Apparatus for determining lane change path of autonomous vehicle and method thereof
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorTae Dong Oh
Life of this patent
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Abstract
An apparatus for determining a lane change path of an autonomous vehicle is provided. The apparatus includes a learning device configured to learn lane change paths corresponding to a lane change strategy of the autonomous vehicle, and a controller configured to interwork with the learning device to extract at least two lane change paths corresponding to the lane change strategy among a plurality of lane change paths in a drivable area of the autonomous vehicle and determine a final lane change path based on properties of the extracted lane change paths.
Claims20
An autonomous vehicle comprising:
- a learning device configured to learn lane change paths corresponding to a lane change strategy of the autonomous vehicle;
- and
- a controller configured to interwork with the learning device to extract at least two lane change paths corresponding to the lane change strategy among a plurality of lane change paths in a drivable area of the autonomous vehicle, to determine a final lane change path based on a minimum combination of collision risk, path curvature and path length of each extracted lane change path as the final lane change path, and to control the autonomous vehicle to follow the final lane change path, wherein the minimum combination is a minimum sum or a minimum average.
A method of operating an autonomous vehicle, the method comprising:
- learning lane change paths corresponding to a lane change strategy of the autonomous vehicle;
- extracting at least two lane change paths corresponding to the lane change strategy among a plurality of lane change paths in a drivable area of the autonomous vehicle;
- determining a final lane change path as a lane change path having a minimum combination of a collision risk, a path curvature and a path length of each extracted lane change path as the final lane change path, wherein the minimum combination is a minimum sum or a minimum average;
- and
- causing the autonomous vehicle to follow the final lane change path.
A system for determining a lane change path of an autonomous vehicle, the system comprising:
- a learning device configured to learn lane change paths corresponding to a lane change strategy of the autonomous vehicle;
- and
- a controller configured to
- generate a plurality of lane change paths based on a first drivable area of the autonomous vehicle corresponding to a driving path of a dynamic object and a second drivable area of the autonomous vehicle corresponding to a distribution of static objects;
- interwork with the learning device to extract at least two lane change paths corresponding to the lane change strategy from the plurality of lane change paths;
- and
- determine a final lane change path as a lane change path having a minimum combination of a collision risk, a path curvature and a path length of each extracted lane change path as the final lane change path, the minimum combination being a minimum sum or a minimum average;
- and
- control the autonomous vehicle to follow the final lane change path.
Dependencies are inferred from the claim text.