The present invention relates to an autonomous driving apparatus and a method thereof. According to the present invention, the autonomous driving apparatus comprises: a sensor unit which detects surrounding vehicles of a user vehicle autonomously driving; an output unit; a memory which stores map information; and a processor which controls the autonomous driving of the user vehicle based on the map information stored in the memory. The processor respectively generates an actual driving trajectory and an expected driving trajectory of the surrounding vehicles based on the driving information of the surrounding vehicles detected by the sensor unit and the map information stored in the memory, determines an autonomous driving risk level of the user vehicle based on whether the driving mode of the surrounding vehicles is an autonomous driving mode or not and the trajectory error between the actual driving trajectory and the expected driving trajectory of the surrounding vehicles, and outputs a warning to the passenger through the output unit on a level corresponding to the determined autonomous driving risk level. 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, 자율 주행 중인 자차량의 주변 차량을 검출하는 센서부, 출력부, 지도 정보를 저장하는 메모리, 및 메모리에 저장된 지도 정보에 기초하여 자차량의 자율 주행을 제어하는 프로세서를 포함하고, 프로세서는, 센서부에 의해 검출된 주변 차량의 주행 정보, 및 메모리에 저장된 지도 정보에 기초하여 주변 차량의 실제 주행 궤적 및 예상 주행 궤적을 각각 생성하고, 주변 차량의 주행 모드가 자율 주행 모드인지 여부와, 주변 차량의 실제 주행 궤적 및 예상 주행 궤적 간의 궤적 오차에 기초하여 자차량의 자율 주행 위험도를 판단하고, 판단된 자율 주행 위험도에 대응되는 수준으로 출력부를 통해 탑승자에게 경고를 출력하는 것을 특징으로 한다.
AUTONOMOUS DRIVING APPARATUS AND METHOD
자율 주행 장치 및 방법
2020-12-01
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 / 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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