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KR-20260067133-A - STEERING CONTROL APPARATUS OF AUTONOMOUS VEHICLE AND METHOD THEREOF

KR20260067133AKR 20260067133 AKR20260067133 AKR 20260067133AKR-20260067133-A

Abstract

A steering control device and method for an autonomous vehicle are disclosed. The steering control device for an autonomous vehicle according to the present invention comprises a processor; and a memory for storing instructions executed by the processor, wherein the processor determines whether driver steering intervention is required based on a steering angle calculated by a motor position sensor, a steering angle detected by a steering angle sensor, and column torque, and blends the output of an autonomous driving controller with the output of a steering device controller according to the determination result.

Inventors

  • 김태홍

Assignees

  • 현대모비스 주식회사

Dates

Publication Date
20260512
Application Date
20241105

Claims (10)

  1. processor; and It includes memory that stores instructions executed by the above processor, and The above processor determines whether driver steering intervention is required based on the steering angle calculated by the motor position sensor and the steering angle and column torque detected by the steering angle sensor, and blends the output of the autonomous driving controller with the output of the steering device controller according to the determination result.
  2. In paragraph 1, the processor A steering control device for an autonomous vehicle that determines whether a condition for determining driver steering intervention is satisfied based on the phase difference between the steering angle calculated by the motor position sensor and the steering angle detected by the steering angle sensor.
  3. In paragraph 2, the processor A steering control device for an autonomous vehicle that determines that a condition for determining driver steering intervention is satisfied if the steering angle calculated by the motor position sensor is ahead in phase with the steering angle detected by the steering angle sensor.
  4. In paragraph 1, the processor A steering control device for an autonomous vehicle that determines whether to intervene in steering by comparing the accumulated amount of column torque during a preset time with a preset value based on the comparison result.
  5. In paragraph 1, the processor A steering control device for an autonomous vehicle that fixes the output of the autonomous driving controller and adjusts the output of the steering device controller.
  6. In paragraph 5, the above processor A steering control device for an autonomous vehicle that calculates a change in the column torque at the time when driver steering intervention is determined, and adjusts a change in the output of the steering device controller according to the change in the column torque.
  7. In paragraph 6, the amount of change in the output of the steering device controller is A steering control device for an autonomous vehicle that is proportional to the change in the above column torque.
  8. A step in which the processor determines whether driver steering intervention is required based on the steering angle calculated by the motor position sensor, the steering angle detected by the steering angle sensor, and the column torque; and A steering control method for an autonomous vehicle comprising the step of the processor blending the output of the autonomous driving controller into the output of the steering device controller according to the result of the judgment.
  9. In paragraph 8, in the step of determining whether the driver intervenes in steering, A steering control method for an autonomous vehicle that determines whether a condition for determining driver steering intervention is satisfied based on the phase difference between the steering angle calculated by the motor position sensor and the steering angle detected by the steering angle sensor.
  10. In claim 8, in the step of blending the output of the autonomous driving controller with the output of the steering system controller, An autonomous vehicle steering control method in which the processor fixes the output of the autonomous driving controller and adjusts the output change amount of the steering device controller according to the change amount of the column torque at the time when driver steering intervention is determined.

Description

Steering control apparatus of autonomous vehicle and method The present invention relates to a steering control device and method for an autonomous vehicle. Autonomous vehicles recognize the road environment while driving and determine the commanded steering angle and commanded torque required for the operation of the Motor Driven Power Steering (MDPS). At this time, situations may arise where the driver must take hold of the steering wheel and steer according to their will, such as when a sudden failure occurs in the autonomous driving module or when manual steering is required for emergency evasive driving. Therefore, research on algorithms that determine driver steering intervention and enable the driver to steer safely is considered important. Electric power steering systems for autonomous driving operate based on position control. They operate using closed-loop control and utilize maximum output to track the commanded steering angle. During this process, errors occur if the driver attempts to steer; consequently, the electric power steering system generates high output to compensate, causing the driver to experience a significant sense of unfamiliarity. The background technology of the present invention is disclosed in Korean Published Patent Application No. 10-2017-0065793 (published June 14, 2017). The following drawings attached to this specification illustrate preferred embodiments of the present invention and serve to further enhance understanding of the technical concept of the present invention together with the detailed description of the invention provided below; therefore, the present invention should not be interpreted as being limited only to the matters described in such drawings. FIG. 1 is a block diagram of a steering control device for an autonomous vehicle according to one embodiment of the present invention. FIG. 2 is a block diagram of a processor according to one embodiment of the present invention. FIG. 3 is a flowchart of a steering control method for an autonomous vehicle according to an embodiment of the present invention. Hereinafter, an embodiment of a steering control device and method for an autonomous vehicle according to an embodiment of the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. Furthermore, the terms described below are defined considering their functions in the present invention, and these may vary depending on the intention or convention of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification. Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals. Throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention. Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely some of the most preferred embodiments of the invention and do not represent all of the technical spirit of the invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application. Furthermore, as used herein, "comprise" or "include" and/or "comprising" or "including" specify the presence of the mentioned features, numbers, steps, actions, parts, elements, and/or groups thereof, and do not exclude the presence or addition of one or more other features, numbers, actions, parts, elements, and/or groups. Additionally, when describing embodiments of the invention, "may" or "may be" may include "one or more embodiments of the invention." Additionally, to aid in understanding the invention, the attached drawings are not drawn to actual scale, and the dimensions of some components may be exaggerated. Furthermore, the same reference numerals may be assigned to identical components in different embodiments. The statement that two subjects