본 발명은 자율주행차량의 수동주행모드 주행 중 자율주행 제어기에서 옆쪽 차선의 상대차량이 급격하게 끼어들기하는지 여부에 대한 판단 및 후방 차량과의 안전거리 여부를 판단하여, 자율주행 제어기에 의한 자율주행모드 전환 제어에 의하여 운전자가 잡고 있는 스티어링 휠의 회전 조향을 최소화하는 동시에 편제동 제어가 이루어지도록 함으로써, 상대차량과의 충돌 사고를 방지할 수 있는 차선 변경이 안전하게 이루어질 수 있고, 스티어링 휠의 회전 조향 최소화에 따라 운전자 이질감을 최소화하는 동시에 관절 등의 상해를 방지할 수 있도록 한 자율주행차량의 차선변경을 위한 주행모드 전환 제어 방법을 제공하고자 한 것이다.
A method for controlling a driving mode transition of an autonomous driving vehicle may safely perform a lane change to avoid a collision accident with the other vehicle and prevent an injury to a joint, etc., while minimizing a sense of heterogeneity of a driver according to minimization of rotational steering of a steering wheel by determining whether the other vehicle in a next lane suddenly cuts in in an autonomous driving controller while the autonomous driving vehicle is driving in a manual driving mode and determining a safety distance from a rear vehicle to minimize rotational steering of the steering wheel held by the driver and at the same time perform partial braking control by autonomous driving mode transition control using an autonomous driving controller.
METHOD FOR CONTROLLING DRIVING MODE TRANSITION OF AUTONOMOUS DRIVING VEHICLE
자율주행차량의 차선변경을 위한 주행모드 전환 제어 방법
2024-03-15
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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein |
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