The present invention relates to a system and method for avoiding an obstacle of an autonomous vehicle. The system generates a circular path centered on the autonomous vehicle based on a speed of the autonomous vehicle and calculates a rotatable range of the autonomous vehicle based on a steering angle, lateral acceleration, and yaw rate. Then, the system sets an area overlapped by the circular path and the rotatable range as an effective trajectory through which the autonomous vehicle is predicted to pass, and controls a driving path of the autonomous vehicle to avoid an obstacle detected in the set effective trajectory. Therefore, the present invention provides a system and method for avoiding an obstacle for an autonomous vehicle, which can be applied variably according to the speed of the autonomous vehicle while reducing calculation amount compared to a conventional method. The system comprises an effective trajectory generation unit and a driving path control unit.
본 발명은 자율주행차량의 장애물 회피 시스템 및 방법에 관한 것으로서, 자율주행차량의 속도에 기초하여 자율주행차량을 중심으로 하는 원경로를 생성하고 자율주행차량의 조향각, 횡가속도, 및 요레이트에 기초하여 자율주행차량의 회전가능범위를 산출한다. 그리고 원경로와 회전가능범위가 중첩되는 영역을 자율주행차량이 통과할 것으로 예상되는 유효궤적으로 설정하고 설정된 유효궤적 내에서 감지된 장애물을 회피할 수 있도록 자율주행차량의 주행경로를 제어한다. 따라서 종래의 방식에 비하여 계산량을 감소시키며 자율주행차량의 속도에 따라 가변적으로 적용가능한 자율주행차량의 장애물 회피 시스템 및 방법을 제공한다.
SYSTEM AND METHOD FOR AVOIDING OBSTACLE FOR AUTONOMOUS VEHICLE
자율주행차량의 장애물 회피 시스템 및 방법
2021-11-10
Patent
Electronic Resource
Korean
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