US 12,269,348 B2
Apparatus for controlling autonomous driving of independent driving electric vehicle and method thereof
Sung Ho Hwang, Seoul (KR); and Ho Yong Na, Cheonan-si (KR)
Assigned to Research & Business Foundation Sungkyunkwan University, Suwon-si (KR)
Filed by RESEARCH & BUSINESS FOUNDATION SUNGKYUNKWAN UNIVERSITY, Suwon-si (KR)
Filed on Aug. 2, 2022, as Appl. No. 17/879,085.
Claims priority of application No. 10-2021-0101365 (KR), filed on Aug. 2, 2021.
Prior Publication US 2023/0131835 A1, Apr. 27, 2023
Int. Cl. B60L 15/20 (2006.01); B60W 30/02 (2012.01); B60W 30/12 (2020.01); B60W 60/00 (2020.01)
CPC B60L 15/20 (2013.01) [B60W 30/02 (2013.01); B60W 30/12 (2013.01); B60W 60/001 (2020.02); B60L 2240/463 (2013.01); B60W 2510/20 (2013.01); B60W 2520/20 (2013.01); B60W 2720/30 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An apparatus for controlling autonomous traveling of an independent driving electric vehicle, the apparatus comprising:
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,
wherein the torque vectoring controller is further configured to distribute to a front wheel motor an additional motor torque that exceeds a maximum torque of a corresponding rear wheel motor.