Autonomous driving vehicle and control method thereof

An ego vehicle comprising:

• at least one processor;
• and
• a storage medium storing computer-readable instructions that, when executed by the at least one processor, enable the at least one processor to:
• obtain, via at least one sensor, first driving state information of a front vehicle traveling before the ego vehicle;
• determine a required torque of the ego vehicle based on the first driving state information of the front vehicle and second driving state information of the ego vehicle;
• generate a virtual accelerator pedal sensor (APS) map for the ego vehicle based on the required torque and the second driving state information of the ego vehicle;
• determine revolutions per minute (RPM) and a gear stage of the ego vehicle based on the virtual APS map;
• determine a final gear stage of the ego vehicle based on a predicted gear stage and a preset gear stage;
• and
• in response to the determined final gear stage being out of a preset reference gear range, redetermine the final gear stage based on a shift pattern map.

A method of controlling an ego vehicle, the method comprising:

• obtaining first driving state information of a front vehicle traveling before the ego vehicle;
• determining a required torque for the ego vehicle based on the first driving state information of the front vehicle and second driving state information of the ego vehicle;
• generating a virtual accelerator pedal sensor (APS) map for the ego vehicle based on the required torque and the second driving state information of the ego vehicle;
• determining revolutions per minute (RPM) and a gear stage of the ego vehicle based on the virtual APS map;
• determining a final gear stage of the ego vehicle based on the determined gear stage and a preset gear stage;
• if the determined final gear stage is out of a preset reference gear range, redetermining the final gear stage based on a shift pattern map, and lowering the RPM set in the shift pattern map;
• and
• if the determined final gear stage is within the preset reference gear range, determining the final gear stage as a current gear stage.