Vehicle control system and vehicle driving method using the vehicle control system

A vehicle control system comprising:

• at least one sensor for acquiring data related to the driving of the vehicle from a vehicle and an external environment;
• a vehicle controller configured to control the driving of the vehicle;
• and
• one or more processors configured to:
• process the data related to driving of a vehicle;
• acquire other vehicle information and lane information using the at least one sensor;
• transmit the other vehicle information and the lane information to a server, receive, from the server, information related to an adjacent vehicle including an indication of a detected or predicted lane change by the adjacent vehicle;
• identify whether the adjacent vehicle has changed lanes based on sensor data and predicted trajectory;
• and
• transmit information related to whether the adjacent vehicle has changed the lane along with confidence data based on road surface conditions or sensor reliability to the server,
• wherein the server determines whether the lane change of the adjacent vehicle is valid by aggregating data from multiple vehicles and applying filtering based on reported noise levels, trajectory consistency, or historical behavior patterns, and
• the vehicle controller is configured to control the driving of the vehicle based on whether the lane change of the adjacent vehicle is valid.

A method for driving a vehicle using a vehicle control system, the method comprising:

• receiving, from at least one sensor including a wheel speed sensor, movement values of a vehicle over a time interval;
• calculating, for each trajectory, a variance of the movement values and determining a noise level of a road surface associated with the trajectory based on the variance;
• calculating bidirectional trajectory information for a current point of the vehicle on a three-dimensional map;
• identifying whether a road width of the current point is greater than or equal to a first threshold value,
• identifying whether there is no overlapping section between the bidirectional trajectories in a direction corresponding to a width of the vehicle, in response determining that the road width is equal to or greater than the first threshold value;
• updating the bidirectional trajectory information and the noise level of the current point only in response to determining that the bidirectional trajectories do not overlap;
• assigning a weight to each trajectory based on the noise and determining a final valid trajectory by prioritizing lower-noise, higher-confidence trajectory segments;
• applying the final valid trajectory to the three-dimensional map;
• and
• controlling the vehicle to adjust a travel direction according to the final valid trajectory.