Infrastructure cooperative autonomous driving system and method of generating trajectory constraints for collision avoidance in autonomous vehicles by using the system
AssigneeElectronics and Telecommunications Research Institute
InventorsJinhong NOH, Jooyoung Kim, Kyoung-Wook Min, Yongwoo Jo
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Abstract
According to the present invention, autonomous driving may be performed according to an autonomous driving strategy defined in trajectory constraints generated based on object recognition information about a road map and various traffic participants, and thus, because collision avoidance does not obstruct traffic of an adjacent lane despite a situation where an autonomous vehicle stops for avoiding a collision, the stability of autonomous driving may increase and vehicle traffic management may be easily performed.
Claims17
A method of generating trajectory constraints for collision avoidance in autonomous vehicles in an infrastructure cooperative autonomous driving system equipped in autonomous vehicles, the method comprising:
- a step of comparing target trajectory information about an autonomous vehicle with future trajectory information including a future trajectory of a first object predicted from an edge infrastructure and a future trajectory of a second object predicted from the autonomous vehicle to calculate a time to collision and a collision point between each object and the autonomous vehicle by using a collision point calculator executed by a processor;
- a step of calculating a point, which is closest to the collision point and is not included in another lane area where the autonomous vehicle does not drive, of a trajectory of the autonomous vehicle as a safety point by using a safety point calculator executed by the processor, based on lane information included in a road map and the collision point;
- and
- a step of generating constraints defined by the time to collision, the collision point, and the safety point by using a constraint generator executed by the processor.
An infrastructure cooperative autonomous driving system equipped in autonomous vehicles, the infrastructure cooperative autonomous driving system comprising:
- an on-board unit configured to receive a first future trajectory of a first object from an edge infrastructure;
- a collision point calculator configured compare target trajectory information about the autonomous vehicle with future trajectory information including the first future trajectory of the first object and a future trajectory of the second object predicted from the autonomous vehicle to calculate a time to collision and a collision point between each object and the autonomous vehicle;
- a safety point calculator configured to calculate a point, which is closest to the collision point and is not included in another lane area where the autonomous vehicle does not drive, of a trajectory of the autonomous vehicle as a safety point, based on lane information included in a road map and the collision point;
- and
- a constraint generator configured to generate constraints defined by the time to collision, the collision point, and the safety point.
A method of generating trajectory constraints for collision avoidance in autonomous vehicles in an infrastructure cooperative autonomous driving system, the method comprising:
- a step of generating a first future trajectory of a first object and broadcasting a broadcast message including the first future trajectory by using an edge infrastructure;
- a step of receiving the broadcast message by using an on-board unit of an autonomous vehicle;
- a step of calculating a time to collision and a collision point between each object and the autonomous vehicle by using a collision point calculator of the autonomous vehicle, based on future trajectory information including the first future trajectory of the first object included in the broadcast message and a future trajectory of a second object predicted from the autonomous vehicle;
- a step of calculating a safety point by using a safety point calculator of the autonomous vehicle, based on lane information about a road map and the collision point;
- and
- a step of generating constraints defined by the time to collision, the collision point, and the safety point by using a constraint generator of the autonomous vehicle.
Dependencies are inferred from the claim text.