Method for driving control based on boarding congestion and a vehicle using the same

A vehicle implementing driving control based on boarding congestion, the vehicle comprising:

• an actuating unit generating a driving operation;
• a memory storing at least one instruction for the vehicle;
• and
• a processor executing the at least one instruction stored in the memory,
• wherein the processor is configured to
• generate congestion information based on passenger number information of the vehicle,
• construct driving limit information based on the congestion information and driving state information, and
• set driving control information applied to the actuating unit based on the driving limit information,
• wherein
• the vehicle is controlled using autonomous driving set by driving requirement information,
• the driving requirement information includes a required velocity and a required velocity change rate expected on a forward path of the vehicle,
• the driving state information is a current velocity on the path,
• the driving limit information is generated based on the congestion information, the driving requirement information, and the driving state information,
• the driving limit information includes a message for indicating i) whether or not a restriction is applied, ii) a permissible velocity, and iii) a permissible velocity change rate, and
• the message indicates whether or not the permissible velocity and the permissible velocity change rate are set by restricting the driving requirement information by the congestion information,
• wherein the driving control information has a driving operation plan for the actuating unit according to a driving control command including a driving plan related to a set velocity and a set velocity change rate established on the forward path based on the driving limit information, and
• wherein the vehicle is controlled using autonomous driving established by driving requirement information, and wherein the driving control command includes a driving plan that the set velocity change rate is applied to driving of the vehicle before entry into the forward path to implement the set velocity change rate on the forward path when the driving plan according to the driving limit information is different from an initial control plan on the forward path according to the driving requirement information.