The present invention provides an apparatus for changing a driving lane of an autonomous vehicle, which can recognize a currently driving lane of a user vehicle through a boundary and lanes identified based on a camera image and make a proper lane change for each situation based on the recognized lane. The apparatus comprises: a camera to photograph the front of an autonomously driving vehicle; a user vehicle lane recognition unit to detect a boundary and lanes in a front image photographed by the camera and recognize a currently autonomously driving user vehicle lane based on the detected boundary and lanes; and a control unit to determine whether the autonomously driving current user vehicle lane needs to be changed in advance based on the user vehicle lane recognized by the user vehicle lane recognition unit and map information including traffic information and a planned driving route from a server to make a lane change.
본 발명은 카메라 영상을 기반으로 파악되는 바운더리 및 차선들을 통해 현재 주행중인 자차로를 인식하고 이를 근거로 상황별로 적절한 차로 변경을 할 수 있도록 하는 자율주행차량의 주행차로 변경 장치를 제시한다. 제시된 장치는 자율주행중인 차량의 전방을 촬영하는 카메라, 카메라에서 촬영된 전방 영상에서 바운더리 및 차선을 검출하고 검출된 바운더리 및 차선을 근거로 현재 자율주행중인 자차로를 인식하는 자차로 인식부, 및 서버로부터의 계획된 주행경로와 교통정보를 포함하는 맵 정보 및 자차로 인식부에서 인식된 자차로를 기반으로 자율주행중인 현재의 자차로를 미리 변경해야 할 필요가 있는지를 판단하여 차로 변경을 행하는 제어부를 포함한다.
Apparatus for changing running lane of autonomous driving vehicle
자율주행차량의 주행차로 변경 장치
2021-02-18
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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G06K Erkennen von Daten , RECOGNITION OF DATA |
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