Autonomous controller for lateral motion and control method therefor
AssigneesHyundai Motor Company, Kia Corporation
InventorHyun Su Kim
Life of this patent
Estimating the term…
Abstract
An autonomous controller for lateral motion includes a vehicle positioning module that calculates a lateral departure degree from the center of a virtual line after a line is lost using position information of a vehicle. The position information is derived by data obtained from the vehicle which is traveling. The controller also includes a driving route determination module that determines the virtual line connecting waypoints previously generated on a map for a section where the line is lost to connect an old line with a new line. A lateral control module then performs lateral autonomous control of the vehicle in a direction where the lateral departure degree is minimized to cause the vehicle to follow a driving route connecting waypoints set on the virtual line to travel.
Claims20
An autonomous controller for lateral motion, the autonomous controller comprising:
- a vehicle positioning module configured to calculate a lateral departure degree from the center of a virtual line after a line is lost using position information of a vehicle, wherein the position information is derived by data obtained from the vehicle which is traveling;
- a driving route determination module configured to determine the virtual line connecting waypoints previously generated on a map for a section where the line is lost to connect an old line with a new line as a driving route;
- and
- a lateral control module configured to perform lateral autonomous control of the vehicle in a direction where the lateral departure degree is minimized to cause the vehicle to follow the driving route connecting waypoints set on the virtual line to travel,
- wherein the vehicle positioning module includes an initial position setting device configured to set a position of the vehicle at a time before the line is lost to an initial position for estimating a subsequent position change.
An autonomous control method for lateral motion, the autonomous control method comprising:
- calculating, by a controller, a lateral departure degree from the center of a virtual line after a line is lost using position information of a vehicle, wherein the position information is derived by data obtained from the vehicle which is traveling;
- determining, by the controller, the virtual line connecting waypoints previously generated on a map for a section where the line is lost to connect an old line with a new line as a driving route;
- performing, by the controller, lateral autonomous control of the vehicle in a direction where the lateral departure degree is minimized to cause the vehicle to follow the driving route connecting waypoints set on the virtual line to travel;
- and
- setting, by the controller, a position of the vehicle at a time before the line is lost to an initial position for estimating a subsequent position change.
Dependencies are inferred from the claim text.