The present invention relates to an autonomous driving controlling apparatus and a collision avoidance controlling method. The collision avoidance controlling method of the autonomous driving controlling apparatus according to an embodiment comprises the following steps of: generating a grid map by storing vehicle information, including a location and a speed vector of a vehicle, and object information, including the location and the speed vector of an object sensed around the vehicle, in a grid cell corresponding to an area occupied by the vehicle and the object; and determining the area where a grid cell, occupied by the vehicle for each reference time set according to the vehicle information, and the other grid cell, occupied by the object for the each reference time predicted according to the object information, overlap as a collision risk area and controlling to avoid the collision risk area. Provided are the autonomous driving controlling apparatus, which can avoid a collision, and the collision avoidance controlling method.

    실시 예에 의한 자율주행 제어 장치의 충돌 회피 제어방법은, 차량의 위치 및 속도 벡터를 포함하는 차량 정보와 상기 차량 주변에서 센싱된 객체의 위치 및 속도 벡터를 포함하는 객체 정보를 상기 차량 및 객체가 점유한 영역에 대응되는 그리드 셀에 저장하여 그리드 맵을 생성하는 단계; 및 상기 차량 정보에 따라 설정된 기준 시간 별 상기 차량이 점유하는 그리드 셀과 상기 객체 정보에 따라 예측된 상기 기준 시간 별 상기 객체가 점유하는 그리드 셀이 중첩되는 영역을 충돌 위험 영역으로 판단하여 상기 충돌 위험 영역을 회피하도록 제어하는 단계;를 포함한다.


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    Title :

    AUTONOMOUS DRIVING APPARATUS AND METHOD OF COLLISION AVOIDANCE CONTROLLING THE SAME


    Additional title:

    자율주행 제어 장치 및 그 충돌 회피 제어방법


    Contributors:
    HEO SE JONG (author) / KANG YEON SIK (author) / AHN KYUNG JAE (author) / CHO DU HYEON (author)

    Publication date :

    2023-08-10


    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



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