The present invention relates to an autonomous driving apparatus and a method thereof. According to the present invention, the autonomous driving apparatus comprises: a user input unit which receives a driving mode of a user vehicle from a passenger; a sensor unit which detects surrounding vehicles while the user vehicle is autonomously driving; a memory which stores map information; and a processor which controls the autonomous driving of the user vehicle based on the map information of the memory. The processor generates an actual driving trajectory of the surrounding vehicles based on the driving information of the surrounding vehicles detected by the sensor unit, generates an expected driving trajectory of the surrounding vehicles based on the map information stored in the memory, primarily generates an expected driving trajectory of the user vehicle based on the map information stored in the memory, determines the expected driving trajectory of the user vehicle by controlling the trajectory change rate on the primarily generated expected driving trajectory by using the driving mode of the user vehicle inputted through the user input unit, and when it is determined that it is needed to correct the expected driving trajectory of the user vehicle determined by comparing the actual driving trajectory of the surrounding vehicles with the expected driving trajectory, corrects the expected driving trajectory of the user vehicle based on a risk level in accordance with the distance between the user vehicle and the subject surrounding vehicles. The autonomous driving apparatus and the method thereof are able to improve driving stability and driving precision.

    본 발명은 자율 주행 장치 및 방법에 관한 것으로서, 탑승자로부터 자차량의 주행 모드를 입력받는 사용자 입력부, 자차량이 자율 주행 중인 상태에서 주변 차량을 검출하는 센서부, 지도 정보를 저장하는 메모리, 및 메모리에 저장된 지도 정보에 기초하여 자차량의 자율 주행을 제어하는 프로세서를 포함하고, 프로세서는, 센서부에 의해 검출된 주변 차량의 주행 정보에 기초하여 주변 차량의 실제 주행 궤적을 생성하고, 메모리에 저장된 지도 정보에 기초하여 주변 차량의 예상 주행 궤적을 생성하며, 메모리에 저장된 지도 정보에 기초하여 자차량의 예상 주행 궤적을 1차 생성하고, 사용자 입력부를 통해 입력된 자차량의 주행 모드를 이용하여 1차 생성된 예상 주행 궤적 상의 궤적 변경율을 조정함으로써 자차량의 예상 주행 궤적을 확정하고, 주변 차량의 실제 주행 궤적 및 예상 주행 궤적 간의 비교를 통해 확정된 자차량의 예상 주행 궤적의 보정이 필요한 것으로 판단된 경우, 자차량으로부터 대상 주변 차량까지의 거리에 따른 위험도에 기초하여 자차량의 예상 주행 궤적을 보정하는 것을 특징으로 한다.


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    Title :

    AUTONOMOUS DRIVING APPARATUS AND METHOD


    Additional title:

    자율 주행 장치 및 방법


    Contributors:
    JO MOO YOUL (author) / LEE JUN HAN (author) / LEE IL GYU (author)

    Publication date :

    2020-12-01


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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