Disclosed are a steering control device in an autonomous driving system and a method thereof, which allow manual vehicle operation of a driver without canceling autonomous driving in an autonomous driving situation. The steering control device in an autonomous driving system comprises: an impedance pinion angle generator calculating a steering following angle (x_3_i) in which a following error caused by driver torque is reflected based on an error relation formula between a given following steering angle (x_3_d) and a steering wheel angle in an autonomous driving mode; and a following controller calculating torque control input to allow a steering angle (x_3) of a vehicle to follow the steering following angle (x_3_i).
자율 주행 시스템에서의 차량 제어 장치 및 그 방법이 개시된다. 자율 주행 시스템에서의 차량 제어 장치는, 자율 주행 모드에서 주어진 추종 조향각(JPEG112020040207278-pat00199.jpg76)과 핸들각 사이의 오차 관계식에 기반하여 운전자 토크에 따른 추종 오차가 반영된 조향 추종각(JPEG112020040207278-pat00200.jpg78)를 계산하는 임피던스 피니언각 발생기; 및 차량의 조향각(JPEG112020040207278-pat00201.jpg67)이 상기 조향 추종각(JPEG112020040207278-pat00202.jpg78)을 추종하도록 토크 제어 입력을 계산하는 추종 제어기를 포함한다.
Steering control device and method in autonomous driving system
자율 주행 시스템에서의 조향 제어 장치 및 그 방법
2021-10-08
Patent
Elektronische Ressource
Koreanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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