독립구동 전기자동차의 자율 주행 제어 장치 및 그 방법이 개시된다. 본 발명의 일 측면에 따른 독립구동 전기자동차의 자율 주행 제어 장치는, 차량의 주행정보를 측정하는 측정부, 상기 차량의 경로정보 및 상기 주행정보에 기초하여 예견점(Look ahead point)을 추종하기 위한 조향각을 산출하고, 상기 조향각에 따라 상기 차량을 제어하는 조향각 제어부, 상기 경로정보 및 주행정보에 기초하여 상기 차량의 횡오차 및 각도오차를 산출하고, 상기 횡오차 및 각도오차에 기초하여 제어 모멘트를 생성하며, 상기 제어 모멘트에 기초하여 각 모터의 모터토크를 제어하는 토크 벡터링 제어부를 포함한다.

    Disclosed are an apparatus and method for controlling autonomous traveling of an independent driving electric vehicle. An apparatus for controlling autonomous traveling of an independent driving electric vehicle according to one aspect of the present disclosure includes a measurement unit configured to measure traveling information of a vehicle, a steering angle controller configured to calculate a steering angle for following a look ahead point based on path information of the vehicle and the traveling information, and control the vehicle according to the steering angle, and a torque vectoring controller configured to calculate a lateral error and an angular error of the vehicle based on the path information and the traveling information, generate a control moment based on the lateral error and the angular error, and control a motor torque of each motor based on the control moment.


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    Title :

    APPARATUS FOR CONTROLLING AUTONOMOUS DRIVING OF INDEPENDENT DRIVING ELECTRIC VEHICLE AND METHOD THEREOF


    Additional title:

    독립구동 전기자동차의 자율 주행 제어 장치 및 그 방법


    Publication date :

    2022-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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