Apparatus and method for controlling autonomous driving of vehicle

A non-transitory computer-readable recording medium having a program recorded thereon, the program to direct a processor to perform acts of:

• selecting, by a driving environment recognizer, a target object ahead of a vehicle based on driving information;
• generating, by a velocity profile generator, a velocity profile for maintaining a desired distance to the target object from the vehicle;
• calculating, by an acceleration calculator, a desired acceleration based on the velocity profile and a delay time of the vehicle;
• setting, by the acceleration calculator, the desired acceleration to be less than an initial inclination of a longitudinal acceleration and deceleration profile based on the delay time of the vehicle;
• and
• controlling, by a vehicle controller, an actuator of the vehicle based on the desired acceleration,
• wherein generating the velocity profile includes:
• calculating, by a driving information processor, a target velocity of the vehicle based on a velocity limit of a road on which the vehicle travels and a velocity and a heading direction of the target object;
• and
• applying, by the driving information processor, a predetermined weight to a time to collision (TTC) between the vehicle and the target object to calculate a target convergence time,
• wherein the velocity profile is classified into an acceleration and deceleration section and a constant velocity section based on the target convergence time,
• wherein the target convergence time is a time consumed to converge to the target velocity, and the predetermined weight is a tuning coefficient of a time to collision and variably adjusted in a range of zero (0) to 1 based on characteristics of a vehicle and a behavior of the target object in real time,
• wherein the desired distance is set in consideration of driver driving tendency as well as a minimum safety distance with the target object, and
• wherein the desired distance is set by learning the driver driving tendency during autonomous driving or is determined by applying a degree of risk to the target object.

An apparatus for controlling autonomous driving of a vehicle, the apparatus comprising a processor configured to:

• select a target object ahead of the vehicle based on driving information;
• generate a velocity profile for maintaining a desired distance to the target object from the vehicle;
• calculate a desired acceleration based on the velocity profile and a delay time of the vehicle;
• set the desired acceleration to be less than an initial inclination of a longitudinal acceleration and deceleration profile based on the delay time of the vehicle;
• control an actuator of the vehicle based on the desired acceleration;
• calculate a target velocity of the vehicle based on a velocity limit of a road on which the vehicle travels, and a velocity and a heading direction of the target object;
• and
• apply a predetermined weight to a time to collision (TTC) between the vehicle and the target object to calculate a target convergence time,
• wherein the velocity profile is classified into an acceleration and deceleration section and a constant velocity section based on the target convergence time,
• wherein the target convergence time is a time consumed to converge to the target velocity, and the predetermined weight is a tuning coefficient of a time to collision and variably adjusted in a range of zero (0) to 1 based on characteristics of the vehicle and a behavior of the target object in real time,
• wherein the velocity profile generator processor is configured to set the desired distance in consideration of driver driving tendency as well as a minimum safety distance with the target object, and
• wherein the desired distance is set by learning the driver driving tendency during autonomous driving or is determined by applying a degree of risk to the target object.