Provided are a method and an apparatus for generating a collision avoidance path of an autonomous vehicle. The method for generating the collision avoidance path of the autonomous vehicle proposed by the present invention comprises the following steps of: receiving an input of a surrounding risk map including driving prediction information of surrounding vehicles to predict a safe path; generating a predictive model of a safety path by taking a surrounding risk as an objective function and taking into consideration constraints on vehicle driving based on the surrounding risk map including the input driving prediction information of a surrounding vehicle; and iteratively updating the predicted model of the generated safety path to generate the optimal safety path reflecting changing surrounding conditions.

    자율주행 자동차의 충돌 회피 경로 생성 방법 및 장치가 제시된다. 본 발명에서 제안하는 자율주행 자동차의 충돌 회피 경로 생성 방법은 안전 경로를 예측하기 위해 주변 차량의 주행 예측 정보가 포함된 주변 위험도 지도를 입력 받는 단계, 입력된 주변 차량의 주행 예측 정보가 포함된 주변 위험도 지도에 기초하여 주변 위험도를 목적함수(Cost Function)로 하고 차량 주행에 대한 제한조건들을 고려하여 안전 경로의 예측 모델을 생성하는 단계 및 생성된 안전 경로의 예측 모델을 반복적으로 업데이트하여 변화하는 주변의 상황을 반영한 최적 안전 경로를 생성하는 단계를 포함한다.


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    Title :

    Method and Apparatus for Collision Avoidance Trajectory Planning of Autonomous Vehicle


    Additional title:

    자율주행 자동차의 충돌 회피 경로 생성 방법 및 장치


    Contributors:
    KUM DONGSUK (author) / LEE KIBEOM (author)

    Publication date :

    2021-06-04


    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen





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