The present invention relates to an autonomous driving apparatus and a method thereof. The autonomous driving apparatus includes: a sensor part detecting a surrounding object including a surrounding vehicle of a host vehicle performing autonomous driving; a memory storing map information; and a processor controlling the autonomous driving of the host vehicle based on the map information stored in the memory and the surrounding object detected by the sensor part. The processor creates an actual driving trace of the surrounding vehicle based on driving information of the surrounding vehicle detected by the sensor part; creates a predicted driving trace of the surrounding vehicle based on the map information stored in the memory; performs first reliability diagnosis on the autonomous driving control of the host vehicle through a comparison between the created actual driving trace and the predicted driving trace; performs second reliability diagnosis on the autonomous driving control of the host vehicle by applying a first sensing value through the sensor part, the map information stored in the memory, a second sensing value through a sensor mounted on the surrounding vehicle, and map information applied to the surrounding vehicle to a predetermined classification model; and maintains or stops the autonomous driving control of the host vehicle in accordance with first and second reliability diagnosis results. Therefore, the present invention is capable of improving driving stability and driving accuracy.

    본 발명은 자율 주행 장치 및 방법에 관한 것으로서, 자율 주행 중인 자차량의 주변 차량을 포함하는 주변 객체를 검출하는 센서부, 지도 정보를 저장하는 메모리, 및 센서부를 검출된 주변 객체와 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, 생성된 실제 주행 궤적 및 예상 주행 궤적을 비교하여 자차량의 자율 주행 제어의 제1 신뢰도 진단을 수행하고, 센서부를 통한 제1 센싱값, 메모리에 저장된 지도 정보, 주변 차량에 장착된 센서를 통한 제2 센싱값, 및 주변 차량에 적용된 지도 정보를 미리 정의된 분류 모델에 적용하여 자차량의 자율 주행 제어의 제2 신뢰도 진단을 수행하며, 제1 및 제2 신뢰도 진단 결과에 따라 자차량의 자율 주행 제어를 유지하거나 중지하는 것을 특징으로 한다.


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    Title :

    AUTONOMOUS DRIVING APPARATUS AND METHOD


    Additional title:

    자율 주행 장치 및 방법


    Contributors:
    LEE HYUK (author) / JIN SOON JONG (author) / JEON BYEONG HWAN (author) / LEE JUN HAN (author)

    Publication date :

    2021-04-07


    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



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