The present invention relates to a reverse driving assistance system for performing a longitudinal control and a method thereof. The reverse driving assistance system for performing the longitudinal control according to one embodiment of the present invention may comprise a vehicle control unit. The vehicle control unit of the present invention estimates a position and a slope angle of an own vehicle by fusing an internal sensor of the own vehicle during forward driving of the own vehicle. In addition, when the own vehicle travels forward, driving trajectory data generated including the slope angle of the road surface is interpolated as a curve function and stored in a driving trajectory storage unit. Meanwhile, when the own vehicle travels in reverse, a speed profile is generated using the driving trajectory data stored in the driving trajectory storage unit. By the vehicle control unit, a direction angle error between the driving trajectory data and a location of the own vehicle is calculated to determine a target steering angle and a speed based on the speed profile. The target steering angle and the speed are output to an MDPS controller. An objective of the present invention is to provide the reverse driving assistance system for performing the longitudinal control, capable of improving control stability of a vehicle, and the method thereof.
본 발명의 일 실시예에 따른 종방향 제어를 수행하는 후진 주행 지원 시스템은, 자차의 전진 주행 시 상기 자차 내부 센서를 융합하여 상기 자차의 위치와 노면 등판각을 추정하고, 상기 자차의 전진 주행 시 상기 노면 등판각을 포함하여 생성한 주행궤적데이터를 곡선함수로 보간하여 주행궤적저장부에 저장하며, 상기 자차의 후진 주행 시 상기 주행궤적저장부에 저장된 상기 주행궤적데이터를 이용하여 속도 프로파일을 생성하고, 상기 주행궤적데이터와 상기 자차 위치와의 방향각 오차를 계산하여 목표 조향각과 상기 속도 프로파일에 의한 속도를 결정하고, 상기 목표 조향각과 상기 속도를 MDPS 제어부로 출력하는 차량제어부를 포함할 수 있다.
SYSTEM FOR BACKWARD DRIVING ASSISTANCE FOR PERFORMING LONGITUDINAL CONTROL AND METHOD THEREOF
종방향 제어를 수행하는 후진 주행 지원 시스템 및 방법
2021-09-24
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 |
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