Autonomous driving vehicle and a method of driving the same

An autonomous driving vehicle comprising:

• at least one sensor installed in the autonomous driving vehicle to sense direction data, position data, and velocity data of the autonomous driving vehicle;
• a camera configured to track movement of the autonomous driving vehicle and to estimate a position thereof;
• a light detection and ranging (LiDAR) sensor installed in the autonomous driving vehicle to generate LiDAR data;
• and
• a processor configured to receive the LiDAR data to generate a map, wherein the processor is configured to
• store image data for each predetermined driving distance by use of the camera,
• estimate a current position of the autonomous driving vehicle based on the image data stored in a predetermined range, based on a position where an abnormality occurs in the LiDAR sensor, and based on current image data captured while the autonomous driving vehicle is driven in a failure mode in which the abnormality occurs in the LiDAR sensor,
• guide the autonomous driving vehicle to a safe zone when the current position of the autonomous driving vehicle is estimated, and
• delete the stored image data based on importance of the stored image data,
• wherein the importance of the stored image data decreases as a position of the autonomous driving vehicle and a direction of the autonomous driving vehicle are included in a predetermined range and duplicated, and
• wherein, when estimating the current position of the autonomous driving vehicle, the processor is further configured to
• extract image feature points from each of the stored image data and the captured current image data, based on there being more than a certain amount of the stored image data within the predetermined range based on coordinates of the position,
• estimate global location based on the extracted image feature points, and
• perform precise positioning based on the global location.