KR-20260066935-A - METHOD AND APPARATUS FOR CONTROLLING DRIVING ROUTE OF VEHICLE

Abstract

The present invention relates to a method for controlling a driving path of a vehicle, comprising: a step of obtaining a vehicle speed, a steering angle, and a sensor-based yaw rate from a driving path providing system of the vehicle; a step of calculating a steering angle-based yaw rate based on the steering angle; a step of calculating a vehicle speed-based yaw rate weight based on the vehicle speed; a step of applying the vehicle speed-based yaw rate weight to the steering angle-based yaw rate and the sensor-based yaw rate, respectively; and a step of generating a driving path of the vehicle based on the steering angle-based yaw rate and the sensor-based yaw rate to which the vehicle speed-based yaw rate weight has been applied.

Inventors

• 이주석
• 배재우

Assignees

• 이인텔리전스 주식회사

Dates

Publication Date

20260512

Application Date

20241105

Claims (1)

1. A step of obtaining vehicle speed, steering angle, and sensor-based yaw rate from a vehicle driving path providing system; A step of calculating a steering angle-based yaw rate based on the above steering angle; A step of calculating a vehicle speed-based yaw rate weight based on the above vehicle speed; A step of applying the vehicle speed-based yaw rate weighting to the steering angle-based yaw rate and the sensor-based yaw rate, respectively; and A step of generating a driving path of the vehicle based on the steering angle-based yaw rate to which the vehicle speed-based yaw rate weighting is applied and the sensor-based yaw rate. Method for controlling the driving path of a vehicle.

Description

Method and apparatus for controlling the driving route of a vehicle The present invention relates to a technology for controlling the driving path of a vehicle. The technological advancement of autonomous vehicles, which operate on their own without driver intervention, has led to a significant reduction in driving stress and fatigue for many drivers, and vehicle manufacturers are releasing vehicles that meet the advanced Level 2 (partial automation) of the Society of Automotive Engineers' stages of autonomous driving technology development. Autonomous driving or driver assistance technology must accurately determine the driving path of the vehicle, and the vehicle must be able to control itself by considering collision factors such as the vehicle ahead or obstacles along the path to be driven. However, accurately tracking the driving path of the vehicle requires more expensive automotive GPS (global positioning system) or IMU (inertial measurement unit) sensors, which, coupled with the price of the vehicle, results in higher costs. The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as publicly known technology disclosed to the general public prior to the filing of the present invention. FIG. 1 is a block diagram illustrating the function of a driving path providing system including a driving path control device of a vehicle according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating the function of a driving path control device of a vehicle according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating an exemplary method for controlling a vehicle's driving path according to an embodiment of the present invention. The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the scope of the present invention is defined only by the claims. In describing the embodiments of the present invention, specific descriptions of known functions or configurations will be omitted unless actually necessary for describing the embodiments of the present invention. Furthermore, the terms described below are defined in consideration of the functions in the embodiments of the present invention, and these may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Currently, yaw rate values are calculated using vehicle yaw rate sensors to determine the vehicle's driving path based on the vehicle dynamics information available in most vehicles. However, there is a problem in that these yaw rate values generate significant noise in low-speed driving environments, making it difficult to accurately predict the vehicle's path. Accordingly, in an embodiment of the present invention, we propose a vehicle driving path control technology capable of following a vehicle's driving path to suit high-speed and low-speed driving environments without increasing the vehicle's manufacturing cost. Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. FIG. 1 is a block diagram illustrating the function of a driving path providing system (1) including a driving path control device (100) of a vehicle according to an embodiment of the present invention. As illustrated in FIG. 1, the driving path providing system (1) may include a speed sensor (10), a steering angle sensor (12), a yaw rate sensor (14), and a driving path control device (100). The speed sensor (10) can detect the speed of the vehicle and provide a vehicle speed value corresponding to the detected speed of the vehicle to the driving path control device (100). This speed sensor (10) is a sensor mounted on the drive motor of the vehicle's transmission to detect the rotation angle of the drive motor, and may include, for example, any one of a Hall sensor, an optical sensor, and a magnetic sensor. The steering angle sensor (12) can detect any one of the angle, direction, and speed applied to the steering wheel of the vehicle, and detect the detected value as a steering angle for the wheel of the vehicle and provide it to the driving path control device (100). This steering angle sensor (12) can detect the steering angle, for example, by detecting a voltage change caused by the passing/blocking of light by an optical element. The yaw rate sensor (