Method for controlling U-turn driving using high-definition map
A technology of turning control and control method, applied in the direction of vehicle position/route/height control, control device, non-electric variable control, etc., can solve the problem of not reflecting vehicle dynamic factors, steering changes, driving and ride comfort reduction, not suitable for actual driving route etc.
Pending Publication Date: 2022-03-29
HYUNDAI MOTOR CO LTD +1
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[0006] However, the above route generation methods may not be suitable for real driving routes because the dynamic factors of the vehicle are not reflected in the route generation
For example, when a route is generated only following a high-definition map in the case where multiple lines corresponding to a combination of lane centerlines are distorted or it is difficult to perform a U-turn according to polynomial curve fitting, unnecessary steering changes cause unnaturalness Significantly lower driving and ride comfort issues
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[0027] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. While the invention will be described in conjunction with exemplary embodiments thereof, it will be understood that present description is not intended to limit the invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the invention, but also various alternatives, modifications, equivalents and other embodiments, which may be included in the inventive idea and as defined by the appended claims. within range.
[0028] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The embodiments can be modified in various ways and can have various forms, and specific embodiments will be shown in the drawings and described in detail. However, the embodiments are not to be considered...
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The present disclosure relates to a control method of U-turn driving using a high definition map, the method may include: identifying a U-turn section in front of a vehicle based on sensor information; detecting a first point in the U-shaped turning section by using a high-definition map; determining at least one candidate lane center line on the high-definition map and selecting a target lane center line from the at least one candidate lane center line; determining a second point on the target lane center line based on the first point; and generating a dynamic curved route based on the first point and the second point.
Description
[0001] Cross References to Related Applications [0002] This application claims priority from Korean Patent Application No. 10-2020-0122916 filed on September 23, 2020, the entire contents of which are incorporated herein by reference for all purposes. technical field [0003] The invention relates to a control method for U-turn driving using a high-definition map. Background technique [0004] Self-driving vehicles can use advanced driver assistance systems (ADAS) to relieve the driver from simple tasks such as steering wheel and pedal operation while driving, and to prevent accidents caused by driver carelessness, so there is increasing interest . [0005] Such an autonomous vehicle generates a route using nodes, lane links, lane sides, etc. forming a high-definition map, and performs automatic driving control according to the route. Typically, such routes are generated by reprocessing vector data collected from high-definition maps through various functional representa...
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IPC IPC(8): B60W30/18B60W60/00
CPCB60W30/18145B60W60/001B60W2556/40B60W2552/10B60W2552/30B60W2520/105B60W2520/125B60W40/072B60W30/10B60W40/105B60W10/20B60W30/08B60W2520/10B60W2540/18B60W2720/10B60W2420/00B60Y2300/08B60Y2400/30B60W30/09B60W2510/20B60W2520/12B60W2710/20B60W2720/106B60W2720/125
Inventor 金熙权韩修镇金显圭
Owner HYUNDAI MOTOR CO LTD