System and method for controlling driving lane keeping

A driving lane keeping control method comprising:

• receiving, at a server, wheel position markers generated by a plurality of autonomous vehicles including a first autonomous vehicle, the wheel position markers generated by generating one wheel position marker corresponding to one turn for each setting time;
• storing, by the server, the wheel position marker received from the first autonomous vehicle;
• matching, by the server, the wheel position marker received from the first autonomous vehicle with a detailed map to generate a moving trajectory of the first autonomous vehicle;
• analyzing, by the server, the generated moving trajectory of the first autonomous vehicle to select an optimum moving trajectory;
• matching, by the server, the wheel position markers generated by the plurality of autonomous vehicles with the detailed map and connecting a plurality of the wheel position markers matched with the detailed map to generate a moving trajectory of each autonomous vehicle of the plurality of autonomous vehicles;
• generating, by the server, virtual lane information based on the selected optimum moving trajectory and the moving trajectory of each autonomous vehicle when a lane is blurred or removed, a lane is a zigzag lane, or a lane is not clear;
• transmitting the generated virtual lane information from the server to the first autonomous vehicle so that a control system of the first autonomous vehicle can correct a driving position based the virtual lane information received from the server;
• and
• controlling operation of the first autonomous vehicle by correcting or maintaining a driving position of the first autonomous vehicle based on the virtual lane information so that the first autonomous vehicle is centered of the virtual lane;
• wherein storing the wheel position marker received from the first autonomous vehicle comprises calculating all wheel positions of each autonomous vehicle based on a wheel position marker included in wheel position information of each autonomous vehicle;
• and
• wherein, when calculating the wheel position of each vehicle, the method comprises checking, by the server, one wheel position corresponding to one wheel position marker when one wheel position marker is included in the wheel position information, and calculating a wheel position of each of the three remaining wheels based on a distance between one wheel position corresponding to the wheel position marker and the remaining wheels.

A method of operating an autonomous vehicle, the method comprising:

• generating a wheel position marker at the autonomous vehicle, wherein generating the wheel position marker comprises generating one wheel position marker corresponding to one turn for each setting time;
• transmitting the wheel position marker to a server to match the wheel position marker with a detailed map to generate a moving trajectory of the autonomous vehicle and to select an optimum moving trajectory based on a plurality of wheel position markers of the autonomous vehicle and a plurality of wheel position markers of further autonomous vehicles matched with the detailed map;
• receiving virtual lane information based on the selected optimum moving trajectory;
• and
• controlling driving of the autonomous vehicle by adjusting a driving position of the autonomous vehicle based the received virtual lane information, when a lane is blurred or removed, a lane is a zigzag lane, or a lane is not clear, so that the autonomous vehicle to be centered of the virtual lane;
• wherein transmitting the wheel position marker to the server comprises transmitting all wheel positions of the vehicle based on a wheel position marker included in wheel position information of the autonomous vehicle;
• and
• wherein the method further comprises checking one wheel position corresponding to one wheel position marker when one wheel position marker is included in the wheel position information, and calculating a wheel position of each of the remaining wheels based on a distance between one wheel position corresponding to the wheel position marker and the remaining wheels.

A server comprising:

• an input configured to receive wheel position markers generated by a plurality of autonomous vehicles including a first autonomous vehicle;
• a storage configured to store the wheel position marker received from the first autonomous vehicle;
• a processor;
• and
• a memory storing computer code that, when executed by the processor, causes the processor to:
• match the wheel position marker with a detailed map to generate a moving trajectory of the first autonomous vehicle;
• analyze the generated moving trajectory of the first autonomous vehicle to select an optimum moving trajectory;
• and
• generate virtual lane information based on the selected optimum moving trajectory, wherein generating the wheel position marker comprises generating one wheel position marker corresponding to one turn for each setting time and matching the wheel position marker with the detailed map and connecting a plurality of wheel position markers matched with the detailed map to generate a moving trajectory of each autonomous vehicle of the plurality of autonomous vehicles;
• and
• an output configured to transmit the generated virtual lane information to the first autonomous vehicle so that a driving lane keeping control system of the first autonomous vehicle can correct to be centered of the virtual lane a driving position based the virtual lane information received from the server, when a lane is blurred or removed, a lane is a zigzag lane, or a lane is not clear so that the first autonomous vehicle receives the generated virtual land information and controls a driving position by correcting or maintaining based on the virtual lane information so that the first autonomous vehicle is centered of the virtual lane;
• wherein the server is configured to calculate all wheel positions of each autonomous vehicle based on a wheel position marker included in wheel position information of each autonomous vehicle;
• and
• wherein the server, when calculating the wheel position of each vehicle, is configured to check a wheel position of a first wheel corresponding to one wheel position marker when one wheel position marker is included in the wheel position information, and to calculate a wheel position of each of remaining wheels based on a distance between the wheel position of the first wheel and the remaining wheels.