VEHICLE CONTROL SYSTEM AND METHOD FOR SELF-CONTROL DRIVING THEREOF

• US 20150298694A1
• Filed: 07/23/2014
• Published: 10/22/2015
• Est. Priority Date: 04/16/2014
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Park, Kyun Sang
• Granted Patent: US 9,771,072 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks

Abstract

A vehicle control system and a method for self-control driving thereof are provided. The method includes: adjusting, by a controller, steering based on lane information and sensing a driving situation of the vehicle based on the steering adjustment. In addition, the controller is configured to determine an intervention in an altitude control based on the driving situation and in response to determining the intervention, operate a braking system to adjust the altitude of the vehicle.

Claims

1. A method for self-control driving of a vehicle control system, comprising:

adjusting, by a controller, steering based on lane information;

sensing, by the controller, a driving situation of the vehicle based on the steering adjustment;

determining, by the controller, an intervention in an altitude control based on the driving situation; and

operating, by the controller, a braking system based on determining the intervention in the altitude control to adjust the altitude of the vehicle.

2. The method according to claim 1, wherein the adjusting of the steering includes:

acquiring, by the controller, the lane information;

calculating, by the controller, a steering angle for a steering wheel adjustment using the lane information; and

operating, by the controller, a steering system based on the calculated steering angle.

3. The method according to claim 1, wherein the monitoring of the driving situation includes:

determining, by the controller, whether the vehicle is being driven on a bank road based on a lane curvature and a vehicle curvature calculated using the lane information.

4. The method according to claim 1, wherein the monitoring of the driving situation includes:

determining, by the controller, whether an oversteering possibility based on the lane curvature and a critical curvature using the lane information.

5. The method according to claim 1, wherein the monitoring of the driving situation includes:

determining, by the controller, whether the steering system fails based on a fail flag received from the steering system.

6. The method according to claim 1, wherein the adjusting of the altitude of the vehicle, includes:

adjusting, by the controller, the steering of the vehicle based on the bank when the vehicle is being driven on the bank road.

7. The method according to claim 6, further comprising:

measuring, by the controller, a current yaw rate, modify a target yaw rate based on a difference between the measured yaw rate and the target yaw rate; and

adjusting, by the controller, the steering based on the modified target yaw rate.

8. The method according to claim 1, wherein the adjusting of the altitude of the vehicle includes:

calculating, by the controller, braking torques of turning inside front and rear wheels in response to determining the oversteering possibility; and

operating, by the controller, the braking system based on the calculated braking torques.

9. The method according to claim 1, wherein the controlling of the altitude of the vehicle includes:

operating, by the controller, the baking system using lane departure angle information in response to determining the failure of the steering system.

10. A method for self-control driving of a vehicle control system, comprising:

calculating, by a controller, a target driving torque to maintain an inter-vehicle distance from a front vehicle when a lane maintaining assist system and a smart cruise control are operated;

operating, by the controller, a driving system using the target driving torque to maintain the inter-vehicle distance;

sensing, by the controller, a failure of a steering system while maintaining the inter-vehicle distance;

calculating, by the controller, the target driving torque using a target braking torque; and

operating, by the controller, the driving system using the target driving torque based on the target braking torque.

11. A vehicle control system, comprising:

a memory configured to store program instructions; and

a processor configured to execute the program instructions, the program instructions when executed configured to;

acquire lane information and calculate a steering angle based on the lane information;

adjust a steering wheel based on the calculated steering angle;

monitor a driving situation of the vehicle;

determine an intervention in an altitude control based on the driving situation; and

operate a braking system based on the intervention determination.

12. The vehicle control system according to claim 11, wherein the program instructions when executed are further configured to:

determine whether the vehicle is being driven on a bank road using a lane curvature and a vehicle curvature based on the lane information; and

in response to determining that the vehicle is being driven on the bank road, adjust the steering in consideration of a bank.

13. The vehicle control system according to claim 12, wherein the to the program instructions when executed are further configured to:

measure a current yaw rate, modify a target yaw rate based on a difference between the measured yaw rate and the target yaw rate; and

adjust the steering based on the modified target yaw rate.

14. The vehicle control system according to claim 11, wherein the program instructions when executed are further configured to:

determine an oversteering possibility using a lane curvature and a critical curvature calculated based on the lane information; and

calculate braking torques of turning inside front and rear wheels using a difference between the critical curvature and the lane curvature in response to determining the oversteering possibility.

15. The vehicle control system according to claim 11, wherein the program instructions when executed are further configured to:

determine whether a failure of the steering system based on a fail flag; and

in response to determining the failure of the steering system operate the braking system using lane departure angle information.

16. The vehicle control system according to claim 11, wherein the program instructions when executed are further configured to:

calculate a target driving torque that corresponds to a target braking torque in response to determining the failure of the steering system; and

generate a driving force based on the calculated target driving torque.

17. The vehicle control system according to claim 11, wherein the program instructions when executed are configured to operate the steering system in response to determining the intervention in the altitude control to maintain the steering angle of the steering wheel.

18. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

program instructions that adjust steering based on lane information;

program instructions that sense a driving situation of the vehicle based on the steering adjustment;

program instructions that determine an intervention in an altitude control based on the driving situation; and

program instructions that operate a braking system based on determining the intervention in the altitude control to adjust the altitude of the vehicle.

19. The non-transitory computer readable medium of claim 18, further comprising:

program instructions that acquire the lane information;

program instructions that calculate a steering angle for a steering wheel adjustment using the lane information; and

program instructions that operate a steering system based on the calculated steering angle.

20. The non-transitory computer readable medium of claim 18, further comprising:

program instructions that determine whether the vehicle is being driven on a bank road based on a lane curvature and a vehicle curvature calculated using the lane information.