본 발명은 자율주행차량의 선회 주행 중 자율주행모드에서 수동주행모드로 전환되는 천이구간에서 차량의 목표 요레이트와 차량의 실제 요레이트 간의 차이로 인하여 충돌사고 위험이 있는 경우, 자율주행 제어기의 지령에 따른 모터 제어기의 모터 구동 제어 및 제동 제어기의 제동 제어 등이 복합적으로 이루어질 수 있도록 함으로써, 수동주행모드로의 안정적인 전환 및 충돌사고 방지 등을 도모할 수 있도록 한 자율주행차량의 수동주행모드 전환 제어 방법을 제공하고자 한 것이다.
A method of controlling switching to a manual driving mode of an autonomous vehicle allowing stable transition to the manual driving mode and prevention of collision accidents includes performing motor drive control of a motor controller and braking control of a braking controller according to a command of an autonomous driving controller in a complex manner, when there is a risk of a collision accident caused by a difference between a target yaw rate of the autonomous vehicle and an actual yaw rate of the autonomous vehicle in a transition section from an autonomous driving mode to a manual driving mode during turning of the autonomous vehicle.
METHOD FOR CONTROLLING MANUAL DRIVING MODE TRANSITION OF AUTONOMOUS DRIVING VEHICLE
자율주행차량의 수동주행모드 전환 제어 방법
2024-03-08
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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
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