Vehicle and method of controlling vehicle

Abstract

The present disclosure provides a vehicle and a method for controlling the vehicle, wherein the vehicle may include: a communication device; a storage device configured to store map information; a detection device configured to detect driving information of the vehicle and surrounding information of the vehicle; and a controller configured to determine a predicted position of the vehicle based on the map information, the driving information and the surrounding information, determine a precise position based on the predicted position and a position signal received through the communication device, and control the vehicle to travel in a manner that reduces the difference between the predicted position and the precise position.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a vehicle that determines a position of the vehicle using surrounding information and a method of controlling the vehicle. Background Art

[0002] In the case of an autonomously driven vehicle based on an accurate map, identifying the position of the vehicle using map information is the first step to be performed, and the accuracy of the position identification affects the performance of vehicle control.

[0003] The positioning technology used for autonomous driving can be a method of matching the current position of the vehicle with the position of the map by utilizing surrounding information. Generally, the more accurate the information of the surrounding objects is measured, the more accurate information can be obtained.

[0004] On the other hand, when accurate information cannot be obtained, correction can be performed using only the obtained information using a filter, etc. However, if the error value is larger than a certain value, its reliability decreases, which may make it difficult to perform safe autonomous driving of the vehicle.

[0005] Therefore, research on technology for determining the accurate position of a vehicle is being actively conducted.

[0006] The information contained in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an admission or any form of suggestion that this information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] Various aspects of the present invention are directed to providing a vehicle and a method of controlling the vehicle, the vehicle being configured to accurately determine the position of the vehicle by guiding the precise positioning travel of the vehicle so that safe autonomous driving can be performed.

[0008] Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0009] According to one aspect of the present disclosure, a vehicle may include: a communication device; a storage device configured to store map information; a detection device configured to detect driving information of the vehicle and surrounding information of the vehicle; and a controller configured to determine a predicted position of the vehicle based on the map information, the driving information and the surrounding information, determine a precise position based on the predicted position and a position signal received through the communication device, and control the vehicle to travel in a way that reduces the difference between the predicted position and the precise position.

[0010] The controller may be configured to control the vehicle to travel following a reference element of the surrounding information based on a difference between the predicted position and the precise position and the position signal.

[0011] The controller may be configured to control the vehicle to follow surrounding vehicles traveling around the vehicle based on a difference between the predicted position and the precise position, and determine at least one of the predicted position and the precise position based on a positional relationship between the vehicle and the surrounding vehicles.

[0012] The controller may be configured to determine a position of a fixed object included in the reference element based on at least one of the map information and the position signal, and control the vehicle to follow the fixed object and travel to reduce a difference between the predicted position and the accurate position.

[0013] The controller may be configured to determine a road feature around the vehicle based on at least one of the map information and the position signal, and control the vehicle to follow a lane where the predetermined road feature exists and to travel to reduce a difference between the predicted position and the precise position.

[0014] The vehicle may further include an input device configured for a driver to input a command. The controller may be configured to control the vehicle to travel so as to reduce a difference between the predicted position and the accurate position when it is determined that the control right of the vehicle is changed based on the driver's command.

[0015] The controller may be configured to control the vehicle to travel so as to reduce a difference between the predicted position and the accurate position when the strength of the signal received by the communication device is less than a predetermined value.

[0016] The controller may be configured to control the vehicle to travel to reduce a difference between the predicted position and the accurate position when the amount of the reference element obtained as a reference for determining the surrounding information is less than a predetermined value.

[0017] The controller may be configured to determine position information of the vehicle based on the predicted position and the precise position.

[0018] According to another aspect of the present disclosure, a method for controlling a vehicle may include: a detection device obtains surrounding information of the vehicle; a controller determines a predicted position of the vehicle based on map information and the surrounding information; the controller determines a precise position based on the predicted position and a received position signal; and the controller controls the vehicle to drive in a manner that reduces the difference between the predicted position and the precise position.

[0019] Controlling the vehicle to travel to reduce the difference between the predicted position and the precise position may include controlling the vehicle to travel to follow a reference element of the surrounding information based on the difference between the predicted position and the precise position and the position signal.

[0020] Controlling the vehicle to travel to reduce the difference between the predicted position and the precise position may include: controlling the vehicle to follow surrounding vehicles traveling around the vehicle based on the difference between the predicted position and the predicted position. Determining the precise position based on the predicted position and the received position signal may include: determining at least one of the predicted position and the precise position based on a positional relationship between the vehicle and the surrounding vehicles.

[0021] Controlling the vehicle to drive in a way that reduces the difference between the predicted position and the precise position may include: determining the position of a fixed object included in the reference element based on at least one of map information and a position signal; and controlling the vehicle to follow the fixed object and drive in a way that reduces the difference between the predicted position and the precise position.

[0022] Controlling the vehicle to drive in a way that reduces the difference between the predicted position and the precise position may include: determining road features around the vehicle based on at least one of map information and a position signal; and controlling the vehicle to follow a lane where predetermined road features exist and drive in a way that reduces the difference between the predicted position and the precise position.

[0023] The method may further include: a driver inputting a command. Controlling the vehicle to travel to reduce the difference between the predicted position and the precise position may include: when it is determined that the control right of the vehicle is changed based on the driver's command, controlling the vehicle to travel to reduce the difference between the predicted position and the precise position.

[0024] Controlling the vehicle to travel so as to reduce the difference between the predicted position and the precise position may include controlling the vehicle to travel so as to reduce the difference between the predicted position and the precise position when the strength of the signal received by the communication device is less than a predetermined value.

[0025] Controlling the vehicle to travel to reduce the difference between the predicted position and the precise position may include controlling the vehicle to travel to reduce the difference between the predicted position and the precise position when the amount of reference elements obtained as a reference for determining surrounding information is less than a predetermined value.

[0026] The method may further include determining location information of the vehicle based on the predicted location and the precise location.

[0027] The methods and apparatus of the present invention have other features and advantages which will be apparent from or set forth in more detail in the accompanying drawings incorporated herein and the following detailed description, which together serve to explain certain principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a control block diagram of a vehicle according to an exemplary embodiment of the present invention;

[0029] Figure 2 is a diagram for describing an operation of obtaining position information of a traveling vehicle;

[0030] Figure 3 is a block diagram for describing an operation of deriving a predicted position and a precise position according to an exemplary embodiment of the present invention;

[0031] Figure 4 is a view for describing an operation of deriving a difference between a predicted position and a precise position according to an exemplary embodiment of the present invention;

[0032] Figures 5 to 8 is a diagram for describing a driving operation that reduces a difference between a predicted position and an accurate position; and

[0033] Fig. 9 is a flow chart according to an exemplary embodiment of the present invention.

[0034] It should be understood that the drawings are not necessarily drawn to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the invention. The specific design features of the present invention as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.

[0035] In the drawings, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing. DETAILED DESCRIPTION

[0036] Reference will now be made in detail to various embodiments of the present invention, examples of which are shown in the accompanying drawings and described below. Although the present invention will be described in conjunction with exemplary embodiments of the present invention, it will be understood that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended not only to cover exemplary embodiments of the present invention, but also to cover various alternative embodiments, modified embodiments, equivalent embodiments and other embodiments that may be included in the thought and scope of the present invention defined by the appended claims.

[0037] The same reference numerals refer to the same elements throughout the specification. Not all elements of the exemplary embodiments of the present disclosure will be described, but the description of the content known in the art or the content overlapping each other in the exemplary embodiments will be omitted. Terms such as "~ part", "~ module", "~ member", "~ block" used in the entire specification can be implemented as software and / or hardware, and multiple "~ parts", "~ modules", "~ members" or "~ blocks" can be implemented as single elements, or single "~ parts", "~ modules", "~ members" or "~ blocks" can include multiple elements.

[0038] It will be further understood that the term "connect" and its derivatives refer to both direct and indirect connections, and that indirect connections include connections through wireless communication networks.

[0039] Unless stated otherwise, the terms "comprises (or includes)" and "comprising (or including)" are inclusive or open-ended and do not exclude additional, unrecited elements or method steps.

[0040] It will be further understood that when a component is located on another component, it refers to both the case where the component is in contact with the other component and the case where other components exist between the two components.

[0041] It will be understood that although the terms "first", "second", "third", etc. may be used herein to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts may not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part.

[0042] It will be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0043] The reference numerals used for the method steps are only for convenience of explanation and do not limit the order of the steps. Therefore, unless the context clearly dictates otherwise, the written order can be implemented in other ways.

[0044] Hereinafter, the operating principles and embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0045] Figure 1 is a control block diagram of a vehicle according to an exemplary embodiment of the present invention.

[0046] Reference Figure 1 The vehicle 1 may include an input device 110 , a communication device 140 , a storage device 130 , a detection device 120 , and a controller 150 .

[0047] The communication device 140 may receive a position signal. The position signal may include a global positioning system (GPS) signal. The vehicle 1 may receive the signal from a satellite and calculate the current position of the vehicle 1.

[0048] The storage device 130 may store map information.

[0049] The map information may provide surrounding information on which the vehicle 1 is traveling. The map information may include road information on which the vehicle 1 is traveling, information such as the positions of surrounding buildings required to determine the position of the vehicle 1, and road facilities such as traffic lights and signs.

[0050] The storage device 130 may be implemented as at least one of a nonvolatile memory device (e.g., cache, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory), a volatile memory device (e.g., random access memory (RAM)), and a storage medium such as a hard disk drive (HDD) and a compact disk read-only memory (CD-ROM), but is not limited thereto. The storage device 130 may be a memory implemented as a chip separate from the processor of the controller 150, or may be integrated with the processor as a single chip.

[0051] The input device 110 may be provided in a configuration for the driver to input commands. The input device 110 may include hardware devices such as various buttons or switches, pedals, keyboards, mice, trackballs, joysticks, handles or steering rods for input. The detection device 120 may obtain surrounding information of the vehicle 1.

[0052] The detection device 120 can be a laser radar (LiDAR), a radar and a camera. The laser radar (LiDAR) emits laser pulses and receives light reflected from surrounding objects to measure the distance to the object, thereby accurately deriving the surrounding environment. The radar emits electromagnetic waves to the object and receives electromagnetic waves reflected from the object, thereby deriving the distance, direction and height relative to the object. The camera is used to obtain image signals.

[0053] The surrounding information obtained by the detection device 120 may include lane information of the road on which the vehicle 1 is traveling, building information of the surrounding environment, and information related to the positional relationship between the vehicle 1 and fixed objects including road facilities.

[0054] The controller 150 may determine a predicted position of the vehicle 1 based on the map information and the surrounding information.

[0055] The predicted position may be information derived by the vehicle 1 by comparing map information pre-stored in the vehicle 1 with surrounding information obtained by the vehicle 1. The controller 150 may determine the precise position based on the predicted position and the position signal received through the communication device 140. The precise position may refer to information derived by further including the position signal on the above-mentioned predicted position. The predicted position and the precise position will be described in detail later.

[0056] The controller 150 may control the vehicle 1 to travel so as to reduce the difference between the predicted position and the precise position. Since the precise position is position information derived by further considering the position signal on the predicted position, the precise position may be a more accurate position than the predicted position. Therefore, in order to derive the accurate position, the controller 150 may control the vehicle 1 to travel so as to reduce the difference between the predicted position and the precise position.

[0057] The controller 150 may control the vehicle 1 to travel following a reference element of the surrounding information based on the difference between the predicted position and the accurate position and the position signal.

[0058] The reference element of the surrounding information may be an element that serves as a reference for deriving the position of the vehicle 1 , and may refer to lane information of the road on which the vehicle 1 is traveling, building information of the surrounding environment, fixed objects including road facilities, and the like.

[0059] The controller 150 may control the vehicle 1 to follow surrounding vehicles traveling around the vehicle 1 based on a difference between the predicted position and the precise position, and determine at least one of the predicted position and the precise position based on a positional relationship between the vehicle 1 and the surrounding vehicles.

[0060] The surrounding information may include surrounding vehicles traveling around the vehicle 1. In the case where there are relatively many surrounding vehicles, the accuracy of the position of the vehicle 1 increases, so that the controller 150 can control the vehicle 1 to travel following the surrounding vehicles.

[0061] When it is determined that the control right of the vehicle 1 is changed based on the driver's command input from the input device 110 , the controller 150 may control the vehicle 1 to travel to reduce the difference between the predicted position and the accurate position.

[0062] When a driver's command including the driver's intention of autonomous driving is input, for example when the driver does not grasp the steering wheel and the driver inputs an autonomous driving command, the controller 150 can control the vehicle 1 to travel in a way that reduces the difference between the predicted position and the precise position to improve the accuracy of the position of the vehicle 1.

[0063] When the strength of the signal received by the communication device 140 is less than a predetermined value, the controller 150 may control the vehicle 1 to travel so as to reduce the difference between the predicted position and the accurate position.

[0064] When the strength of the signal received by the communication device 140 is less than a predetermined value, the vehicle 1 enters a tunnel, etc. and it is difficult to receive surrounding signals. In this case, the controller 150 may determine that it is difficult to derive accurate position information, and may control the vehicle 1 to travel to reduce the difference between the predicted position and the accurate position.

[0065] When the amount of reference elements obtained as a reference for determining surrounding information is less than a predetermined value, the controller 150 may control the vehicle 1 to travel to reduce the difference between the predicted position and the accurate position.

[0066] When the amount of reference elements obtained as a reference for determining surrounding information is less than a predetermined value, the controller 150 may determine that surrounding information around the vehicle 1 for deriving the position of the vehicle 1 is insufficient. Therefore, the controller 150 may control the vehicle 1 to travel to reduce the difference between the predicted position and the precise position. According to various aspects of the present invention, the travel to reduce the difference between the predicted position and the precise position may include traveling following the reference elements of the surrounding information.

[0067] The controller 150 may determine the position information of the vehicle 1 based on the predicted position and the precise position.

[0068] The controller 150 may be implemented using a memory storing an algorithm for controlling the operation of components in the vehicle 1 or data on a program implementing the algorithm, and a processor performing the above-mentioned operation using the data stored in the memory. The memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

[0069] Can correspond to Figure 1 At least one component may be added or deleted according to the performance of the components of the vehicle 1 shown. It will be easily understood by those skilled in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the vehicle 1.

[0070] at the same time, Figure 1 Each component shown may refer to software and / or hardware components such as field programmable gate arrays (FPGAs) and application specific integrated circuits (ASICs).

[0071] Figure 2 It is a view for describing an operation of obtaining position information of a traveling vehicle.

[0072] Reference Figure 2 , the vehicle 1 can use the surrounding information obtained by the detection device to derive the position information of the vehicle 1. The vehicle 1 can use the lane information L21 of the road on which the vehicle 1 is traveling. Figure 2 The operation of the vehicle 1 traveling in the third lane is shown. In this case, the controller 150 can determine that the vehicle 1 is traveling in the third lane based on the lane information obtained by the detection device.

[0073] In addition, fixed objects on the road where the vehicle 1 is traveling can be used to derive the position information of the vehicle 1. Figure 2 In FIG. 1 , a surveillance camera PP1 installed on a road is shown as a fixed object. Figure 2 The monitoring camera PP1 is shown as a reference element of the surrounding information. That is, the controller 150 may determine the position information of the vehicle 1 based on the position relationship between the monitoring camera PP1 and the vehicle 1 and the map information pre-stored in the vehicle 1 .

[0074] On the other hand, the vehicle 1 may determine the position information of the vehicle 1 based on the position signal. As described above, the position signal may include a global positioning system (GPS) signal C21.

[0075] On the other hand, in the present disclosure, information derived from surrounding information and map information pre-stored in vehicle 1 may refer to a predicted position, and information derived by further including a position signal may refer to a precise position, wherein the position signal includes a global positioning system (GPS) signal C21.

[0076] Figure 3 is a block diagram for describing an operation of deriving a predicted position and a precise position according to an exemplary embodiment of the present invention.

[0077] Reference Figure 3 , a position signal 140-1 may be received from the communication device 140, and the map information 130-1 may be stored in the storage device 130. Moreover, the detection device 120 may include a vehicle sensor 120-1 and a camera 120-2. The position signal 140-1 may be used to derive a precise position as described above.

[0078] The map information may be used to derive a predicted position 303 and a precise position 304 .

[0079] Meanwhile, the vehicle sensor 120 - 1 may include a wheel speed sensor or the like for obtaining speed information of the vehicle 1 , and the predicted position 303 may be derived based on the dynamic input signal processing 301 of the vehicle 1 using the information obtained by the vehicle sensor 120 - 1 .

[0080] Meanwhile, the camera 120 - 2 provided in the vehicle 1 may derive the position of the vehicle 1 based on the fixed objects 305 and the surrounding vehicles 306 provided around the vehicle 1 .

[0081] The camera 120 - 2 can derive the positional relationship between the fixed objects 305 and surrounding vehicles 306 set around the vehicle 1 and the vehicle 1 through sensor fusion 302 , and can derive the predicted position 303 and precise position 304 of the vehicle 1 by comparing the derived positional relationship with the map information.

[0082] Meanwhile, the predicted position 303 and the precise position 304 derived based on the above method may be calculated by using the predicted position statistics 307 and the precise position statistics 308 respectively, and the controller 150 may calculate the stability of the positioning of the position of the vehicle 1 based on the statistics 307 and 308 .

[0083] Figure 4 is a view for describing an operation of deriving a difference between a predicted position and a precise position according to an exemplary embodiment of the present invention.

[0084] Reference Figure 3 and Figure 4 , the controller 150 may determine the difference between the predicted position 303 and the precise position 304 by comparing the predicted position statistics 307 and the precise position statistics 308. Such a calculation may be derived by the following equation 1.

[0085] [Equation 1]

[0086]

[0087] Referring to Equation 1, Xu may represent the position of the vehicle 1, and Xp may represent the predicted position 303. p(Xu|Xp) is a conditional probability density function, which may represent the accuracy of the position of the vehicle 1 under the predicted position condition.

[0088] On the other hand, p(Xu|Xp, Z1, Z2, Z3, ....L) may be defined as a conditional probability density function representing the position of the vehicle 1 relative to the precise position 304 .

[0089] On the other hand, when the vehicle 1 performs accurate and stable positioning, p(Xu|Xp) may decrease and p(Xu|Xp, Z1, Z2, Z3....L) may increase. When the vehicle 1 performs unstable positioning, p(Xu|Xp) may increase and p(Xu|Xp, Z1, Z2, Z3....L) may decrease.

[0090] Therefore, based on Equation 1, when D is less than a predetermined value, the controller 150 may judge that the positioning is stable, and when D is greater than the predetermined value, the controller 150 may judge that the positioning is unstable.

[0091] Because the probability values ​​of the positions are widely distributed, the probability distribution P1 of the predicted position 303 may have a large variance value. On the other hand, the probability distribution P2 of the precise position 304 is relatively narrower than the probability distribution P1 of the predicted position 303 and has a small variance value.

[0092] Meanwhile, when D is greater than a predetermined value, the controller 150 may determine that the positioning is unstable, and improve the accuracy of the positioning to adjust D to a predetermined value or less. According to various aspects of the present invention, the controller 150 may control the vehicle 1 to follow a fixture 305 or the like as a reference element of the surrounding information of the vehicle 1.

[0093] Figure 3 and Figure 4This is merely an example for describing the operation of the present disclosure. The operation for evaluating the stability of vehicle positioning can be improved by utilizing various fault detection (FDI) algorithms (SPRT, CUSUM, GLR, etc.), and is not limited as long as the operation is used to evaluate the accuracy of vehicle position measurement.

[0094] Figures 5 to 8 is a diagram for describing a driving operation that reduces the difference between a predicted position and an accurate position.

[0095] As described above, the position of the vehicle 1 may be derived through the surrounding information of the vehicle 1 , and the surrounding information of the vehicle 1 may be determined based on the reference elements of the surrounding information.

[0096] Figure 5 It is shown that the vehicle 1 travels to one of the surrounding fixtures Q51 and Q52 as reference elements. In the case where accurate positioning of the vehicle 1 is required and it is difficult to accurately position the vehicle 1, the controller 150 can control to follow the reference element of the surrounding information to obtain accurate surrounding information.

[0097] Therefore, the vehicle 1 can move to the second lane where the fixtures Q51 and Q52 are more numerous and travel.

[0098] exist Figure 6 , showing that the vehicle 1 is traveling on a path having road features such as IC / JC as one of the reference elements. In a case where accurate positioning of the vehicle 1 is required and it is difficult to accurately position the vehicle 1, the controller 150 can control to follow the path having the road features to obtain accurate surrounding information.

[0099] Therefore, the vehicle 1 can move from the existing road to the third lane for following the IC / JC and travel.

[0100] Figure 7 It is shown that the vehicle 1 is traveling on the accurate path of the lane information L71 as one of the reference elements. In the case where accurate positioning of the vehicle 1 is required and it is difficult to accurately position the vehicle 1, the controller 150 can control to follow the accurate path of the lane information L71 to obtain accurate surrounding information.

[0101] exist Figure 7 Because the lane at the current position is covered by the material on the lane, it is difficult to obtain accurate lane information, so the controller 150 can control the vehicle 1 to move from the second lane to the third lane to obtain lane information L71, and can export the surrounding information and can accurately export the position of the vehicle 1.

[0102] Figure 8The vehicle 1 is shown traveling on a lane where a landmark L81 exists as one of the reference elements. In the case where accurate positioning of the vehicle 1 is required and it is difficult to accurately position the vehicle 1, the controller 150 can control to follow the path where the landmark L81 exists to obtain accurate surrounding information.

[0103] That is to say, Figure 8 In the example, when the vehicle 1 is traveling in the second lane or the third lane, there is no landmark (L82) around. Therefore, the controller 150 can control the vehicle 1 to travel in the first lane where there is a landmark L81 as a reference element of the surrounding information.

[0104] Figures 5 to 8 This is merely an example of the present disclosure, and there is no limitation on the operation of the vehicle 1 related to traveling following reference elements required to derive surrounding information.

[0105] Fig. 9 is a flow chart according to an exemplary embodiment of the present invention.

[0106] Reference Fig. 9 , the controller 150 may determine the predicted position 303 and the precise position 304 of the vehicle 1 (1001). The controller may derive the difference between the predicted position 303 and the precise position 304 (1002). The difference between the predicted position 303 and the precise position 304 may be derived by comparing the above-mentioned probability distributions. Meanwhile, when the difference between the predicted position 303 and the precise position 304 exceeds a predetermined value (1003), the controller 150 may control to follow the reference element of the surrounding information of the vehicle 1 (1004).

[0107] As is apparent from the above description, the present disclosure can accurately determine the position of a vehicle by guiding the precise positioning of the vehicle so that safe autonomous driving can be performed.

[0108] Meanwhile, the disclosed exemplary embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, the instructions may generate a program module to perform the operations included in the exemplary embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0109] The computer-readable recording medium may include all kinds of recording media storing commands that can be interpreted by a computer. For example, the computer-readable recording medium may be a ROM, RAM, a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like.

[0110] For convenience of explanation and accurate definition in the appended claims, the terms "upper", "lower", "inner", "outer", "upward", "downward", "upper", "lower", "front", "rear", "rear", "inner", "external", "inwardly", "outwardly", "inside", "outside", "inner", "outside", "forward" and "rearward" are used to describe the features of the exemplary embodiments with reference to their positions as shown in the drawings. It will be further understood that the term "connected" or its derivatives refer to both direct and indirect connections.

[0111] The foregoing description of specific exemplary embodiments of the present invention has been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and it is apparent that many modifications and variations are possible in light of the above teachings. The exemplary embodiments are selected and described to explain certain principles of the present invention and their practical application, so that those skilled in the art can make and utilize various exemplary embodiments of the present invention, as well as various alternative and modified embodiments thereof. The scope of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A vehicle comprising: communication devices; A storage device for storing map information; A detection device, detecting the driving information of the vehicle and the surrounding information of the vehicle; as well as A controller is configured to determine a predicted position of the vehicle based on the map information, the driving information and the surrounding information, determine a precise position based on the predicted position and a position signal received through the communication device, determine the stability of positioning by calculating a ratio of a predicted position statistic to a precise position statistic, wherein the predicted position statistic indicates a conditional probability density function representing the accuracy of the position of the vehicle under the predicted position condition, and the precise position statistic is a conditional probability density function representing the position of the vehicle relative to the precise position, determine that the positioning is unstable when the ratio of the predicted position statistic to the precise position statistic is greater than a predetermined value, and control the vehicle to follow the reference element of the surrounding information to reduce the difference between the predicted position and the precise position.

2. The vehicle according to claim 1, wherein: The controller determines a position of a fixed object included in the reference element based on at least one of the map information and the position signal, and controls the vehicle to travel following the fixed object to reduce a difference between the predicted position and the precise position.

3. The vehicle according to claim 1, wherein: The controller determines a road feature around the vehicle as one of reference elements based on at least one of the map information and the position signal, and controls the vehicle to travel following a lane where a predetermined road feature exists to reduce a difference between the predicted position and the precise position.

4. The vehicle according to claim 1, further comprising: Input device, used for the driver to input commands, When it is determined that the control right of the vehicle is changed based on the driver's command, the controller connected to the input device controls the vehicle to travel following a reference element of the surrounding information to reduce a difference between the predicted position and the precise position.

5. The vehicle according to claim 1, wherein: When the strength of the signal received by the communication device is less than a predetermined value, the controller controls the vehicle to travel following a reference element of the surrounding information to reduce a difference between the predicted position and the precise position.

6. The vehicle according to claim 1, wherein: When the amount of reference elements obtained as a reference for determining the surrounding information is less than a predetermined value, the controller controls the vehicle to travel following the reference elements of the surrounding information to reduce a difference between the predicted position and the precise position.

7. A method of controlling a vehicle, the method comprising: The detection device obtains the surrounding information of the vehicle; A controller determines a predicted position of the vehicle based on map information and the surrounding information; The controller determines a precise location based on the predicted location and a location signal received via a communication device; as well as The controller determines the stability of positioning by calculating the ratio of the predicted position statistics to the precise position statistics, wherein the predicted position statistics indicate a conditional probability density function representing the accuracy of the position of the vehicle under the predicted position condition, and the precise position statistics are conditional probability density functions representing the position of the vehicle relative to the precise position. When the ratio of the predicted position statistics to the precise position statistics is greater than a predetermined value, the controller determines that the positioning is unstable, and controls the vehicle to follow the reference elements of the surrounding information to reduce the difference between the predicted position and the precise position.

8. The method according to claim 7, wherein: Controlling the vehicle to follow the reference element of the surrounding information to reduce the difference between the predicted position and the accurate position includes: determining a position of a fixture included in the reference element based on at least one of the map information and the position signal; and The vehicle is controlled to follow the fixed object to reduce the difference between the predicted position and the accurate position.

9. The method according to claim 7, wherein: Controlling the vehicle to follow the reference element of the surrounding information to reduce the difference between the predicted position and the accurate position includes: determining a road feature around the vehicle as one of reference elements based on at least one of the map information and the position signal; and The vehicle is controlled to follow a lane having a predetermined road feature so as to reduce a difference between the predicted position and the precise position.

10. The method according to claim 7, further comprising: The driver enters the command, Wherein controlling the vehicle to follow the reference elements of the surrounding information to reduce the difference between the predicted position and the precise position includes: when it is determined that the control of the vehicle has changed based on the driver's command, controlling the vehicle to follow the reference elements of the surrounding information to reduce the difference between the predicted position and the precise position.

11. The method according to claim 7, wherein: Controlling the vehicle to follow the reference element of the surrounding information to reduce the difference between the predicted position and the accurate position includes: When the strength of the signal received by the communication device is less than a predetermined value, the vehicle is controlled to travel following the reference element of the surrounding information to reduce the difference between the predicted position and the accurate position.

12. The method according to claim 7, wherein: Controlling the vehicle to follow the reference element of the surrounding information to reduce the difference between the predicted position and the accurate position includes: When the amount of reference elements obtained as a reference for determining the surrounding information is less than a predetermined value, the vehicle is controlled to travel following the reference elements of the surrounding information to reduce a difference between the predicted position and the precise position.

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