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US 11,597,385 B2Granted
Autonomous vehicle and vehicle running control method using the same
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorJae Hwan Jang
Life of this patent
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Abstract
A vehicle running control method includes: calculating, by a controller, a lateral velocity of an adjacent vehicle that travels in a lane adjacent to a traveling lane in which an autonomous vehicle travels in the road-width direction, and a longitudinal velocity of the adjacent vehicle in the direction in which the adjacent lane extends; specifying, by the controller, a predetermined road section based on the longitudinal velocity and calculating a first path on the assumption that an offset distance of the adjacent vehicle in the adjacent lane in the road-width direction is maintained within the road section; and applying, by the controller, the lateral velocity to the first path to calculate a second path corresponding to a predicted traveling path of the adjacent vehicle.
Claims7
A vehicle running control method, comprising:
- calculating, by a controller, a lateral velocity of an adjacent vehicle that travels in an adjacent lane adjacent to a traveling lane in which an autonomous vehicle travels in a road-width direction, and a longitudinal velocity of the adjacent vehicle in a direction in which the adjacent lane extends;
- specifying, by the controller, a predetermined road section based on the longitudinal velocity and calculating a first path based on an assumption that an offset distance of the adjacent vehicle in the adjacent lane in the road-width direction is maintained within the predetermined road section;
- calculating, by the controller, a second path by applying a lateral movement distance of the adjacent vehicle and an advance direction vector of the adjacent vehicle to the first path and the second path corresponding to a predicted traveling path of the adjacent vehicle, wherein the advance direction vector is a unit vector of the adjacent vehicle in the road-width direction with respect to a direction in which the adjacent vehicle is advancing;
- tracking the second path to determine whether the second path intersects a boundary line between the traveling lane and the adjacent lane;
- and
- predicting a cut-in point of the adjacent vehicle based on an intersection point between the second path and the boundary line,
- wherein predicting the cut-in point comprises:
- extracting coordinates of a feature point of the adjacent vehicle, the feature point including corner regions of the adjacent vehicle;
- transiting coordinates of a reference node of the adjacent vehicle to the coordinates of the feature point, the reference node to which a point corresponding to an absolute position of the adjacent vehicle is approximated;
- parallelly moving the second path based on the transited coordinates of the reference node;
- calculating the intersection point between the moved second path and the boundary line;
- and
- predicting the calculated intersection point as the cut-in point of the adjacent vehicle.
10 more elements
An autonomous vehicle comprising:
- a sensor configured to acquire traveling state information of the autonomous vehicle and traveling state information of an adjacent vehicle that travels in an adjacent lane adjacent to a traveling lane in which the autonomous vehicle travels;
- a map storage configured to provide map information comprising
- a plurality of dots indicative of a center line between boundary lines of each of the traveling lane and the adjacent lane;
- and
- a controller configured to calculate a lateral velocity of the adjacent vehicle in a road-width direction and a longitudinal velocity of the adjacent vehicle in a direction in which the adjacent lane extends with reference to the traveling state information and the map information,
- wherein the controller is configured to:
- specify a predetermined road section based on the longitudinal velocity,
- calculate a first path based on an assumption that an offset distance of the adjacent vehicle in the adjacent lane in the road-width direction is maintained within the predetermined road section,
- calculate a second path by applying a lateral movement distance of the adjacent vehicle and an advance direction vector of the adjacent vehicle to the first path, the second path corresponding to a predicted traveling path of the adjacent vehicle, wherein the advance direction vector is a unit vector of the adjacent vehicle in the road-width direction with respect to a direction in which the adjacent vehicle is advancing,
- track the second path and determine whether the second path intersects a boundary line between the traveling lane and the adjacent lane, and
- extract coordinates of a feature point of the adjacent vehicle, the feature point corresponding to an outmost corner region, among corner regions of the adjacent vehicle, which is closest to the boundary line,
- transit coordinates of a reference node of the adjacent vehicle to the coordinates of the feature point, the reference node to which a point corresponding to an absolute position of the adjacent vehicle is approximated,
- parallelly move the second path based on the transited coordinates of the reference node;
- calculate an intersection point at which the moved second path intersects the boundary line;
- and
- determine the calculated intersection point as a predicted cut-in point of the adjacent vehicle.
13 more elements
Dependencies are inferred from the claim text.