According to an embodiment of the present invention, a method for controlling driving of a vehicle may comprise the steps of: checking whether a driving lane of a vehicle has entered a confluence section during autonomous driving; collecting environmental information on at least one vehicle around the vehicle when the vehicle enters the confluence section; determining whether the driving lane and a target lane are congested using the collected environmental information; if it is determined as a congestion situation, estimating a cut-in point of a preceding vehicle, and determining a target point of the target lane from the estimated cut-in point; generating a cut-in path for the determined target point and displaying an intention to change lanes; and determining a yielding intention of a rear approach vehicle, and performing lane change according to the determination result. According to at least one embodiment of the present invention, when driving a lane in which the confluence section exists, a cut-in point of the preceding vehicle is predicted in advance, and the vehicle is controlled at a speed corresponding to the flow of the surrounding vehicles, thereby providing a stable lane change time.

    일 실시 예에 의한 차량의 주행 제어 방법에 있어서, 자율주행 중 자차량의 주행 차로가 합류구간에 진입했는지를 확인하는 단계; 상기 자차량이 합류구간에 진입한 경우, 상기 자차량 주변의 적어도 하나 이상의 차량에 대한 환경 정보를 수집하는 단계; 상기 수집된 환경 정보를 이용하여 상기 주행 차로 및 목표 차로의 정체상황 여부를 판단하는 단계; 정체상황으로 판단되면, 선행 차량의 컷인(cut-in)지점을 추정하고, 상기 추정된 컷인 지점으로부터 목표 차로의 타겟 지점을 결정하는 단계; 상기 결정된 타겟 지점에 대한 컷인 경로를 생성하고, 차로변경 의도를 표시하는 단계; 및 후방 접근차량의 양보 의도를 판단하고, 상기 판단결과에 따라 차로 변경을 수행하는 단계를 포함할 수 있다.


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    Title :

    APPARATUS AND METHOD FOR CONTROLLING RUNNING OF VEHICLE


    Additional title:

    차량의 주행 제어 장치 및 그 방법


    Contributors:
    OH YOUNG CHUL (author) / SHIN KI CHEOL (author) / IM SEONG SU (author)

    Publication date :

    2020-06-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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