The present invention relates to an autonomous driving apparatus and a method thereof. According to the present invention, the autonomous driving apparatus comprises: a sensor unit which detects surrounding vehicles of a user vehicle autonomously driving; a memory which stores map information; and a processor which controls the autonomous driving of the user vehicle in accordance with an expected driving trajectory generated based on the map information stored in the memory. The processor determines whether it is needed to correct the expected driving trajectory of the user vehicle based on the results of the sensor unit which has detected the surrounding vehicles of the user vehicle, performs trajectory-based control to control the autonomous driving of the user vehicle by correcting the expected driving trajectory in accordance with the results of determination, and when a first driving path to the destination of the user vehicle is overlapped with a second driving path of a driving group comprising a plurality of group vehicles, performs group following control to control the autonomous driving of the user vehicle so as to follow the driving of the driving group, thereby converting and performing the trajectory-based control and the group following control in accordance with whether pre-defined control conversion conditions are satisfied or not. The autonomous driving apparatus and the method thereof are able to arrive the destination within the shortest period of time.
본 발명은 자율 주행 장치 및 방법에 관한 것으로서, 자율 주행 중인 자차량의 주변 차량을 검출하는 센서부, 지도 정보를 저장하는 메모리, 및 메모리에 저장된 지도 정보에 기초하여 생성되는 예상 주행 궤적에 따라 자차량의 자율 주행을 제어하는 프로세서를 포함하고, 프로세서는, 센서부가 자차량의 주변 차량을 검출한 결과에 기초하여 자차량의 예상 주행 궤적을 보정할 필요가 있는지 여부를 판단하고, 그 판단 결과에 따라 예상 주행 궤적을 보정하여 자차량의 자율 주행을 제어하는 궤적 기반 제어를 수행하고, 자차량의 목적지까지의 제1 주행 경로가 복수의 군집 차량으로 형성된 주행 군집의 제2 주행 경로와 중첩되는 경우, 주행 군집의 주행을 추종하도록 자차량의 자율 주행을 제어하는 군집 추종 제어를 수행하며, 미리 정의된 제어 전환 조건의 충족 여부에 따라 궤적 기반 제어 및 군집 추종 제어를 상호 전환하여 수행하는 것을 특징으로 한다.
AUTONOMOUS DRIVING APPARATUS AND METHOD
자율 주행 장치 및 방법
2020-12-01
Patent
Elektronische Ressource
Koreanisch
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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