본 발명은 차량의 주행 경로 생성장치 및 그 방법에 관한 것으로, 차량의 주행 경로 생성장치에 있어서, 차선정보를 검출하는 제1 센서; 자차의 주행속도를 검출하는 제2 센서; 자차의 요 레이트(yaw rate)를 검출하는 제3 센서; 자차에 대한 선행차량의 상대위치를 검출하는 제4 센서; 및 상기 자차의 주행속도와 요 레이트 및 상기 자차에 대한 선행차량의 상대위치에 기초하여 선행차량의 주행궤적을 산출하고, 상기 산출된 선행차량의 주행궤적과 상기 차선정보를 상호 보완적으로 이용하여 자차의 주행 경로를 생성하는 제어기를 포함한다.
An apparatus and a method for generating a path of a vehicle are provided. The apparatus includes a first sensor that detects lane marking information, a second sensor that detects a driving speed of a subject vehicle, a third sensor that detects a yaw rate of the subject vehicle and a fourth sensor that detects a relative position of a preceding vehicle with respect to the subject vehicle. A controller then calculates a trajectory of the preceding vehicle based on the driving speed and the yaw rate of the subject vehicle and the relative position of the preceding vehicle with respect to the subject vehicle. Additionally, the controller generates a driving path of the subject vehicle using of the calculated trajectory of the preceding vehicle and the lane marking information.
APPARATUS FOR PATH PLANNING OF VEHICLE AND METHOD THEREOF
차량의 주행 경로 생성장치 및 그 방법
2022-10-07
Patent
Electronic Resource
Korean
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / 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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