Autonomous Vehicle Control Device and Method

A method performed by an apparatus of a vehicle, the method comprising:

• obtaining, via a transceiver of the vehicle, a plurality of first coordinates indicating a driving path of the vehicle in a first region where driving of the vehicle starts in an arbitrary driving section, wherein the arbitrary driving section corresponds to a section where map information for controlling driving of the vehicle is missing;
• obtaining, via the transceiver, a plurality of second coordinates indicating a driving path of the vehicle in a second region where driving of the vehicle ends in the arbitrary driving section;
• determining, based on the plurality of first coordinates, a first direction in which the vehicle is heading at an entry point of the arbitrary driving section;
• determining, based on the plurality of second coordinates, a second direction in which the vehicle is heading at an end point of the arbitrary driving section;
• outputting, based on the first direction and the second direction, a signal indicating a driving plan path of the vehicle in the arbitrary driving section;
• and
• controlling, based on the signal, autonomous driving of the vehicle.

A vehicle comprising:

• a sensor;
• a transceiver;
• a processor;
• and
• a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the vehicle to:
• obtain, via the transceiver,
• first coordinate data representing a driving path of the vehicle in a first region where the vehicle begins to travel in a road section lacking map information, and
• second coordinate data representing a driving path of the vehicle in a second region where the vehicle ends the travel in the road section,
• determine, based on the first coordinate data, a first direction of the travel at an entry point of the road section,
• determine, based on the second coordinate data, a second direction of the travel at an exit point of the road section,
• generate driving path data representing a trajectory from the entry point to the exit point, the trajectory satisfying the first direction and the second direction and connecting the entry point to the exit point,
• identify, based on sensor data obtained from the sensor, a left lane boundary and a right lane boundary in the road section,
• adjust the driving path data such that the trajectory represented by the driving path data is located between the left lane boundary and the right lane boundary, output a signal indicating the adjusted driving path data, and
• control, based on the signal, autonomous driving of the vehicle.