A driving control method of an autonomous vehicle according to the present invention includes the steps of: recognizing an approaching opposite vehicle based on a user vehicle; receiving a driving plan of the opposite vehicle based on absolute coordinates from the opposite vehicle; comparing the driving plan of the user vehicle and the driving plan of the opposite vehicle based on the absolute coordinates; generating relative coordinates based on the user vehicle and the opposite vehicle when it is determined that the user vehicle and the opposite vehicle are within a possible collision range based on the absolute coordinates; requesting the opposite vehicle to change the driving route of the user vehicle and the opposite vehicle by reflecting the relative coordinate information to the driving plan of the user vehicle and the opposite vehicle while sending the generated relative coordinate information to the opposite vehicle; receiving a signal for agreeing to change the driving plan of both vehicles by reflecting the relative coordinate information from the opposite vehicle; and controlling the driving of the user vehicle by reflecting the relative coordinates generated in relationship with the opposite vehicle.
이 발명에 따른 자율주행차 주행 제어방법은 자차량을 기준으로 접근해오는 상대차량을 인식하는 단계; 상대차량으로부터 절대좌표에 기반한 상대차량의 주행계획을 수신하는 단계; 절대좌표에 기반한 자차량의 주행계획과 상대차량의 주행계획 비교하는 단계; 절대좌표에 기반하여 자차량과 상대차량이 충돌가능범위 내에 있는 것으로 판단되면 자차량과 상대차량을 기준으로 한 상대좌표를 생성하는 단계; 생성된 상대좌표 정보를 상대차량에 송신하면서 자차량과 상대차량의 주행계획에 상대좌표 정보를 반영되어 자차량과 상대차량의 주행경로가 변경되도록 상대차량에게 요청하는 단계; 상대좌표 정보를 반영하여 양 차량의 주행계획을 변경하는 것에 동의하는 신호를 상대차량으로부터 수신하는 단계; 상대차량과의 관계에서 생성된 상대좌표를 반영하여 자차량의 주행을 제어하는 단계; 를 포함하여 자율주행차의 제어방법을 개시한다.
Mothod for cotrolling autonomous vehicles
자율주행차의 주행 제어방법
2020-10-07
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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