STEERING CONTROL APPARATUS AND CONTROLLING METHOD FOR AUTONOMOUS VEHICLE

The present invention relates to a steering controlling apparatus for autonomous driving and a control method thereof. If a failure occurs in either a steering angle sensor or a torque sensor during the autonomous driving, a torque value is estimated from a weight sensor and a steering angle is esti...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	BAEK SOON HO, PARK YUN YEONG
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	CONTROLLING LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MOTOR VEHICLES PERFORMING OPERATIONS PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRAILERS TRANSPORTING
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Beschreibung
Zusammenfassung:	The present invention relates to a steering controlling apparatus for autonomous driving and a control method thereof. If a failure occurs in either a steering angle sensor or a torque sensor during the autonomous driving, a torque value is estimated from a weight sensor and a steering angle is estimated using a camera. Therefore, a steering motor is controlled based on a control history to maintain the autonomous driving. In addition, redundancy for the steering angle sensor and the torque sensor is secured, preventing an accident and improving vehicle safety. The steering controlling apparatus for the autonomous driving of the present invention comprises: a weight sensor; the steering angle sensor and the torque sensor; the camera; the steering motor; and a controller. 본 발명은 자율 주행을 위한 조향 제어장치 및 그 제어방법에 관한 것으로, 자율주행 중에 조향각센서 및 토크센서 중 어느 하나에 고장이 발생하는 경우 중량센서로부터 토크값을 추정하고 카메라를 이용하여 조향각을 추정하여, 제어이력을 기반으로 조향모터를 제어함으로써 자율 주행을 유지하고, 조향각센서 및 토크센서에 대한 리던던시를 확보하여 사고를 예방하고 자동차의 안전성을 향상시키는 효과가 있다.