일 실시 예에 의한 자율주행 차량의 제동 제어방법은, 차량 주변의 환경정보에 기초하여 정차상황을 인지하는 단계; 상기 정차상황이 인지되면, 복수의 변곡점을 갖는 n(여기서, n은 3 이상의 자연수)차 다항식 기반의 감속도 프로파일을 생성하는 단계; 감속기의 반응시간, 주행중인 차량의 질량, 및 브레이크의 감속성능 중 적어도 하나의 인자를 제어변수로 설정하여 상기 감속도 프로파일을 보정하는 단계; 및 상기 보정된 감속도 프로파일에 기반하여 상기 차량의 제동을 실행하는 단계;를 포함할 수 있다.

    A method for controlling braking of an autonomous vehicle includes: recognizing, by a driving situation recognizer, a vehicle stop situation based on environment information around the vehicle; generating, by a deceleration profile generator, a nth-order polynomial-based deceleration profile having a plurality of inflection points (n being a natural number equal to or greater than three) when the vehicle stop situation is recognized; correcting, by a corrector, the nth-order polynomial-based deceleration profile by setting at least one of a response time of a decelerator, a mass of the vehicle during driving or a deceleration performance of a brake to a control variable; and executing, by a controller, braking of the vehicle based on the corrected nth-order polynomial-based deceleration profile.


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    Title :

    APPARATUS AND METHOD FOR CONTROLLING BRAKING OF AUTONOMOUS VEHICLE


    Additional title:

    자율주행 차량의 제동 제어장치 및 그 방법


    Publication date :

    2024-10-23


    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



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