Autonomous driving method and apparatus

A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform an autonomous driving method of a host vehicle, the autonomous driving method comprising:

• detecting a target vehicle based on at least one sensor of a plurality of sensors of the host vehicle;
• acquiring an appearance characteristic of the target vehicle that is detected based on the at least one sensor, wherein the appearance characteristic is an exterior characteristic of the target vehicle;
• acquiring a driving characteristic of the target vehicle based on at least one sensor of the plurality of sensors;
• determining a risk of collision between the target vehicle and the host vehicle based on the driving characteristic of the target vehicle and a comparison result obtained by comparing the appearance characteristic of the target vehicle with a standard image;
• and
• autonomously controlling the host vehicle based on the risk of collision,
• wherein determining the risk of collision between the target vehicle and the host vehicle comprises detecting an abnormality in the exterior of the target vehicle using the comparison result.

An autonomous driving apparatus of a host vehicle, comprising:

• a processor configured to:
• detect a target vehicle based on at least one sensor of a plurality of sensors of the host vehicle;
• acquire an appearance characteristic of the target vehicle that is detected based on the at least one sensor, wherein the appearance characteristic is an exterior characteristic of the target vehicle;
• acquire a driving characteristic of the target vehicle based on at least one sensor of the plurality of sensors;
• determine a risk of collision between the target vehicle and the host vehicle based on and the driving characteristic of the target vehicle and a comparison result obtained by comparing the appearance characteristic of the target vehicle with a standard image;
• and
• autonomously control the host vehicle based on the risk of collision,
• wherein the processor is further configured to determine the risk of collision between the target vehicle and the host vehicle by detecting an abnormality in the exterior of the target vehicle using the comparison result.

An autonomous host vehicle, comprising:

• a processor configured to:
• detect a target vehicle based on at least one sensor of a plurality of sensors of the autonomous host vehicle;
• acquire an appearance characteristic of the target vehicle that is detected based on the at least one sensor, wherein the appearance characteristic is an exterior characteristic of the target vehicle;
• acquire a driving characteristic of the target vehicle based on at least one sensor of the plurality of sensors;
• determine a risk of collision between the target vehicle and the autonomous host vehicle based on the driving characteristic of the target vehicle and a comparison result obtained by comparing the appearance characteristic of the target vehicle with a standard image;
• and
• autonomously control a either one or both of a driving path and a speed of the autonomous host vehicle based on the risk of collision,
• wherein the processor is further configured to determine the risk of collision between the target vehicle and the autonomous host vehicle by detecting an abnormality in the exterior of the target vehicle using the appearance characteristic.