KR20220056887A - Apparatus for auto driving of car and control method therefor - Google Patents

Abstract

The present invention relates to a device for autonomous driving of a vehicle and a control method thereof, and more specifically, a device for autonomous driving of a vehicle and a control method thereof. The device for autonomous driving of a vehicle is characterized by: a higher-level control unit which communicates with an electronic control unit installed in a vehicle to generate a command to enter an autonomous driving mode and to generate a command to switch to a driver preferred mode in an emergency; a lower-level control unit which controls steering, acceleration, and deceleration of the vehicle to perform autonomous driving of the vehicle according to the autonomous driving entry command of the higher-level control unit, disables the autonomous driving of the vehicle according to a driver preferred mode conversion command of the higher-level control unit, and controls steering, acceleration and deceleration of the vehicle by the driver's manipulation; a steering unit which performs steering for autonomous driving of the vehicle according to the control of the lower-level control unit; an acceleration unit which accelerates the vehicle according to the control of the lower-level control unit; and a deceleration unit which decelerates the vehicle according to the control of the lower-level control unit. According to the present invention, the device for autonomous driving of a vehicle is switched to the driver preferred mode in an emergency. As such, driving stability of an autonomous vehicle can be improved.

Description

Apparatus for autonomous vehicle driving and control method thereof

The present invention relates to an apparatus for autonomous driving of a vehicle and a control method thereof, and more particularly, to generate a command for entering into an autonomous driving mode by communicating with an electronic control unit installed in the vehicle, and a driver in an emergency situation An upper control unit that generates a command for switching to the priority mode, and controls steering, acceleration, and deceleration of the vehicle to perform autonomous driving according to the autonomous driving entry command of the upper control unit, and the driver priority mode of the upper control unit A lower control unit for canceling autonomous driving of the vehicle according to a switching command and controlling steering, acceleration, and deceleration of the vehicle according to the driver's manipulation; , an apparatus for autonomous driving of a vehicle, characterized in that it comprises an acceleration unit for accelerating the vehicle according to the control of the sub-control unit, and a deceleration unit for decelerating the vehicle according to the control of the sub-control unit, and the same It is about the control method.

In general, an autonomous vehicle is a vehicle that is installed in a vehicle, such as a GPS device, a camera, an ultrasonic sensor, a radar, a map and a terrain database, and the vehicle's sensors and recognition devices for the vehicle's surrounding environment. It refers to a vehicle in which the vehicle can autonomously operate by automatically performing steering, acceleration and deceleration of the vehicle by the electronic control unit of the vehicle.

For these autonomous vehicles, the American Society of Automotive Engineers (SAE) classifies the standards of autonomous driving technology from level 0 to level 5 as shown in FIG. 1 .

In other words, level 0 is a non-automation level, and driving is performed by the driver all the time, and the electronic control unit of the vehicle controls the steering, acceleration and It is a level that can temporarily control the deceleration.

And, level 1 is a driver assistance level, and is a level at which the autonomous driving system of the vehicle assists in steering, acceleration, and deceleration of the vehicle while driving is performed by the driver.

Level 2 is the level of partial automation, where the autonomous driving system of the vehicle directly performs steering, acceleration and deceleration.

Level 3 is the conditional automation level, where the autonomous driving system of the vehicle directly performs steering, acceleration, and deceleration, but in an emergency, the driver intervenes in the operation of the vehicle.

Level 4 is the advanced automation level, where the autonomous driving system of the vehicle directly performs steering, acceleration, and deceleration, but the driver does not need to intervene in the operation of the vehicle even in normal and emergency situations.

Level 5 is a fully automated level, and all steering, acceleration and deceleration of the vehicle is performed by the vehicle's autonomous driving system, and is an ideal level for an autonomous vehicle that does not require a driver.

Therefore, the level 2 and level 3 are in the early stage of commercialization around the world. In level 2 and level 3, the autonomous driving system of the vehicle directly performs steering, acceleration, and deceleration, but the driver As the level involved in the operation of the driver, the driver-priority mode exists in the autonomous driving mode.

The driver-priority mode is a mode in which the autonomous vehicle is preferentially controlled by the driver's operation according to the driving situation. It should be designed so that it can quickly give the driver some control over it.

On the other hand, technologies for autonomous driving that can be installed in existing vehicles that do not have an autonomous driving function are also being developed. The technology of the HMI evaluation device, method and storage medium for switching control right of an autonomous vehicle according to Korean Patent Laid-Open No. 2020-0083901, and the technology of the device and method for switching control right of an autonomous vehicle according to Korean Patent Laid-Open No. 2020-0019276, and the Republic of Korea The technology of the vehicle driving control right adjustment system and method of Patent Publication No. 2019-0061726 is known.

However, the above prior arts suggest the configuration of equipment for autonomous driving to be installed in an existing vehicle that does not have an autonomous driving function.

The present invention has been devised to solve all the problems of the prior art, and it has a relatively simple configuration as a kit for autonomous driving to be installed in an existing vehicle that does not have an autonomous driving function. There is a technical problem of the present invention to provide a configuration of an apparatus and a control method for autonomous driving that faithfully performs autonomous driving of a vehicle while rapidly switching to a driver-priority mode in an emergency situation.

The configuration of the apparatus and control method for autonomous driving of a vehicle of the present invention for achieving the above technical problem is to perform communication with an electronic control unit installed in the vehicle to generate a command to enter the autonomous driving mode, An upper control unit that generates a command to switch to the driver-priority mode in an emergency situation, and controls steering, acceleration and deceleration of the vehicle for performing autonomous driving of the vehicle according to the autonomous driving entry command of the upper control unit, and the upper control unit A sub-control unit that cancels autonomous driving of the vehicle according to the driver-priority mode switching command of It characterized in that it is configured to include a steering unit, the acceleration unit for performing acceleration of the vehicle according to the control of the sub-control unit, and a deceleration unit for performing deceleration of the vehicle according to the control of the sub-control unit.

The apparatus for autonomous driving of a vehicle and a control method thereof of the present invention having the above configuration are provided by the American Society of Automotive Engineers (USA) by installing a steering unit, an accelerator unit, and a deceleration unit in a vehicle in which an existing autonomous driving device is not installed. SAE) can implement an autonomous vehicle having an autonomous driving function of the level 2 to level 3 of the autonomous driving machine, thereby increasing the utility of the existing vehicle and reducing economic costs.

In addition, by immediately switching to the driver-priority mode in case of an emergency, the driving stability of the autonomous vehicle can be improved, the possibility of a safety accident can be reduced, and the operation control of the vehicle can be smoothly switched.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a view showing the standards of autonomous driving technology for vehicles of the American Society of Automotive Engineers (SAE);
2 is a block diagram of an apparatus for an autonomous vehicle of the present invention;
3 is a block diagram of a steering unit of an apparatus for an autonomous vehicle of the present invention;
4 is a configuration diagram of a steering wheel of a steering unit of an apparatus for an autonomous vehicle of the present invention;
5 is a block diagram of an acceleration unit of an apparatus for an autonomous vehicle of the present invention;
6 and 7 are block diagrams of a reduction unit applied to the apparatus for an autonomous vehicle of the present invention;
8 is a detailed view of a reduction unit of the device for an autonomous vehicle of the present invention;
9 is a view showing an operating state of a reduction unit of the apparatus for an autonomous vehicle of the present invention;
10 is a detailed view of a reduction unit of another embodiment of the device for an autonomous vehicle of the present invention;
11 is a flowchart illustrating a control method of an apparatus for an autonomous vehicle according to the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected (connected, contacted, coupled)” with another part, it is not only “directly connected” but also “indirectly connected” with another member interposed therebetween. "Including cases where In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of an apparatus for an autonomous vehicle of the present invention.

The device for an autonomous driving vehicle of the present invention generates a command to enter the autonomous driving mode by communicating with an electronic control unit (ECU) installed in the vehicle, and according to the sudden appearance of an object in the front during autonomous driving or road conditions The upper control unit 10 that generates a command for switching to the driver-priority mode in an emergency such as when the vehicle slides, and the vehicle for performing autonomous driving of the vehicle according to the autonomous driving entry command of the upper control unit 10 Steering, acceleration, and deceleration are controlled, the autonomous driving of the vehicle is released according to the driver-priority mode conversion command of the upper control unit 10, and the operation signal for steering, acceleration, and deceleration generated by the driver's operation is activated. A lower control unit 20 for controlling steering, acceleration, and deceleration; a steering unit 30 for performing steering for autonomous driving of the vehicle according to the control of the lower control unit 20; It is configured to include an acceleration unit 40 for accelerating the vehicle according to the , and a deceleration unit 50 for decelerating the vehicle according to the control of the lower control unit 20 .

Here, the upper control unit 10 may be configured as a part of an electronic control unit (ECU) of the vehicle, and in this case, the electronic control unit (ECU) constitutes the upper level control unit 10 .

In addition, the lower control unit 10 is configured as a part of a steering control module, an acceleration control module, and a deceleration control module that are basically installed in the vehicle to control the steering unit 30 , the acceleration unit 40 and the deceleration unit 50 . In this case, each control module constitutes the lower control unit 20 .

Hereinafter, an apparatus for an autonomous vehicle of the present invention configured as described above will be described in more detail.

3 is a block diagram of a steering unit of an apparatus for an autonomous vehicle of the present invention, and FIG. 4 is a block diagram of a steering wheel of a steering unit of an apparatus for an autonomous vehicle of the present invention.

3 and 4 simultaneously, the steering unit 30 of the present invention preferably uses a Motor Driven Power Steering (MDPS) method.

That is, the steering column 31 (steering column) connected to the shaft of the steering wheel 35 of the vehicle, and the rotation direction of the steering wheel 35 attached to the outside of the steering column 31 and sensed by the torque sensor and A motor 32 providing an auxiliary driving force for rotating the steering wheel 35 according to the speed, a gearbox 33 transmitting the rotational force of the motor 32 to the steering column 31 with a constant reduction ratio, and a motor; (32) is configured to include a position sensor (34) for sensing the position of the rotation shaft of the motor in order to precisely control.

The steering unit 30 of the present invention configured as described above receives the steering-related control signal transmitted from the lower control unit 20 in the autonomous driving mode of the vehicle and drives the motor 32 to automatically drive the steering wheel 35 . It is operated to steer the vehicle autonomously.

At this time, the steering wheel 35 of the steering unit 30 of the present invention consists of a grip area 36 gripped by the driver and a central area 38 inside the grip area 36, and the driver has priority in emergency situations. A switch element 37 for detecting whether the driver grips the steering wheel 35 is installed in all or a part of the grip region 36 of the steering wheel 35 to switch to the mode.

Preferably, dozens of small-sized push-type switch elements 37 are embedded in a partial region of the grip region 36 of the steering wheel 35, and silicon is placed above the embedded portion of the switch elements 37. Alternatively, it is preferable to protect the switch elements 37 by attaching a rubber cover.

And, when the driver grips the steering wheel 35 to steer the vehicle when an emergency situation that requires driver intervention occurs during autonomous driving of the vehicle, the switching elements 37 are switched to an ON state and the upper controller 10 is turned on. If the number of switch elements 37 switched to is greater than or equal to the preset number or ratio stored in the memory, the autonomous driving mode is immediately released and the vehicle is steered according to the operation of the steering wheel 35 by the driver by switching to the driver-priority mode. control

On the other hand, in the steering unit 30 of the embodiment of the present invention, as shown in FIG. 4 , it is preferable to install the switch elements 37 at the middle portions of the left and right sides of the grip area 36 of the steering wheel 35 . It is preferable that about 25 to 30 switch elements 37 are embedded in each middle part of the left and right sides.

5 is a block diagram of an accelerator of an apparatus for an autonomous vehicle according to the present invention.

The accelerator unit 40 of the present invention electrically connects the electronic control unit (ECU) of the vehicle and the accelerator pedal input signal generator 43 that generates a pedal input signal according to the pedal effort of the accelerator pedal 41 or electronically. It is configured to include a selection switch 42 electrically connecting the control unit (ECU) and the lower control unit (20).

That is, in the autonomous driving mode of the vehicle, the lower control unit 20 and the electronic control unit (ECU) are electrically connected to the opening angle of the throttle valve of the power engine (engine or motor) required for autonomous driving of the vehicle. Accordingly, the vehicle is accelerated, and in the driver-priority mode of the vehicle, the pedal input signal generated by the pedal effort of the accelerator pedal 41 is transmitted to the electronic control unit (ECU) to accelerate the vehicle according to the pedal input signal. .

However, when an emergency situation occurs during acceleration driving, when the vehicle is detoured by the steering unit 30 or the vehicle is decelerated by the deceleration unit 50 but acceleration is performed by the accelerator unit 40 Since there is no , the operation of switching to the driver-priority mode for the accelerator 40 has not been implemented.

6 and 7 are block diagrams of a reduction unit applied to the apparatus for an autonomous vehicle of the present invention.

The deceleration unit 50 of the preferred embodiment of the present invention is controlled by the lower control unit 20 to perform deceleration of the vehicle in the autonomous driving mode of the vehicle. Specifically, the deceleration pedal 51 (brake pedal) of the vehicle And, a pedal arm 56 connected to extend to the deceleration pedal 51, and attached to one side of the pedal arm 56 to generate power for pressing the deceleration pedal 51 in order to generate a braking force required for autonomous driving A motor 52 that makes the motor 52, an eccentric shaft 53 coupled to the shaft of the motor 52 to transmit the driving force of the motor, and a roller 54 that rises or falls by the rotation of the eccentric shaft 53, and one side is coupled to the roller 54 and the other side is in contact with the pedal arm 56 to press or release the pedal arm 56 according to the rising or falling of the roller 54. A plate-shaped plate (55), and a proximity sensor (57) attached to the plate (55) to detect whether or not the pedal arm (56) is pressed abruptly.

However, in the drawings, it is shown that the plate 54 is attached to the rear surface of the pedal arm 56, but in a preferred embodiment of the present invention, as shown in FIG. 8, the plate 55 is attached to the pedal arm ( 56) is attached to the front.

8 is a detailed view of the deceleration unit of the apparatus for an autonomous vehicle of the present invention, showing a state in which the plate 55 is in contact with the front surface of the pedal arm 56 connected to the deceleration pedal 51, and the plate 55 Since is in contact with the front of the pedal arm 56 , when the driver steps on the deceleration pedal 51 , the plate 55 is spaced apart while not in contact with the pedal arm 56 .

The deceleration unit 50 of the present invention configured as described above rotates forward in order to generate a braking force required for autonomous driving by the motor 52 according to a control signal for deceleration transmitted from the lower control unit 20 in the autonomous driving mode, The driving force generated from the motor 52 is transmitted to the eccentric shaft 53 to lower the roller 54 to cause the plate 55 to press the pedal arm 56 downward to press the deceleration pedal 51 to decelerate the vehicle. carry out

In addition, when the braking force is unnecessary while the deceleration pedal 51 is pressed as described above, the motor 52 is reversely rotated by the control signal for deceleration release transmitted from the lower control unit 20 to raise the roller 54 . As the force applied to the plate 55 is released, the pedal arm 56 is automatically raised and the deceleration pedal 51 is returned to its original position to stop the deceleration of the vehicle.

Next, the transition from the autonomous driving mode of the vehicle to the driver-priority mode in case of an emergency will be described with reference to the drawings showing the operating state of the deceleration unit of the apparatus for the autonomous driving vehicle of FIG. 9 .

As shown in FIG. 9 , when an emergency situation occurs during autonomous driving and the driver rapidly steps on the deceleration pedal 51 , the deceleration unit 50 of the present invention includes the pedal arm 56 according to the pedal effort applied to the deceleration pedal 51 . ) is rapidly moved downward, and thereby the plate 55 is also abruptly separated from the pedal arm 56 .

Then, the output value of the proximity sensor 57 attached to the plate 55 is changed abruptly, and the upper control unit 10 determines whether the output value of the proximity sensor 57 exceeds the usual change amount of the output value preset in the memory, and the corresponding change amount When it exceeds , it is determined that the deceleration pedal 51 has been pressed due to an emergency, the autonomous driving mode is switched to the driver-priority mode, and the vehicle is braked according to the pedal input signal of the deceleration pedal 51 by the driver.

For this operation, the proximity sensor 57 of the embodiment of the present invention detects a metal surface and senses the detection distance, and when the distance to the metal surface is close, the size of the oscillation decreases, and when the distance to the metal surface increases, the size of the oscillation increases. It is preferable to employ a sensor.

Meanwhile, FIG. 10 is a detailed view of a reduction unit of another embodiment of the apparatus for an autonomous vehicle of the present invention, and a roller coupled to the eccentric shaft 53 of the motor 52 without employing the plate 55 of the above-described embodiment. As the configuration of the embodiment in which the 54 is in contact with the pedal arm 56 to press or release the press of the pedal arm 56 by driving the motor 52, the operation thereof is the same as in the above-described embodiment.

At this time, the proximity sensor 57 is mounted on the outer peripheral surface of the roller 54 to detect whether the roller 54 is abruptly separated from the pedal arm (56).

Next, a method for controlling the apparatus for an autonomous driving vehicle of the present invention configured as described above will be described.

11 is a flowchart illustrating a method of controlling an apparatus for an autonomous vehicle according to the present invention.

Referring to the drawings, the control method of a device for an autonomous driving vehicle of the present invention generates a command to enter the autonomous driving mode by communicating with an electronic control unit (ECU) installed in the vehicle, and abruptly occurs in the front during autonomous driving The upper control unit 10 that generates a command to switch to the driver-priority mode in emergency situations such as the vehicle slipping according to the appearance of a hostile object or the road conditions, and the autonomous driving entry command of the upper control unit 10 Controls the steering, acceleration, and deceleration of the vehicle for performing autonomous driving, releases the autonomous driving of the vehicle according to the driver-priority mode conversion command of the upper control unit 10, and the steering, acceleration and deceleration generated by the driver's operation A lower control unit 20 for controlling steering, acceleration and deceleration of the vehicle according to an operation signal for For autonomous driving consisting of an acceleration unit 40 for accelerating the vehicle under the control of the lower control unit 20 and a deceleration unit 50 for decelerating the vehicle according to the control of the lower control unit 20 performed by the device.

Specifically, the upper control unit 10 monitors whether a request to enter the autonomous driving mode from the electronic control unit (ECU) of the vehicle is input (S1), and a signal input from the electronic control unit (ECU) during monitoring is performed for autonomous driving It is determined whether it is a mode entry signal (S2), and if the input signal is an autonomous driving mode entry signal, the upper control unit 10 generates a command to enter the autonomous driving mode and switches the vehicle control from the driver-priority mode to the autonomous driving mode do (S3).

Then, the lower control unit 20, which has received a command to enter the autonomous driving mode from the upper control unit 10, controls the steering unit 30, the accelerator unit 40, and the deceleration unit 50 to perform autonomous driving of the vehicle. Steering, acceleration, and deceleration of the vehicle to be performed are performed (S4).

Thereafter, the upper controller 10 monitors whether an emergency such as a sudden appearance of an object in the front or the vehicle slipping according to road conditions has occurred during autonomous driving of the vehicle (S5).

When an emergency situation occurs during monitoring, the upper control unit 10 releases the autonomous driving mode of the steering unit 30 of the vehicle (S6), and simultaneously releases the autonomous driving mode of the speed reducer 50 of the vehicle do (S12).

The release of the autonomous driving mode of the steering unit 30 is performed when the upper control unit 10 grips the steering wheel 35 of the steering unit 30 in a state in which the driver grips the steering wheel 35 in an emergency situation. The number or ratio of the switch elements 37 in which the switches embedded in the region 36 are pressed by the driver's grip and turned on (S7).

Then, the upper control unit 10 determines whether the number or ratio of the switch elements 37 in the ON state is greater than or equal to the number or ratio preset in the memory (S8).

In the embodiment of the present invention, when the ratio of the switch elements 37 in the ON state is 50% or more of the total number of switch elements, the control of the steering unit 50 is switched to the driver-priority mode.

In step S8, if the number or ratio of the switch elements 37 in the ON state is greater than or equal to the number or ratio preset in the memory, the upper controller 10 controls the autonomous driving mode of the steering unit 30. release (S9), and generate a command for switching to the driver-priority mode to switch the control of the steering unit 30 to the driver-priority mode (S10), thereby completing the release of the autonomous driving mode of the vehicle (S11).

In addition, in step S12, when the upper control unit 10 releases the autonomous driving mode of the deceleration unit 50 in step S12, when the driver steps on the deceleration pedal 51 in an emergency situation, the pedal arm connected to the deceleration pedal 51 ( 56) is spaced apart from the plate 55, and at this time, an output value of the proximity sensor 57 attached to the plate 55 is received (S13).

Then, the upper control unit 10 determines whether the output value of the proximity sensor 57 exceeds the usual change amount of the output value preset in the memory (S14).

And, when the output value of the proximity sensor 57 exceeds the usual change amount, the upper control unit 10 determines that the deceleration pedal 51 has been pressed due to an emergency situation and releases the autonomous driving mode of the deceleration unit 50 (S15) ), a command for switching to the driver-priority mode is generated to switch the control of the deceleration unit 50 to the driver-priority mode (S16), thereby completing the release of the autonomous driving mode of the vehicle (S11).

The description of the present invention described above is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

10; upper control unit
20; lower control unit
30; steering
31; Steering column
32; motor
33; gearbox
34; position sensor
35; steering wheel
36; grip area
37; switch element
38; central area
40; accelerator
41; accelerator pedal
42; selection switch
43; Accelerator pedal input signal generator
50; reduction part
51; deceleration pedal
52; motor
53; eccentric shaft
54; Roller
55; plate
56; pedal arm
57; proximity sensor

Claims (15)

an upper control unit 10 that communicates with an electronic control unit (ECU) installed in the vehicle to generate a command to enter the autonomous driving mode, and generates a command to switch to the driver-priority mode in an emergency;
Controls steering, acceleration, and deceleration of the vehicle for performing autonomous driving according to the autonomous driving entry command of the upper controller 10 , and autonomous driving of the vehicle according to the driver priority mode switching command of the upper controller 10 . a lower control unit 20 for releasing and controlling the steering, acceleration and deceleration of the vehicle by the driver's manipulation;
a steering unit 30 configured to steer the vehicle for autonomous driving according to the control of the lower control unit 20;
an acceleration unit 40 for accelerating the vehicle according to the control of the sub-control unit 20;
a deceleration unit 50 for decelerating the vehicle according to the control of the lower control unit 20;
A device for autonomous driving of a vehicle, characterized in that it comprises a.
According to claim 1, wherein the steering unit (30),
A steering column 31 connected to the shaft of the vehicle's steering wheel 35,
Including a motor 32 attached to the outside of the steering column 31 to provide auxiliary driving force for rotating the steering wheel 35 according to the rotation direction and speed of the steering wheel 35 sensed by the torque sensor. composed,
The steering wheel 35 has a configuration in which a switch element 37 for detecting whether the driver grips the steering wheel 35 is installed in all or a part of the grip region 36 gripped by the driver. A device for autonomous vehicle driving.
3. The method of claim 2,
The switch element 37 is a push-type switch element 37 that is switched to an ON state when gripped,
If the number of switch elements 37 switched to the ON state when the upper control unit 10 is grasped is greater than or equal to the preset number or ratio stored in the memory, the autonomous driving mode is canceled and the vehicle is characterized in that it is switched to the driver-priority mode. Devices for autonomous driving.
3. The method of claim 2,
An apparatus for autonomous driving of a vehicle, characterized in that the switch elements (37) are protected by attaching a cover to the upper side of the part where the switch elements (37) of the steering wheel (35) are embedded.
5. The method of claim 4,
The device for autonomous driving of a vehicle, characterized in that the cover is made of any one of a silicone and a rubber material.
According to claim 1, wherein the acceleration unit (40),
The electronic control unit (ECU) and the accelerator pedal input signal generating unit 43 for generating the pedal input signal of the accelerator pedal 41 are electrically connected, or the electronic control unit (ECU) and the lower control unit 20 are electrically connected. Is configured to include a selection switch 42,
In the autonomous driving mode, the lower control unit 20 and the electronic control unit (ECU) are electrically connected to accelerate the vehicle required for autonomous driving of the vehicle,
An apparatus for autonomous driving of a vehicle, characterized in that, in the driver-priority mode, the vehicle is accelerated according to the pedal input signal generated by the pedal effort of the accelerator pedal (41).
According to claim 1, wherein the reduction unit 50,
a deceleration pedal (51) and
A pedal arm 56 connected to the deceleration pedal 51 and extended;
a motor 52 attached to one side of the pedal arm 56 and generating power for pressing the deceleration pedal 51 in order to generate braking force required for autonomous driving;
An eccentric shaft 53 coupled to the shaft of the motor 52 to transmit the driving force of the motor;
A roller 54 that rises or descends by the rotation of the eccentric shaft 53;
A plate 55 having one side coupled to the roller 54 and the other side in contact with the pedal arm 56 to press or release the pedal arm 56 according to the rise or fall of the roller 54;
and a proximity sensor (57) attached to the plate (55) to detect whether or not the pedal arm (56) is pressed abruptly.
The method of claim 7, wherein the reduction unit 50,
The device for autonomous driving of a vehicle, characterized in that the plate (54) is attached to the front side of the pedal arm (56).
The method of claim 8, wherein the reduction unit (50),
In the autonomous driving mode, the motor 52 rotates forward to generate the braking force required for autonomous driving by the control signal of the deceleration transmitted from the lower control unit 20,
The driving force generated from the motor 52 is transmitted to the eccentric shaft 53 to lower the roller 54 to cause the plate 55 to press the pedal arm 56 downward to press the deceleration pedal 51 to decelerate the vehicle. do,
When the braking force is unnecessary while the deceleration pedal 51 is pressed, the motor 52 is reversely rotated by the control signal for deceleration release transmitted from the lower control unit 20 to raise the roller 54 to the plate 55. A device for autonomous driving of a vehicle, characterized in that the deceleration of the vehicle is stopped while the deceleration pedal 51 is returned to its original position as the pedal arm 56 is raised by releasing the force.
The method of claim 9, wherein the conversion of the speed reduction unit (50) to the driver priority mode,
In an emergency situation, when the pedal arm 56 is rapidly moved downward and the plate 55 is abruptly separated according to the pressure applied to the deceleration pedal 51, the output value of the proximity sensor 57 attached to the plate 55 is change rapidly,
The upper control unit 10 determines whether the output value of the proximity sensor 57 exceeds the usual change amount of the output value preset in the memory. A device for autonomous driving of a vehicle, characterized in that it is configured to switch to a driver-priority mode.
The method of claim 10, wherein the proximity sensor (57) of the reduction unit (50),
A device for autonomous driving of a vehicle, characterized in that it is an inductive proximity sensor that detects a metal surface and senses the detection distance, and decreases the size of the rash when the distance from the metal surface gets closer and increases the size when it gets farther away.
According to claim 1, wherein the reduction unit 50,
a deceleration pedal (51) and
A pedal arm 56 connected to the deceleration pedal 51 and extended;
a motor 52 attached to one side of the pedal arm 56 and generating power for pressing the deceleration pedal 51 in order to generate braking force required for autonomous driving;
An eccentric shaft 53 coupled to the shaft of the motor 52 to transmit the driving force of the motor;
a roller 54 for pressing or releasing the pedal arm 56 by rising or falling by the rotation of the eccentric shaft 53;
and a proximity sensor (57) mounted on the outer peripheral surface of the roller (54) to detect whether the roller (54) is abruptly separated from the pedal arm (56).
A method for controlling a device for an autonomous vehicle, the method comprising:
The upper control unit 10 monitors whether a request to enter the autonomous driving mode from the electronic control unit (ECU) of the vehicle is input (S1), and the signal input from the electronic control unit (ECU) during monitoring is the autonomous driving mode entry signal It is determined (S2), and if the input signal is an autonomous driving mode entry signal, the upper controller 10 generates a command to enter the autonomous driving mode and switches the vehicle control from the driver-priority mode to the autonomous driving mode ( S3);
The lower control unit 20, which has received a command for entering the autonomous driving mode from the upper control unit 10, controls the steering unit 30, the accelerator unit 40, and the deceleration unit 50 to perform autonomous driving of the vehicle. performing steering, acceleration and deceleration of the vehicle for (S4);
The upper control unit 10 monitors whether an emergency situation occurs during autonomous driving of the vehicle (S5), and when an emergency situation occurs during monitoring, the upper control unit 10 cancels the autonomous driving mode of the steering unit 30 of the vehicle performing (S6), and simultaneously performing release of the autonomous driving mode of the deceleration unit 50 of the vehicle (S12);
A control method for autonomous driving of a vehicle, characterized in that it comprises a.
14. The method of claim 13,
The step of releasing the autonomous driving mode of the steering unit 30 in step S6 includes:
When the upper control unit 10 is in an emergency situation, the switch embedded in the grip area 36 of the steering wheel 35 of the steering unit 30 is pressed by the driver's grip in a state in which the driver grips the steering wheel 35 . determining the number or ratio of the switch elements 37 that are in the ON state (S7);
The upper control unit 10 determines whether the number or ratio of the switch elements 37 in the ON state is greater than or equal to a preset number or ratio in the memory (S8);
If the number or ratio of the switch elements 37 in the ON state is greater than or equal to the number or ratio preset in the memory, the upper control unit 10 releases the autonomous driving mode of the steering unit 30 (S9), and the driver priority mode converting the control of the steering unit 30 to the driver-priority mode by generating a command for switching to .
A control method for autonomous driving of a vehicle, characterized in that it comprises a.
14. The method of claim 13,
The step of releasing the autonomous driving mode of the deceleration unit 50 of the step S12 is,
Step (S13) of the upper control unit 10 receiving an output value of the proximity sensor 57 attached to the plate 55 when the driver steps on the deceleration pedal 51 in an emergency situation;
The upper control unit 10 determines whether the output value of the proximity sensor 57 exceeds the usual change amount of the output value preset in the memory (S14);
When the output value of the proximity sensor 57 exceeds the usual change amount, the upper control unit 10 determines that the deceleration pedal 51 has been pressed due to an emergency situation and releases the autonomous driving mode of the deceleration unit 50 (S15), generating a command for switching to the driver-priority mode and converting the control of the deceleration unit 50 to the driver-priority mode (S16);
A control method for autonomous driving of a vehicle, characterized in that it comprises a.

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