The present invention relates to an apparatus and a method for planning a driving path of an autonomous vehicle. The apparatus comprises: a surrounding information detection portion for detecting surrounding information of a vehicle; a vehicle information detection portion for detecting vehicle information with respect to a driving state of the vehicle; a vehicle behavior determination portion for determining a vehicle behavior based on the surrounding information and the vehicle information; and a driving path generating portion for generating a driving path and a speed profile for changing a lane by suing the surrounding information and the vehicle information when a lane change signal is received from the vehicle behavior determination portion, thereby changing a lane without colliding with moving obstacles and generating a stable driving path.
본 발명은 자율주행차량의 주행경로 계획장치 및 방법에 관한 것으로, 차량의 주변정보를 검출하는 주변정보 검출부, 상기 차량의 주행상태에 대한 차량정보를 검출하는 차량정보 검출부, 상기 주변정보 및 상기 차량정보에 근거하여 차량 거동(Vehicle Behavior)을 결정하는 차량 거동 결정부 및 상기 차량 거동 결정부로부터 차로 변경 신호를 수신하면, 상기 주변정보 및 차량정보를 이용하여 차로 변경을 위한 주행경로 및 속도 프로파일을 생성하는 주행경로 생성부를 포함한다.
PATH PLANNING APPARATUS AND METHOD FOR AUTONOMOUS VEHICLE
자율주행차량의 주행경로 계획장치 및 방법
2017-11-07
Patent
Electronic Resource
Korean
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 |
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