An objective of the present invention is to provide comfort as if a skilled driver drives a vehicle instead of simply following acceleration and improve safety and electrical efficiency. According to one embodiment of the present disclosure, a control method for an autonomous driving apparatus comprises: a detection process of detecting driving information of surrounding vehicles and driving information of a user vehicle (hereafter, the 'vehicle'); a scenario determination process of using the driving information of the surrounding vehicles and the driving information of the user vehicle to determine driving state of the vehicle, and determining the driving state of the vehicle as one scenario among preset scenarios; a control method determination process of setting target acceleration of the vehicle in response to the scenario determined in the scenario determination process, and determining a control method for braking control and driving control of the vehicle following the target acceleration; and a control process of controlling the vehicle based on the control method determined in the control method determination process.

    본 개시의 일 실시예에 의하면, 주변차량의 주행정보 및 자차(이하'차량')의 주행정보를 검출하는 검출과정; 주변차량의 주행정보 및 자차의 주행정보를 이용하여 차량의 주행상태를 판단하고, 차량의 주행상태를 기 설정된 시나리오 중 하나의 시나리오로 결정하는 시나리오 결정과정; 시나리오 결정과정에서 결정된 시나리오에 대응하여 차량의 목표가속도를 설정하고, 목표가속도를 추종하는 차량의 구동제어 및 제동제어의 제어방법을 결정하는 제어방법 결정과정; 및 제어방법 결정과정에서 결정한 제어방법을 기초로 차량을 제어하는 제어과정을 포함하는 것을 특징으로 하는 자율주행장치 제어방법을 제공한다.


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    Title :

    Autonomous Driving Apparatus And Control Method Therefor


    Additional title:

    자율주행장치 및 이의 제어방법


    Contributors:
    HWANG WOO HYUN (author) / LEE YOUNG JU (author) / JI SUK MAN (author) / KIM KI TAE (author) / YOO HAN SAEM (author) / YOON SOON HO (author)

    Publication date :

    2023-12-06


    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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