The present invention relates to a lane maintenance control method of an autonomous vehicle, wherein a vehicle is allowed to drive while following the central line of a lane and the release of a system is inhibited until a driver conversion into manual driving in a road environment where lane recognition is difficult, such as sudden snowfall or a sudden snow-covered road due to a change in terrain, thereby maintaining driving safety. If the road is a road where autonomous driving is enabled by a positioning navigation system and map positioning, the air temperature outside a vehicle is detected and the amount of snowfall is checked if the outside air temperature is below a set temperature, the conversion of a driver control authority is requested if the snowfall is above a set amount, the state of lane recognition is checked, and the release of an autonomous driving system is inhibited and driving safety is maintained for a certain time until a driver conversion into manual driving if lane recognition is difficult, thereby securing time for the driver to prepare for manual driving during control authority conversion and promoting safe driving.
갑작스런 강설 혹은 지형변화에 의한 갑작스러운 적설 도로와 같이 차선인식이 어려운 도로환경에서 차선의 센터 라인을 추종하여 주행하면서 운전자가 수동운전으로 전환되기까지 시스템 해제를 억제하고 주행안전을 유지시킬 수 있도록 한 자율주행차량의 차로 유지 제어방법에 관한 것으로서, 위치 항법 시스템 및 지도 측위를 통해 자율주행 운행이 가능한 도로이면, 차량 외기 온도를 검출하여 외기 온도가 설정 온도 이하일 경우 강설량을 확인하여, 강설량이 설정량 이상이면 운전자 제어권 전환을 요청하고, 차선인식 상태를 확인하여, 차선인식이 어려우면, 운전자가 수동운전으로 전환하기 이전까지 일정시간 동안 자율주행 시스템 해제를 억제하고, 주행안전을 유지시켜, 제어권 전환 시 운전자가 수동운전을 준비하는 시간을 확보해주어, 안전운전을 도모한다.
Lane maintenance control method of autonomous vehicle
자율주행차량의 차로 유지 제어방법
2022-08-03
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA |
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