steering-based evasive maneuvers by applying partial braking when the vehicle 1 is steered to avoid an object. The speed controller 70 can be configured to adjust the vehicle 1's speed when the control unit 100 is operating and to reduce the vehicle 1's speed when there is a high risk of collision between the vehicle 1 and an object.

[0055] Furthermore, the speed controller 80 can be configured to determine the vehicle speed of the vehicle 1 when the control unit 100 is operating. Specifically, the speed controller 80 can be configured to determine the vehicle speed using the rotational speed of the wheels of the vehicle 1, and the vehicle speed can be displayed in kph, which means a distance (km) traveled per hour (h). The steering angle sensor 85 can be configured to determine a steering angle, which is the angle of the steering wheel, while the vehicle 1 is being driven, and the yaw rate sensor 88 can be configured to determine the rate at which the rotation angle of the vehicle frame changes while the vehicle is being driven.

[0056] The control unit 100 can then be configured to receive slip information from vehicle 1 based on the detected steering angle(s) and yaw rate(s). Specifically, the control unit 100 can be configured to receive yaw rates detected at regular intervals, to average the detected yaw rates, to obtain a rotation angle by dividing the average of the yaw rates by the respective time, and to compare the steering wheel angle corresponding to the steering wheel information with the rotation angle to obtain a difference between the steering wheel angle and the rotation angle.

[0057] The steering angle sensor 85 can be configured to receive and transmit the steering angle information from the steering wheel to the control unit 100 when the driver begins to steer the vehicle 1 by operating the steering wheel to avoid an object ahead while the vehicle 1 is in motion. The yaw rate sensor 88 can be configured to receive and transmit the yaw rate information of the vehicle 1 to the control unit 100. The memory 90 can then be configured to store various data relating to the operation of the vehicle 1. In one exemplary embodiment, the memory 90 can be specifically configured to store information relating to the vehicle 1's speed, distance traveled, and travel time, and can also store information regarding the type and position of an object detected by the sensing device 350.

[0058] Furthermore, memory 90 can be configured to store information detected by detection sensor 200 regarding the position and speed of an object, coordinate information of a moving object that varies in real time, and information regarding the relative distance and relative speed between vehicle 1 and an object. Memory 90 can also be configured to store data relating to mathematical formulas and control algorithms used in operating vehicle 1 in an exemplary embodiment. Control unit 1 can be configured to transmit control signals for operating vehicle 1 according to these formulas and control algorithms.

[0059] Memory 90 can further be configured to store information relating to the steering-based evasive maneuver determined for vehicle 1 to avoid a collision with an object located in front of vehicle 1, information relating to the steering angle received from steering angle sensor 85, and information relating to the yaw rate detected by yaw rate sensor 88. In addition, memory 90 can be configured to store information relating to the beta value generated when vehicle 1 is steered to avoid the object, and information relating to a reference for the beta value for switching to partial braking at the outer wheel of vehicle 1.

[0060] The memory 90 can be implemented with at least one of the following: a non-volatile memory device, such as a buffer, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a volatile memory device, such as random-access memory (RAM), or a storage medium, such as a hard disk drive (HDD) or a compact disc (CD) ROM, without being limited thereto. The memory 90 can be a chip-based data storage device that is separate from the aforementioned processor with respect to the control unit 100, or it can be integrated with the processor on a single chip.

[0061] In a method for controlling a vehicle according to an exemplary embodiment of the present disclosure, referring to Fig. 6. In 1000, the detection device 350 can be configured to detect an object located in the vicinity of vehicle 1 while vehicle 1 is in motion, and the detection sensor 200 can be configured to detect the object in the vicinity of vehicle 1 and to obtain information regarding the object's position and / or speed. For example, the detection sensor 200 can be configured to obtain the position and speed information of the other vehicle 2 in real time when the other vehicle 2 is in front of vehicle 1. As described above in conjunction with Fig. As described in section 1, if the other vehicle 2 is driving in front of the vehicle 1, the driver of the vehicle 1 can perform steering-based evasive maneuvers towards the other vehicle 2 by operating the steering wheel of the vehicle 1.

[0062] When vehicle 1 is steered to avoid an object, referring to Fig. 7. A control area for the steering-based evasive maneuver of vehicle 1 can be divided into an "evasive maneuver section," a "counter-steering section," and a "stabilized phase." In the evasive maneuver section, vehicle 1 can be steered to avoid a collision with the object; in the counter-steering section, vehicle 1 can be steered in a direction opposite to the direction of the steering-based evasive maneuver in order to return to an original path after avoiding the object; in the stabilized section, vehicle 1 can be steered to travel straight along an original path.

[0063] The evasive steering assist system of vehicle 1 can be configured in 1100 to determine a yaw rate required to steer vehicle 1 to avoid the other vehicle 2, under the control of control unit 100. For example, control unit 100 can be configured to assist the steering to improve the yaw rate of vehicle 1 by applying partial braking to the inside wheel of vehicle 1, so that vehicle 1 effectively steers to avoid the other vehicle 2 based on the driver's steering-based evasive steering control.

[0064] Specifically, as in Fig. As shown in Figure 3, the control unit 100 can calculate a yaw rate γ required to steer vehicle 1 so that it avoids the other vehicle 2, based on the length L. veh of vehicle 1, the width w veh of vehicle 1 and coordinates (x d , y d) the position of the other vehicle 2, where the distance between the steering-based avoidance path for vehicle 1 to avoid the other vehicle 2 and the other vehicle 2 is minimized, may be configured in the following equation (1): γdes=2vx(12wveh+yd)xd2+yd2+14Lveh2+14wveh2−4Lvehxd+4wvehyd where γ des denotes the yaw rate required to steer vehicle 1 so that it avoids the other vehicle 2, and (x d , y d ) denotes a point of the other vehicle 2 that is connected to a point (P x , P y ) is connected in the steering-based avoidance path, where the distance between the steering-based avoidance path for vehicle 1 to avoid the other vehicle 2 and the other vehicle 2 is minimized, as in Fig. 3 shown.

[0065] The control unit 100 can be used to determine the coordinates (x d , y d) the position of the other vehicle 2, where there is a vertical distance from the point (P x , P y The steering-based evasive maneuver of vehicle 1 is minimized based on the position information of the other vehicle 2 acquired by the detection sensor 200 and the steering-based evasive maneuver of vehicle 1. When vehicle 1 is steered to avoid the other vehicle 2, the distance D between vehicle 1 and the other vehicle 2 should be sufficiently ensured so that the steering-based evasive maneuver can be executed without a collision between vehicle 1 and the other vehicle 2.

[0066] Furthermore, the control unit 100 can be configured to assist vehicle 1 during steering-based evasive maneuvers by applying partial braking to the inside wheel of vehicle 1 based on the calculated yaw rate. Specifically, the control unit 100 can be configured to calculate a yaw moment required for partial braking at the inside wheel of vehicle 1 based on the yaw rate, which is derived from the vehicle speed v. x of vehicle 1, the yaw rate γ des , which is required to steer vehicle 1 so that it avoids the other vehicle 2, and a yaw rate determined on the basis of the steering angle of vehicle 1 obtained by the steering angle sensor 85, configured in 1200.

[0067] The control unit 100 can be configured to calculate the yaw moment required for partial braking at the inner wheel of vehicle 1 based on the following equation (2): Mz=f1(vx,γ,γdes−g(δ)) where M z g(δ) is a moment in the direction of a yaw rate, generated at the inner wheel of vehicle 1 during partial braking in the direction of the steering-based evasive maneuver of vehicle 1. γ is the current yaw rate of vehicle 1, and g(δ) is the expected yaw rate due to the current steering input of vehicle 1.

[0068] The control unit 100 can then be configured to apply partial braking to the inside wheel of vehicle 1 with a brake pressure Pi determined based on the calculated yaw moment in 1300. The control unit 100 can be configured to assist vehicle 1 with steering-based evasive action by actuating the brake driver 72 to apply partial braking to the inside wheel of vehicle 1. In this regard, the control unit 100 can be configured as the difference between the yaw rate γ increases. des, which is required for the steering-based evasive maneuver of vehicle 1, and the expected yaw rate g(δ) due to current steering of vehicle 1 to apply partial braking to the inside wheel of vehicle 1 with greater brake pressure.

[0069] In a time span from t1 to t2, referring to Fig. 7. The control unit 100 can be configured to assist vehicle 1 with steering-based evasive action by applying partial braking to the inside wheel of vehicle 1. Specifically, the control unit 100 can be configured to perform partial braking for the inside wheel of vehicle 1 with a brake pressure determined based on the calculated yaw moment for a given time interval from t1. Meanwhile, while the partial braking is applied to the inside wheel to assist the steering-based evasive action of vehicle 1, vehicle 1 may experience slip in a direction opposite to the direction of the steering-based evasive action, and therefore the beta value may increase in the direction opposite to the direction of the steering-based evasive action.

[0070] The control unit 100 can be configured in 1400 to obtain information regarding the beta value, which changes during the steering-based evasive maneuver of vehicle 1. The control unit 100 can also be configured to calculate a yaw moment required for partial braking at the outer wheel of vehicle 1, based on the vehicle speed v. x of vehicle 1 and the obtained beta value β of vehicle 1 in 1500. For example, the control unit 100 can be configured to calculate the yaw moment required for partial braking at the outer wheel of vehicle 1 based on the following equation (3): Mz=f2(vx,β) where M z a moment in the direction of a yaw rate that is generated in the direction opposite to the direction of the steering-based evasive maneuver of vehicle 1 while partial braking is performed on the outer wheel of vehicle 1.

[0071] Furthermore, the control unit can calculate the brake pressure P. o , which is required to apply partial braking to the outer wheel, must be configured based on the calculated yaw moment.

[0072] Control unit 100 can then be configured in 1600 to compare the beta value of vehicle 1 obtained during steering-based evasive maneuvers with a predetermined threshold. Control unit 100 can be configured in 1700 to terminate partial braking at the inner wheel of vehicle 1 if the beta value of vehicle 1 exceeds the threshold, and in 1800 to apply partial braking to the outer wheel of vehicle 1 with the brake pressure determined based on the calculated yaw moment.

[0073] After vehicle 1 initiates the steering-based evasive steering assistance at time t1, referring to Fig. 7, the beta value of vehicle 1 increases in a direction opposite to the direction of the steering-based evasive maneuver and exceeds the predetermined threshold β at time t2. t If the beta value of vehicle 1 exceeds the predetermined threshold, vehicle 1 is likely to collide with the other vehicle 2 due to slippage of vehicle 1, even while vehicle 1 is steering to avoid the other vehicle 2.

[0074] The predetermined threshold of the beta value can be set in advance based on a distance between a point on the steering-based evasive maneuver path of vehicle 1 and the other vehicle 2, and stored in memory 90. Control unit 100 can be configured to apply partial braking to the outer wheel of vehicle 1 with the brake pressure P0 determined based on the yaw moment calculated above, starting from time t2 when the beta value obtained during steering-based evasive maneuvering of vehicle 1 exceeds a predetermined value. If the beta value of vehicle 1 exceeds the predetermined value, control unit 100 can be configured to terminate partial braking at the inner wheel of vehicle 1 and to reduce the beta value by applying partial braking to the outer wheel of vehicle 1.

[0075] As in Fig.As shown in Figure 7, the beta value of vehicle 1 decreases as soon as partial braking is initiated at the outer wheel of vehicle 1, thus preventing the distance to the other vehicle 2 from decreasing due to slippage of vehicle 1 in a direction opposite to the direction of steering-based evasive action during the steering-based evasive action of vehicle 1.

[0076] According to an exemplary embodiment of the present disclosure, the vehicle 1 and the method for controlling it can initiate steering-based evasive action when the driver of vehicle 1 operates the steering wheel if there is a risk of a collision between vehicle 1 and the other vehicle 2. The control unit 100 can be configured to determine a yaw rate required to steer vehicle 1 to avoid an object, to calculate a yaw moment required for partial braking at the inner wheel of vehicle 1 based on the determined yaw rate, and to assist vehicle 1 in steering to avoid the object by performing partial braking at the inner wheel of vehicle 1 with a brake pressure determined based on the calculated yaw moment.

[0077] The control unit 100 can be configured to obtain information regarding the beta value generated during steering-based evasive maneuvers of vehicle 1 in a direction opposite to the direction of the steering-based evasive maneuver and to compare the beta value with a pre-stored threshold value. The control unit 100 can be configured to calculate a yaw moment required for partial braking at the outer wheel of vehicle 1 during steering-based evasive maneuvers. If the beta value of vehicle 1 exceeds the predetermined beta value, the control unit 100 can be configured to reduce the beta value of vehicle 1 by adjusting the partial braking at the outer wheel of vehicle 1 with a brake pressure determined based on the calculated yaw moment.

[0078] Specifically, the control unit 100 can be configured to terminate the partial braking on the inner wheel of vehicle 1, which until then has been carried out to support the steering-based evasive maneuver of vehicle 1, and to begin applying partial braking to the outer wheel of vehicle 1, thereby reducing the beta value generated in the direction opposite to the direction of the steering-based evasive maneuver in order to ensure a distance between vehicle 1 and an object while supporting the steering-based evasive maneuver of vehicle 1.

[0079] According to an exemplary embodiment of the present disclosure, a vehicle and a method for controlling it have the advantage of effective steering to avoid a nearby object by performing auxiliary yaw rate control for steering to avoid the object. In addition to steering-based avoidance, the vehicle and the method for controlling it have the further advantage of ensuring the maximum distance between the vehicle and the object by taking into account the lateral slip of the vehicle.

[0080] Meanwhile, the exemplary embodiments of the present disclosure can be implemented in the form of recording media for storing instructions to be executed by a computer. The instructions can be stored in the form of program code and, when executed by a processor, generate program modules for carrying out the operation in the embodiments of the present disclosure. The recording media can correspond to non-volatile, computer-readable recording media. Non-volatile, computer-readable recording media include any type of recording medium with data stored on it that can subsequently be read by a computer. Examples include ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0081] Although several exemplary embodiments have been described above, a person skilled in the art will understand and recognize that various modifications can be made without deviating from the scope of protection of the present disclosure. It is therefore apparent to the person skilled in the art that the true scope of the technical protection is defined only by the following claims.

Claims

[1] Vehicle (1) comprising: a speed sensor configured to detect the vehicle's speed (1); a detection sensor (200) configured to obtain information regarding the position and / or speed of an object in the vicinity of the vehicle (1); a steering angle sensor (85) configured to detect a steering angle of the vehicle's steering wheel (1), a yaw rate sensor (88) for determining the yaw rate of the vehicle frame (1); and a control unit (100) that is configured: to determine a yaw rate required to steer the vehicle (1) so that it avoids the object, If it is not possible to generate the specified yaw rate, obtain a yaw moment required for partial braking at an inside wheel of the vehicle (1) based on the vehicle's (1) speed, the yaw rate detected by the yaw rate sensor (88), the specified yaw rate, and a yaw rate determined based on the detected steering angle. to apply partial braking at the inner wheel of the vehicle (1) based on the obtained yaw moment required for partial braking at the inner wheel, if the generation of the specified yaw rate is possible and a beta value of the vehicle (1) obtained during the steering evasive maneuver exceeds a predetermined value, Obtaining a yaw moment required for partial braking at an outer wheel of the vehicle (1), based on the vehicle's (1) speed and the obtained beta value, and Applying partial braking at the outer wheel of the vehicle (1) based on the yaw moment required to partially brake at the outer wheel of the vehicle (1) to reduce the beta value of the vehicle. [2] Vehicle (1) according to claim 1, wherein the control unit (100) is configured to terminate partial braking at the inner wheel of the vehicle (1) when the beta value of the vehicle (1) exceeds the predetermined value. [3] Vehicle (1) according to claim 1 or 2, wherein the inner wheel of the vehicle (1) has a wheel of the vehicle (1) that is positioned on an inside of an axis of rotation about which the vehicle (1) rotates in order to be steered in such a way as to avoid the object, and the outer wheel of the vehicle (1) has a wheel of the vehicle (1) that is positioned on an outside of an axis of rotation about which the vehicle (1) rotates in such a way as to avoid the object. [4] Vehicle (1) according to any of the preceding claims, wherein the control unit (100) is configured to obtain the yaw rate required to steer the vehicle (1) to avoid the object, based on the length of the vehicle (1), the width of the vehicle (1) and the coordinates of the position of the object, where a distance between a steering-based evasive path for the vehicle (1) to steer it to avoid the object and the object is minimized. [5] Vehicle (1) according to claim 4, wherein the control unit (100) is configured to determine the coordinates of the position of the object where a vertical distance to the steering-based evasive path is minimized, based on the position information of the object obtained from the detection sensor (200) and the steering-based evasive path of the vehicle (1). [6] Vehicle (1) according to claim 1, wherein the yaw moment required for partial braking at the inner wheel of the vehicle (1) corresponds to a yaw moment in a steering-based evasive direction of the vehicle (1) and the control unit (100) is configured to apply partial braking to the inner wheel of the vehicle (1) with brake pressure determined on the basis of the calculated yaw moment. [7] Vehicle (1) according to claim 1, wherein the yaw moment required for partial braking on the outer wheel of the vehicle (1) corresponds to a yaw moment in a direction opposite to the steering-based evasive direction of the vehicle (1) and the control unit (100) is configured to apply partial braking to the outer wheel of the vehicle (1) with brake pressure determined on the basis of the calculated yaw moment. [8] Vehicle (1) according to one of the preceding claims, wherein the beta value of the vehicle (1) includes a numerical value of an extent to which the vehicle (1) experiences slip in a direction opposite to the steering-based evasive maneuver during steering-based evasive maneuvers. [9] Methods for steering a vehicle (1), comprising: Received, by a control unit (100), information relating to the position and / or speed of an object in the vicinity of the vehicle (1); Determine, by the control unit (100), a yaw rate required to steer the vehicle (1) so that it avoids the object; Obtained by the control unit (100), a yaw moment required for partial braking at an inside wheel of the vehicle (1) is based on the vehicle's (1) speed, the yaw rate detected by a yaw rate sensor (88), the specified yaw rate, and a yaw rate determined on the basis of a detected steering angle if generating the specified yaw rate is not possible. Applying, by means of the control unit (100), a partial braking action at the inner wheel of the vehicle (1) based on the obtained yaw moment required for partial braking at the inner wheel; if the generation of the specified yaw rate is possible and a beta value of the vehicle (1) obtained during the steering evasive maneuver exceeds a predetermined value, Obtaining a yaw moment required for partial braking at an outer wheel of the vehicle (1), based on the vehicle's (1) speed and the obtained beta value, and Apply, by the control unit (100), partial braking at the outer wheel of the vehicle (1) based on the yaw moment required to partially brake at the outer wheel of the vehicle (1) to reduce the beta value of the vehicle (1). [10] Method according to claim 9, wherein the application of partial braking to the outer wheel of the vehicle (1) comprises: Termination, by the control unit (100), of the partial braking at the inner wheel of the vehicle (1) when the beta value of the vehicle (1) exceeds the predetermined value. [11] Method according to claim 9 or 10, wherein determining the yaw rate required to steer the vehicle (1) so that it avoids the object comprises: Calculate, by the control unit (100), a yaw rate required to steer the vehicle (1) to avoid the object, based on the length of the vehicle (1), the width of the vehicle (1) and the coordinates of the object's position where the distance between a steering-based evasive path to steer the vehicle (1) to avoid the object and the object is minimized. [12] The method of claim 11, further comprising: Determine, by the control unit (100), the coordinates of the position of the object at which a vertical distance to the steering-based evasive path is minimized, based on position information of the object obtained by the detection sensor (200) and the steering-based evasive path of the vehicle (1). [13] Method according to claim 9, wherein the application of partial braking to the inner wheel of the vehicle (1) comprises: Apply, by the control unit (100), a partial braking to the inner wheel of the vehicle (1) with brake pressure determined on the basis of the calculated yaw moment. [14] Method according to claim 9, wherein the application of partial braking to the outer wheel of the vehicle (1) comprises: Apply, by the control unit (100), a partial braking to the outer wheel of the vehicle (1) with brake pressure determined on the basis of the calculated yaw moment.

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