The present invention relates to a device for autonomous driving of a vehicle and a control method thereof, and more specifically, a device for autonomous driving of a vehicle and a control method thereof. The device for autonomous driving of a vehicle is characterized by: a higher-level control unit which communicates with an electronic control unit installed in a vehicle to generate a command to enter an autonomous driving mode and to generate a command to switch to a driver preferred mode in an emergency; a lower-level control unit which controls steering, acceleration, and deceleration of the vehicle to perform autonomous driving of the vehicle according to the autonomous driving entry command of the higher-level control unit, disables the autonomous driving of the vehicle according to a driver preferred mode conversion command of the higher-level control unit, and controls steering, acceleration and deceleration of the vehicle by the driver's manipulation; a steering unit which performs steering for autonomous driving of the vehicle according to the control of the lower-level control unit; an acceleration unit which accelerates the vehicle according to the control of the lower-level control unit; and a deceleration unit which decelerates the vehicle according to the control of the lower-level control unit. According to the present invention, the device for autonomous driving of a vehicle is switched to the driver preferred mode in an emergency. As such, driving stability of an autonomous vehicle can be improved.
본 발명은 차량의 자율주행을 위한 장치 및 그 제어방법에 관한 것으로서, 보다 상세하게는, 차량에 설치된 전자제어유닛과 통신을 수행하여 자율주행모드로 진입하기 위한 명령을 생성하고, 긴급상황시 운전자우선모드로 전환하기 위한 명령을 생성하는 상위제어부와, 상기 상위제어부의 자율주행진입명령에 따라서 차량의 자율주행을 수행하기 위한 차량의 조향, 가속 및 감속을 제어하고, 상기 상위제어부의 운전자우선모드전환명령에 따라서 차량의 자율주행을 해제하고 운전자의 조작에 의하여 차량의 조향, 가속 및 감속을 제어하는 하위제어부와, 상기 하위제어부의 제어에 따라서 차량의 자율주행을 위한 조향을 수행하는 조향부와, 상기 하위제어부의 제어에 따라서 차량의 가속을 수행하는 가속부와, 상기 하위제어부의 제어에 따라서 차량의 감속을 수행하는 감속부를 포함하여 구성되는 것을 특징으로 하는 차량의 자율주행을 위한 장치 및 그 제어방법에 관한 것이다.
APPARATUS FOR AUTO DRIVING OF CAR AND CONTROL METHOD THEREFOR
차량의 자율주행을 위한 장치 및 그 제어방법
2022-05-09
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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05G CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY , Steuer- oder Regelvorrichtungen oder Steuer- oder Regelsysteme gekennzeichnet ausschließlich durch mechanische Einzelheiten |
APPARATUS FOR AUTO DRIVING OF CAR AND CONTROL METHOD THEREFOR
Europäisches Patentamt | 2023