Disclosed is an autonomous vehicle. The present autonomous vehicle comprises: a braking device which controls braking of the vehicle; a steering device which controls steering of the vehicle; and a processor. The processor determines a maximum side slip angle of a tire, which is in a linear relationship with a lateral force acting on the tire of the vehicle, and determines a maximum speed of the vehicle according to the maximum side slip angle and a curvature of a movement path of the vehicle. Accordingly, the braking device is controlled so that the vehicle turns at a speed within the maximum speed, and a steering angle of the vehicle is determined by considering the slip angle of the tire according to a turning speed of the vehicle, a current position of the vehicle, and a target point of the movement path. As a result, the steering device is controlled so that the vehicle turns at the steering angle. An objective of the present invention is to provide the autonomous vehicle whose steering is controlled more precisely, and a steering control method thereof.

    자율 주행 차량이 개시된다. 본 자율 주행 차량은, 차량의 제동을 제어하는 제동 장치, 차량의 조향을 제어하는 조향 장치 및 프로세서를 포함하고, 프로세서는, 차량의 타이어에 작용하는 횡력과 선형 관계에 있는 타이어의 최대 사이드 슬립각을 결정하고, 최대 사이드 슬립각 및 차량의 이동 경로의 곡률에 따라 차량의 최대 속력을 결정하여, 차량이 최대 속력 이내의 속력으로 선회하도록 제동 장치를 제어하고, 차량의 선회 속력, 차량의 현재 위치 및 이동 경로의 목표 지점에 따라 타이어의 슬립각을 고려하여 차량의 조향각을 결정하여, 차량이 조향각으로 선회하도록 조향 장치를 제어한다.


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    Title :

    AUTONOMOUS VEHICLE AND STEERING CONTROL METHOD THEREOF


    Additional title:

    자율 주행 차량 및 이의 조향 제어 방법


    Contributors:

    Publication date :

    2023-05-24


    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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