Vehicle for performing minimal risk maneuver during autonomous driving and method of operating the vehicle
AssigneesHyundai Motor Company, Kia Corporation, Ajou University Industry-Academic Cooperation Foundation
InventorsYoung Bin Min, Jong Sung Park, Bong Sob Song, Ji Min Lee, Sung Woo Lee
Life of this patent
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Abstract
A vehicle for autonomous driving is capable of performing a minimum risk maneuver. The vehicle includes: at least one sensor, a processor and a controller, where the processor may detect whether a minimum risk maneuver (MRM) is required based on at least one of surrounding environment information and vehicle state information during autonomous driving of the vehicle, determine an MRM type based on a possibility of colliding with a neighboring vehicle when the MRM is required, and control to stop the vehicle based on the determined MRM type.
Claims19
1-20. (canceled)
A vehicle for autonomous driving, the vehicle comprising:
- at least one sensor configured to detect a surrounding environment of the vehicle and generating surrounding environment information;
- a processor configured to monitor a state of the vehicle to generate vehicle state information and control autonomous driving of the vehicle;
- and
- a controller configured to control operation of the vehicle based on the processor,
- wherein the processor is configured to:
- detect whether a minimum risk maneuver (MRM) is required based on at least one of the surrounding environment information or the vehicle state information during autonomous driving of the vehicle,
- determine an MRM type among a plurality of MRM types by checking a control function required for the autonomous driving of the vehicle based on the vehicle state information,
- check possibility of lateral control based on the vehicle state information, wherein checking possibility of lateral control includes possibility of lane detection,
- determine a straight stop type as the MRM type to be performed based on the lane detection being impossible, and
- control to stop the vehicle based on the determined MRM type.
A method for operating a vehicle for autonomous driving, the method comprising:
- obtaining surrounding environment information by detecting surrounding environment of the vehicle during autonomous driving of the vehicle;
- obtaining vehicle state information by monitoring a state of the vehicle during autonomous driving of the vehicle;
- detecting whether a minimum risk maneuver (MRM) is required based on at least one of the surrounding environment information or the vehicle state information during the autonomous driving of the vehicle;
- determining an MRM type among a plurality of MRM types by checking a control function required for the autonomous driving of the vehicle based on the vehicle state information,
- checking possibility of lateral control based on the vehicle state information, wherein checking possibility of lateral control includes possibility of lane detection,
- determining a straight stop type as the MRM type to be performed based on the lane detection being impossible, and
- controlling to stop the vehicle based on the determined MRM type.
Dependencies are inferred from the claim text.