본 발명에 따르면, 도로의 경사에 따른 자율주행 차량의 가속도 제어 방법에 있어서, (a) 자율주행 차량의 동작 상태를 검출하는 자차 센싱 정보들 및 자율주행 차량의 주변 환경을 검출하는 환경 센싱 정보들이 획득되면, 자율주행 차량의 컴퓨팅 장치가, 자차 센싱 정보들 및 환경 센싱 정보들을 참조하여 자율주행 차량의 주행을 위한 목표 가속도를 생성하며, 자율주행 차량의 가감속 제어장치를 통해 자율주행 차량의 주행이 목표 가속도에 대응되도록 자율주행 차량을 제어하는 단계; 및 (b) 컴퓨팅 장치가, (i) 자율주행 차량의 휠속도 센서로부터 자율주행 차량의 가속도를 측정한 휠 가속도 및 (ii) 자율주행 차량의 IMU(Inertial Measurement Unit) 센서로부터 자율주행 차량의 가속도를 측정한 IMU 가속도를 참조하여 경사 가중치를 생성하고, 경사 가중치를 이용하여 휠 가속도 및 IMU 가속도를 가중합하여 자율주행 차량이 주행하는 도로의 경사에 따른 자율주행 차량의 실제 가속도를 생성하며, 실제 가속도와 목표 가속도의 오차를 최소화하도록 가감속 제어장치를 통해 자율주행 차량을 제어하는 단계;를 포함하는 방법이 개시된다.

    According to the present invention, disclosed is a method for controlling acceleration of an autonomous vehicle according to a slope of a road. The method comprises: a step (a) of allowing a computing device of the autonomous vehicle to generate target acceleration for driving of the autonomous vehicle in reference to vehicle sensing information and environment sensing information when the vehicle sensing information, which detects an operation state of the autonomous vehicle, and the environment sensing information, which detects surrounding environments of the autonomous vehicle, are obtained and controlling the autonomous vehicle so that the driving of the autonomous vehicle corresponds to the target acceleration through an acceleration and deceleration control device of the autonomous vehicle; and a step (b) of allowing the computing device to generate a slope weight in reference to wheel acceleration (i), which is acceleration of the autonomous vehicle measured from a wheel speed sensor of the autonomous vehicle, and inertial measurement unit (IMU) acceleration (ii), which is acceleration of the autonomous vehicle measured from an IMU sensor of the autonomous vehicle, and generate actual acceleration of the autonomous vehicle according to the slope of the road on which the autonomous vehicle drives by using the slope weight and obtaining a weighted sum of the wheel acceleration and the IMU acceleration, and controlling the autonomous vehicle through the acceleration and deceleration control device to minimize an error in the actual acceleration and the target acceleration. The present invention has an effect of improving ride comfort of a passenger while the autonomous vehicle is underway on a sloped road.


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    Title :

    METHOD AND APPARATUS FOR CONTROLLING ACCELERATION OF AUTONOMOUS VEHICLE ACCORDING TO SLOPE OF ROAD


    Additional title:

    도로의 경사에 따른 자율주행 차량의 가속도 제어 방법 및 장치


    Publication date :

    2022-11-18


    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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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