Method for limiting active acceleration based on driving situations and a vehicle drivable thereby
View Patent ↗A method for limiting active acceleration of a vehicle based on driving situations and a vehicle drivable thereby are provided. The method includes detecting presence of an acceleration limitation situation based on driving situation information. The method also includes, in response to detecting the presence of the acceleration limitation situation, generating an acceleration limit based on situation type information identified in the driving situation information. The method additionally includes determining, as control torque, a smaller torque among an acceleration torque limit based on the acceleration limit and required torque according to a driving maneuver request. The method further includes controlling driving of the vehicle based on acceleration according to the control torque on a path corresponding to the acceleration limitation situation.
1 . A method for limiting active acceleration of a vehicle according to a driving situation, the method comprising:
detecting presence of an acceleration limitation situation based on driving situation information;
determining an acceleration estimate based on a feedback method including modeling according to a weight of the vehicle;
in response to detecting the presence of the acceleration limitation situation, generating an acceleration limit based on situation type information identified in the driving situation information and the acceleration estimate;
determining, as control torque, a smaller torque among an acceleration torque limit based on the acceleration limit and required torque according to a driving maneuver request; and
controlling driving of the vehicle based on acceleration according to the control torque on a path corresponding to the acceleration limitation situation.
2 . The method of claim 1 , wherein the driving situation information includes traffic information and road information, wherein i) the traffic information includes a traffic flow state around the vehicle and ii) the road information includes information on at least one of a driving caution zone or a road form, wherein the driving caution zone includes at least one of i) a facility zone in which a supplementary facility for deriving or monitoring a speed limit is located, ii) a sign zone in which a sign object associated with a speed limit is located, iii) a protection zone for protecting a predetermined object, or iv) a congested zone that is estimated to have a degree of road congestion equal to or greater than a predetermined value.
3 . The method of claim 1 , wherein the presence of the acceleration limitation situation is detected based on estimating that the vehicle is required to slow down based on the driving situation information.
4 . The method of claim 1 , wherein:
the acceleration limitation situation includes a longitudinal acceleration limitation situation according to a longitudinal direction of the vehicle or a lateral acceleration limitation situation according to a lateral direction of the vehicle;
generating of the acceleration limit includes generating at least one of i) a longitudinal acceleration limit corresponding to the longitudinal acceleration limitation situation or ii) a lateral acceleration limit corresponding to the lateral acceleration limitation situation based on the situation type information associated with at least one of the longitudinal acceleration limitation situation or the lateral acceleration limitation situation;
the acceleration torque limit includes at least one of i) a longitudinal acceleration torque limit based on the longitudinal acceleration limit or ii) a lateral acceleration torque limit based on the lateral acceleration limit; and
the required torque includes at least one of longitudinal required torque or lateral required torque.
5 . The method of claim 4 , wherein a driving mode operated for driving of the vehicle includes i) a first driving mode that controls driving based on the driving maneuver request and ii) a second driving mode that a) controls driving according to an optimization setting established based on the driving maneuver request and a predetermined vehicle operation purpose and b) applies second longitudinal acceleration smaller than first longitudinal acceleration applied to the first driving mode, wherein the longitudinal acceleration limit is generated based on the second longitudinal acceleration.
6 . The method of claim 5 , wherein the longitudinal acceleration limit i) is set to be smaller than the second longitudinal acceleration and ii) is generated according to detailed situation information of the driving situation information based on a slow-down requirement of the situation type information.
7 . The method of claim 4 , wherein the lateral acceleration limit is generated according to detailed situation information of the driving situation information based on a degree of turn permission of the situation type information.
8 . The method of claim 1 , wherein the acceleration torque limit is further based on the acceleration estimate calculated based on at least one of a driving speed of the vehicle or a degree of turn of the vehicle.
9 . The method of claim 8 , wherein the acceleration estimate is calculated by using the feedback method, wherein the feedback method calculates the acceleration estimate based on a previous acceleration estimate, the driving speed of the vehicle, the degree of turn of the vehicle, the acceleration limit, and the acceleration torque limit.
10 . The method of claim 1 , further comprising:
prior to the generating of the acceleration limit, detecting whether a limitation release condition occurs by at least one of the driving maneuver request for releasing the acceleration limitation situation or a behavior of the vehicle; and
in response to detecting that the limitation release condition occurs, controlling the driving of the vehicle based on the driving maneuver request without generating the acceleration limit.
11 . A vehicle, comprising:
a sensor unit configured to detect a state of the vehicle and a maneuver for the vehicle;
a memory configured to store at least one instruction for controlling the vehicle; and
a processor configured to execute the at least one instruction stored in the memory,
wherein the processor is further configured to
detect presence of an acceleration limitation situation based on driving situation information,
determine an acceleration estimate based on a feedback method including modeling according to a weight of the vehicle,
in response to detecting the presence of the acceleration limitation situation, generate an acceleration limit based on situation type information identified in the driving situation information and the acceleration estimate,
determine, as control torque, a smaller torque among an acceleration torque limit based on the acceleration limit and required torque according to a driving maneuver request, and
control driving of the vehicle based on acceleration according to the control torque on a path corresponding to the acceleration limitation situation.
12 . The vehicle of claim 11 , wherein the driving situation information includes traffic information and road information, wherein i) the traffic information includes a traffic flow state around the vehicle and ii) the road information has information on least one of a driving caution zone and a road form, and wherein the driving caution zone includes at least one of i) a facility zone in which a supplementary facility for deriving or monitoring a speed limit is located, ii) a sign zone in which a sign object associated with a speed limit is located, iii) a protection zone for protecting a predetermined object, or iv) a congested zone that is estimated to have a degree of road congestion equal to or greater than a predetermined value.
13 . The vehicle of claim 11 , wherein the presence of the acceleration limitation situation is detected based on estimating that the vehicle is required to slow down based on the driving situation information.
14 . The vehicle of claim 11 , wherein:
the acceleration limitation situation includes a longitudinal acceleration limitation situation according to a longitudinal direction of the vehicle and a lateral acceleration limitation situation according to a lateral direction of the vehicle;
generating the acceleration limit includes generating at least one of i) a longitudinal acceleration limit corresponding to the longitudinal acceleration limitation situation or ii) a lateral acceleration limit corresponding to the lateral acceleration limitation situation based on the situation type information associated with at least one of the longitudinal acceleration limitation situation or the lateral acceleration limitation situation;
the acceleration torque limit includes at least one of i) a longitudinal acceleration torque limit based on the longitudinal acceleration limit or ii) a lateral acceleration torque limit based on the lateral acceleration limit; and
the required torque includes at least one of longitudinal required torque or lateral required torque.
15 . The vehicle of claim 14 , wherein a driving mode operated for driving of the vehicle includes i) a first driving mode that controls driving based on the driving maneuver request and ii) a second driving mode that a) controls driving according to an optimization setting established based on the driving maneuver request and a predetermined vehicle operation purpose and b) applies second longitudinal acceleration smaller than first longitudinal acceleration applied to the first driving mode, and wherein the longitudinal acceleration limit is generated based on the second longitudinal acceleration.
16 . The vehicle of claim 15 , wherein the longitudinal acceleration limit i) is set to be smaller than the second longitudinal acceleration and ii) is generated according to detailed situation information of the driving situation information based on a slow-down requirement of the situation type information.
17 . The vehicle of claim 14 , wherein the lateral acceleration limit is generated according to detailed situation information of the driving situation information based on a degree of turn permission of the situation type information.
18 . The vehicle of claim 11 , wherein the acceleration torque limit is further based on the acceleration estimate calculated based on at least one of a driving speed of the vehicle or a degree of turn of the vehicle.
19 . The vehicle of claim 18 , wherein the acceleration estimate is calculated by using the feedback method, wherein the feedback method calculates the acceleration estimate based on a previous acceleration estimate, the driving speed of the vehicle, the degree of turn of the vehicle, the acceleration limit, and the acceleration torque limit.
20 . The vehicle of claim 11 , wherein the processor is further configured to:
prior to generating the acceleration limit, detect whether a limitation release condition occurs by at least one of i) the driving maneuver request for releasing the acceleration limitation situation or ii) a behavior of the vehicle; and
in response to detecting that the limitation release condition occurs, control the driving of the vehicle based on the driving maneuver request without generating the acceleration limit.