Provided is a steering control apparatus of an unmanned autonomous vehicle, which comprises: a route collecting unit for collecting a pre-moved route; a location collecting unit for collecting current location information; a first control unit which selects a follow-up point spaced apart by a look-ahead distance and calculates a first steering angle according to the length of a moving body and the look-ahead distance; and a second control unit calculating an intersection angle, and controlling steering of the moving body by calculating a second steering angle from a weight set according to the intersection angle, the intersection angel, and the first steering angle. A technical problem to be solved by the present invention is to provide the steering control apparatus and method of the unmanned autonomous vehicle, for controlling the moving body to stably follow a movement route created in advance.
사전 이동 경로를 수집하는 경로 수집부; 현재 위치 정보를 수집하는 위치 수집부; 예견 거리가 이격된 추종점을 선택하고, 이동체 길이와 예견 거리에 따라 제 1 조향 각도를 산출하는 제 1 제어부; 및 교차 각도를 산출하고, 교차 각도에 따라 설정되는 가중치, 교차 각도 및 제 1 조향 각도로부터 제 2 조향 각도를 산출하여 이동체의 조향을 제어하는 제 2 제어부를 포함하는, 무인 자율주행 이동체의 조향 제어 장치를 제공한다.
STEERING CONTROL DEVICE AND METHOD FOR UNMANNED AUTONOMOUS VEHICLE
무인 자율주행 이동체의 조향 제어 장치 및 방법
2021-06-08
Patent
Electronic Resource
Korean
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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