The present invention relates to a method for controlling a manual driving mode, capable of preventing misalignment of a tire steering angle and a steering-wheel steering angle when an autonomous vehicle is switched from an autonomous driving mode to the manual driving mode. The method for controlling a manual driving mode includes: a manual mode detecting step of detecting whether a vehicle is switched from an autonomous mode to a manual mode; a first control step of controlling, by a controller, an angle of tire and a steering angle of a steering wheel using travel route information when switching to the manual mode is detected; a delay time determination step of determining a delay time of change of the angle of the tire with respect to change of the steering angle of the steering wheel by comparing, using the controller, the change in the angle of the tire with the change in the steering angle of the steering wheel for predetermined time; a delay time comparison step of comparing the determined delay time with a predetermined time period; a second control step of controlling only the steering angle of the steering wheel by the controller using travel route information when delay time is within the predetermined time period; and a third control step of controlling an angle of the tire based on the steering angle of the steering wheel.
본 발명에 따른 자율주행차량의 수동주행모드 제어방법은 제어부가 차량이 자율주행모드에서 수동주행모드로 전환되는지 감지하는 수동모드감지단계; 수동모드감지단계 수행결과, 차량의 수동주행모드 전환이 감지된 경우, 제어부가 주행경로정보에 기반하여 타이어 각도와 스티어링 휠 조향각을 각각 제어하는 제1제어단계; 제1제어단계 후, 제어부가 일정시간동안의 타이어 각도 변화와 스티어링 휠 조향각 변화를 비교하여, 스티어링 휠 조향각 변화대비 타이어 각도 변화가 지연되는 시간을 산출하는 지연시간산출단계; 지연시간산출단계 후, 제어부가 산출된 지연시간을 설정시간영역과 비교하는 지연시간비교단계; 지연시간비교단계 수행결과, 지연시간이 설정시간영역 내에 포함될 경우, 제어부가 주행경로정보에 기반하여 스티어링 휠 조향각만을 제어하는 제2제어단계; 및 제어부가 상기 제2제어단계를 통해 제어되는 스티어링 휠 조향각에 기반하여 타이어 각도를 제어하는 제3제어단계;를 포함할 수 있다.
METHOD FOR CONTROLLING MANUAL DRIVING MODE OF AUTONOMOUS VEHICLE
자율주행차량의 수동주행모드 제어방법
2018-12-31
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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