The present invention relates to a steering control method for an autonomous vehicle. According to the present invention, the steering control method for an autonomous vehicle includes: a step of sensing the position of a passenger getting in a vehicle; a step of selecting a control target position of the vehicle in rotary driving of the vehicle based on the sensed position of the passenger by a controller; a step of calculating lateral acceleration of the control target position by the controller; a step of determining whether an RWS device needs to intervene in steering by considering a target value of the lateral acceleration due to a driving state of the vehicle and the calculated value of the lateral acceleration by the controller; and a step of performing steering intervention by controlling the RWS device by the controller when it is determined that the steering intervention of the RWS device is necessary. The steering control method for an autonomous vehicle can improve ride quality of the vehicle.
본 발명은 차량에 탑승한 승객의 위치를 센싱하는 단계; 컨트롤러가 상기 센싱된 승객 위치를 기반으로 선회 주행 시 차량의 제어목표위치를 선정하는 단계; 상기 컨트롤러가 상기 제어목표위치의 횡가속도를 산출하는 단계; 상기 컨트롤러가 차량의 주행상태에 따른 횡가속도 목표값과 상기 산출된 횡가속도 산출값을 고려하여, RWS 장치의 조향 개입 필요 여부를 결정하는 단계; 상기 RWS 장치의 조향 개입이 필요하다고 판단된 경우, 상기 컨트롤러가 상기 RWS를 제어하여 조향 개입을 수행하는 단계를 포함하여 구성된다.
STEERING CONTROL METHOD FOR AUTONOMOUS VEHICLES
자율주행 차량의 조향 제어 방법
2023-11-27
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 |
Control method for converting steering control rights in autonomous vehicles
European Patent Office | 2022
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