Disclosed is an autonomous driving braking method considering riding comfort. The method comprises: a step where a TTC calculation unit uses a relative motion between a preceding vehicle and a following vehicle to calculate TTC^*; a step where a TTC curve determination unit determines whether the TTC^* is after a first time and before a second time; a step where the TTC curve determination unit determines a TTC curve to recover the TTC^* to the second time if the TTC^* is determined to be after the first time and before the second time; a step where a brake pressure calculation unit uses the TTC curve to calculate a first brake pressure to be applied to the following vehicle during a first time zone; and a step where a brake pressure applying unit applies the first brake pressure to the following vehicle. The TTC^* is a TTC value at the moment calculated by using the relative speed, relative acceleration, and relative displacement of the preceding vehicle and the following vehicle.

    승차감을 고려한 자율주행 제동 방법이 개시된다. 상기 방법은, TTC 계산부가, 선행차량과 후행차량 사이의 상대적인 움직임(motion)을 이용하여 TTC를 계산하는 단계와, TTC 커브 결정부가, 상기 TTC가 제1시간 이후이고 제2시간 이전인지 여부를 판단하는 단계와, 상기 TTC 커브 결정부가, 상기 TTC가 상기 제1시간 이후이고 상기 제2시간 이전이라고 판단된 경우, 상기 TTC를 상기 제2시간으로 회복시키기 위해 필요한 TTC 커브를 결정하는 단계와, 브레이크 압력 계산부가, 상기 TTC 커브를 이용하여 제1시간 구간 동안 상기 후행차량에 인가될 제1 브레이크 압력을 계산하는 단계와, 브레이크 압력 인가부가, 상기 제1 브레이크 압력을 상기 후행차량에 인가하는 단계;를 포함하고, 상기 TTC는 상기 선행차량과 상기 후행차량의 상대적인 속도, 상대적인 가속도, 및 상대적인 변위를 이용하여 계산되는 그 순간의 TTC 값이다.


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    Title :

    METHOD FOR SELF-CONTROL DRIVING BREAKING CONSIDERING RIDE COMFORT


    Additional title:

    승차감을 고려한 자율주행 제동 방법


    Contributors:
    KANG NAM CHEOL (author) / LEE MIN SU (author) / YOON SU JIN (author)

    Publication date :

    2019-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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