Back to results
US 12,497,083 B2Granted
Autonomous driving control apparatus, system having the same, and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorsSeok Youl Yang, Sung Min Park, Rosali Sun Pyun
Life of this patent
Estimating the term…
Abstract
An embodiment autonomous driving control apparatus includes a memory storing data and algorithms and a processor configured to execute the algorithms stored in the memory to estimate an end of an operational design domain of an autonomous driving function in advance and to calculate a distance from an end point of the operational design domain to a start point of a transition demand, wherein the transition demand is a point at which a transition demand section starts based on a current speed of a vehicle depending on a driving strategy of the transition demand section for requiring a driver to drive the vehicle and a minimum risk maneuver section.
Claims20
An autonomous driving control apparatus comprising:
- memory storing data and algorithms;
- and
- a processor configured to execute the algorithms stored in the memory to:
- estimate an end of an operational design domain of an autonomous driving function in advance and to calculate a distance from an end point of the operational design domain to a start point of a transition demand starting requesting to transfer driving control to a driver during autonomous driving,
- control autonomous driving of a vehicle using the distance from the end point of the operational design domain to the start point of the transition demand, wherein:
- the transition demand is a point at which a transition demand section starts based on a current speed of the vehicle at a time of entering the transition demand and a predetermined speed limit of the transition demand section for requiring the driver to drive the vehicle before reaching the operational design domain and a predetermined acceleration set for stopping in a minimum risk maneuver section including a driving strategy to slow down and stop the vehicle when a dangerous situation occurs during autonomous driving, and
- the transition demand section indicates a section waiting for the driver to transfer control authority, and the minimum risk maneuver section indicates a section for aiming to enable to stop the vehicle in a lane without transferring control authority,
- calculate the distance from the end point of the operational design domain to the start point of the transition demand starting requesting in real time based on the current speed of the vehicle, calculating the distance comprising summing a maximum mileage that the vehicle is capable of driving in the transition demand section and a maximum mileage that the vehicle is capable of driving in the minimum risk maneuver section, and
- initiate the transition demand starting requesting at the start point of the transition demand starting requesting calculated in real time.
6 more elements
A vehicle system comprising:
- a sensing device configured to sense surrounding information of a vehicle;
- a map database configured to store a lane-based precision map;
- and
- an autonomous driving control apparatus configured to:
- estimate an end of an operational design domain of an autonomous driving function in advance;
- calculate a distance from an end point of the operational design domain to a start point of a transition demand requesting to transfer driving control to a driver during autonomous driving, the start point of the transition demand being a point at which a transition demand section starts based on a current speed of the vehicle at a time of entering the transition demand and a predetermined speed limit of the transition demand section for requiring the driver to drive the vehicle before reaching the operational design domain and a predetermined acceleration set for stopping in a minimum risk maneuver section including a strategy to slow down and stop the vehicle when a dangerous situation occurs during autonomous driving;
- control autonomous driving of the vehicle using the distance from the end point of the operational design domain to the start point of the transition demand, the surrounding information of the vehicle and the precision map, wherein the transition demand section indicates a section waiting for the driver to transfer control authority, and the minimum risk maneuver section indicates a section for aiming to enable to stop the vehicle in a lane without transferring control authority;
- calculate the distance from the end point of the operational design domain to the start point of the transition demand starting requesting in real time based on the current speed of the vehicle, calculating the distance comprising summing a maximum mileage that the vehicle is capable of driving in the transition demand section and a maximum mileage that the vehicle is capable of driving in the minimum risk maneuver section;
- and
- initiate the transition demand starting requesting at the start point of the transition demand starting requesting calculated in real time.
7 more elements
An autonomous driving control method performed by a processor, the autonomous driving control method comprising:
- estimating an end of an operational design domain of an autonomous driving function in advance;
- calculating a distance from an end point of the operational design domain to a start point of a transition demand, wherein the start point of the transition demand requesting to transfer driving control to a driver during autonomous driving is a point at which a transition demand section starts based on a current speed of a vehicle at a time of entering the transition demand and a predetermined speed limit of the transition demand section for requiring the driver to drive the vehicle before reaching the operational design domain and a predetermined acceleration set for stopping in a minimum risk maneuver section including a strategy to slow down and stop the vehicle when a dangerous situation occurs during autonomous driving;
- controlling autonomous driving of the vehicle using the distance from the end point of the operational design domain to the start point of the transition demand, wherein the transition demand section indicates a section waiting for the driver to transfer control authority, and the minimum risk maneuver section indicates a section for aiming to enable to stop the vehicle in a lane without transferring control authority;
- calculating the distance from the end point of the operational design domain to the start point of the transition demand starting requesting in real time based on the current speed of the vehicle, calculating the distance comprising summing a maximum mileage that the vehicle is capable of driving in the transition demand section and a maximum mileage that the vehicle is capable of driving in the minimum risk maneuver section;
- and
- initiating the transition demand starting requesting at the start point of the transition demand starting requesting calculated in real time.
3 more elements
Dependencies are inferred from the claim text.