DEVICE AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING
Patent Information
- Application Number
- DE102024201622
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-07-31
- Filing Date
- 2024-02-22
- Publication Date
- 2025-02-06
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
TECHNICAL FIELDThe present disclosure relates to an autonomous driving control device and a method thereof, and more particularly to technologies for performing steering control of a host vehicle using the amount of control loss.BACKGROUNDThe statements in this section merely provide background information related to the present disclosure and do not constitute prior art.As autonomous vehicles have gradually gained popularity, various technologies related to autonomous driving have been developed. Autonomous driving may be divided into semi-autonomous driving, conditionally autonomous driving, highly autonomous driving, and / or fully autonomous driving, depending on the control level.Among the control functions for autonomous driving, various functions and / or devices for controlling a control amount for driving control of a host vehicle (e.g., torque for steering control) have been developed.Generally, a power steering system is an in-vehicle system that serves to reduce the effort (i.e., steering force) that the driver needs to apply to turn the steering wheel and also ensures stability of the steering state. Unlike the existing hydraulic system that operates with hydraulic pressure, an electronic power steering (EPS) that assists the driver's steering force by the rotational force of the motor is usually installed in the vehicle.Such an EPS is divided into a column EPS (C-EPS) in a column driving scheme, a rack EPS (R-EPS) in a rack driving scheme, and the like. The C-EPS has a form in which a drive motor is disposed between a steering wheel and a transmission, and is configured such that a motor is installed on an outer side of a steering column to transmit a steering wheel rotational force of a driver to a lower side and to rotate a steering shaft in the steering column. The R-EPS has a form in which a drive motor is mounted on a part (a rack and pinion gear) connected to a tie rod, and is a system having a similar responsiveness to a hydraulic steering system as compared with the C-EPS because its mounting position is the same as the position in which the existing hydraulic steering system operates.Since an electronic control unit (ECU) drives a motor based on information detected by a vehicle speed sensor, a steering sensor, a torque sensor, and the like, a steering device according to an existing technology actively provides a steering assist force based on the speed of the vehicle. Such a control scheme may include an assist current map scheme for receiving information about the vehicle and generating a torque to be compensated.However, in a method according to the existing technology, when a user operates a steering wheel to intervene in the steering control of a host vehicle while the autonomous driving control device performs the steering control of the host vehicle, the user may feel a feeling of difference because a reaction force by the steering wheel or the like occurs.In particular, when the user attempts to intervene in the steering while the autonomous driving control device performs the steering control on the basis of a required steering angle for the host vehicle, the autonomous driving control device may regard the intervention of the user in the steering as a disturbance. The autonomous driving control device performs the steering angle control with greater intensity, and the user experiences a reaction force due to the steering angle control as a feeling of difference.SUMMARYThe present disclosure has been made to solve the above problems occurring in the related art while retaining the advantages of the related art.An aspect of the present disclosure provides an autonomous driving controller to set an amount of control loss to a certain value within a certain range when a user required torque is identified while a host vehicle is controlled based on a required steering angle.Another aspect of the present disclosure provides an autonomous driving control device for identifying a torque sensor value corresponding to a user required torque using power steering included in a steering device.Another aspect of the present disclosure provides an autonomous driving control device for identifying a torque sensor value corresponding to a user required torque using a torque map stored in a memory based on a vehicle speed of a host vehicle and a magnitude of a user required torque.Another aspect of the present disclosure provides an autonomous driving control device with which a feedback loss can be set to be inversely proportional to a magnitude of a torque sensor value.Another aspect of the present disclosure provides an autonomous driving control device that provides a function of performing steering control of a host vehicle on the basis of a required steering angle, a user required torque, or an amount of control damping, or an embodiment.The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and all other technical problems not mentioned herein should be clearly understood by those having ordinary skill in the art to which the present disclosure pertains from the following description.According to an aspect of the present disclosure, an autonomous driving control device may include a steering device, a memory that stores at least one instruction, and a controller that is operatively connected to the steering device and the memory. In one embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to determine a user required torque received via the steering device while controlling a host vehicle based on a required steering angle, determine a torque sensor value corresponding to the user required torque using the steering device to set a use ratio between the required steering angle and the user required torque based on the torque sensor value, and perform the steering control of the host vehicle based on the required steering angle and / or the user required torque and / or the amount of control loss, or any combination thereof.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to determine the torque sensor value corresponding to the user required torque using the power steering included in the steering device.According to an embodiment, the at least one command may be configured to, when executed by the control unit, cause the autonomous driving controller to determine a vehicle speed of the host vehicle and determine the torque sensor value using a torque map previously stored in the memory based on the user required torque and the vehicle speed.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to adjust the amount of control damping to be inversely proportional to the torque sensor value.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to attenuate an amount of motor control used to perform the steering control of the host vehicle to follow the required steering angle based on the amount of the set control attenuation, and perform the steering control of the host vehicle based on the amount of the attenuated motor control.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to attenuate the torque sensor value by an attenuation ratio identified based on the amount of the adjusted control attenuation, and to perform the steering control of the host vehicle further based on the attenuated torque sensor value.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to set the amount of control loss to an arbitrary value within a certain range based on the torque sensor value and determine the damping ratio generated by subtracting the amount of the set control loss from a certain value.According to an embodiment, the autonomous driving control device may further include a sensor device. In one embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to determine driving environment information of the host vehicle using the sensor device and reduce the amount of control loss when identifying a situation in which the control authority for the host vehicle needs to be handed over to a user based on the driving environment information.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to identify sensing information including at least one of biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof, based on at least a part of the sensing information, determine whether the torque required by the user is based on an intention of the user, and end the adjustment of the amount of control loss when it is determined that the torque required by the user is not based on the intention.According to an embodiment, the at least one command may be configured to, when executed by the controller, cause the autonomous driving controller to stop the steering control based on the required steering angle when the amount of control loss is set to correspond to a minimum value in a predetermined range, and perform the steering control based on the user required torque.According to another aspect of the present disclosure, an autonomous driving control method may include determining, by a controller, a user required torque received by a steering device while a host vehicle is being controlled based on a required steering angle, determining, by the controller, a torque sensor value corresponding to the user required torque using the steering device, adjusting, by the controller, an amount of control loss by a utilization ratio between the required steering angle and the user required torque based on the torque sensor value, and performing, by the controller, steering control of the host vehicle based on the required steering angle and / or the user required torque and / or the amount of control loss, or any combination thereof.According to an embodiment, the determination of the torque sensor value corresponding to the user required torque using the steering device may include: the determination of the torque sensor value corresponding to the user required torque by the controller using the power steering of the steering device.According to an embodiment, the determination of the torque sensor value corresponding to the user required torque using the steering device may include: determining, by the controller, a vehicle speed of the host vehicle; and determining, by the controller, the torque sensor value using a torque map previously stored in a memory based on the user required torque and the vehicle speed.According to an embodiment, adjusting the amount of control damping about the use ratio between the required steering angle and the user required torque based on the torque sensor value signal may include: adjusting, by the controller, the amount of control damping to be inversely proportional to the torque sensor value.According to an embodiment, performing the steering control of the host vehicle based on the required steering angle, the user required torque, or the amount of control loss, or any combination thereof may include: damping, by the control, an amount of motor control used to perform the steering control of the host vehicle to follow the required steering angle, and performing the steering control of the host vehicle based on the amount of damped motor control, by the control.According to an embodiment, performing the steering control of the host vehicle based on the required steering angle and / or the user required torque and / or the amount of control damping, or any combination thereof may further include damping, by the controller, the torque sensor value by a damping ratio determined based on the amount of the set control damping, and performing the steering control of the host vehicle by the controller based on the damped torque sensor value.According to an embodiment, the autonomous driving control method may further include: adjusting, by the controller, the amount of control loss to an arbitrary value within a certain range based on the torque sensor value; and determining, by the controller, the damping ratio generated by subtracting the amount of the set control loss from a certain value.According to an embodiment, the autonomous driving control method may further include: determining, by the controller, driving environment information of the host vehicle using a sensor device; and reducing, by the controller, the amount of control loss when a situation in which the control authority for the host vehicle needs to be handed over to a user based on the driving environment information is detected.According to an embodiment, the autonomous driving control method may further include: identifying, by the controller, sensing information including at least one biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof using a sensor device; determining, by the controller, whether the user-requested torque is based on an intention of the user based on at least a part of the sensing information; and not adjusting the amount of control loss when it is determined that the user-requested torque is not based on the intention.According to an embodiment, the autonomous driving control method may further include: stopping, by the controller, the steering control based on the required steering angle when the amount of control loss is set to correspond to a minimum value in a predetermined range; and performing, by the controller, the steering control based on the user required torque.BRIEF DESCRIPTION OF THE DRAWINGSThe above and other objects, features and advantages of the present disclosure should become more apparent from the following detailed description when taken in conjunction with the accompanying drawings: FIG. 1 is a block diagram showing the components of an autonomous driving control device according to an embodiment of the present disclosure; FIG. 2 is a block diagram showing the components of an autonomous driving control device according to an embodiment of the present disclosure; FIG. 3 is a block diagram showing the components of an autonomous driving control device according to an embodiment of the present disclosure; FIG. 4 is an operation flowchart of an autonomous driving control device according to an embodiment of the present disclosure; FIG. 5 is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure; FIG. 6 illustrates a computer system for an autonomous driving control method according to an embodiment of the present disclosure.In the description of the drawings, the same or similar terms may be used for the same or similar components.DETAILED DESCRIPTIONHereinafter, some embodiments of the present disclosure will be described in detail with reference to the example drawings. Throughout the drawings, the same reference numerals are used to designate the same or equivalent components. Moreover, detailed description of well-known features or functions will be omitted so as not to unnecessarily obscure the gist of the present disclosure.In describing the components of the embodiment according to the present disclosure, terms such as "first", "second", "A", "B", (a), (b), and the like may be used. These terms are used only to distinguish one element from another element, but do not limit the respective elements regardless of the order or priority of the respective elements. Unless otherwise defined, all terms used herein, including technical and scientific terms, are to be interpreted as common in the art to which this disclosure pertains. It should be understood that the terms used herein are to be understood as having a meaning that is consistent with their meaning in the context of this disclosure and the related art, and are not to be understood in an idealized or overly formal sense unless expressly so defined herein. When a component, a device, an element, or the like of the present disclosure is described as being tracking a purpose or executing an operation, function, or the like, the component, the device, or the element should be considered herein as being "configured to" achieve this purpose or executing this operation or function.Hereinafter, embodiments of the present disclosure will be described in detail with reference to FIGS. 1-6.FIG. 1 is a block diagram showing the components of an autonomous driving control device according to an embodiment of the present disclosure.According to an embodiment, an autonomous driving control device 100 may include at least one steering device 110, a storage 120, a controller 130, or a sensor device 140, or any combination thereof. The components of the autonomous driving control device 100 illustrated in FIG. 1 are illustrative, and the embodiments of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may include other components (e.g., at least one interface, a communication device, or a display, or any combination thereof) not illustrated in FIG. 1.According to an embodiment, the steering device 110 may include at least one component for steering control of a host vehicle. For example, the steering device 110 may include at least one of the following components: a steering angle controller, a user intervention determination device, a user power steering controller, or a driving device controller, or any combination thereof.Moreover, an operation of the steering device 110 described below may be an operation performed by the steering device 110 alone, but also an operation performed by the controller 130, since at least a part of the steering device 110 and the controller 130 are implemented as a chipset.In an embodiment, the steering device 110 may include a motor driven power steering (MDPS) and / or an electric power steering (EPS).For example, the steering device 110 may receive a user input from a user and determine (or identify) a user-required torque based on the user input. For example, the steering device 110 may determine (or identify) a user-required torque corresponding to a user input to a steering wheel.In one embodiment, the steering device 110 may include a power steering that may determine (or identify) a torque sensor value using the user desired torque determined based on the user input.A detailed description of the components of the steering device 110 will be replaced with the description of FIG. 2 described below.According to one embodiment, the memory 120 may store a command or data. For example, the memory 120 may store one or more commands that, when executed by the controller 130, cause the autonomous driving control device 100 to perform various operations.In one form, the memory 120 and the controller 130 may be implemented as a chipset. The controller 130 may include at least one communication processor or a modem.For example, the storage 120 may store various pieces of information connected to the autonomous driving control device 100. For example, the memory 120 may store information about the operation history of the controller 130. In one embodiment, the memory 120 may store information about states and / or operations of components (e.g., at least one of an engine control unit (ECU), the steering device 110, the controller 130, or the sensor device 140, or any combination thereof) of the host vehicle.According to an embodiment, the controller 130 may be operatively connected to the steering device 110, the memory 120, and / or the sensor device 140. For example, the controller 130 may control the operation of the steering device 110, the memory 120, and / or the sensor device 140.In an embodiment, the controller 130 may control the host vehicle based on a required steering angle. The required steering angle may correspond to a control amount obtained for the steering control of the host vehicle by the controller 130 while the controller 130 performs the autonomous driving control for the host vehicle.For example, controller 130 may determine (or generate, determine) an amount of motor control corresponding to the desired steering angle using steering device 110. For example, the amount of motor control may be an amount of control used to perform the steering control of the host vehicle to follow the required steering angle.For example, when performing the autonomous driving control (or controlling the host vehicle based on the required steering angle), the controller 130 may determine (or identify) a user-required torque received via the steering device 110.In one embodiment, the controller 130 may determine (or identify) a torque sensor value corresponding to the user desired torque using the steering device 110. For example, the torque sensor value may be a control quantity that is actually input to a drive device (e.g., a motor) to control the drive device.For example, the controller 130 may determine (or identify) a torque sensor value corresponding to the user desired torque using the power steering of the steering device 110.For example, the controller 130 may determine (or identify) a torque sensor value from a torque map previously stored in the memory 120 based on the user required torque and the vehicle speed.In one embodiment, the controller 130 may adjust an amount of control damping via a use ratio between the required steering angle and the user required torque based on a magnitude of the torque sensor value.For example, the controller 130 may adjust the amount of control damping to be inversely proportional to the magnitude of the torque sensor value.In one embodiment, the controller 130 may control the steering of the host vehicle based on the required steering angle, the user required torque, or the amount of control damping, or any combination thereof.In another embodiment, the controller 130 may perform steering of the host vehicle based on a torque value obtained by multiplying a torque value obtained based on the required steering angle obtained to perform steering based on the required steering angle by the amount of control loss.In one embodiment, the controller 130 may attenuate the value of the torque sensor by an attenuation ratio determined based on the amount of the adjusted control attenuation, and then may perform the steering control of the host vehicle based on the attenuated torque sensor value. The amount of control attenuation and / or the attenuation ratio may be one of certain real values from "0" to "1".For example, the controller 130 may attenuate an amount of engine control used to perform the steering control of the host vehicle to follow the required steering angle based on the amount of the set control attenuation, and then may perform the steering control of the host vehicle based on the amount of the attenuated engine control.For example, the controller 130 may set the amount of control damping to any value within a certain range based on the magnitude of the torque sensor value. The specified range may include, for example, a range between "0" and "1.".For example, the controller 130 may determine (or identify) an attenuation ratio generated by subtracting the amount of the adjusted control attenuation from a predetermined value. The predetermined value may be, for example, "1". If the amount of the adjusted control damping is 0.3, for example, the damping ratio can be 0.7. In other words, the sum of the amount of control attenuation and the attenuation ratio may be "1.". However, the above numerical values are illustrative only, and the embodiments of the present disclosure are not limited thereto.According to an embodiment, the sensor device 140 may obtain (or identify) various information (e.g., sensing information including at least one of user biometric information, host vehicle internal information, or host vehicle driving environment information, or any combination thereof) used for driving the host vehicle.The sensor device 140 may include, for example, at least one sensor including at least one camera, a radio detection and ranging (RADAR), a light detection and ranging (LiDAR), or any combination thereof.For example, the sensor device 140 may determine (or identify) information about the driving environment including information about a driving speed of the host vehicle, a driving acceleration of the host vehicle, a driving direction of the host vehicle, a destination of the host vehicle, a driving route of the host vehicle, a driving mode of the host vehicle, a road of the host vehicle, or an area adjacent to the host vehicle, or any combination thereof.For example, the controller 130 may recognize a situation in which the control authority for the host vehicle needs to be handed over to the user based on the driving environment information identified using the sensor device 140. The above-mentioned situation may include a problem situation that includes at least one of the following situations: a situation where there is a possibility that the host vehicle collides with an external object (e.g., another vehicle), a situation where the external object approaches the host vehicle, or a situation where a problem occurs in at least a part of the driving behavior and / or a component of the host vehicle, or any combination thereof.For example, the sensor device 140 may identify biometric information of the user that includes information about at least one of the user's face, the user's body, movement of the user, eye blinking of the user, or any combination thereof.For example, the sensor device 140 may identify internal information of the host vehicle, include information about the internal temperature of the host vehicle, the humidity of the host vehicle, a user riding in the host vehicle, or an open state of the door of the host vehicle, or any combination thereof.For example, the controller 130 may determine whether a user-required torque for the steering device 110 is based on a user's intention based on at least one of the user's biometric information, the host vehicle's internal information, or the host vehicle's driving environment information identified by the sensor device 140, or any combination thereof. In other words, the controller 130 may determine whether the user intentionally makes an input to the steering device 110.For example, when the driving environment information of the host vehicle is identified using the sensor device 140 and the situation is detected that the control authority for the host vehicle needs to be handed over to the user based on the driving environment information, the controller 130 may reduce the amount of control loss.For example, using the sensor device 140, the controller 130 may identify sensing information including at least one of the user's biometric information, the host vehicle's internal information, or the host vehicle's driving environment information, or any combination thereof. The controller 130 may determine whether the user-demanded torque is based on a user's intention, for example, based on at least a portion of the sensing information. For example, if it is determined that the user demanded torque is not based on the intention of the user, the controller 130 may not adjust the amount of control damping.For example, when the amount of control loss is set to correspond to a minimum value (e.g., "0") within a predetermined range, the controller 130 may stop the steering control based on the required steering angle and perform the steering control based on the user required torque. In other words, the controller 130 may end the steering control based on the autonomous driving control and perform the steering control based on the user required torque. In other words, the controller 130 may provide the autonomous driving control to the user via the steering control.FIG. 2 is a block diagram showing the components of an autonomous driving control apparatus according to an embodiment of the present disclosure.According to an embodiment, an autonomous driving control apparatus (e.g., an autonomous driving controller 100 of FIG. 1 ) may include a steering apparatus 210 and / or a controller 230 (e.g., a controller 130 of FIG. 1 ).The structure of the components shown in FIG. 2 is illustrative, and the embodiments of the present disclosure are not limited thereto. For example, at least some of the components included in the steering device 210 in FIG. 2 may be implemented together with the controller 230 as a chip. In other words, at least some of the operations of the steering device 210 described below may be performed by the controller 230 (or the control of the controller 230).For example, the controller 230 may provide a required steering angle to the steering device 210 (or a steering angle controller 212). For example, the controller 230 may identify a required steering angle used for the steering control of a host vehicle while performing autonomous driving control for the host vehicle, and supply the identified required steering angle to the steering angle controller 212 included in the steering device 210.For example, the steering device 210 may execute control logic for driving a driving device (e.g., a motor) using the required steering angle provided via the steering angle controller 212. For example, the steering angle controller 212 may provide the result derived by the control logic (e.g., desired steering angle follow logic) to a propulsion device controller 218.For example, the steering device 210 may receive a user required torque from a user 250. For example, the steering device 210 may identify a user-requested torque corresponding to a user input to an input device (e.g., a steering wheel). In other words, the user desired torque may be a torque corresponding to a user input input for intervention in the steering control by the user 250 while the host vehicle is traveling based on autonomous driving control.For example, the steering device 210 may execute control logic for driving the driving device, wherein the user required torque is provided via a user power steering controller 214 (or power steering). For example, the user power steering controller 214 may provide the result derived via the control logic (e.g., a torque sensor value corresponding to the user required torque) to the propulsion device controller 218.For example, the drive device controller 218 may provide at least some of the parameters used to control the drive device to the controller 230. For example, the propulsion device controller 218 may relay the torque sensor value corresponding to the user demanded torque to the controller 230.For example, the controller 230 may adjust an amount of control damping based on the delivered torque sensor value and deliver the amount of adjusted control damping to a user engagement determiner 216.For example, the controller 230 may set a control loss by a use ratio between the required steering angle and the user required torque based on a magnitude of the torque sensor value.For example, the controller 230 may adjust the amount of control damping to be inversely proportional to the magnitude of the torque sensor value. The controller 230 may adjust the amount of control loss to an arbitrary value within a certain range. The specified range may include, for example, a range between "0" and "1.". In other words, the amount of control loss may be any real value between "0" and "1.".For example, the controller 230 may further determine a damping ratio based on the amount of control damping and pass the damping ratio to the steering device 210.For example, the controller 230 may identify a value resulting from subtracting the amount of control attenuation from a specified value (e.g., "1") as an attenuation ratio. In other words, the sum of the amount of control damping and the damping ratio may be a certain value.For example, the steering device 210 may control the steering of the host vehicle using the amount of control damping and the damping ratio, respectively, that are provided.For example, the steering device 210 may attenuate an amount of motor control used to perform the steering control for the host vehicle to follow the required steering angle based on the amount of adjusted control attenuation using the driving device controller 218, and then may perform the steering control of the host vehicle based on the amount of attenuated motor control.For example, the steering device 210 may attenuate the value of the torque sensor by the attenuation ratio determined based on the amount of the adjusted control attenuation using the control of the driving device 218, and then may perform the steering control of the host vehicle based on the attenuated torque sensor value.For example, when the amount of control damping is "0" (e.g., when the damping ratio is "1"), the steering device 210 may perform the steering control of the host vehicle using only the torque sensor value. As another example, when the damping ratio is "0" (e.g., when the amount of control damping is "1"), the steering device 210 may perform the steering control of the host vehicle using only the required steering angle.FIG. 3 is a block diagram showing the components of an autonomous driving control device according to an embodiment of the present disclosure.According to an embodiment, an autonomous driving controller (e.g., an autonomous driving controller 100 of FIG. 1 ) may include a steering device 310 (e.g., a steering device 110 of FIG. 1 ) and / or a controller 330 (e.g., a controller 130 of FIG. 1 ).For example, the autonomous driving controller may set (or generate) an amount A of control damping by the controller 330 based on a torque sensor value supplied from the steering device 310 to the controller 330.For example, the controller 330 may communicate the amount A of control attenuation to a user intervention determination device 316.For example, the controller 330 may provide a required steering angle to a steering angle controller 312. For example, the steering angle controller 312 may provide a degree of steering control (e.g., a steering angle torque T angle) for the autonomous driving control using motor detection angle θsensor sensing provided by an angle sensor for detecting a motor and the required steering angle, and may provide the degree of steering control to the user intervention determiner 316.For example, the user intervention determiner 316 may multiply the steering angle torque T angle and the amount A of control attenuation. For example, the steering angle torque T angle may be reduced or maintained due to the calculation with the amount A of control loss.For example, the autonomous driving control device may determine a torque sensor value based on a torque requested by the user.For example, the autonomous driving controller may determine a torque sensor value corresponding to the user demanded torque by using a user power steering controller 314.For example, the power steering controller 314 may determine the value of the torque sensor corresponding to the user desired torque by using the power steering included in the steering device 310.For example, the user power steering controller 314 may determine a vehicle speed of the host vehicle and determine a torque sensor value using a torque map previously stored in a memory, further using the user required torque and vehicle speed.For example, the autonomous driving controller may provide a user torque Tassist, which is obtained by adding a torque (e.g., a torque sensor value T boost), which is output from the user power steering controller 314, to a torque (e.g., another torque Ttorque), which is obtained from a steering device auxiliary function controller 350 to operate an auxiliary function of the steering device 310, to the user intervention determiner 316.For example, the autonomous driving controller may multiply the user torque Tassist by a damping ratio B obtained by subtracting an amount A of the control damping from a certain value (e.g., "1"). For example, the user torque Tassist may be reduced or maintained due to the calculation with the amount A of control damping.For example, the autonomous driving controller may add torques determined by the user intervention determiner 316 using the amount A of control damping and the damping ratio B to determine a control torque Tcontrol and may provide the control torque Tcontrol to a driver controller 318.For example, the drive controller 318 may determine a required current I motor required for operation of a motor in response to the control torque Tcontrol and control the motor based on the determined required current I motor.For example, the steering device 310 may add an operation torque T motor of the motor in operation to a rack torque T rack of an in-vehicle rack (or a rack gear), and output the added torque to the rack.FIG. 4 is an operation flowchart of an autonomous driving control device according to an embodiment of the present disclosure.According to an embodiment, an autonomous driving controller (e.g., an autonomous driving controller 100 of FIG. 1 ) may perform the operations disclosed in FIG. 4. For example, at least some of the components (e.g., a steering device 110, a memory 120, a controller 130, and / or a sensor device 140 of FIG. 1 ) included in the autonomous driving controller may be configured to perform the operations of FIG. 4.The operations in S 410 to S 440 may be performed sequentially in one of the following embodiments, but may not necessarily be performed sequentially. For example, the order of the respective operations may be changed, and at least two operations may be performed in parallel. Moreover, contents corresponding to or repeating with the contents described above in connection with FIG. 4 may be briefly described or omitted.According to an embodiment, the autonomous driving controller may receive an input for controlling autonomous driving in S410.For example, when a user input (e.g., a touch input or a press input) is identified in a certain area (e.g., a button) in a host vehicle, the autonomous driving controller may recognize that an input for autonomous driving control has been received, and may start autonomous driving control for a host vehicle.According to an embodiment, in S 420, the autonomous driving controller may perform steering angle control for the host vehicle based on an amount of control loss having a certain value.The initial value of the control loss may be, for example, a predetermined value or a setting value changeable by the user.According to an embodiment, the autonomous driving controller may determine whether a torque sensor value satisfies a certain criterion in S 430.For example, when the value of the torque sensor is outside a certain range, the autonomous driving controller may determine that the value of the torque sensor satisfies the certain criterion. In other words, when the value of the torque sensor is outside the set range, the autonomous driving controller may recognize that the user may experience a reaction force, and determine that the value of the torque sensor satisfies the set criterion to adjust the amount of control loss.For example, when the torque sensor value satisfies the specified criterion (e.g., S 430-YES), the autonomous driving controller may perform S 440.For example, when the value of the torque sensor does not satisfy the specified criterion (e.g., S 430-NO), the autonomous driving controller may perform S 3335.According to an embodiment, the autonomous driving control device may determine whether a driving environment of the host vehicle corresponds to a risk environment in S 433.For example, the autonomous driving controller may determine information on the driving environment of the host vehicle and determine whether there is a situation where the control authority for the host vehicle needs to be handed over to the user based on the information on the driving environment.For example, when the driving environment of the host vehicle corresponds to the risk environment (e.g., S 333-YES), the autonomous driving controller may perform S 440.For example, when the driving environment of the host vehicle does not correspond to the risk environment (e.g., S 333-NO), the autonomous driving control device may repeatedly perform S 420.According to an embodiment, the autonomous driving controller may adjust the amount of control loss and perform steering angle control in S 440.For example, the autonomous driving control device may set the amount of control reduction to an arbitrary value within a certain range. For example, the autonomous driving control device may adjust the amount of control loss to one of specific values between "0" and "1.". For example, the autonomous driving control device may reduce the magnitude of control loss.For example, the autonomous driving controller may perform the steering of the host vehicle according to the autonomous driving control on the basis of a result calculated by multiplying the amount of the adjusted control loss by a steering control parameter for the autonomous driving control that is determined in response to a required steering angle.FIG. 5 is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure.According to an embodiment, an autonomous driving controller (e.g., an autonomous driving controller 100 of FIG. 1 ) may perform the operations disclosed in FIG. 5. For example, at least some of the components (e.g., a steering device 110, a memory 120, a controller 130, and / or a sensor device 140 of FIG. 1 ) included in the autonomous driving controller may be configured to perform the operations of FIG. 5.The operations in S 510 to S 540 may be performed sequentially in one of the following embodiments, but may not necessarily be performed sequentially. For example, the order of the respective operations may be changed, and at least two operations may be performed in parallel. Moreover, contents corresponding to or duplicate the contents described above in connection with FIG. 5 may be briefly described or omitted.According to an embodiment, in S 510, the autonomous driving controller may identify a user required torque received via a steering device while controlling a host vehicle based on a required steering angle.For example, the autonomous driving controller may identify a user-required torque determined based on a user input (e.g., a turning input) to a steering wheel.According to an embodiment, the autonomous driving controller may generate (or identify) a torque sensor value corresponding to the user required torque by using the steering device in S 520.For example, the autonomous driving controller may determine the value of the torque sensor corresponding to the user's desired torque by using the power steering included in the steering device.For example, the autonomous driving controller may identify a vehicle speed of the host vehicle and identify a torque sensor value using a torque map previously stored in a memory based on the user desired torque and the vehicle speed.According to an embodiment, in S 530, the autonomous driving controller may adjust an amount of control loss by a utilization ratio between the required steering angle and the user required torque based on a magnitude of the torque sensor value.For example, the autonomous driving controller may set the amount of control loss to be inversely proportional to the magnitude of the torque sensor value.For example, the autonomous driving control may set the amount of control loss to any value within a certain range based on the magnitude of the torque sensor value. For example, the autonomous driving control device may set the amount of control loss to one of the values between "0" and "1.".For example, the autonomous driving control device may determine a damping ratio generated by subtracting the amount of the set control damping from a certain value.For example, even if the autonomous driving controller has already adjusted the amount of control loss based on the magnitude of the torque sensor value, or even if it determines that there is no need to adjust the amount of control loss, it may reduce the amount of control loss when identifying a situation in which the control authority for the host vehicle needs to be handed over to a user based on driving environment information identified with a sensor device.For example, even if the autonomous driving controller determines to adjust the amount of control loss based on the magnitude of the torque sensor value, the autonomous driving controller may determine whether the torque required by the user is based on an intention of the user based on at least a portion of the sensing information (e.g., at least one biometric information of the user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof) identified using a sensor device. When it is determined that the user required torque is not based on the intention, the autonomous driving controller may stop adjusting the amount of control loss.According to an embodiment, in S 540, the autonomous driving controller may perform the steering control of the host vehicle based on the required steering angle, the user required torque, or the amount of control loss, or any combination thereof.For example, the autonomous driving controller may attenuate an amount of motor for controlling the steering of the host vehicle to follow the required steering angle based on the amount of the set control attenuation, and then may perform the steering control of the host vehicle based on the amount of the attenuated motor control.For example, the autonomous driving controller may attenuate the value of the torque sensor using an attenuation ratio determined based on the amount of the set control attenuation, and then may perform the steering control of the host vehicle based on the attenuated torque sensor value.FIG. 6 illustrates a computer system for an autonomous driving control method according to an embodiment of the present disclosure.Referring to FIG. 6, a computer system 1000 may include, via the autonomous driving control method, at least a processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a mass storage 1600, and a network interface 1700, which are connected to each other via a bus 1200.The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the mass storage 1600. The memory 1300 and the mass storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) 1310 and a random access memory (RAM) 1320.Accordingly, the operations of the method or algorithm described in connection with the embodiments disclosed in the specification may be implemented directly with a hardware module, a software module, or a combination thereof executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and / or the mass storage 1600) such as a RAM, a flash memory, a ROM, an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a register, a hard disk, a removable disk, and a compact disc-ROM (CD-ROM).The example storage medium may be connected to the processor 1100. The processor 1100 may read information from the storage medium and write information to the storage medium. Alternatively, the storage medium may be integrated into the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may be incorporated into a user terminal. In another case, the processor and the storage medium may be housed as separate components in the user terminal.A description will be given of the effects of the autonomous driving control apparatus and the corresponding method according to an embodiment of the present disclosure.According to at least one of the embodiments of the present disclosure, the autonomous driving control device may perform steering angle control, thereby performing more accurate and finer steering control than torque-based control.Moreover, the autonomous driving control device according to at least one of the embodiments of the present disclosure may set a control amount utilization ratio between the steering angle control based on a control attenuation amount identified with a torque sensor value and the steering control by the user, thereby reducing a feeling of difference that the user may feel when engaging the vehicle.Moreover, according to at least one of the embodiments of the present disclosure, the autonomous driving control device may perform the steering control based on the amount of control loss, and thus relatively easily hand over the control authority for the host vehicle (e.g., the control authority for the steering control) to the user.Moreover, various effects directly or indirectly stated by the present disclosure may be provided.Although the present disclosure has been described with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but can be variously modified and modified by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure claimed in the following claims.Therefore, the embodiments of the present disclosure are not intended to limit the technical spirit of the present disclosure, but are merely illustrative. The scope of the present disclosure should be construed based on the appended claims, and all technical ideas within the scope corresponding to the claims should be included in the scope of the present disclosure.
Claims
An autonomous driving control device, comprising: a steering device; a memory storing at least one command; and a controller operatively connected to the steering device and the memory, wherein the at least one command is configured to, when executed by the control unit, cause the autonomous driving control device to: determine a user required torque received via the steering device while controlling a host vehicle based on a required steering angle; determine a torque sensor value corresponding to the user required torque using the steering device; determine an amount of control loss to adjust a use ratio between the required steering angle and the user required torque based on the torque sensor value; and performing the steering control of the host vehicle based on the required steering angle, the user required torque, or the amount of control loss, or any combination thereof.The autonomous driving control device according to claim 1, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to: determine the value of the torque sensor corresponding to the user-demanded torque, using the power steering of the steering device.The autonomous driving control device according to claim 1, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to: determine a vehicle speed of the host vehicle; and determine the torque sensor value from a torque map stored in the memory based on the user required torque and the vehicle speed.The autonomous driving controller of claim 1, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving controller to: adjust the amount of control attenuation inversely proportional to the value of the torque sensor.The autonomous driving control device according to claim 1, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to attenuate an amount of motor control used to perform the steering control of the host vehicle to follow the required steering angle based on the amount of the set control attenuation, and perform the steering control of the host vehicle based on the amount of the attenuated motor control.The autonomous driving control device according to claim 5, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to attenuate the torque sensor value by an attenuation ratio identified based on the amount of the set control attenuation, and to perform the steering control of the host vehicle further based on the attenuated torque sensor value.The autonomous driving control device according to claim 6, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to: adjust the amount of control loss to an arbitrary value within a certain range based on the torque sensor value; and determine the damping ratio that arises by subtracting the amount of the adjusted control loss from a certain value.The autonomous driving control device according to claim 1, further comprising: a sensor device, wherein the at least one command is configured to, when executed by the controller, cause the autonomous driving control device to: determine driving environment information of the host vehicle using the sensor device; and reduce the amount of control loss when detecting a situation in which the control authority for the host vehicle needs to be handed over to a user based on the driving environment information.The autonomous driving control device according to claim 1, further comprising: a sensor device, wherein the at least one command is configured to, when executed by the control unit, cause the autonomous driving control device to: acquire sensing information including at least biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof, using the sensor device; determine whether the user required torque is based on an intention of the user based on at least a part of the sensing information; and end the setting of the control loss when it is determined that the user required torque is not based on the intention.The autonomous driving control device according to claim 1, wherein the at least one command is configured to, when executed by the control unit, cause the autonomous driving control device to: stop the steering control based on the required steering angle when the amount of control loss is set to correspond to a minimum value in a predetermined range, and control the steering based on the user desired torque.An autonomous driving control method, comprising: determining, by a controller, a user required torque received via a steering device while a host vehicle is controlled based on a required steering angle; determining, by the controller, a torque sensor value corresponding to the user required torque using the steering device; adjusting, by the controller, an amount of control damping by a utilization ratio between the required steering angle and the user required torque based on the torque sensor value; and performing, by the controller, the steering control of the host vehicle based on the required steering angle, the user required torque, or the amount of control damping, or any combination thereof.The autonomous driving control method according to claim 11, wherein the determination of the torque sensor value corresponding to the user required torque comprises: determining the torque sensor value corresponding to the user desired torque using the power steering included in the steering device.The autonomous driving control method according to claim 12, wherein the determining the torque sensor value corresponding to the user required torque comprises: determining a vehicle speed of the host vehicle; and determining the torque sensor value using a torque map previously stored in a memory based on the user required torque and the vehicle speed.The autonomous driving control method of claim 11, wherein adjusting the amount of control loss by the usage ratio comprises: adjusting the amount of control loss inversely proportional to the value of the torque sensor.The autonomous driving control method according to claim 11, wherein the performing of the steering control of the host vehicle comprises: attenuating an amount of the motor control used to perform the steering control of the host vehicle to follow the required steering angle based on the amount of the adjusted control attenuation; and performing the steering control of the host vehicle by the controller based on the amount of the attenuated motor control.The autonomous driving control method of claim 15, wherein performing the steering control of the host vehicle further comprises: damping, by the controller, the torque sensor value by a damping ratio identified based on the amount of the set control damping; and performing, by the controller, the steering control of the host vehicle based on the damped torque sensor value.The autonomous driving control method according to claim 16, further comprising: adjusting, by the controller, the amount of control attenuation to an arbitrary value within a certain range based on the torque sensor value; and determining, by the controller, the attenuation ratio generated by subtracting the amount of adjusted control attenuation from a specified value.The autonomous driving control method according to claim 11, further comprising: determining, by the controller, driving environment information of the host vehicle using a sensor device; and reducing, by the controller, the amount of control loss when a situation in which the control authority for the host vehicle needs to be handed over to a user is detected based on the driving environment information.The autonomous driving control method of claim 11, further comprising: identifying, by the controller, sensing information including at least one of biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof, using a sensor device; determining, based on the sensing information, whether the torque required by the user is based on an intention of the user; and no adjustment of the control loss if it is determined that the torque desired by the user is not based on the intention.The autonomous driving control method according to claim 11, further comprising: stopping, by the controller, the steering control based on the required steering angle when the amount of control loss is set to correspond to a minimum value in a predetermined range; and performing, by the controller, the steering control based on the user required torque.