Path planning apparatus and method for autonomous vehicle
AssigneeHyundai Motor Company
InventorsSu Jung Yoo, Dong Hwi Lee, Hoi Won Kim
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Abstract
A path planning apparatus and method for an autonomous vehicle are provided. The apparatus includes a surrounding information detector that detects surrounding information around the vehicle and a vehicle information detector that detects vehicle information regarding driving states of the vehicle. A vehicle behavior determiner determines vehicle behavior based on the surrounding information and the vehicle information and a driving path generator generates a driving path and a velocity profile for a lane change using the surrounding information and the vehicle information when receiving a lane change signal from the vehicle behavior determiner.
Claims15
A path planning apparatus for an autonomous vehicle, comprising:
- a surrounding information detector configured to detect surrounding information around the vehicle;
- a vehicle information detector configured to detect vehicle information regarding driving states of the vehicle;
- a vehicle behavior determiner configured to determine vehicle behavior based on the surrounding information and the vehicle information;
- and
- a driving path generator configured to generate a driving path and a velocity profile for a lane change using the surrounding information and the vehicle information when receiving a lane change signal from the vehicle behavior determiner.
A path planning method for an autonomous vehicle, comprising:
- receiving, by a controller, a lane change signal from a vehicle behavior determiner;
- generating, by the controller, driving lane candidate paths and target lane candidate paths when the lane change signal is received;
- calculating, by the controller, the degree of collision risk with respect to a dynamic obstacle positioned around the vehicle for each of the target lane candidate paths;
- determining, by the controller, whether there is a collision risk in all of the target lane candidate paths based on the calculated degree of collision risk;
- generating, by the controller, a velocity profile of the vehicle based on a vehicle velocity and a target velocity when there is the collision risk in all of the target lane candidate paths;
- and
- selecting, by the controller, a local reference path from among the target lane candidate paths to which the velocity profile has been applied.
Dependencies are inferred from the claim text.