본 발명은 차량에 탑승한 승객의 위치를 센싱하는 단계; 컨트롤러가 상기 센싱된 승객 위치를 기반으로 선회 주행 시 차량의 제어목표위치를 선정하는 단계; 상기 컨트롤러가 상기 제어목표위치의 횡가속도를 산출하는 단계; 상기 컨트롤러가 차량의 주행상태에 따른 횡가속도 목표값과 상기 산출된 횡가속도 산출값을 고려하여, RWS 장치의 조향 개입 필요 여부를 결정하는 단계; 상기 RWS 장치의 조향 개입이 필요하다고 판단된 경우, 상기 컨트롤러가 상기 RWS를 제어하여 조향 개입을 수행하는 단계를 포함하여 구성된다.

    A steering control method for autonomous vehicles includes detecting a location of an occupant sitting in an autonomous vehicle, determining, by a controller, a control target location of the vehicle while turning, based on the detected location of the occupant, determining, by the controller, a lateral acceleration of the vehicle at the control target location, determining, by the controller, whether intervening in steering of the vehicle by a rear wheel steering (RWS) device is required, in consideration of a target value of lateral acceleration in response to a driving state of the vehicle and the determined value of lateral acceleration, and performing, when the controller concludes that the intervening in the steering by the RWS device is required, by the controller, the intervening in the steering by controlling the RWS device.


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    Titel :

    STEERING CONTROL METHOD FOR AUTONOMOUS VEHICLES


    Weitere Titelangaben:

    자율주행 차량의 조향 제어 방법


    Beteiligte:
    PARK YOUNG UK (Autor:in)

    Erscheinungsdatum :

    2023-11-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    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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