Autonomous driving control apparatus for determining a road security mirror and method thereof

An autonomous driving control method comprising:

• determining, by a controller, that a road security mirror is present in front of a host vehicle, using a sensor device;
• determining, by the controller, that the road security mirror meets a specified condition, in response to a vertical length of the road security mirror corresponding to a specified length;
• stopping, by the controller, driving motion of the host vehicle, in response to the road security mirror meeting the specified condition;
• determining, by the controller, an image change rate of at least one security mirror included in the road security mirror;
• and
• resuming, by the controller, driving the host vehicle in response to the image change rate being less than or equal to a specified value during a specified time.

An autonomous driving control apparatus comprising:

• a sensor device;
• a memory storing at least one instruction;
• and
• a controller operatively connected with the sensor device and the memory, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform operations comprising:
• determining that a road security mirror is present in front of a host vehicle, using the sensor device;
• determining that the road security mirror meets a specified condition, in response to a shortest distance from a furthest road line from the host vehicle of a plurality of horizontal lines at an intersection in front of the host vehicle to the road security mirror, the shortest distance being within a specified range;
• stoppping driving the host vehicle, in response to the road security mirror meeting the specified condition;
• determining an image change rate of at least one security mirror included in the road security mirror;
• and
• resuming driving the host vehicle, in response to the image change rate being less than or equal to a specified value during a specified time.