公开(公告)号：KR101145112B1

公开(公告)日：2012-05-14

申请号：KR1020100044148

申请日：2010-05-11

Applicant: 국방과학연구소

Inventor： 최덕선 ,  박용운 ,  채정숙

IPC: B62D6/00 ,  B60W10/20

CPC classification number: B62D1/283 ,  B62D6/002 ,  G05D1/021 ,  G05D2201/0209

Abstract: Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.

公开(公告)号：KR1020110124646A

公开(公告)日：2011-11-17

申请号：KR1020100044148

申请日：2010-05-11

Applicant: 국방과학연구소

Inventor： 최덕선 ,  박용운 ,  채정숙

IPC: B62D6/00 ,  B60W10/20

CPC classification number: B62D1/283 ,  B62D6/002 ,  G05D1/021 ,  G05D2201/0209

Abstract: PURPOSE: A steering control device of the autonomic mobile unit, an autonomic mobile car including the same and a steering control method of the autonomic mobile car are provided to generate a steering command in real time through a small data processing. CONSTITUTION: A steering control method of the autonomic mobile car comprises the following steps. The first heading angle of the autonomic mobile car about the location of the autonomic mobile unit and north are received(S100). The second heading angle of the autonomic mobile unit facing the following way point based on the location of the autonomic mobile unit is produced. The radius of rotation of the autonomic mobile unit about the following way point is computed(S200). The yaw rate which follows the radius of rotation using the calculated radius of rotation and the speed of the autonomic mobile unit is calculated. The steering command corresponding to the calculated yaw rate is generated(S300). The steering command is compensated using the first and second heading angles(S400).

Abstract translation: 目的：提供自主移动单元的转向控制装置，包括其的自主移动车和自主移动车的转向控制方法，以通过小数据处理实时生成转向命令。 构成：自主移动车辆的转向控制方法包括以下步骤。 接收自主移动车关于自主移动单元和北的位置的第一航向角（S100）。 基于自主移动单元的位置，产生面向以下方式的自主移动单元的第二航向角。 计算自主移动单元关于以下路点的旋转半径（S200）。 计算使用计算的旋转半径和自主移动单元的速度跟随旋转半径的偏航率。 生成与计算出的横摆角速度对应的转向指令（S300）。 使用第一和第二方向角来补偿转向命令（S400）。