The present invention relates to a hierarchical control apparatus for autonomous driving of a vehicle, and a control method thereof. The control method of the hierarchical control apparatus for autonomous driving comprises the following steps of: using a plurality of sensors and an external device to obtain surrounding environment information and vehicle location information in an area in which the vehicle is to be driven; generating an optimal route including a series of waypoints to a destination in consideration of a series of lanes or roads based on the surrounding environment information and vehicle location information; performing decision-making on a mission of the vehicle on the optimal route; generating a movement trajectory based on the decision-making; and controlling vehicle movement according to the trajectory. An objective of the present invention is to provide the apparatus for hierarchically controlling decision-making for autonomous driving and dynamic control of the vehicle movement, and the method thereof.

    본 발명은 차량의 자율주행을 위한 계층적 제어장치의 제어장치 및 제어 방법에 관한 것으로, 자율주행을 위한 계층적 제어장치의 제어방법은 복수개의 센서 및 외부장치를 이용하여 상기 차량이 주행할 영역의 주변환경정보 및 차량의 위치정보를 획득하는 단계; 상기 주변환경정보 및 차량의 위치정보에 기초하여 일련의 차선 또는 도로를 고려하여 목적지까지의 일련의 경유점(waypoint)을 포함하는 최적의 경로를 생성하는 단계; 상기 최적의 경로 상에서 차량의 임무에 관한 의사결정을 수행하는 단계; 상기 의사결정에 기초하여 이동 궤적을 생성하는 단계; 및 상기 궤적에 따라 차량의 움직임을 제어하는 단계를 포함하는 것을 특징으로 한다.


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    Title :

    Hierarchical Control System for Autonomous Driving


    Additional title:

    자율주행을 위한 계층적 제어장치 및 방법


    Contributors:
    KIM GON WOO (author) / DINH VAN NAM (author)

    Publication date :

    2022-03-25


    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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