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KR20120047522A - System and the method of generating reference speed for automatic driving vehicle - Google Patents

System and the method of generating reference speed for automatic driving vehicle Download PDF

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Publication number
KR20120047522A
KR20120047522A KR1020100109128A KR20100109128A KR20120047522A KR 20120047522 A KR20120047522 A KR 20120047522A KR 1020100109128 A KR1020100109128 A KR 1020100109128A KR 20100109128 A KR20100109128 A KR 20100109128A KR 20120047522 A KR20120047522 A KR 20120047522A
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South Korea
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speed
driving
vehicle
rotation
limit
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KR1020100109128A
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Korean (ko)
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KR101146520B1 (en
Inventor
변윤섭
배창한
박영곤
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한국철도기술연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
    • B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L15/00—Indicators provided on the vehicle or train for signalling purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
    • B61H13/00—Actuating rail vehicle brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
    • B61H9/00—Brakes characterised by or modified for their application to special railway systems or purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2210/00—Vehicle systems
    • B61L2210/02—Single autonomous vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

PURPOSE: A standard driving speed creating system and method of an automatic operation vehicle are provided to improve car ride feeling by creating a speed command which is fitted to lateral acceleration limit, ride comfort limit, lateral acceleration limit of the vehicle when creating a standard command speed. CONSTITUTION: An information observation device(200) observation information including observes present time, present speed, a front shaft steering angle, and a back shaft steering angle of a vehicle drive system(100). The vehicle drive system takes charge of propulsion and brake of an automatic operation vehicle. A profile producer(300) creates a standards command speed. A controller(400) outputs a control signal for propulsion torque and brake command of the vehicle drive system by using a standards command speed profile which is created in the profile producer.

Description

자동운전차량의 기준주행속도 생성 시스템 및 방법 { system and the method of generating reference speed for automatic driving vehicle }System and method for generating reference driving speed for automatic driving vehicle {system and the method of generating reference speed for automatic driving vehicle}

본 발명은 자동운전차량의 기준주행속도 생성 시스템 및 방법에 관한 것으로서, 좀더 상세하게는 자동운전차량의 속도제어에 요구되는 성능한계 및 승차감을 고려한 차량의 기준주행속도를 생성하는 시스템 및 그 생성 방법에 관한 것이다.
The present invention relates to a system and method for generating a reference driving speed of an autonomous vehicle, and more particularly, to a system and a method for generating a reference driving speed of a vehicle in consideration of performance limitations and ride comfort required for speed control of an autonomous vehicle. It is about.

현재 전동차 등의 다양한 자동운전차량에 대해 국내외에서 연구개발이 수행되고 있고 이미 상용화된 차량도 운행되고 있다. Currently, research and development are being carried out at home and abroad on various autonomous vehicles such as electric cars, and already commercialized vehicles are operating.

이와 같은 자동운전차량의 중요한 기능 중에 하나는 자동운전차량의 속도제어이다. One of the important functions of the autonomous vehicle is speed control of the autonomous vehicle.

이때, 자동운전차량의 주행속도는 자신의 주행위치에 따른 목표속도를 준수해야 한다. 자동운전을 위해서 노선에서는 각 구간의 노선조건(곡선부, 위험지역, 교량 등)을 고려하여 구간제한속도가 설정된다. At this time, the driving speed of the autonomous vehicle must comply with the target speed according to its own driving position. For automatic driving, the section limit speed is set in consideration of the route conditions (curve, dangerous area, bridge, etc.) of each section.

따라서, 차량은 주행 중 구간별 목표속도를 이산적으로 수령하게 되고 차량은 현재속도에서 목표속도까지 가속하거나 감속하여야 한다. Therefore, the vehicle discretely receives the target speed for each section while driving, and the vehicle must accelerate or decelerate from the current speed to the target speed.

이와 같은 자동운전차량의 주행속도를 제어하기 위해 종래에는 도 1에 도시된 바와 같이 속도제어에 요구되는 기준속도를 저크상수를 계산된 시간동안 2번 적분하여 기준속도 값을 얻는 방식을 사용하였다. In order to control the driving speed of the autonomous driving vehicle, a method of obtaining a reference speed value is obtained by integrating a reference speed required for speed control twice in a calculated time for a calculated time as shown in FIG. 1.

이때, 자동운행차량의 가속도는 상수 저크량을 적분하는 아래의 식(1)을 통해 구하고, 자동운행차량의 속도는 가속도를 적분하는 아래의 식(2)를 통해 구한다.At this time, the acceleration of the autonomous vehicle is obtained through Equation (1) below integrating a constant jerk amount, and the speed of the autonomous vehicle is obtained through Equation (2) below integrating the acceleration.

Figure pat00001
(1)
Figure pat00001
(One)

Figure pat00002
(2)
Figure pat00002
(2)

그런데, 이와 같은 속도제어방법의 경우 저크 및 가속한계를 만족하는 기준속도를 생성할 수는 있지만, 2번 적분하는 동안 적분오차가 누적되어 정확한 목표속도 기준 값과 오차가 발생하게 되고 부드러운 승차감을 얻기 어렵다. By the way, in the case of the speed control method, it is possible to generate a reference speed that satisfies the jerk and the acceleration limit, but the integration error accumulates during two integrations, resulting in an accurate target speed reference value and an error and obtaining a smooth ride feeling. it's difficult.

또한, 적분에 요구되는 구간시간의 정확한 계산을 필요로 하며, 이러한 구간 속도적용방식에서는 곡선부 등에서 진입 전 최대 곡선부를 고려하여 충분히 감속한 후 곡선부 등에 진입해야 하므로 차량안전을 위한 세심한 구간목표속도설정이 요구되어 차량 성능을 최적으로 활용할 수 없는 단점이 있다.
In addition, it is necessary to accurately calculate the section time required for integration. In this section speed application method, it is necessary to decelerate sufficiently in consideration of the maximum curved section before entering the curved section and then enter the curved section. There is a disadvantage in that the setting is not required to optimally utilize the vehicle performance.

따라서, 이러한 문제점들을 해결하기 위한 것으로서, 본 발명의 목적은 차량이 감속하거나 가속할 때 승차감 및 차량성능한계를 고려한 가속 및 저크한계 내에서 운행되도록 자동운전차량의 속도제어에 요구되는 성능한계 및 승차감을 고려한 기준주행속도의 생성 시스템 및 방법을 제공하는데 있다.
Accordingly, to solve these problems, an object of the present invention is to provide a performance limit and ride comfort required for speed control of an autonomous vehicle so that the vehicle travels within acceleration and jerk limits in consideration of riding comfort and vehicle performance limit when the vehicle decelerates or accelerates. To provide a system and method for generating a reference driving speed in consideration of the above.

이와 같은 기술적 과제를 해결하기 위해 본 발명은; The present invention to solve this technical problem;

자동운전차량의 추진 및 제동을 담당하는 차량구동시스템의 현재시간, 현재속도, 앞축 조향각, 뒤축 조향각 등의 관측정보를 관측하는 정보관측기와; 상기 정보관측기를 통해 관측되는 관측정보를 이용해 기준지령속도를 생성하는 프로파일 생성기와; 상기 프로파일 생성기에서 생성된 기준지령속도 프로파일을 이용해 상기 차량구동시스템의 추진토크 및 제동지령을 위한 제어신호를 출력하는 제어기;로 구성되는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 시스템을 제공한다.An information observer for observing observation information such as a current time, a current speed, a front axle steering angle, a rear axle steering angle, etc. of the vehicle driving system responsible for the propulsion and braking of the autonomous driving vehicle; A profile generator for generating a reference command speed using observation information observed through the information observer; And a controller for outputting a control signal for the propulsion torque and the braking command of the vehicle driving system using the reference command speed profile generated by the profile generator. .

이때, 상기 프로파일 생성기는; At this time, the profile generator;

기준속도(

Figure pat00003
)를, Reference speed
Figure pat00003
),

Figure pat00004
Figure pat00004

로 연산하되, 상기 t는 현재시간, Vs는 현재속도,

Figure pat00005
는 목표속도,
Figure pat00006
는 구동시간 상수이며;Where t is the current time, V s is the current speed,
Figure pat00005
Is the target speed,
Figure pat00006
Is a run time constant;

곡선회전부 제한속도(

Figure pat00007
)는, Curved Rotation Speed Limit (
Figure pat00007
),

앞축의 회전반경(

Figure pat00008
), 뒤축의 회전반경(
Figure pat00009
)을 Rotation radius of the front axle
Figure pat00008
), Radius of rotation of the rear axle (
Figure pat00009
)of

Figure pat00010
Figure pat00010

로 연산하고 앞축의 회전반경(

Figure pat00011
)과 뒤축의 회전반경(
Figure pat00012
) 중에 가장 작은 회전반경을 선택하되,
Figure pat00013
은 휠 축간거리,
Figure pat00014
은 각각 앞축과 뒤축의 휠 조향각이며;The rotation radius of the front axis
Figure pat00011
) And the radius of rotation of the heel
Figure pat00012
) Choose the smallest radius of rotation,
Figure pat00013
Silver wheel wheelbase,
Figure pat00014
Are the wheel steering angles of the front and rear axles, respectively;

상기 기준속도(

Figure pat00015
)와 곡선회전부 제한속도(
Figure pat00016
) 중 작은 속도를 기준지령속도(
Figure pat00017
)로 선정하는 것을 특징으로 한다.The reference speed (
Figure pat00015
) And curve rotation speed limit (
Figure pat00016
Reference speed ()
Figure pat00017
It is characterized by selecting).

특히, 상기 구동시간 상수(

Figure pat00018
)는, In particular, the driving time constant (
Figure pat00018
),

가속도 한계(

Figure pat00019
)를
Figure pat00020
에 대입하여 얻어지는 구동시간(
Figure pat00021
)과, Acceleration limit (
Figure pat00019
)
Figure pat00020
Driving time obtained by substituting for
Figure pat00021
)and,

저크 한계(

Figure pat00022
)를
Figure pat00023
에 대입하여 얻어지는 구동시간(
Figure pat00024
) 중에 긴 시간인 것을 특징으로 한다.
Jerk limit (
Figure pat00022
)
Figure pat00023
Driving time obtained by substituting for
Figure pat00024
) A long time.

또한, 본 발명은;The present invention also provides

자동운전차량의 속도 제어를 위한 상수 설정 및 변수를 초기화하는 제1단계; 상기 제1단계 후, 정보관측기를 통해 현재시간(t), 현재속도(Vs), 앞축 조향각(

Figure pat00025
), 뒤축 조향각(
Figure pat00026
) 등의 관측정보를 입력받는 제2단계; 상기 제2단계를 통해 자동운전차량의 목표속도의 변동 여부를 비교하는 제3단계; 상기 제3단계를 통해 자동운전차량의 목표속도가 변동된 경우 구동시간(
Figure pat00027
)을 초과했는지 여부를 판단하는 제4단계; 상기 제4단계를 통해 구동시간(
Figure pat00028
)이 초과하지 않은 경우에는 목표속도(
Figure pat00029
)를 기준속도(
Figure pat00030
)로 설정하고, 상기 제4단계를 통해 구동시간(
Figure pat00031
)이 초과한 경우에는 기준속도(
Figure pat00032
)를
Figure pat00033
로 연산하는 제5단계(상기 t는 현재시간, Vs는 현재속도,
Figure pat00034
는 목표속도,
Figure pat00035
는 구동시간 상수이다.);를 포함하여 구성되는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법도 제공한다.A first step of initializing constants and variables for speed control of the autonomous vehicle; After the first step, the present time (t), the present speed (V s ), the front steering angle (
Figure pat00025
), Heel steering angle (
Figure pat00026
A second step of receiving observation information such as; A third step of comparing whether a target speed of the autonomous driving vehicle is changed through the second step; If the target speed of the autonomous driving vehicle is changed through the third step, the driving time (
Figure pat00027
Determining whether or not to exceed the fourth step; Driving time through the fourth step (
Figure pat00028
), Do not exceed the target speed (
Figure pat00029
) Is the reference speed (
Figure pat00030
) And the driving time (
Figure pat00031
), The reference speed (
Figure pat00032
)
Figure pat00033
The fifth step of calculating the equation (t is the current time, V s is the current speed,
Figure pat00034
Is the target speed,
Figure pat00035
It is also a driving time constant.) Provides a reference driving speed generation method for an automatic driving vehicle, characterized in that it comprises a.

이때, 상기 제2단계 후, 상기 관측정보를 이용해 곡선회전부 제한속도(

Figure pat00036
)를 산정하는 제6단계; 및 상기 제5단계에서 산정된 기준속도(
Figure pat00037
)와 상기 제6단계에서 산정된 곡선회전부 제한속도(
Figure pat00038
)를 비교하여 작은 속도를 기준지령속도(
Figure pat00039
)로 결정하는 제7단계를 더 포함하는 것을 특징으로 한다.In this case, after the second step, the speed limit of the curve rotation part (
Figure pat00036
Calculating a sixth step; And the reference speed calculated in the fifth step (
Figure pat00037
) And the speed limit of the curve rotation part calculated in the sixth step (
Figure pat00038
) And compare the small speed to the reference command speed (
Figure pat00039
It further comprises a seventh step to determine).

특히, 상기 곡선회전부 제한속도(

Figure pat00040
)는, In particular, the speed limit of the curved rotation part (
Figure pat00040
),

앞축의 회전반경(

Figure pat00041
), 뒤축의 회전반경(
Figure pat00042
)을 Rotation radius of the front axle
Figure pat00041
), Radius of rotation of the rear axle (
Figure pat00042
)of

Figure pat00043
Figure pat00043

로 연산하고, 앞축의 회전반경(

Figure pat00044
)과 뒤축의 회전반경(
Figure pat00045
) 중에 가장 작은 회전반경을 선택하되,
Figure pat00046
은 휠 축간거리,
Figure pat00047
은 각각 앞축과 뒤축의 휠 조향각이며; 상기 기준속도(
Figure pat00048
)와 곡선회전부 제한속도(
Figure pat00049
) 중 작은 속도를 기준지령속도(
Figure pat00050
)로 선정하는 것을 특징으로 한다.The rotation radius of the front axis
Figure pat00044
) And the radius of rotation of the heel
Figure pat00045
) Choose the smallest radius of rotation,
Figure pat00046
Silver wheel wheelbase,
Figure pat00047
Are the wheel steering angles of the front and rear axles, respectively; The reference speed (
Figure pat00048
) And curve rotation speed limit (
Figure pat00049
Reference speed ()
Figure pat00050
It is characterized by selecting).

그리고, 상기 제3단계를 통해 목표속도가 변동되지 않은 경우에는 변경시점의 데이터인 현재속도(Vs), 목표속도(

Figure pat00051
), 구동시간(
Figure pat00052
)를 저장하는 제8단계를 더 포함하는 것을 특징으로 한다.
And, if the target speed is not changed through the third step, the present speed (V s ), the target speed (
Figure pat00051
), Run time (
Figure pat00052
It further comprises an eighth step of storing).

본 발명에 따르면, 자동운전차량에서 자동속도제어에 요구되는 기준지령속도를 생성시에 차량의 성능가속한계, 승차감한계, 횡가속한계를 모두 만족하는 속도지령을 생성할 수 있다. According to the present invention, when generating a reference command speed required for automatic speed control in an autonomous vehicle, it is possible to generate a speed command that satisfies the performance acceleration limit, the riding comfort limit, and the lateral acceleration limit of the vehicle.

따라서, 상기 기준지령속도 프로파일을 이용하면 자동운전차량의 가감속 및 곡선부 운행시 승객의 차량승차감 및 운행안정도를 향상시킬 수 있다.
Therefore, by using the reference command speed profile, it is possible to improve the ride comfort and driving stability of the passenger when the acceleration and deceleration of the automatic driving vehicle and the curve portion are driven.

도 1은 종래 자동운전차량의 속도 프로파일 구성도이다.
도 2는 본 발명에 따른 자동운전차량의 속도 제어를 위한 시스템 구성도이다.
도 3 내지 도 5는 기준속도 프로파일의 생성 예를 도시한 도면이다.
도 6은 본 발명에 따른 자동운전차량의 속도제어 흐름도이다.1 is a speed profile diagram of a conventional autonomous vehicle.
2 is a system configuration diagram for speed control of an autonomous vehicle according to the present invention.
3 to 5 illustrate examples of generating a reference velocity profile.
6 is a flowchart illustrating a speed control of an autonomous driving vehicle according to the present invention.

본 발명에 따른 자동운전차량의 기준주행속도 생성 시스템 및 방법을 첨부한 도면을 참고로 하여 이하 상세히 기술되는 실시 예에 의하여 그 특징들을 이해할 수 있을 것이다.
With reference to the accompanying drawings, a reference driving speed generation system and method of an autonomous vehicle according to the present invention will be understood by the embodiments described in detail below.

도 2에 의하면, 본 발명에 따른 자동운전차량의 기준주행속도 생성시에는 자동운전차량을 감속하거나 가속할 때 승차감 및 차량성능한계를 고려한 가속 및 저크한계 내에서 운행되어야 하며, 이를 위해 자동운전차량은 위의 성능조건을 만족하는 기준속도지령을 실시간으로 발생하여야 한다.According to FIG. 2, when generating a reference driving speed of an autonomous driving vehicle according to the present invention, when driving or decelerating or accelerating the autonomous driving vehicle, the vehicle must be operated within an acceleration and jerk limit in consideration of riding comfort and vehicle performance limit. Should generate the reference speed command satisfying the above performance condition in real time.

이를 위해 본 발명은 차량 주행 중 목표속도가 주어지거나 곡선부를 통과하는 경우 차량의 성능한계(가속도), 승차감한계(저크), 횡가속한계(곡선부 속도) 등을 고려하여 기준주행속도를 생성하는 방법을 제시한다.To this end, the present invention generates a reference driving speed in consideration of a performance limit (acceleration), a riding comfort limit (jerk), a lateral acceleration limit (curve speed), etc., when a target speed is given or passes through a curved part while driving a vehicle. Give a way.

이와 같은 자동운전차량의 주행속도 제어를 위해서는 전동차와 같은 자동운전차량의 추진 및 제동을 담당하는 차량구동시스템(100)의 현재시간, 현재속도, 앞축 조향각, 뒤축 조향각 등의 관측정보를 관측하는 정보관측기(200)와; 상기 정보관측기(200)를 통해 관측되는 관측정보를 이용해 기준지령속도를 생성하는 프로파일 생성기(300)와; 상기 프로파일 생성기(300)에서 생성된 기준지령속도 프로파일을 이용해 상기 차량구동시스템(100)의 추진토크 및 제동지령을 위한 제어신호를 출력하는 제어기(400)를 이용한다.
Information for observing the observation information such as the current time, current speed, front axle steering angle, rear axle steering angle of the vehicle driving system 100 which is in charge of the driving and braking of the automatic driving vehicle such as an electric vehicle for controlling the traveling speed of the automatic driving vehicle as described above. An observer 200; A profile generator 300 for generating a reference command speed using observation information observed through the information observer 200; The controller 400 outputs a control signal for the propulsion torque and the braking command of the vehicle driving system 100 by using the reference command speed profile generated by the profile generator 300.

이하에서는 상기 정보관측기(200)를 통해 관측되는 관측정보를 이용해 프로파일 생성기(300)에서의 기준주행속도의 도출 과정을 설명한다.Hereinafter, the derivation process of the reference driving speed in the profile generator 300 using the observation information observed through the information observer 200 will be described.

먼저, 차량성능한계인 가속한계와 승차감한계인 저크(jerk) 한계를 고려한 기준속도(

Figure pat00053
)를 산정하는 경우이다.First, the reference speed considering the acceleration limit, which is the vehicle performance limit, and the jerk limit, which is the riding limit,
Figure pat00053
) Is calculated.

이 경우, 부드러운 속도, 가속도, 저크 곡선을 형성하기 위해 Sin함수를 사용한다.In this case, the Sin function is used to form a smooth velocity, acceleration, and jerk curve.

속도, 가속도, 저크곡선 각각의 식을 정리하면 아래의 식(3) 내지 식(5)와 같다.The expressions of velocity, acceleration, and jerk curve are summarized in the following equations (3) to (5).

Figure pat00054
(3)
Figure pat00054
(3)

Figure pat00055
(4)
Figure pat00055
(4)

Figure pat00056
(5)
Figure pat00056
(5)

이때, 상기 식(3) 내지 식(5)에서

Figure pat00057
는 속도,
Figure pat00058
는 가속도,
Figure pat00059
는 저크,
Figure pat00060
는 현재시간,
Figure pat00061
는 구동시간이다.At this time, in the formula (3) to formula (5)
Figure pat00057
Speed,
Figure pat00058
Is the acceleration,
Figure pat00059
Jerk,
Figure pat00060
Is the current time,
Figure pat00061
Is the drive time.

상기 식(3) 내지 식(5)는 단위 구동시간 동안 '1'에 도달하는 식으로서, 상기 식(3) 내지 식(5)를 이용하여 현재속도와 목표속도에 관련한 식으로 수정하면 아래의 식(6)과 같다.Equations (3) to (5) are equations that reach '1' during a unit driving time. The equations (3) to (5) are modified using equations related to the current speed and the target speed using equations (3) to (5) below. Equation (6)

Figure pat00062
(6)
Figure pat00062
(6)

여기서

Figure pat00063
는 기준속도,
Figure pat00064
는 시작속도,
Figure pat00065
는 목표속도이다.here
Figure pat00063
Is the reference speed,
Figure pat00064
Is the starting speed,
Figure pat00065
Is the target speed.

위 식에서

Figure pat00066
는 아래의 식(7)과 같이 결정되는 구동시간 상수이다.From the stomach
Figure pat00066
Is a driving time constant determined as in Equation (7) below.

이때, 가속도 한계에 의해 결정되는 구동시간(

Figure pat00067
)은 아래의 식(7)과 같다.At this time, the driving time determined by the acceleration limit (
Figure pat00067
) Is as shown in Equation (7) below.

Figure pat00068
(7)
Figure pat00068
(7)

또한, 저크 한계에 의해 결정되는 구동시간(

Figure pat00069
)은 아래의 식(8)과 같다.Also, the driving time determined by the jerk limit (
Figure pat00069
) Is as shown in Equation (8) below.

Figure pat00070
(8)
Figure pat00070
(8)

이때, 상기 식(7)의

Figure pat00071
는 가속도 제한값이고, 식(8)의
Figure pat00072
는 저크 제한값이다.At this time, of the formula (7)
Figure pat00071
Is the acceleration limit value, and
Figure pat00072
Is the jerk limit.

따라서, 구동시간상수(

Figure pat00073
)는 아래의 식(9)와 같이 최종적으로 가속한계와 저크한계 구동시간 중 가장 긴 시간이 선택된다.Therefore, the driving time constant (
Figure pat00073
) Is finally selected as the longest of the acceleration limit and jerk limit driving time as shown in equation (9) below.

Figure pat00074
(9)
Figure pat00074
(9)

다음으로, 프로파일 생성기(300)에서 곡선회전부 제한속도(

Figure pat00075
)를 산정하는 경우를 설명한다.Next, in the profile generator 300, the curve rotation speed limit (
Figure pat00075
The case of calculating) is explained.

이때, 곡선부 회전반경(

Figure pat00076
)과 주행속도(
Figure pat00077
), 횡가속도(
Figure pat00078
)는 아래의 식(10)과 같다.At this time, the radius of rotation of the curved portion (
Figure pat00076
) And speed (
Figure pat00077
), Lateral acceleration (
Figure pat00078
) Is as shown in Equation (10) below.

Figure pat00079
(10)
Figure pat00079
10

이때, 상기 식(10)에서 횡가속도 제한은 차량에 따라 차이가 있으며 통상

Figure pat00080
상수로 제시된다. In this case, the limit of the lateral acceleration in the formula (10) is different depending on the vehicle and usually
Figure pat00080
It is presented as a constant.

상기 식(10)을 이용하여 아래의 식(11)로 정리하면 곡선부 제한속도(

Figure pat00081
)를 횡가속도 제한값(
Figure pat00082
)에 의해 제한될 수 있다. Using Equation (10) above to summarize the equation (11) below the speed limit of the curve portion (
Figure pat00081
) Is the lateral acceleration limit (
Figure pat00082
May be limited by

Figure pat00083
(11)
Figure pat00083
(11)

이때, 회전반경(

Figure pat00084
)은 차륜 조향각을 알면 아래의 식(12)와 같이 계산할 수 있다.At this time, the radius of rotation (
Figure pat00084
) Can be calculated as Equation (12) below.

Figure pat00085
, (12)
Figure pat00085
, (12)

이때,

Figure pat00086
은 앞축의 회전반경,
Figure pat00087
은 뒤축의 회전반경,
Figure pat00088
은 휠 축간거리,
Figure pat00089
은 각각 앞축과 뒤축의 휠 조향각이다. 따라서 아래의 식(13)과 같이 앞축의 회전반경(
Figure pat00090
)과 뒤축의 회전반경(
Figure pat00091
) 중에 가장 작은 회전반경이 선택된다.At this time,
Figure pat00086
Is the radius of rotation of the front axle,
Figure pat00087
Turn radius of the heel,
Figure pat00088
Silver wheel wheelbase,
Figure pat00089
Are the wheel steering angles of the front and rear axles, respectively. Therefore, the radius of rotation of the front shaft (Equation (13) below)
Figure pat00090
) And the radius of rotation of the heel
Figure pat00091
), The smallest radius of rotation is selected.

Figure pat00092
(13)
Figure pat00092
(13)

이상의 식(3) 내지 식(9)를 이용하여 기준속도(

Figure pat00093
)를 산정하고, 식(10) 내지 식(13)을 이용하여 곡선회전부 제한속도(
Figure pat00094
)를 산정한 후, 최종적으로 자동운전차량의 최종적인 기준지령속도를 산정하게 된다.Using the above formulas (3) to (9), the reference speed (
Figure pat00093
) And calculate the speed limit of the curve rotation part using equations (10) to (13).
Figure pat00094
After calculating), the final reference command speed of the autonomous vehicle is finally calculated.

결국 최종 기준지령속도는 아래의 식(14)와 같이 기준속도(

Figure pat00095
), 곡선회전부 제한속도(
Figure pat00096
) 중 가장 작은 속도에 의해 결정된다.As a result, the final reference command speed is the reference speed (
Figure pat00095
), Curved rotational speed limit (
Figure pat00096
) Is determined by the smallest speed.

Figure pat00097
(14)
Figure pat00097
(14)

상기 식(14)를 통해 결정되는 기준지령속도(

Figure pat00098
)는 차량의 성능가속한계(
Figure pat00099
), 승차감한계(
Figure pat00100
), 횡가속한계(
Figure pat00101
)를 모두 만족한다.
Reference command speed determined through equation (14)
Figure pat00098
) Is the performance acceleration limit of the vehicle (
Figure pat00099
), Riding Limit (
Figure pat00100
), Lateral acceleration limit (
Figure pat00101
Satisfies all).

이상의 식들을 이용해 기준속도 프로파일의 생성 예가 도 3 내지 도 5에 도시된다. 이때, 도 3 내지 도 5는 시작속도인

Figure pat00102
가 0km/h이고, 목표속도인
Figure pat00103
가 35km/h이고, 가속도 제한값인
Figure pat00104
가 1.2m/s2이고, 저크 제한값인
Figure pat00105
가 0.8m/s3인 조건을 기준으로 생성되는 것으로, 도 3은 기준속도 프로파일의 생성 예이고, 도 4는 기준속도의 가속도 특성을 도시한 예이고, 도 5는 기준속도의 저크 특성을 도시한 예이다.
Examples of generating the reference velocity profile using the above equations are shown in FIGS. 3 to 5. At this time, Figures 3 to 5 is the starting speed
Figure pat00102
Is 0km / h, the target speed
Figure pat00103
Is 35 km / h and the acceleration limit
Figure pat00104
Is 1.2 m / s 2 , the jerk limit
Figure pat00105
Is generated based on a condition of 0.8 m / s 3 , Figure 3 is an example of the generation of the reference speed profile, Figure 4 is an example showing the acceleration characteristics of the reference speed, Figure 5 shows the jerk characteristics of the reference speed One example.

이하, 도 2 및 도 6을 참고로 본 발명에 따른 자동운전차량의 속도 제어 과정을 설명한다.Hereinafter, a speed control process of an autonomous vehicle according to the present invention will be described with reference to FIGS. 2 and 6.

먼저, 정보관측기(200)는 자동운전차량의 추진 및 제동을 담당하는 차량구동시스템(100)의 현재시간, 현재속도, 앞축 조향각, 뒤축 조향각 등의 관측정보를 관측한다.First, the information observer 200 observes the observation information such as the current time, the current speed, the front axle steering angle, the rear axle steering angle, etc. of the vehicle driving system 100 responsible for the propulsion and braking of the autonomous driving vehicle.

이와 같은 정보관측기(200)의 관측정보는 기준지령속도 생성을 위해 프로파일 생성기(300)는 상기 관측정보를 이용해 기준지령속도 프로파일을 생성한다.The observation information of the information observer 200 generates the reference command speed profile using the observation information in order to generate the reference command speed.

즉, 상기 프로파일 생성기(300)는 관측정보를 이용해 기준속도 프로파일을 생성하기 위해 자동운전차량의 가속한계, 저크한계, 횡가속한계 등의 상수 설정 및 변수를 초기화한다.(S100)That is, the profile generator 300 initializes constant settings and variables such as acceleration limit, jerk limit, and lateral acceleration limit of the autonomous vehicle to generate a reference speed profile using the observation information.

상기 단계(S100)를 통해 연산을 위한 상수 설정 및 변수를 초기화한 후, 정보관측기(200)를 통해 현재시간(t), 현재속도(Vs), 앞축 조향각(

Figure pat00106
), 뒤축 조향각(
Figure pat00107
) 등의 관측정보를 입력받는다.(S102)After initializing the constant setting and the variable for the operation through the step (S100), the current time (t), the current speed (V s ), the steering angle (front axis) through the information observer 200
Figure pat00106
), Heel steering angle (
Figure pat00107
Receive observation information such as) (S102)

상기 단계(S102)를 통해 관측정보를 입력받으면, 자동운전차량의 목표속도의 변동여부를 비교한다.(S104)When the observation information is input through the step (S102), it is compared whether or not the target speed of the autonomous vehicle changes.

상기 단계(S104)를 통해 목표속도가 변동되지 않은 경우에는 변경시점의 데이터인 현재속도(Vs), 목표속도(), 구동시간(

Figure pat00109
)을 저장한다.(S106)If the target speed is not changed through the step (S104), the current speed (V s ), the target speed ( ), Run time (
Figure pat00109
(S106).

상기 단계(S106)를 통해 자동운전차량의 목표속도가 변동된 경우에는 현재 진행시간(t)에서 이전 진행시간(tc)를 뺀 값을 구동시간(

Figure pat00110
)으로 나눈 단위시간 변동값(dt)을 구하고(S108), 그 단위시간 변동값(dt)이 '1'보다 작은지를 비교함으로서 구동시간(
Figure pat00111
)을 초과했는지 여부를 판단하게 된다.(S110)When the target speed of the autonomous driving vehicle is changed through the step (S106), the value obtained by subtracting the previous progress time t c from the current progress time t is calculated as the driving time (
Figure pat00110
By calculating the unit time variation value dt divided by) (S108), and comparing the unit time variation value dt is smaller than '1', the driving time (
Figure pat00111
It is determined whether or not to exceed (S110).

상기 단계(S110)를 통해 구동시간(

Figure pat00112
)이 초과하지 않은 경우에는 목표속도(
Figure pat00113
)를 기준속도(
Figure pat00114
)로 설정한다.(S112)Driving time through the step (S110) (
Figure pat00112
), Do not exceed the target speed (
Figure pat00113
) Is the reference speed (
Figure pat00114
(S112).

상기 단계(S110)를 통해 구동시간(

Figure pat00115
)이 초과한 경우에는 전술한 식(6)을 이용해 기준속도(
Figure pat00116
)를 생성한다.(S114)Driving time through the step (S110) (
Figure pat00115
) Is exceeded, the reference speed (
Figure pat00116
(S114).

한편, 상기 단계(S102)를 통해 정보관측기(200)로부터 현재시간(t), 현재속도(Vs), 앞축 조향각(

Figure pat00117
), 뒤축 조향각(
Figure pat00118
) 등의 관측정보를 이용해 곡선회전부 제한속도(
Figure pat00119
)를 산정한다.(S116)On the other hand, the current time (t), the current speed (V s ), the front axis steering angle (from the information observer 200 through the step (S102)
Figure pat00117
), Heel steering angle (
Figure pat00118
Using the observation information such as)
Figure pat00119
Calculate) (S116)

그리고, 상기 단계(S112) 또는 단계(S114) 중에 어느 하나의 단계를 수행하여 산정된 기준속도(

Figure pat00120
)와, 상기 단계(S116)의 수행을 통해 산정된 곡선회전부 제한속도(
Figure pat00121
)를 비교하여 작은 속도를 기준지령속도(
Figure pat00122
)로 결정한다.(S118)Then, the reference speed calculated by performing any one of the step (S112) or step (S114) (
Figure pat00120
), And the speed limit of the curved rotation part calculated by performing the step (S116) (
Figure pat00121
) And compare the small speed to the reference command speed (
Figure pat00122
(S118)

또한, 상기 단계(S118)를 수행한 후에는 생성된 기준지령인 기준지령속도(

Figure pat00123
)는 제어기(400)로 전송하며, 상기 제어기(400)는 상기 기준지령을 이용해 차량구동시스템(100)에 자동운전차량의 추진 또는 제동을 위한 제어신호를 출력하여 자동운전차량을 제어한다.
In addition, after performing the step (S118), the reference command speed which is the generated reference command (
Figure pat00123
) Is transmitted to the controller 400, and the controller 400 controls the autonomous vehicle by outputting a control signal for propulsion or braking of the autonomous vehicle to the vehicle driving system 100 using the reference command.

이상에서는 본 발명의 바람직한 실시 예를 설명하였으나, 본 발명의 권리범위는 이에 한정되지 않으며, 본 발명의 실시 예와 실질적으로 균등한 범위에 있는 것까지 본 발명의 권리범위가 미치는 것으로 본 발명의 정신을 벗어나지 않는 범위 내에서 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변형 실시가 가능한 것이다.
Although the preferred embodiment of the present invention has been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to the scope of the present invention to be substantially equivalent to the embodiment of the present invention. Various modifications can be made by those skilled in the art without departing from the scope of the present invention.

100: 차량구동시스템
200: 정보관측기
300: 프로파일 생성기
400: 제어기100: vehicle driving system
200: information observer
300: profile generator
400: controller

Claims (8)

자동운전차량의 추진 및 제동을 담당하는 차량구동시스템의 현재시간, 현재속도, 앞축 조향각, 뒤축 조향각 등의 관측정보를 관측하는 정보관측기와; 상기 정보관측기를 통해 관측되는 관측정보를 이용해 기준지령속도를 생성하는 프로파일 생성기와; 상기 프로파일 생성기에서 생성된 기준지령속도 프로파일을 이용해 상기 차량구동시스템의 추진토크 및 제동지령을 위한 제어신호를 출력하는 제어기;로 구성되는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 시스템.
An information observer for observing observation information such as a current time, a current speed, a front axle steering angle, a rear axle steering angle, etc. of the vehicle driving system responsible for the propulsion and braking of the autonomous driving vehicle; A profile generator for generating a reference command speed using observation information observed through the information observer; And a controller for outputting a control signal for the propulsion torque and the braking command of the vehicle driving system using the reference command speed profile generated by the profile generator.
제 1항에 있어서, 상기 프로파일 생성기는;
기준속도(
Figure pat00124
)는,
Figure pat00125

로 연산하되, 상기 t는 현재시간, Vs는 현재속도,
Figure pat00126
는 목표속도,
Figure pat00127
는 구동시간 상수이며;
곡선회전부 제한속도(
Figure pat00128
)는,
앞축의 회전반경(
Figure pat00129
), 뒤축의 회전반경(
Figure pat00130
)을
Figure pat00131

로 연산하고 앞축의 회전반경(
Figure pat00132
)과 뒤축의 회전반경(
Figure pat00133
) 중에 가장 작은 회전반경을 선택하되,
Figure pat00134
은 휠 축간거리,
Figure pat00135
은 각각 앞축과 뒤축의 휠 조향각이며;
상기 기준속도(
Figure pat00136
)와 곡선회전부 제한속도(
Figure pat00137
) 중 작은 속도를 기준지령속도(
Figure pat00138
)로 선정하는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 시스템.
The apparatus of claim 1, wherein the profile generator comprises: a profile generator;
Reference speed
Figure pat00124
),
Figure pat00125

Where t is the current time, V s is the current speed,
Figure pat00126
Is the target speed,
Figure pat00127
Is a run time constant;
Curved Rotation Speed Limit (
Figure pat00128
),
Rotation radius of the front axle
Figure pat00129
), Radius of rotation of the rear axle (
Figure pat00130
)of
Figure pat00131

The rotation radius of the front axis
Figure pat00132
) And the radius of rotation of the heel
Figure pat00133
) Choose the smallest radius of rotation,
Figure pat00134
Silver wheel wheelbase,
Figure pat00135
Are the wheel steering angles of the front and rear axles, respectively;
The reference speed (
Figure pat00136
) And curve rotation speed limit (
Figure pat00137
Reference speed ()
Figure pat00138
A reference driving speed generation system of an autonomous vehicle, characterized in that the selection.
제 2항에 있어서,
상기 구동시간 상수(
Figure pat00139
)는,
가속도 한계(
Figure pat00140
)를
Figure pat00141
에 대입하여 얻어지는 구동시간(
Figure pat00142
)과,
저크 한계(
Figure pat00143
)를 에 대입하여 얻어지는 구동시간(
Figure pat00145
) 중에 긴 시간인 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 시스템.
The method of claim 2,
The driving time constant (
Figure pat00139
),
Acceleration limit (
Figure pat00140
)
Figure pat00141
Driving time obtained by substituting for
Figure pat00142
)and,
Jerk limit (
Figure pat00143
) Driving time obtained by substituting for
Figure pat00145
A reference driving speed generation system for an automatic driving vehicle, characterized in that the long time.
자동운전차량의 속도 제어를 위한 상수 설정 및 변수를 초기화하는 제1단계;
상기 제1단계 후, 정보관측기를 통해 현재시간(t), 현재속도(Vs), 앞축 조향각(
Figure pat00146
), 뒤축 조향각(
Figure pat00147
) 등의 관측정보를 입력받는 제2단계;
상기 제2단계를 통해 자동운전차량의 목표속도의 변동 여부를 비교하는 제3단계;
상기 제3단계를 통해 자동운전차량의 목표속도가 변동된 경우 구동시간(
Figure pat00148
)을 초과했는지 여부를 판단하는 제4단계;
상기 제4단계를 통해 구동시간(
Figure pat00149
)이 초과하지 않은 경우에는 목표속도(
Figure pat00150
)를 기준속도(
Figure pat00151
)로 설정하고, 상기 제4단계를 통해 구동시간(
Figure pat00152
)이 초과한 경우에는 기준속도(
Figure pat00153
)를
Figure pat00154

로 연산하는 제5단계(상기 t는 현재시간, Vs는 현재속도,
Figure pat00155
는 목표속도,
Figure pat00156
는 구동시간 상수이다.);를 포함하여 구성되는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법.
A first step of initializing constants and variables for speed control of the autonomous vehicle;
After the first step, the present time (t), the present speed (V s ), the front steering angle (
Figure pat00146
), Heel steering angle (
Figure pat00147
A second step of receiving observation information such as;
A third step of comparing whether a target speed of the autonomous driving vehicle is changed through the second step;
If the target speed of the autonomous driving vehicle is changed through the third step, the driving time (
Figure pat00148
Determining whether or not to exceed the fourth step;
Driving time through the fourth step (
Figure pat00149
), Do not exceed the target speed (
Figure pat00150
) Is the reference speed (
Figure pat00151
) And the driving time (
Figure pat00152
), The reference speed (
Figure pat00153
)
Figure pat00154

The fifth step of calculating the equation (t is the current time, V s is the current speed,
Figure pat00155
Is the target speed,
Figure pat00156
Reference driving speed generation method for an automatic driving vehicle, comprising: a.
제 4항에 있어서,
상기 구동시간 상수(
Figure pat00157
)는,
가속도 한계(
Figure pat00158
)를
Figure pat00159
에 대입하여 얻어지는 구동시간(
Figure pat00160
)과,
저크 한계(
Figure pat00161
)를
Figure pat00162
에 대입하여 얻어지는 구동시간(
Figure pat00163
) 중에 긴 시간인 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법.
The method of claim 4, wherein
The driving time constant (
Figure pat00157
),
Acceleration limit (
Figure pat00158
)
Figure pat00159
Driving time obtained by substituting for
Figure pat00160
)and,
Jerk limit (
Figure pat00161
)
Figure pat00162
Driving time obtained by substituting for
Figure pat00163
A standard driving speed generation method for an automatic driving vehicle, characterized in that the long time.
제 4항에 있어서,
상기 제2단계 후, 상기 관측정보를 이용해 곡선회전부 제한속도(
Figure pat00164
)를 산정하는 제6단계; 및
상기 제5단계에서 산정된 기준속도(
Figure pat00165
)와 상기 제6단계에서 산정된 곡선회전부 제한속도(
Figure pat00166
)를 비교하여 작은 속도를 기준지령속도(
Figure pat00167
)로 결정하는 제7단계를 더 포함하는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법.
The method of claim 4, wherein
After the second step, using the observation information, the speed limit of the curve rotation unit (
Figure pat00164
Calculating a sixth step; And
The reference speed calculated in the fifth step (
Figure pat00165
) And the speed limit of the curve rotation part calculated in the sixth step (
Figure pat00166
) And compare the small speed to the reference command speed (
Figure pat00167
The reference driving speed generation method of the autonomous vehicle, characterized in that it further comprises a seventh step of determining.
제 6항에 있어서,
상기 곡선회전부 제한속도(
Figure pat00168
)는,
앞축의 회전반경(
Figure pat00169
), 뒤축의 회전반경(
Figure pat00170
)을
Figure pat00171

로 연산하고, 앞축의 회전반경(
Figure pat00172
)과 뒤축의 회전반경(
Figure pat00173
) 중에 가장 작은 회전반경을 선택하되,
Figure pat00174
은 휠 축간거리,
Figure pat00175
은 각각 앞축과 뒤축의 휠 조향각이며;
상기 기준속도(
Figure pat00176
)와 곡선회전부 제한속도(
Figure pat00177
) 중 작은 속도를 기준지령속도(
Figure pat00178
)로 선정하는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법.
The method of claim 6,
The speed limit of the curve rotation part (
Figure pat00168
),
Rotation radius of the front axle
Figure pat00169
), Radius of rotation of the rear axle (
Figure pat00170
)of
Figure pat00171

The rotation radius of the front axis
Figure pat00172
) And the radius of rotation of the heel
Figure pat00173
) Choose the smallest radius of rotation,
Figure pat00174
Silver wheel wheelbase,
Figure pat00175
Are the wheel steering angles of the front and rear axles, respectively;
The reference speed (
Figure pat00176
) And curve rotation speed limit (
Figure pat00177
Reference speed ()
Figure pat00178
The reference driving speed generation method of an autonomous vehicle, characterized in that the selection.
제 4항에 있어서,
상기 제3단계를 통해 목표속도가 변동되지 않은 경우에는 변경시점의 데이터인 현재속도(Vs), 목표속도(
Figure pat00179
), 구동시간(
Figure pat00180
)를 저장하는 제8단계를 더 포함하는 것을 특징으로 하는 자동운전차량의 기준주행속도 생성 방법.
The method of claim 4, wherein
If the target speed is not changed through the third step, the present speed (V s ) and the target speed (
Figure pat00179
), Run time (
Figure pat00180
The reference driving speed generation method of the autonomous vehicle, characterized in that it further comprises an eighth step of storing.
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* Cited by examiner, † Cited by third party
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KR20180067830A (en) 2016-12-13 2018-06-21 엘지전자 주식회사 System for controlling autonomous vehicle and method thereof
WO2019020354A1 (en) * 2017-07-27 2019-01-31 Audi Ag Method for path curve calculation and regulation for a driver assistance system and a control unit and motor vehicle
WO2019113399A1 (en) * 2017-12-07 2019-06-13 Uber Technologies, Inc. Systems and methods for road surface dependent motion planning
CN112849222A (en) * 2019-11-28 2021-05-28 中车株洲电力机车研究所有限公司 Steering control method and device for following shaft
KR102525469B1 (en) * 2022-08-31 2023-04-26 주식회사 라이드플럭스 Remote control method, apparatus and computer program for autonomous vehicle

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Publication number Priority date Publication date Assignee Title
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180067830A (en) 2016-12-13 2018-06-21 엘지전자 주식회사 System for controlling autonomous vehicle and method thereof
WO2019020354A1 (en) * 2017-07-27 2019-01-31 Audi Ag Method for path curve calculation and regulation for a driver assistance system and a control unit and motor vehicle
WO2019113399A1 (en) * 2017-12-07 2019-06-13 Uber Technologies, Inc. Systems and methods for road surface dependent motion planning
US11260875B2 (en) 2017-12-07 2022-03-01 Uatc, Llc Systems and methods for road surface dependent motion planning
CN112849222A (en) * 2019-11-28 2021-05-28 中车株洲电力机车研究所有限公司 Steering control method and device for following shaft
KR102525469B1 (en) * 2022-08-31 2023-04-26 주식회사 라이드플럭스 Remote control method, apparatus and computer program for autonomous vehicle

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