The present invention relates to a system and a method for avoiding an obstacle for an autonomous vehicle. An original path is generated from the current position of an autonomous vehicle based on a speed of the autonomous vehicle, and a rotatable range of the autonomous is calculated based on a steering angle, a traverse acceleration, and a yaw rate of the autonomous vehicle. Then, an overlapped area between the original path and the rotatable range is set as an effective trajectory over which the autonomous vehicle is predicted to pass, and a driving path of the autonomous vehicle is controlled such that the autonomous vehicle can avoid an obstacle which is detected within the effective trajectory. Thus, there are provided an obstacle avoiding system and an obstacle avoiding method which have a reduced calculation burden and can be variably applied depending on a speed of an autonomous vehicle.
본 발명은 자율주행차량의 장애물 회피 시스템 및 방법에 관한 것으로서, 자율주행차량의 속도에 기초하여 자율주행차량을 중심으로 하는 원경로를 생성하고 자율주행차량의 조향각, 횡가속도 및 요레이트에 기초하여 자율주행차량의 회전가능범위를 산출한다. 그리고 원경로와 회전가능범위가 중첩되는 영역을 자율주행차량이 통과할 것으로 예상되는 유효궤적으로 설정하고 설정된 유효궤적 내에서 감지된 장애물을 회피할 수 있도록 자율주행차량의 주행경로를 제어한다. 따라서 종래의 방식에 비하여 계산량을 감소시키며 자율주행차량의 속도에 따라 가변적으로 적용가능한 자율주행차량의 장애물 회피 시스템 및 방법을 제공한다.
SYSTEM AND METHOD FOR AVOIDING OBSTACLE FOR AUTONOMOUS VEHICLE
자율주행차량의 장애물 회피 시스템 및 방법
2016-05-20
Patent
Electronic Resource
Korean
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
System and method for avoiding obstacle for autonomous vehicle
European Patent Office | 2017
|SYSTEM AND METHOD FOR AVOIDING OBSTACLE FOR AUTONOMOUS VEHICLE
European Patent Office | 2023
SYSTEM AND METHOD FOR AVOIDING OBSTACLE FOR AUTONOMOUS VEHICLE
European Patent Office | 2021
SYSTEM AND METHOD FOR AVOIDING OBSTACLE FOR AUTONOMOUS VEHICLE
European Patent Office | 2021
Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle
European Patent Office | 2016
|