The present invention relates to a technology for safely switching a steering control right by coping with an abnormal situation occurring during a synchronization process, when switching the steering control right from an autonomous driving mode to a manual driving mode. In the present invention, a method for controlling switching of the steering control right of an autonomous vehicle includes the steps of: performing control to synchronize the steering angle of the steering wheel with the steering angle of a road wheel when switching the steering control right from the autonomous driving mode to the manual driving mode is requested; in the synchronizing process, when it is detected that the steering wheel is being held, detecting an error value between the steering angle of the steering wheel and the steering angle of the road wheel; but when the error value is less than a preset value, performing control to switch to the manual driving mode.
본 발명은 자율주행모드에서 수동주행모드로 조종 제어권 전환시, 동기화 과정 중 발생하는 비정상 상황에 대처하여 조종 제어권 전환이 안전하게 이루어지도록 하는 기술에 관한 것으로, 본 발명에서는, 자율주행모드에서 수동주행모드로의 조종 제어권 전환 요청시, 조향휠의 조향각과 로드휠의 조타각을 동기화시키도록 제어하고; 동기화 과정에서 조향휠을 파지하는 핸즈온(hand-on) 상태 검출시, 조향휠의 조향각과 로드휠의 조타각 간의 에러값을 검출하며; 에러값이 설정값 미만시, 수동주행모드로 전환하도록 제어하는 것을 특징으로 하는 자율주행 차량의 조종 제어권 전환 제어방법이 소개된다.
Control method for converting steering control rights in autonomous vehicles
자율주행 차량의 조종 제어권 전환 제어방법
2022-05-19
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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