The present invention moves a vehicle to a safe zone after an accident of an autonomous driving vehicle occurs. The present invention comprises: a step of setting a threshold which is a reference of failure occurrence of a chassis system; a step of determining whether failure occurs by using the threshold; a step of determining a control mode of a twin-clutch or a braking system; a step of determining a level of avoidance speed according to whether a rear vehicle accesses; and a control step of generating braking torque in left and right wheels or controlling distribution of driving torque through the twin-clutch to move an autonomous driving vehicle along a target trajectory at the avoidance speed after setting the target trajectory to the safe zone.

    본 발명은, 자율주행차량의 사고 발생 후 차량을 안전지역까지 이동시키는 것으로, 샤시 시스템의 고장 발생의 기준인 Threshold를 설정하는 단계; 상기 Threshold를 이용하여 고장 발생 여부를 판단하는 단계; 트윈클러치 또는 제동 시스템의 제어 모드를 판단하는 단계; 후방 차량의 접근 여부에 따라 회피 속도의 level을 결정하는 단계; 안전지역까지의 목표 궤적을 설정한 후 상기 회피 속도로 상기 목표 궤적을 따라 자율주행차량을 이동시키도록 좌우 바퀴에 제동토크를 발생시키거나 트윈클러치를 통해 구동토크의 배분을 제어하는 제어단계;를 포함한다.


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE MOVEMENT METHOD AFTER ACCIDENT OF AUTONOMOUS VEHICLE


    Additional title:

    자율주행차량의 사고 발생 후 차량 이동 방법


    Contributors:
    YEOM MYUNG KI (author) / KIM IN SU (author)

    Publication date :

    2022-04-20


    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



    Method of moving autonomous vehicle after accident

    YEOM MYUNG-KI / KIM IN-SU | European Patent Office | 2023

    Free access

    METHOD OF MOVING AUTONOMOUS VEHICLE AFTER ACCIDENT

    YEOM MYUNG-KI / KIM IN-SU | European Patent Office | 2022

    Free access

    CALIBRATION METHOD OF WHEEL SPEED SENSOR AFTER ACCIDENT OF AUTONOMOUS VEHICLE

    KIM IN SU / YEOM MYUNG KI | European Patent Office | 2022

    Free access

    AUTONOMOUS VEHICLE ACCIDENT AND EMERGENCY RESPONSE

    FIELDS BRIAN MARK / HUANG CHIEN CHE / WAZEER MOHAMED A et al. | European Patent Office | 2024

    Free access

    TECHNIQUES FOR AUTONOMOUS VEHICLE ACCIDENT MITIGATION

    LIU LIU / PENG YEFEI / ZHENG HAO et al. | European Patent Office | 2025

    Free access