KR20200064192A - Steering control system and method for autonomous vehicle - Google Patents

Steering control system and method for autonomous vehicle Download PDF

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KR20200064192A
KR20200064192A KR1020180144965A KR20180144965A KR20200064192A KR 20200064192 A KR20200064192 A KR 20200064192A KR 1020180144965 A KR1020180144965 A KR 1020180144965A KR 20180144965 A KR20180144965 A KR 20180144965A KR 20200064192 A KR20200064192 A KR 20200064192A
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driver
torque
gain
steering
steering angle
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KR102579300B1 (en
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김찬중
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현대자동차주식회사
기아자동차주식회사
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/202—Steering torque

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
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  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Disclosed in the present invention are a steering control system for an autonomous vehicle and a method thereof, which can generate a virtual driver torque in accordance with a target steering angle instead of a driver in an autonomous driving mode, such that a driver torque can be used after being inputted regardless of a driving mode, thereby enabling mode transition in a natural manner. To this end, the present system comprises: a virtual driver torque generating module which generates a virtual driver torque which is required for the current steering angle to reach a target steering angle based on the difference between the target steering angle and a driver steering angle; a gain distribution module which generates after distributing the driving intention of a driver as a gain value in accordance with the size of a steering value steered by the driver; a final driver torque generating module which reflects the distributed driving intention gain in the driver torque generated by the driver′s intention and reflects and adds a non-driving intention gain into the virtual driver torque in order to generate a final driver torque; and a steering motor which provides a steering torque for steering a wheel after receiving the final driver torque.

Description

자율주행차량의 조향 제어시스템 및 방법{STEERING CONTROL SYSTEM AND METHOD FOR AUTONOMOUS VEHICLE}STEERING CONTROL SYSTEM AND METHOD FOR AUTONOMOUS VEHICLE}

본 발명은 자율주행모드에서 운전자를 대신하여 목표 조향각에 따른 가상의 운전자토크를 생성함으로써, 주행모드에 관계없이 운전자토크를 입력으로 사용하여 모드의 천이가 자연스럽게 이루어지도록 한 자율주행차량의 조향 제어시스템 및 방법에 관한 것이다.The present invention generates a virtual driver torque according to a target steering angle on behalf of the driver in the autonomous driving mode, and thus uses the driver torque as an input regardless of the driving mode, so that the steering control system of the autonomous vehicle is made to make the transition of the mode naturally. And methods.

EPS(Electric Power Steering)시스템은 조향시 모터를 이용하여 운전자의 토크를 보상해주는 시스템으로, 운전자의 토크를 입력받아 차량의 주행상태를 반영하여 모터의 동력으로 어시스트토크를 발생시키는 시스템이다.The EPS (Electric Power Steering) system is a system that compensates the driver's torque using a motor during steering. It is a system that receives the driver's torque and reflects the driving state of the vehicle to generate assist torque with the power of the motor.

반면, 자율주행차량에 적용되는 EPS시스템의 경우에는, 차량의 주행에 필요한 목표 조향각을 입력받고, 이 목표 조향각을 추종하여 휠이 조향될 수 있도록 토크를 발생시키도록 구성이 된다.On the other hand, in the case of an EPS system applied to an autonomous vehicle, it is configured to receive a target steering angle required for driving the vehicle and generate torque so that the wheel can be steered by following the target steering angle.

다만, 자율주행차량의 주행중, 운전자에 의한 운전이 필요한 경우 자율주행 시스템으로부터 조향 핸들의 제어권을 넘겨 받아야 한다.However, when driving by an autonomous vehicle is required while driving, the control of the steering wheel must be transferred from the autonomous vehicle.

이에, 자율주행모드의 해제시까지 고려하게 되면, 평상시에는 자율주행모드로 목표 조향각에 따라 휠을 조향하는 토크가 발생되도록 조향모터를 동작하다가, 운전자의 운전의도가 발생되거나 자율주행모드에 문제가 발생되면, 자율주행모드가 해제되면서 운전자 토크에 따른 운전자 보조토크가 발생되도록 EPS시스템이 동작될 필요가 있다. 이를 위해, 운전자모드에 활용되는 EPS제어기와 자율주행모드에 활용되는 EPS제어기가 설치되어야 한다.Accordingly, when considering the release of the autonomous driving mode, the steering motor is operated to generate the torque to steer the wheel according to the target steering angle in the autonomous driving mode at normal times, and then the driver's driving intention occurs or there is a problem in the autonomous driving mode. When is generated, the EPS system needs to be operated so that the autonomous driving mode is released and the driver assist torque according to the driver torque is generated. To this end, the EPS controller used in the driver mode and the EPS controller used in the autonomous driving mode must be installed.

그런데, 이 같은 시스템의 경우, 운전자모드와 자율주행모드일 때에 제어기에 입력되는 인풋이 각각 운전자토크와 목표 조향각으로 서로 상이한 값이 입력이 된다.However, in the case of such a system, in the driver mode and the autonomous driving mode, different input values are input to the controller as the driver torque and the target steering angle, respectively.

따라서, 자율주행모드에서 운전자모드로 전환될 때에, 운전자의 운전의도를 정확하게 파악하기 어려운 문제가 있고, 이에 자율주행모드 해제시, 운전자 보조토크와 휠을 돌리는 토크의 차이를 자연스럽게 천이하기가 어려워 운전자에게 이질감을 주는 문제가 있다.Therefore, when switching from the autonomous driving mode to the driver mode, there is a problem that it is difficult to accurately understand the driver's driving intention, and thus, when releasing the autonomous driving mode, it is difficult to naturally shift the difference between the driver's auxiliary torque and the torque that turns the wheel. There is a problem that gives the driver a sense of heterogeneity.

또한, 자율주행 중 운전자의 의도가 아닌, 외부원인이나 운전자 부주의에 의해 스티어링휠에 일시적으로 외란이 입력되는 경우, 자율주행모드에서 운전자모드로 전환되어 위험한 상황을 초래할 수 있는 문제도 있다.In addition, there is a problem in that, when the disturbance is temporarily input to the steering wheel due to an external cause or driver's carelessness, not the driver's intention during autonomous driving, there is a problem that may cause a dangerous situation by switching from the autonomous driving mode to the driver mode.

상기의 배경기술로서 설명된 사항들은 본 발명의 배경에 대한 이해 증진을 위한 것일 뿐, 이 기술분야에서 통상의 지식을 가진 자에게 이미 알려진 종래기술에 해당함을 인정하는 것으로 받아들여져서는 안 될 것이다.The above descriptions as background arts are only for improving understanding of the background of the present invention, and should not be accepted as acknowledging that they correspond to the prior arts already known to those skilled in the art.

KR 10-2017-0055161 AKR 10-2017-0055161 A

본 발명은 전술한 바와 같은 문제점을 해결하기 위하여 안출한 것으로, 자율주행모드에서 운전자를 대신하여 목표 조향각에 따른 가상의 운전자토크를 생성함으로써, 주행모드에 관계없이 운전자토크를 입력으로 사용하여 모드의 천이가 자연스럽게 이루어지도록 한 자율주행차량의 조향 제어시스템 및 방법을 제공하는 데 있다.The present invention has been devised to solve the above-described problems, and by generating a virtual driver torque according to a target steering angle on behalf of the driver in the autonomous driving mode, the driver torque is used as an input regardless of the driving mode. It is to provide a steering control system and method of an autonomous vehicle that allows the transition to occur naturally.

상기와 같은 목적을 달성하기 위한 본 발명의 조향 제어시스템의 구성은, 목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성하는 가상운전자토크생성모듈; 운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성하는 게인배분모듈; 상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성하는 최종운전자토크생성모듈; 및 상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공하는 조향모터;를 포함하는 것을 특징으로 할 수 있다.The configuration of the steering control system of the present invention for achieving the above object is based on the difference between the target steering angle and the driver's steering angle, the virtual driver torque generation module for generating a virtual driver torque required for the current steering angle to reach the target steering angle; A gain distribution module that generates the driver's driving intention by distributing it as a gain value according to the size of the steering value that the driver steers; A final driver torque generation module that reflects the allocated driving intention gain to the driver torque generated by the driver's intention and reflects and sums up the unintentional driving gain in the virtual driver torque to generate a final driver torque; And a steering motor that receives the final driver's torque and provides steering torque for steering of the wheel.

상기 가상운전자토크생성모듈은, 상기 목표 조향각에서 운전자 조향각을 감산하여 산출된 조향각에러를 목표 조향각속도로 변환하는 각속도변환부; 상기 목표 조향각속도에서 운전자 조향각속도를 감산하여 산출된 조향각속도에러를 가상운전자토크로 변환하는 토크변환부;를 포함할 수 있다.The virtual driver torque generation module includes: an angular speed conversion unit converting a steering angle error calculated by subtracting a driver steering angle from the target steering angle to a target steering angle speed; It may include; a torque conversion unit for converting the steering angle speed error calculated by subtracting the driver steering angle speed from the target steering angle speed to virtual driver torque.

상기 게인배분모듈은, 운전자토크를 입력받아, 상기 운전자토크의 크기에 비례하여 토크게인을 결정하는 토크게인결정부; 운전자 조향각속도를 입력받아, 상기 운전자 조향각속도의 크기에 비례하여 각속도게인을 결정하는 각속도게인결정부;를 포함하고, 상기 토크게인과 각속도게인을 합산하여, 합산된 게인을 운전의도게인으로 결정할 수 있다.The gain distribution module includes: a torque gain determining unit that receives a driver torque and determines a torque gain in proportion to the size of the driver torque; Including the angular speed gain determining unit that receives the driver's steering angular speed and determines the angular speed gain in proportion to the magnitude of the driver's steering angular speed; and includes the sum of the torque gain and the angular speed gain to determine the summed gain as the driving intention gain. Can be.

상기 토크게인은 0≤토크게인≤1 이고, 상기 각속도게인은 0≤토크게인≤1 이며, 상기 토크게인과 각속도게인이 합산된 운전의도게인은 0≤운전의도게인≤1 이고, 상기 운전의도게인이 최대게인인 1 초과시, 1로 결정될 수 있다.The torque gain is 0 ≤ torque gain ≤ 1, the angular speed gain is 0 ≤ torque gain ≤ 1, and the torque gain and angular speed gain combined operation gain is 0 ≤ operation gain ≤ 1, and the operation When the intention gain exceeds the maximum gain of 1, it may be determined as 1.

상기 최종운전자토크생성모듈에서는, 상기 운전자토크와 운전의도게인을 곱하여 배분운전자토크를 산출하고; 상기 운전의도게인의 최대게인에서 운전의도게인을 감산하여 미운전의도게인으로 결정하며; 상기 가상운전자토크와 미운전의도게인을 곱하여 배분가상운전자토크를 산출하고; 상기 배분운전자토크와 배분가상운전자토크를 합산하여 최종운전자토크를 산출할 수 있다.In the final driver torque generating module, the driver torque is multiplied by the driver's torque to calculate a distribution driver torque; Determining the undriven gain by subtracting the drive gain from the maximum gain of the drive intention gain; Multiplying the virtual driver torque and the gain of undriven to calculate a distributed virtual driver torque; The final driver torque may be calculated by summing the distributed driver torque and the distributed virtual driver torque.

상기 최종운전자토크생성모듈에서는, 상기 운전자토크와 미운전의도게인을 곱하여 외란토크를 산출하고; 상기 배분가상운전자토크에서 상기 외란토크를 감산하여 추가운전자토크를 더 산출할 수 있다.In the final driver torque generation module, a disturbance torque is calculated by multiplying the driver's torque and the undriven gain; The additional driver torque may be further calculated by subtracting the disturbance torque from the distributed virtual driver torque.

상기 최종운전자토크에 추가운전자토크를 합산하여 조향모터에 제공할 수 있다.An additional driver torque may be added to the final driver torque to provide the steering motor.

상기 최종운전자토크가 EPS제어기에 입력되고, EPS제어기에서 차량의 주행상태에 따라 어시스트량, 마찰량, 댐핑량, 복원량이 계산되어 조향모터에 제공될 수 있다.The final driver torque is input to the EPS controller, and the assist amount, friction amount, damping amount, and restoration amount are calculated according to the driving state of the vehicle in the EPS controller and can be provided to the steering motor.

본 발명의 조향 제어방법의 구성은, 가상운전자토크생성모듈에 의해 목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성하는 단계; 게인배분모듈에 의해 운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성하는 단계; 최종운전자토크생성모듈에 의해 상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성하는 단계; 및 조향모터가 상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공하는 단계;를 포함하는 것을 특징으로 할 수 있다.The configuration of the steering control method of the present invention comprises the steps of generating a virtual driver torque required for the current steering angle to reach the target steering angle based on the difference between the target steering angle and the driver steering angle by the virtual driver torque generating module; Generating and generating a driver's driving intention according to the magnitude of the steering value that the driver steers by the gain distribution module; Generating a final driver torque by reflecting the driver's torque generated by the driver's intention, and reflecting and adding the undriven driver's gain to the virtual driver torque by the final driver torque generation module; And a step in which the steering motor receives the final driver torque and provides a steering torque for steering the wheel.

상기한 과제 해결수단을 통해 본 발명은, 운전자를 대신하여 목표 조향각에 따른 가상의 운전자토크를 생성함으로써, 자율주행모드와 운전자모드에서 동일한 최종운전자토크가 입력되어 사용되는바, 모드간 천이되는 과정에서 발생하는 조향 이질감을 최소화하여 모드의 전환이 자연스럽게 이루어지는 효과가 있고, 한편 차량 거동에 따른 튜닝은 물론, 복원제어 튜닝, 수방 안정을 위한 댐핑 튜닝 등을 일원화하여 작업할 수 있는 효과도 있다.The present invention through the above-described problem solving means, by generating a virtual driver torque according to the target steering angle on behalf of the driver, the process of transitioning between modes as the same final driver torque is input and used in the autonomous driving mode and the driver mode. In addition, there is an effect in which the mode switching is naturally performed by minimizing the steering heterogeneity generated in the vehicle, and there is also an effect of unifying the tuning according to vehicle behavior, restoring control tuning, and damping tuning for stabilizing water.

더불어, 스티어링휠을 실수로 접촉하거나 그 밖의 외란에 의해 스티어링휠에 순간적으로 토크가 제공되는 경우와 같이 운전자가 의도하지 않은 외란토크가 입력되는 경우, 운전자토크로부터 상기 외란토크를 제거함으로써, 운전자의 의도가 아닌 토크가 조향모터에 제공되는 것을 차단하는 효과도 있다.In addition, when an unexpected disturbance torque is input, such as a case where the steering wheel is accidentally contacted or the torque is instantaneously provided to the steering wheel due to other disturbances, by removing the disturbance torque from the driver's torque, the driver's It also has the effect of preventing non-intended torque from being provided to the steering motor.

도 1은 본 발명에 따른 조향 제어시스템의 구성도.
도 2는 본 발명에 따른 가상운전자토크생성모듈의 구성을 구체화한 도면.
도 3은 본 발명에 따른 게인배분모듈을 구체화한 도면.
도 4는 본 발명에 따른 최종운전자토크생성모듈을 구체화한 도면.1 is a configuration diagram of a steering control system according to the present invention.
2 is a view embodying the configuration of a virtual driver torque generating module according to the present invention.
3 is a view embodying a gain distribution module according to the present invention.
4 is a view embodying a final driver torque generating module according to the present invention.

본 발명의 바람직한 실시예를 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.If described in detail with reference to the accompanying drawings, preferred embodiments of the present invention.

본 발명의 자율주행차량의 조향 제어시스템은, 가상운전자토크생성모듈(10)과, 게인배분모듈(20)과, 최종운전자토크생성모듈(30) 및 조향모터(50)를 포함하여 구성이 된다.The steering control system of the autonomous vehicle of the present invention includes a virtual driver torque generation module 10, a gain distribution module 20, a final driver torque generation module 30, and a steering motor 50. .

도 1을 참조하여, 본 발명을 구체적으로 살펴보면, 먼저 가상운전자토크생성모듈(10)에서는 목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성하게 된다.Referring to Figure 1, looking at the present invention in detail, first, the virtual driver torque generation module 10 generates a virtual driver torque required for the current steering angle to reach the target steering angle based on the difference between the target steering angle and the driver steering angle. .

게인배분모듈(20)에서는, 운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성하게 된다.In the gain distribution module 20, the driver's driving intention is distributed and generated according to the size of the steering value that the driver steers.

최종운전자토크생성모듈(30)에서는, 상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성하게 된다.In the final driver torque generation module 30, the distributed driver's intention gain is reflected in the driver's torque generated by the driver's intention, and the uninitiated driver's gain is reflected and added to the virtual driver's torque to generate the final driver's torque. .

그리고, 조향모터(50)는 상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공하게 된다.Then, the steering motor 50 receives the final driver torque and provides steering torque for steering the wheel.

즉, 상기한 구성에 따르면, 운전자를 대신하여 목표 조향각에 따른 가상의 운전자토크를 생성함으로써, 자율주행모드와 운전자모드에서 동일한 최종운전자토크가 입력되어 사용되는바, 모드간 천이시 발생하는 조향 이질감을 최소화하여 모드의 전환이 자연스럽게 이루어지는 한편, 차량 거동에 따른 튜닝은 물론, 복원제어 튜닝, 수방 안정을 위한 댐핑 튜닝 등을 일원화하여 작업할 수 있게 된다.That is, according to the above-described configuration, by generating a virtual driver torque according to the target steering angle on behalf of the driver, the same final driver torque is input and used in the autonomous driving mode and the driver mode, and thus the steering heterogeneity generated during transition between modes. By minimizing, the mode can be switched naturally, while tuning according to vehicle behavior, restoration control tuning, and damping tuning for stable stability can be unified.

도 2는 본 발명에 따른 가상운전자토크생성모듈(10)의 구성을 구체화한 것으로, 각속도변환부(11)와, 토크변환부(12)를 포함하여 구성이 된다.2 is a detailed embodiment of the configuration of the virtual driver torque generation module 10 according to the present invention, and includes an angular speed conversion section 11 and a torque conversion section 12.

도면을 참조하여 설명하면, 각속도변환부(11)는 상기 목표 조향각에서 운전자 조향각을 감산하여 조향각에러가 산출되면, 산출된 조향각에러를 목표 조향각속도로 변환시키게 된다.Referring to the drawings, when the steering angle error is calculated by subtracting the driver's steering angle from the target steering angle, the angular speed conversion unit 11 converts the calculated steering angle error into the target steering angle speed.

그리고, 토크변환부(12)는 상기 목표 조향각속도에서 운전자 조향각속도를 감산하여 조향각속도에러가 산출되면, 산출된 조향각속도에러를 가상운전자토크로 변환시키게 된다.Then, when the steering angle speed error is calculated by subtracting the driver steering angle speed from the target steering angle speed, the torque converter 12 converts the calculated steering angle speed error into a virtual driver torque.

즉, 상기 가상운전자토크생성모듈(10)에 의해 목표 조향각과 운전자 조향각의 차이값을 기반으로 가상운전자토크를 생성할 수 있게 된다.That is, the virtual driver torque generation module 10 may generate a virtual driver torque based on a difference value between a target steering angle and a driver steering angle.

도 3은 본 발명에 따른 게인배분모듈(20)을 구체화한 것으로, 토크게인결정부(21)와, 각속도게인결정부(22)를 포함하여 구성이 된다.3 is a specific embodiment of the gain distribution module 20 according to the present invention, and includes a torque gain determining unit 21 and an angular speed gain determining unit 22.

도면을 참조하여 설명하면, 상기 토크게인결정부(21)는 로우패스필터를 거쳐 외란이 제거된 운전자토크가 입력되고, 입력된 상기 운전자토크의 크기에 비례하여 토크게인을 결정하는 것으로, 운전자토크에 따라 토크게인의 비율이 결정된다.Referring to the drawings, the torque gain determining unit 21 is a driver torque with the disturbance removed through a low-pass filter is input, and determines the torque gain in proportion to the size of the inputted driver torque. The ratio of torque gain is decided according to.

예컨대, 상기 토크게인은 0≤토크게인≤1 인 것으로, 운전자토크가 클수록 1에 가깝게 결정된다.For example, the torque gain is 0 ≤ torque gain ≤ 1, and the larger the driver's torque, the closer it is to 1.

각속도게인결정부(22)는 로우패스필터를 거쳐 외란이 제거된 운전자 조향각속도가 입력되고, 입력된 상기 운전자 조향각속도의 크기에 비례하여 각속도게인을 결정하는 것으로, 운전자 조향각속도에 따라 게인의 각속도게인의 비율이 결정된다.The angular speed gain determining unit 22 inputs the driver's steering angular velocity with the disturbance removed through the low-pass filter and determines the angular speed gain in proportion to the inputted driver's steering angular velocity. The ratio of gain is determined.

예컨대, 상기 각속도게인은 0≤토크게인≤1 인 것으로, 운전자 조향각속도가 클수록 1에 가깝게 결정된다.For example, the angular velocity gain is 0 ≤ torque gain ≤ 1, and the driver steering angular velocity is determined to be closer to 1.

그리고, 상기 게인배분모듈(20)에서는 상기 토크게인과 각속도게인을 합산하여, 합산된 게인을 운전의도게인으로 결정하게 된다.In addition, the gain distribution module 20 sums the torque gain and the angular speed gain, and determines the summed gain as the driving intention gain.

예컨대, 상기 토크게인과 각속도게인이 합산된 운전의도게인은 0≤운전의도게인≤1 일 수 있다. 다만, 상기 운전의도게인이 최대게인인 1 초과시, 1로 결정이 된다.For example, the driving gain obtained by summing the torque gain and the angular speed gain may be 0≤driving gain≤1. However, if the intention to operate exceeds the maximum gain of 1, it is determined as 1.

즉, 운전자토크가 0.8이고, 운전자 조향각속도가 0.6으로 결정되어, 합산된 게인이 1.4가 되어도 운전의도게인은 1로 출력된다. 참고로, 운전의도게인이 1이면 운전자의 의도가 100%라는 의미이고, 0이면 운전자의 운전의도가 0%의 의미이다.That is, the driver's torque is 0.8, and the driver's steering angle speed is determined to be 0.6, so even if the total gain is 1.4, the driving intention gain is output as 1. For reference, if the driving intention gain is 1, the driver's intention is 100%, and if the driving intention is 0, the driving intention is 0%.

이처럼, 게인배분모듈(20)에서는 운전자토크 뿐만 아니라 운전자 조향각속도를 더하여 운전자의 운전의도를 파악함으로써, 운전자가 갑작스럽게 스티어링휠을 조타하여 운전에 개입하더라도 최대한 신속하게 운전자 모드로 전환하여 운전자 토크를 보조할 수 있게 된다.As described above, the gain distribution module 20 grasps the driver's driving intention by adding not only the driver's torque but also the driver's steering angle speed, so that even if the driver suddenly steers the steering wheel and intervenes in driving, the driver is switched to the driver's mode as quickly as possible and the driver's torque Will be able to assist.

도 4는 본 발명에 따른 최종운전자토크생성모듈(30)을 구체화한 도면이다.4 is a diagram embodying the final driver torque generating module 30 according to the present invention.

도면을 참조하면, 상기 운전자토크와 운전의도게인을 곱하여 배분운전자토크를 산출한다.Referring to the drawings, the calculated driver torque is multiplied by the driver's torque and the driving intention gain.

그리고, 상기 운전의도게인의 최대게인인 1에서 운전의도게인을 감산하여 미운전의도게인으로 결정하고, 상기 가상운전자토크와 미운전의도게인을 곱하여 배분가상운전자토크를 산출한다.Then, the driving gain gain is subtracted from the maximum gain 1 of the driving gain gain to determine the undriven gain, and the virtual driver torque is multiplied by the virtual driver torque and the undriven gain to calculate the distributed virtual driver torque.

이어서, 상기 배분운전자토크와 배분가상운전자토크를 합산하여 최종운전자토크를 산출하게 된다.Subsequently, the final operator torque is calculated by summing the distributed driver torque and the distributed virtual driver torque.

예를 들어, 자율주행모드에서 운전자모드로 천이되는 과정에서 운전자의 운전의도에 따라 운전의도게인이 0.7로 산출되면, 최종운전자토크가 아래와 같이 결정된다.For example, in the process of transitioning from the autonomous driving mode to the driver mode, when the driving intention gain is calculated as 0.7 according to the driving intention of the driver, the final driver torque is determined as follows.

최종운전자토크 = 가상운전자토크 * 30% + 운전자 토크 * 70%Final Driver Talk = Virtual Driver Talk * 30% + Driver Talk * 70%

즉, 가상운전자토크와 운전자토크에 운전의도게인 및 미운전의도게인을 반영하여 최종운전자토크를 생성함으로써, 자율주행모드 및 운전자모드는 물론, 특히 이들 모드가 천이되는 구간에서 현재 운전상황을 보다 정확하게 반영한 최종운전자토크를 제공하게 되고, 이를 통해 모드 천이구간에서 발생하는 조향 이질감을 최소화할 수 있게 된다.That is, by generating the final driver torque by reflecting the driver's intention gain and the unintentional driver's torque in the virtual driver torque and the driver's torque, the autonomous driving mode and the driver mode, as well as the current driving situation, especially in the section where these modes are shifted It provides the final driver torque accurately reflected, thereby minimizing the steering heterogeneity occurring in the mode transition section.

아울러, 본 발명의 최종운전자토크생성모듈(30)에서는 운전자토크 중에서 외부에서 반영된 외란에 의한 토크를 제거할 수 있다.In addition, in the final driver torque generation module 30 of the present invention, torque due to disturbance reflected from the outside can be removed from the driver torque.

도 4를 참조하면, 상기 운전자토크와 미운전의도게인을 곱하여 외란토크를 산출한다.Referring to FIG. 4, the disturbance torque is calculated by multiplying the driver's torque and the undriven gain.

그리고, 상기 배분가상운전자토크에서 상기 외란토크를 감산하여 추가운전자토크를 더 산출할 수 있다.Further, the additional driver torque may be further calculated by subtracting the disturbance torque from the distributed virtual driver torque.

이에, 상기 추가운전자토크를 상기 최종운전자토크에 합산하여 조향모터(50)에 지령토크로 제공할 수 있다.Accordingly, the additional driver torque may be added to the final driver torque to provide the steering motor 50 with command torque.

즉, 스티어링휠을 실수로 접촉하거나 그 밖의 외란에 의해 스티어링휠에 순간적으로 토크가 제공되는 경우와 같이 운전자가 의도하지 않은 외란토크가 입력되는 경우, 운전자토크로부터 상기 외란토크를 제거함으로써, 운전자의 의도가 아닌 토크가 제공되는 것을 차단할 수 있게 된다.That is, when a disturbance torque that the driver does not intend is input, such as a case where the steering wheel is accidentally contacted or the torque is instantaneously provided to the steering wheel due to other disturbances, by removing the disturbance torque from the driver torque, It is possible to block non-intentional torque from being provided.

더불어, 본 발명은 도 1과 같이 상기 최종운전자토크가 EPS제어기(40)에 입력되고, EPS제어기(40)에서 차량의 주행상태를 반영하는 인자들(차속, 조향각, 조향각속도 등)에 따라 어시스트량, 마찰량, 댐핑량, 복원량이 계산되어 조향모터(50)에 제공될 수 있다.In addition, according to the present invention, the final driver torque is input to the EPS controller 40 as shown in FIG. 1, and the EPS controller 40 assists according to factors (vehicle speed, steering angle, steering angle speed, etc.) reflecting the driving state of the vehicle. The amount, friction amount, damping amount, and restoration amount can be calculated and provided to the steering motor 50.

즉, 자율주행모드와 운전자모드에 관계없이 EPS제어기(40)에 최종운전자토크가 동일하게 입력으로 제공되고, 제공된 최종운전자토크가 EPS제어기(40)에 의해 계산되어 어시스트토크, 마찰토크, 댐핑토크, 복원토크로 배분되어 제공되어, 이처럼 배분된 토크가 추가운전자토크와 합산되어 조향모터(50)의 지령토크로 제공될 수 있게 된다.That is, regardless of the autonomous driving mode and driver mode, the final driver torque is provided to the EPS controller 40 as the same input, and the provided final driver torque is calculated by the EPS controller 40 to assist torque, friction torque, damping torque. , It is distributed and provided as the restoring torque, and the thus-distributed torque can be added to the additional driver torque and provided as the command torque of the steering motor 50.

한편, 본 발명은 도 1의 조향 제어시스템을 이용한 조향 제어방법의 구현이 가능한 것으로, 상기 조향 제어방법은 가상운전자토크 생성단계(S10)와, 게인배분 생성단계(S20)와, 최종운전자토크 생성단계(S30) 및 조향토크 제공단계(S40)를 포함하여 구성이 된다.On the other hand, the present invention is possible to implement a steering control method using the steering control system of Figure 1, the steering control method is a virtual driver torque generation step (S10), a gain distribution generation step (S20), and the final driver torque generation It comprises a step (S30) and a steering torque providing step (S40).

도 1을 참조하면, 가상운전자토크 생성단계(S10)에서는, 가상운전자토크생성모듈(10)에 의해 목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성한다.1, in the virtual driver torque generation step (S10), based on the difference between the target steering angle and the driver steering angle by the virtual driver torque generating module 10, the virtual driver torque required to reach the target steering angle is determined. To create.

게인배분 생성단계(S20)에서는, 게인배분모듈(20)에 의해 운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성한다.In the gain distribution generation step (S20), the driver's driving intention is distributed and generated according to the size of the steering value that the driver steers by the gain distribution module 20.

최종운전자토크 생성단계(S30)에서는, 최종운전자토크생성모듈(30)에 의해 상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성한다.In the final driver torque generation step (S30), the allocated driving intention gains by the final driver torque generation module 30 are reflected in the driver torque generated by the driver's intention, and the unintentional driving gain is reflected in the virtual driver torque. And summing to generate the final driver torque.

그리고, 조향토크 제공단계(S40)에서는, 조향모터(50)가 상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공한다.Then, in the steering torque providing step (S40), the steering motor 50 receives the final driver torque and provides steering torque for steering the wheel.

이와 같이, 본 발명은 운전자를 대신하여 목표 조향각에 따른 가상의 운전자토크를 생성함으로써, 자율주행모드와 운전자모드에서 동일한 최종운전자토크가 입력되어 사용되는바, 모드간 천이되는 과정에서 발생하는 조향 이질감을 최소화하여 모드의 전환이 자연스럽게 이루어지는 한편, 차량 거동에 따른 튜닝은 물론, 복원제어 튜닝, 수방 안정을 위한 댐핑 튜닝 등을 일원화하여 작업할 수 있게 된다.As described above, the present invention generates virtual driver torque according to a target steering angle on behalf of the driver, so that the same final driver torque is input and used in the autonomous driving mode and the driver mode, and thus the steering heterogeneity generated in the process of transitioning between modes. By minimizing, the mode can be switched naturally, while tuning according to vehicle behavior, restoration control tuning, and damping tuning for stable stability can be unified.

더불어, 스티어링휠을 실수로 접촉하거나 그 밖의 외란에 의해 스티어링휠에 순간적으로 토크가 제공되는 경우와 같이 운전자가 의도하지 않은 외란토크가 입력되는 경우, 운전자토크로부터 상기 외란토크를 제거함으로써, 운전자의 의도가 아닌 토크가 조향모터(50)에 제공되는 것을 차단할 수 있다.In addition, when an unexpected disturbance torque is input, such as a case where the steering wheel is accidentally contacted or the torque is instantaneously provided to the steering wheel due to other disturbances, by removing the disturbance torque from the driver's torque, the driver's It is possible to block non-intended torque from being provided to the steering motor 50.

한편, 본 발명은 상기한 구체적인 예에 대해서만 상세히 설명되었지만 본 발명의 기술사상 범위 내에서 다양한 변형 및 수정이 가능함은 당업자에게 있어서 명백한 것이며, 이러한 변형 및 수정이 첨부된 특허청구범위에 속함은 당연한 것이다.On the other hand, the present invention has been described only in detail with respect to the specific examples described above, but it is obvious to those skilled in the art that various modifications and variations are possible within the technical scope of the present invention, and it is natural that such modifications and modifications belong to the appended claims. .

10 : 가상운전자토크생성모듈
11 : 각속도변환부
12 : 토크변환부
20 : 게인배분모듈
21 : 토크게인결정부
22 : 각속도게인결정부
30 : 최종운전자토크생성모듈
40 : EPS제어기
50 : 조향모터10: Virtual driver torque generation module
11: Angular speed conversion unit
12: torque converter
20: gain distribution module
21: torque gain determining unit
22: angular velocity gain determining unit
30: final driver torque generation module
40: EPS controller
50: steering motor

Claims (9)

목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성하는 가상운전자토크생성모듈;
운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성하는 게인배분모듈;
상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성하는 최종운전자토크생성모듈; 및
상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공하는 조향모터;를 포함하는 자율주행차량의 조향 제어시스템.A virtual driver torque generating module that generates a virtual driver torque required for the current steering angle to reach the target steering angle based on the difference between the target steering angle and the driver steering angle;
A gain distribution module that generates the driver's driving intention by distributing it as a gain value according to the size of the steering value that the driver steers;
A final driver torque generation module that reflects the allocated driving intention gain to the driver torque generated by the driver's intention and reflects and sums up the unintentional gain in the virtual driver torque to generate a final driver torque; And
A steering control system for an autonomous vehicle, including; a steering motor that receives the final driver torque and provides steering torque for steering of the wheel. 청구항 1에 있어서,
상기 가상운전자토크생성모듈은,
상기 목표 조향각에서 운전자 조향각을 감산하여 산출된 조향각에러를 목표 조향각속도로 변환하는 각속도변환부;
상기 목표 조향각속도에서 운전자 조향각속도를 감산하여 산출된 조향각속도에러를 가상운전자토크로 변환하는 토크변환부;를 포함하는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 1,
The virtual driver torque generation module,
An angular speed conversion unit converting a steering angle error calculated by subtracting a driver steering angle from the target steering angle to a target steering angle speed;
And a torque conversion unit converting the steering angle speed error calculated by subtracting the driver steering angle speed from the target steering angle speed to a virtual driver torque. 청구항 1에 있어서,
상기 게인배분모듈은,
운전자토크를 입력받아, 상기 운전자토크의 크기에 비례하여 토크게인을 결정하는 토크게인결정부;
운전자 조향각속도를 입력받아, 상기 운전자 조향각속도의 크기에 비례하여 각속도게인을 결정하는 각속도게인결정부;를 포함하고,
상기 토크게인과 각속도게인을 합산하여, 합산된 게인을 운전의도게인으로 결정하는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 1,
The gain distribution module,
A torque gain determining unit that receives a driver torque and determines a torque gain in proportion to the size of the driver torque;
It includes; an angular velocity gain determining unit that receives the driver steering angular velocity and determines an angular velocity gain in proportion to the magnitude of the driver steering angular velocity.
Steering control system of an autonomous vehicle, characterized in that the sum of the torque gain and the angular speed gain is determined as a driving intention gain. 청구항 3에 있어서,
상기 토크게인은 0≤토크게인≤1 이고,
상기 각속도게인은 0≤토크게인≤1 이며,
상기 토크게인과 각속도게인이 합산된 운전의도게인은 0≤운전의도게인≤1 이고,
상기 운전의도게인이 최대게인인 1 초과시, 1로 결정되는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 3,
The torque gain is 0≤ torque gain ≤1,
The angular velocity gain is 0≤ torque gain ≤1,
The driving gain obtained by adding the torque gain and the angular speed gain is 0 ≤ the driving gain of ≤ 1,
The steering control system of an autonomous vehicle, characterized in that when the driving intention gain exceeds the maximum gain of 1, it is determined to be 1. 청구항 4에 있어서,
상기 최종운전자토크생성모듈에서는,
상기 운전자토크와 운전의도게인을 곱하여 배분운전자토크를 산출하고;
상기 운전의도게인의 최대게인에서 운전의도게인을 감산하여 미운전의도게인으로 결정하며;
상기 가상운전자토크와 미운전의도게인을 곱하여 배분가상운전자토크를 산출하고;
상기 배분운전자토크와 배분가상운전자토크를 합산하여 최종운전자토크를 산출하는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 4,
In the final driver torque generation module,
Calculating the distributed driver torque by multiplying the driver torque and the driving intention gain;
Determining the undriven gain by subtracting the drive gain from the maximum gain of the drive intention gain;
Multiplying the virtual driver torque and the gain of undriven to calculate a distributed virtual driver torque;
A steering control system for an autonomous vehicle, characterized in that the final driver torque is calculated by summing the distributed driver torque and the distributed virtual driver torque. 청구항 4에 있어서,
상기 최종운전자토크생성모듈에서는,
상기 운전자토크와 미운전의도게인을 곱하여 외란토크를 산출하고;
상기 배분가상운전자토크에서 상기 외란토크를 감산하여 추가운전자토크를 더 산출하는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 4,
In the final driver torque generation module,
Calculating the disturbance torque by multiplying the driver's torque and the undriven gain;
A steering control system for an autonomous vehicle, characterized in that further calculating the additional driver torque by subtracting the disturbance torque from the distributed virtual driver torque. 청구항 6에 있어서,
상기 최종운전자토크에 추가운전자토크를 합산하여 조향모터에 제공하는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 6,
The steering control system for an autonomous vehicle, characterized in that the final driver torque is added to the additional driver torque and provided to the steering motor. 청구항 1에 있어서,
상기 최종운전자토크가 EPS제어기에 입력되고, EPS제어기에서 차량의 주행상태에 따라 어시스트량, 마찰량, 댐핑량, 복원량이 계산되어 조향모터에 제공되는 것을 특징으로 하는 자율주행차량의 조향 제어시스템.The method according to claim 1,
The final driver's torque is input to the EPS controller, and the EPS controller controls the steering amount of the autonomous vehicle, characterized in that the amount of assistance, friction, damping, and restoration are calculated and provided to the steering motor. 가상운전자토크생성모듈에 의해 목표 조향각과 운전자 조향각의 차이를 기반으로 현재 조향각이 목표 조향각에 도달하기 위해 필요한 가상운전자토크를 생성하는 단계;
게인배분모듈에 의해 운전자가 조향하는 조향값의 크기에 따라 운전자의 운전의도를 게인값으로 배분하여 생성하는 단계;
최종운전자토크생성모듈에 의해 상기 배분된 운전의도게인을 운전자 의도에 의해 발생하는 운전자토크에 반영하고 미운전의도게인을 상기 가상운전자토크에 반영 및 합산하여 최종운전자토크를 생성하는 단계; 및
조향모터가 상기 최종운전자토크를 입력받아 휠의 조향을 위한 조향토크를 제공하는 단계;를 포함하는 자율주행차량의 조향 제어방법.Generating a virtual driver torque required for the current steering angle to reach the target steering angle based on the difference between the target steering angle and the driver steering angle by the virtual driver torque generating module;
Generating and generating a driver's driving intention according to a magnitude of a steering value that the driver steers by a gain distribution module;
Generating a final driver torque by reflecting the driver's torque generated by the driver's intention, and reflecting and adding the undriven driver's gain to the virtual driver torque by the final driver torque generation module; And
Steering motor receiving the final driver torque and providing a steering torque for steering the wheel; Steering control method of an autonomous vehicle comprising a.
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