According to an embodiment of the present invention, a method for controlling an autonomous driving system mounted on a vehicle comprises the steps of: identifying one or more pieces of object information on the basis of sensing information around the vehicle; configuring a location map for each object by calculating, for each time series location, a presence probability corresponding to the object information in an expected driving range area of the vehicle; configuring a collision map for predicting a collision probability with the vehicle in the expected driving range area of the vehicle by performing a complex operation on the presence probability for each time series location between the location maps for each object; determining a risk area based on the collision map; and driving steering and speed control of the vehicle to a path for avoiding the risk area.

    Selon un mode de réalisation de la présente invention, un procédé de commande d'un système de conduite autonome monté sur un véhicule comprend les étapes consistant à : identifier un ou plusieurs éléments d'informations d'objet sur la base d'informations de détection autour du véhicule ; configurer une carte de localisation pour chaque objet en calculant, pour chaque emplacement de série chronologique, une probabilité de présence correspondant aux informations d'objet dans une zone de plage de conduite attendue du véhicule ; configurer une carte de collision pour prédire une probabilité de collision avec le véhicule dans la zone de plage de conduite attendue du véhicule par réalisation d'une opération complexe sur la probabilité de présence pour chaque emplacement de série chronologique entre les cartes de localisation pour chaque objet ; déterminer une zone de risque sur la base de la carte de collision ; et conduire avec la commande de direction et de vitesse du véhicule selon un trajet permettant d'éviter la zone de risque.

    본 발명의 실시 예에 따른 방법은, 차량에 탑재되는 자율 주행 시스템의 제어 방법에 있어서, 상기 차량 주변의 센싱 정보에 기초한 하나 이상의 객체 정보를 식별하는 단계; 상기 객체 정보에 대응하는 상기 차량의 주행 예상 범위 영역 내 시계열 위치별 존재 확률을 산출하여, 객체별 위치맵을 구성하는 단계; 상기 객체별 위치맵 간 시계열 위치별 존재 확률의 복합 연산을 수행하여, 상기 차량의 주행 예상 범위 영역 내 차량과의 충돌 확률을 예측하는 충돌맵을 구성하는 단계; 상기 충돌맵에 기초한 위험영역을 결정하는 단계; 및 상기 위험영역을 회피하는 경로로의 차량 조향 및 속도 제어를 구동시키는 단계를 포함한다.


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    Title :

    AUTONOMOUS DRIVING SYSTEM AND COLLISION AVOIDANCE METHOD USING SAME


    Additional title:

    SYSTÈME DE CONDUITE AUTONOME ET PROCÉDÉ D'ÉVITEMENT DE COLLISION L'UTILISANT
    자율주행 시스템 및 이를 이용한 충돌 회피 방법


    Contributors:

    Publication date :

    2025-04-17


    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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