The present invention relates to a recording medium for recording a driving lane change program performed in a driving lane changing device of an autonomous vehicle. According to the present invention, the recording medium comprises the functions of: detecting a boundary and a lane from a front image captured by a camera of an autonomous vehicle; recognizing a user vehicle lane currently in autonomous driving based on the detected boundary and lane; and determining whether it is necessary to change the current user vehicle lane in autonomous driving in advance based on the recognized user vehicle lane and map information including a planned driving route and traffic information from a server and changing the lane.
본 발명은 자율주행차량의 주행차로 변경 장치에서 수행되는 주행차로 변경 프로그램을 기록한 기록매체로서, 상기 자율주행중인 차량의 카메라에서 촬영된 전방 영상에서 바운더리 및 차선을 검출하는 기능; 상기 검출된 바운더리 및 차선을 근거로 현재 자율주행중인 자차로를 인식하는 기능; 및 서버로부터의 계획된 주행경로와 교통정보를 포함하는 맵 정보 및 상기 인식된 자차로를 기반으로, 자율주행중인 현재의 자차로를 미리 변경해야 할 필요가 있는지를 판단하여 차로 변경을 행하는 기능;을 포함한다.
Recording Medium
기록매체
2021-02-18
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 / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G06K Erkennen von Daten , RECOGNITION OF DATA |
IMAGE RECORDING SYSTEM, IMAGE RECORDING METHOD AND STORAGE MEDIUM RECORDING IMAGE RECORDING PROGRAM
European Patent Office | 2018
|European Patent Office | 2017
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