A method for generating a target path for platooning vehicles according to the present invention comprises the steps of: acquiring the front trajectory of the preceding vehicle and a target line for lane keeping; determining the driving situation of the current vehicle; after the driving situation is determined, determining a control mode based on the determined driving situation; determining a control point located on at least one of the front trajectory of the preceding vehicle and the target line for lane keeping by reflecting the weight for each control mode; and generating a target path based on the determined control point.

    본 발명에 따른 군집주행 차량의 목표 경로 생성 방법은, 선행 차량의 앞부분 궤적 및 차선 유지를 위한 목표선을 획득하는 단계와, 자차의 주행 상황을 판단하는 단계와, 주행 상황이 판단되면 이에 기초하여 제어 모드를 결정하는 단계와, 상기 제어 모드별 가중치를 반영하여 상기 선행 차량의 앞부분 궤적 및 차선 유지를 위한 목표선 중 적어도 어느 하나에 위치하는 제어 포인트를 결정하는 단계와, 상기 결정된 제어 포인트를 기초로 목표 경로를 생성하는 단계를 포함한다.


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    Title :

    Target path generation method and system for vehicle following and lane keeping


    Additional title:

    선행차량 추종 및 차선유지를 위한 가변 목표 경로 생성 방법 및 시스템


    Contributors:
    LEE YONG KI (author) / YU SI BOK (author) / PARK JEONG TAE (author) / SHIN YU YEONG (author)

    Publication date :

    2023-07-04


    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 / G06V



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