An autonomous driving low-level control system according to embodiments receives a target acceleration value, which is an output value of a high-level controller, and directly operates a control object (plant). In the embodiments, the control object is made to stably reach the target value from the moment an enable signal is generated until a torque command is output. In general, acceleration rate (accelerator %) control and braking range (brake degree) control are performed through low-level control, and in the embodiments, a system that performs low-level control with acceleration input values and deceleration input values is provided.
실시예에 따른 자율주행 하위 제어 시스템은 상위 제어기의 출력값인 목표 가속도값을 입력 받아 제어 대상(plant)을 직접 동작 시킨다. 실시예에서는 이네이블(Enable) 신호가 생성된 순간 부터 토크 명령(Torque Command)이 출력되는 시간 동안 제어대상을 안정적으로 목표값에 도달하게 한다. 일반적으로 하위제어를 통해 가속 비율(accelerator %)제어, 제동 범위(brake degree)를 제어를 수행하므로, 실시예에서는 가속 입력값 및 감속 입력값으로 하위 제어를 수행하는 시스템을 제공한다.
AUTONOMOUS DRIVING CHASSIS CONTROL SYSTEM
자율주행 하위 제어 시스템
2023-07-03
Patent
Electronic Resource
Korean
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