The present invention relates to a control apparatus for safe driving of an automatic driving vehicle, which predicts a road surface friction coefficient, and adjusts target acceleration and a target steering angle by applying the predicted road surface friction coefficient to a jerk limit and limit acceleration. Therefore, stability of the automatic driving vehicle can be improved.
본 발명은 자율주행 차량의 안전 주행을 위한 제어 장치에 관한 것으로, 노면 마찰계수를 예측하고, 예측된 노면의 마찰 계수를 jerk 제한 및 제한 가속도에 적용하여 목표 가속도와 목표 조향각을 조정함으로써, 자율주행 차량의 안정성을 향상시킨다.
Control apparatus for safe driving of automatic driving vehicle
자율주행 차량의 안전 주행을 위한 제어 장치
2019-06-05
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 |
AUTOMATIC VEHICLE DRIVING CONTROL METHOD AND AUTOMATIC DRIVING CONTROL APPARATUS
European Patent Office | 2022
|