# US 2021/0278840 A1 · Autonomous vehicle and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0278840 A1 - Document ID: US20210278840A1 - Status: Published application - Kind: A1 - Application number: 16/486,651 - Filed: 2019-06-04 - Published: 2021-09-09 - Earliest claimed: 2019-06-04 - Assignees: LG Electronics Inc. - Applicants: LG Electronics Inc. - Inventors: Chan JAEGAL - Web page: https://patentgrep.com/patent/US20210278840A1 ## CPC - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/165: Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar" - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/02: related to ambient conditions - B60W 40/09: Driving style or behaviour - B60W 40/105: Speed - B60W 60/001: {Planning or execution of driving tasks} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - B60W 2420/40: Photo, light or radio wave sensitive means, e.g. infrared sensors - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2520/10: Longitudinal speed - B60W 2520/12: Lateral speed - B60W 2540/30: Driving style - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract An autonomous vehicle and control method thereof are disclosed. The autonomous vehicle of the present invention includes: an object detection unit that measures a sensing distance using one or more of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor; an autonomous module that determines a real-time sensing-based control range limited within the sensing distance, and reflects one or more of a learned propensity for driving of a user and a propensity for driving defined by external data received from an external device to driving control-related data of the vehicle; and a vehicle driving unit that drives the vehicle that is driven in an autonomous mode in accordance with the driving control-related data. One or more of an autonomous vehicle, an AI device, and an external device may be associated with an artificial intelligence module, a drone ((Unmanned Aerial Vehicle, UAV), a robot, an AR (Augmented Reality) device, a VR (Virtual Reality) device, a device associated with 5G services, etc. ## Claims ### Claim 1 An autonomous vehicle comprising: an object detection unit that measures a sensing distance using one or more of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor; an autonomous module that determines a real-time sensing-based control range limited within the sensing distance, and reflects one or more of a learned propensity for driving of a user and a propensity for driving defined by external data received from an external device to driving control-related data of the vehicle; and a vehicle driving unit that drives the vehicle that is driven in an autonomous mode in accordance with the driving control-related data. ### Claim 2 (depends on 1) The autonomous vehicle of claim 1, wherein the vehicle driving unit adjusts deceleration/acceleration and steering of the vehicle on the basis of the driving control-related data. ### Claim 3 (depends on 1) The autonomous vehicle of claim 1, wherein the sensing distance is a maximum sensing distance at which an object can be detected. ### Claim 4 (depends on 1) The autonomous vehicle of claim 1, wherein the driving control-related data of the vehicle include one or more of an average speed, a maximum speed, a deceleration/acceleration control level, an inter-vehicle distance, an angular speed, and a lane change frequency. ### Claim 5 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous module adjusts the driving control-related data using an average of a result of adding a value defined by the learned propensity for driving of a user to a predetermined default value or a current value. ### Claim 6 (depends on 5) The autonomous vehicle of claim 5, wherein the autonomous module limits the driving control-related data to a maximum value of the control range when the driving control-related data to which the learned propensity for driving of a user has been reflected exceeds the control range. ### Claim 7 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous module adjusts the driving control-related data using an average of a result of adding a value defined by the external data to a predetermined default value or a current value. ### Claim 8 (depends on 7) The autonomous vehicle of claim 7, wherein the autonomous module limits the driving control-related data to a maximum value of the control range when the driving control-related data to which the external data have been reflected exceeds the control range. ### Claim 9 (depends on 8) The autonomous vehicle of claim 8, wherein the higher the application frequency of the external data to the driving control-related data, the higher the weight that is given to the external data. ### Claim 10 (depends on 9) The autonomous vehicle of claim 9, wherein the autonomous module limits the driving control-related data to the maximum value of the control range when the driving control-related data to which the external data have been reflected exceeds the control range. ### Claim 11 (depends on 1) The autonomous vehicle of claim 1, wherein the control range is changed in accordance with the sensing distance that is measured in real time while the vehicle is driven in the autonomous mode. ### Claim 12 (depends on 1) The autonomous vehicle of claim 1, wherein the external data are obtained from a propensity for driving of an expert driver that can represent a propensity for driving, or a result of learning an average of propensities for driving of many drivers. ### Claim 13 A method of controlling an autonomous, the method comprising: measuring a sensing distance using one or more of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor; determining a real-time sensing-based control range limited within the sensing distance; reflecting one or more of a learned propensity for driving of a user and a propensity for driving defined by external data received from an external device to driving control-related data of the vehicle; and driving the vehicle that is driven in an autonomous mode in accordance with the driving control-related data. ### Claim 14 (depends on 13) The method of claim 13, wherein the driving control-related data of the vehicle include one or more of an average speed, a maximum speed, a deceleration/acceleration control level, an inter-vehicle distance, an angular speed, and a lane change frequency. ### Claim 15 (depends on 14) The method of claim 14, further comprising adjusting the driving control-related data using an average of a result of adding a value defined by the learned propensity for driving of a user to a predetermined default value or a current value. ### Claim 16 (depends on 15) The method of claim 15, further comprising limiting the driving control-related data to a maximum value of the control range when the driving control-related data to which the learned propensity for driving of a user has been reflected exceeds the control range. ### Claim 17 (depends on 13) The method of claim 13, further comprising adjusting the driving control-related data using an average of a result of adding a value defined by the external data to a predetermined default value or a current value. ### Claim 18 (depends on 17) The method of claim 17, further comprising limiting the driving control-related data to a maximum value of the control range when the driving control-related data to which the external data have been reflected exceeds the control range. ### Claim 19 (depends on 17) The method of claim 17, further comprising increasing a weight that is given to the external data, as an application frequency of the external data to the driving control-related data is high. ### Claim 20 (depends on 19) The method of claim 19, further comprising limiting the driving control-related data to a maximum value of the control range when the driving control-related data to which the external data have been reflected exceeds the control range.