Autonomous driving control apparatus, vehicle including autonomous driving control apparatus, and method of controlling vehicle

A vehicle comprising:

• a power device configured to apply a driving force to a wheel of the vehicle;
• a brake configured to apply a braking force to the wheel;
• an image acquirer configured to acquire an image of a road;
• an inputter through which a destination of the vehicle is input;
• a storage configured to store location information related to a predetermined location and image information corresponding to the predetermined location;
• a location receiver configured to receive a current location of the vehicle;
• and
• a controller configured to generate a route from the received current location to the destination during an autonomous driving mode, to control driving of the vehicle based on route information related to the generated route and image information related to the acquired image, and to control operation of at least one of the power device and the brake to reduce a driving speed of the vehicle when the current location is determined to be the predetermined location based on the image information related to the acquired image and the stored image information.

A vehicle comprising:

• a power device configured to apply a driving force to a wheel of the vehicle;
• a brake configured to apply a braking force to the wheel;
• a suspension configured to mitigate a shock and a vibration to the vehicle from a road surface;
• an opening and closing device configured to open or close a window of a door of the vehicle;
• an image acquirer configured to acquire an image of a road;
• an inputter through which a destination of the vehicle is input;
• a storage configured to store entry location information related to a tollgate;
• a location receiver configured to receive a current location of the vehicle;
• a controller configured to generate a route from the received current location to the destination, to control road guidance based on route information related to the generated route, to determine when a speed restriction section is present in a travel lane of the vehicle and a type of the travel lane of the vehicle based on image information related to the acquired image when the received current location is determined to be an entry location of the tollgate, to control a damping force of the suspension to be reduced when the speed restriction section is determined to be present, and to control the opening and closing device to open or close the window when the type of the travel lane of the vehicle is determined to be a toll ticket lane;
• and
• a display configured to display the generated route and road guidance information.

A method of controlling a vehicle, the method comprising:

• when a destination of the vehicle is received, generating, by a controller, a route to the destination;
• controlling, by the controller, road guidance based on route information related to the generated route;
• determining, by the controller, when a current location of the vehicle is an entry location of a tollgate based on image information related to an image acquired by an image acquirer;
• when the current location is determined to be the entry location of the tollgate, determining, by the controller, when a speed restriction section is present in a travel lane of the vehicle and a type of the travel lane of the vehicle based on the image information related to the acquired image;
• when the speed restriction section is present, controlling, by the controller, a suspension of the vehicle to reduce a damping force of the suspension and raise a height of a door of the vehicle;
• and
• when the type of the travel lane of the vehicle is determined to be a toll ticket lane, controlling, by the controller, an opening and closing device to open a window adjacent to a driver seat of the vehicle.