Autonomous driving apparatus and method
AssigneeHyundai Mobis Co., Ltd.
InventorsByeong Hwan JEON, Hyuk LEE, Soon Jong JIN, Jun Han LEE, Jeong Hee LEE, Yong Kwan JI
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Abstract
An autonomous driving apparatus and method, in which the autonomous driving apparatus may include a sensor unit configured to detect a surrounding vehicle around an ego vehicle that autonomously travels and a state of a driver who has got in the ego vehicle, a driving information detector configured to detect driving information on a driving state of the ego vehicle, a memory configured to store map information, and a processor configured to control autonomous driving of the ego vehicle based on the map information stored in the memory.
Claims14
An autonomous driving apparatus comprising:
- a sensor unit configured to detect a surrounding vehicle around an ego vehicle that autonomously travels and a state of a passenger who has got in the ego vehicle;
- a driving information detector configured to detect driving information on a driving state of the ego vehicle;
- a memory configured to store map information;
- and
- a processor configured to control autonomous driving of the ego vehicle based on the map information stored in the memory,
- wherein:
- the memory stores a lane change pattern of a driver analyzed based on the driving information of the ego vehicle when the ego vehicle changes lanes, and a lane change rate determined based on information on a state of a road when the ego vehicle changes lanes and indicative of a tempo of the lane change of the ego vehicle;
- the processor is configured to:
- is control autonomous driving of the ego vehicle based on a first expected driving trajectory generated based on the map information and lane change rate stored in the memory and the driving information of the ego vehicle detected by the driving information detector;
- and
- control the autonomous driving of the ego vehicle by selectively applying the first expected driving trajectory and a second expected driving trajectory based on the state of the passenger detected by the sensor unit;
- and
- the second expected driving trajectory is generated by incorporating a corrected lane change rate corrected from the lane change rate stored in the memory.
An autonomous driving method comprising:
- a first control step of controlling, by a processor, autonomous driving of an ego vehicle based on a first expected driving trajectory generated based on map information and a lane change rate stored in a memory and driving information of the ego vehicle, wherein the lane change rate is determined based on a lane change pattern of a driver analyzed based on the driving information of the ego vehicle when the ego vehicle changes lanes and information on a state of a road when the ego vehicle changes lanes, and the lane change rate is indicative of a tempo of the lane change of the ego vehicle and stored in the memory;
- and
- a second control step of controlling, by the processor, the autonomous driving of the ego vehicle by selectively applying the first expected driving trajectory and a second expected driving trajectory based on a state of a passenger detected by a sensor unit and getting in the ego vehicle, wherein the second expected driving trajectory is generated by incorporating a corrected lane change rate corrected from the lane change rate stored in the memory.
Dependencies are inferred from the claim text.