The present invention relates to a driving lane change method performed in a driving lane changing device of an autonomous vehicle. According to the present invention, the driving lane change program comprises the steps of: detecting a boundary and a lane from a front image captured by a camera of an autonomous vehicle; recognizing a user vehicle lane currently in autonomous driving based on the detected boundary and lane; and determining whether it is necessary to change the current user vehicle lane in autonomous driving in advance based on the recognized user vehicle lane and map information including a planned driving route and traffic information from a server and changing the lane.
본 발명은 자율주행차량의 주행차로 변경 장치에서 수행되는 주행차로 변경 방법으로서, 상기 자율주행중인 차량의 카메라에서 촬영된 전방 영상에서 바운더리 및 차선을 검출하는 단계; 상기 검출된 바운더리 및 차선을 근거로 현재 자율주행중인 자차로를 인식하는 단계; 및 서버로부터의 계획된 주행경로와 교통정보를 포함하는 맵 정보 및 상기 인식된 자차로를 기반으로, 자율주행중인 현재의 자차로를 미리 변경해야 할 필요가 있는지를 판단하여 차로 변경을 행하는 단계;를 포함한다.
Method for changing running lane of autonomous driving vehicle
자율주행차량의 주행차로 변경 방법
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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