Autonomous driving control apparatus and method
Disclosed is an autonomous driving control apparatus which includes a steering device, a memory, and a controller. The autonomous driving control apparatus determines a user required torque received through the steering device, while controlling a host vehicle based on a required steering angle, determines a torque sensor value corresponding to the user required torque, using the steering device, adjusts an amount of control attenuation about a usage ratio between the required steering angle and the user required torque, based on the torque sensor value, and performs steering control of the host vehicle, based on at least one of the required steering angle, the user required torque, or the amount of control attenuation, or any combination thereof.
1 . An autonomous driving control apparatus, comprising:
a steering device;
a memory storing at least one instruction; and
a controller operatively connected with the steering device and the memory,
wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
determine a user required torque received through the steering device, while controlling a host vehicle based on a required steering angle;
determine a torque sensor value corresponding to the user required torque, using the steering device;
adjust, based on the torque sensor value, an amount of control attenuation related to a ratio indicating a degree to which the required steering angle and the user required torque are respectively weighted in steering control; and
perform the steering control of the host vehicle, based on the adjusted amount of control attenuation.
2 . The autonomous driving control apparatus of claim 1 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
determine the torque sensor value corresponding to the user required torque, using power steering of the steering device.
3 . The autonomous driving control apparatus of claim 1 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
determine a vehicle speed of the host vehicle; and
determine the torque sensor value by a torque map stored in the memory, based on the user required torque and the vehicle speed.
4 . The autonomous driving control apparatus of claim 1 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
adjust the amount of control attenuation to be inversely proportional to the torque sensor value.
5 . The autonomous driving control apparatus of claim 1 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
attenuate an amount of motor control used to perform the steering control of the host vehicle to follow the required steering angle based on the amount of adjusted control attenuation, and
perform the steering control of the host vehicle based on the amount of attenuated motor control.
6 . The autonomous driving control apparatus of claim 5 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
attenuate the torque sensor value by an attenuation ratio identified based on the amount of adjusted control attenuation and perform the steering control of the host vehicle based further on the attenuated torque sensor value.
7 . The autonomous driving control apparatus of claim 6 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
adjust the amount of control attenuation to any one value within a specified range, based on the torque sensor value; and
determine the attenuation ratio generated by subtracting the amount of adjusted control attenuation from a specified value.
8 . The autonomous driving control apparatus of claim 1 , further comprising:
a sensor device,
wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
determine driving environment information of the host vehicle using the sensor device; and
reduce the amount of control attenuation, when identifying a situation of having to hand over control authority for the host vehicle to a user based on the driving environment information.
9 . The autonomous driving control apparatus of claim 1 , further comprising:
a sensor device,
wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
identify sensing information including at least one of biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof, using the sensor device;
determine whether the user required torque is based on an intention of the user, based on at least a portion of the sensing information; and
stop adjusting the amount of control attenuation, when it is determined that the user required torque is not based on the intention.
10 . The autonomous driving control apparatus of claim 1 , wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to:
stop the steering control based on the required steering angle, when the amount of control attenuation is adjusted to correspond to a minimum value in a predetermined range, and
perform the steering control based on the user required torque.
11 . An autonomous driving control method, comprising:
determining, by a controller, a user required torque received through a steering device, while controlling a host vehicle based on a required steering angle;
determining, by the controller, a torque sensor value corresponding to the user required torque, using the steering device;
adjusting, based on the torque sensor value, by the controller, an amount of control attenuation related to a ratio indicating a degree to which the required steering angle and the user required torque are respectively weighted in steering control; and
performing, by the controller, the steering control of the host vehicle, based on the adjusted amount of control attenuation.
12 . The autonomous driving control method of claim 11 , wherein determining the torque sensor value corresponding to the user required torque comprises:
determining the torque sensor value corresponding to the user required torque, using power steering included in the steering device.
13 . The autonomous driving control method of claim 12 , wherein determining the torque sensor value corresponding to the user required torque comprises:
determining a vehicle speed of the host vehicle; and
determining the torque sensor value by means of a torque map previously stored in a memory, based on the user required torque and the vehicle speed.
14 . The autonomous driving control method of claim 11 , wherein adjusting the amount of control attenuation about the usage ratio comprises:
adjusting the amount of control attenuation to be inversely proportional to the torque sensor value.
15 . The autonomous driving control method of claim 11 , wherein performing the steering control of the host vehicle comprises:
attenuating an amount of motor control used to perform the steering control of the host vehicle to follow the required steering angle, based on the amount of adjusted control attenuation, and performing, by the controller, the steering control of the host vehicle, based on the amount of attenuated motor control.
16 . The autonomous driving control method of claim 15 , wherein performing the steering control of the host vehicle further includes:
attenuating, by the controller, the torque sensor value by an attenuation ratio identified based on the amount of adjusted control attenuation and performing, by the controller, the steering control of the host vehicle based further on the attenuated torque sensor value.
17 . The autonomous driving control method of claim 16 , further comprising:
adjusting, by the controller, the amount of control attenuation to any one value within a specified range, based on the torque sensor value; and
determining, by the controller, the attenuation ratio generated by subtracting the amount of adjusted control attenuation from a specified value.
18 . The autonomous driving control method of claim 11 , further comprising:
determining, by the controller, driving environment information of the host vehicle using a sensor device; and
reducing, by the controller, the amount of control attenuation, when identifying a situation of having to hand over control authority for the host vehicle to a user based on the driving environment information.
19 . The autonomous driving control method of claim 11 , further comprising:
identifying, by the controller, sensing information including at least one of biometric information of a user, internal information of the host vehicle, or driving environment information of the host vehicle, or any combination thereof, using a sensor device;
determining, based on the sensing information, whether the user required torque is based on an intention of the user; and
not adjusting the amount of control attenuation, when it is determined that the user required torque is not based on the intention.
20 . The autonomous driving control method of claim 11 , further comprising:
stopping, by the controller, the steering control based on the required steering angle, when the amount of control attenuation is adjusted to correspond to a minimum value in a predetermined range, and
performing, by the controller, the steering control based on the user required torque.