System and method for generating a driving path in a vehicle

Abstract

Systems and methods are provided for generating a driving path in a vehicle to provide a three-point turn path. The system includes a processor that receives a driving path from a navigation terminal. The processor determines whether a U-turn section exists on the driving path, determines whether a U-turn cannot be made without backing up in response to determining that the U-turn section exists on the driving path, and generates a three-point turn path in response to determining that the U-turn cannot be made without backing up.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0079178 filed in the Korean Intellectual Property Office on June 20, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a system and method for generating a driving path in a vehicle to provide a three-point turn (or broken U-turn) path. Background Art

[0004] An autonomous vehicle can identify the driving environment to determine risks without the manipulation of its driver, and can plan a driving path to drive itself. The autonomous vehicle can plan a driving path for various driving conditions. Summary of the invention

[0005] Systems, devices, methods, and computer-readable media for generating a driving path in a vehicle are described, which may include a processor configured to receive a driving path from a navigation terminal. The processor may be further configured to determine that it is not feasible to make a single-move U-turn based on the presence of a U-turn segment on the driving path. The processor may be further configured to generate a three-point turn path based on the determination that the single-move U-turn is not feasible.

[0006] These and other features and advantages are described in greater detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0008] Figure 1 is a block diagram illustrating an exemplary system for generating a driving path in a vehicle;

[0009] Figure 2 is a diagram showing an exemplary three-point turn process for describing the present disclosure;

[0010] Figure 3 is a flow chart illustrating an exemplary method for generating a driving route;

[0011] Figure 4 is a flow chart illustrating an exemplary method for planning a three-point turn path;

[0012] Figure 5 is a diagram showing an exemplary method for describing planning a main forward path;

[0013] Figure 6 is a diagram showing an exemplary method for describing a planning reverse path;

[0014] Fig. 7A and Figure 7B is a diagram showing an exemplary method for describing a planning reverse path;

[0015] Fig. 8A and Figure 8B is a diagram showing an exemplary method for describing planning a secondary forward path;

[0016] Fig. 9 is a diagram showing an example of generating a reverse path; and

[0017] Fig.10 is a diagram showing an example of generating a secondary forward path. DETAILED DESCRIPTION

[0018] In the following, some aspects of the present disclosure will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals are used throughout to refer to the same or equivalent elements.

[0019] When describing examples according to the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, regardless of the order or priority of the corresponding elements.

[0020] Figure 1 is a block diagram illustrating a system for generating a driving route. Figure 2 is a diagram for describing a three-point turn process associated with the present disclosure.

[0021] The system 100 for generating a driving path (hereinafter referred to as “system 100 ”) may be installed on a vehicle equipped with an autonomous driving function. Figure 1 The system 100 may include a navigation terminal 110 , a detection device 120 , a memory 130 , a communication device 140 and / or a processor 150 .

[0022] If a destination is set, the navigation terminal 110 can navigate a driving path from a starting point (e.g., the current position of the vehicle) to the destination and can guide the driver along the navigated driving path. If the driving path is navigated to search for an optimal path (e.g., the shortest distance, the minimum time, etc.), the navigation terminal 110 can reflect real-time traffic information. Although not shown in the drawings, the navigation terminal 110 may include: a memory for storing map data; a global positioning system (GPS) receiver for measuring the position of the vehicle; a communication module for receiving traffic information from the outside; a processor for navigating the driving path and guiding the driver along the navigated driving path; and / or the like.

[0023] The detection device 120 can use sensors (for example, ultrasonic sensors, radio detection and ranging (RADAR), light detection and ranging (LiDAR), steering angle sensors, vehicle speed sensors, inertial measurement units (IMU), image sensors, etc.) to obtain surrounding information (for example, parked and stopped vehicles on the road, road status information, etc.) and / or driving information (for example, steering angle, vehicle speed, etc.).

[0024] The memory 130 may store specification information and / or predetermined setting information of the vehicle. The memory 130 may include a path generation algorithm, etc. The memory 130 may be a non-transitory storage medium that stores instructions executed by the processor 150. The memory 130 may be implemented as at least one of a storage medium (or recording medium) such as a flash memory, a hard disk, a solid state disk (SSD), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable programmable ROM (EEPROM), and an erasable programmable ROM (EPROM).

[0025] The communication device 140 may support establishing a wired or wireless communication connection between the system 100 and an external electronic device (e.g., an electronic control unit (ECU) etc.), and perform communication through the established connection. The communication device 140 may include a communication processor, a communication circuit, an antenna, a transceiver, etc.

[0026] The processor 150 may be connected to the navigation terminal 110, the detection device 120, the memory 130, and / or the communication device 140 through the vehicle network. The processor 150 may interact with the navigation terminal 110, the detection device 120, the memory 130, and / or the communication device 140 to control the overall operation of the system 100. The processor 150 may be implemented as at least one of a processing device such as an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a microcontroller, and a microprocessor.

[0027] The processor 150 may receive the driving path from the navigation terminal 110. The processor 150 may identify whether there is a U-turn section ahead of the vehicle based on the received driving path. The processor 150 may identify whether there is a U-turn section within a predetermined distance (e.g., 20 m) ahead of the vehicle on the driving path.

[0028] If there is a U-turn section in front of the vehicle, the processor 150 may identify whether a U-turn (e.g., a single-action U-turn) can be made in the U-turn section without reversing. If the vehicle enters the U-turn section, the processor 150 may determine whether a U-turn can be made without reversing based on surrounding information detected by the detection device 120 and / or road information extracted from map data. For example, if the road width is too narrow and it is difficult to make a U-turn without reversing or if there are parked and stopped vehicles on the U-turn path, the processor 150 may determine that it is impossible and / or impracticable to make a U-turn without reversing. The processor 150 may determine whether the road width is sufficient to make a U-turn without reversing based on the minimum turning radius of the vehicle. In other words, if the road width is less than the minimum turning radius of the vehicle, the processor 150 may determine that it is impossible and / or impracticable to make a U-turn without reversing. For example, the processor 150 may determine that making the U-turn is feasible and / or practical if the road width is sufficient to make the U-turn without backing up, or if there are no parked and / or stopped vehicles in the path of the U-turn.

[0029] If making a U-turn is feasible and / or practical, the processor 150 may generate (or plan) a U-turn path that does not include a reverse path (or U-turn path). The processor 150 may generate the U-turn path using a U-turn path generation algorithm.

[0030] If making a U-turn without reversing is not possible and / or feasible, the processor 150 may generate a U-turn path that includes a reversing path (or a three-point turn path). Figure 2 , a U-turn (or backing up) with a reverse can generally be performed using a main forward step 210, a reverse step 220, and a secondary forward step 230. Thus, a three-point turn path may include a main forward path, a reverse path, and a secondary forward path. The case where the processor 150 generates a U-turn path with a single reverse is described as an example, but the present disclosure is not limited thereto. The processor 150 may generate a U-turn path with two or more reverses.

[0031] The processor 150 may output the generated U-turn path to the navigation terminal 110 and / or the vehicle controller (not shown). The navigation terminal 110 may display the U-turn path on its display screen. The vehicle controller (not shown) may control the behavior of the vehicle (e.g., steering, braking, acceleration, deceleration, and / or the like) so that the vehicle follows the U-turn path.

[0032] Figure 3 is a flow chart illustrating a method for generating a driving route.

[0033] refer to Figure 3 , in S100, Figure 1 The processor 150 of the system 100 for generating a driving path may be from Figure 1 The navigation terminal 110 receives the driving path. The navigation terminal 110 can navigate the driving path from the starting point of the vehicle to the destination of the vehicle, and can send the navigated driving path to the processor 150.

[0034] In S110, the processor 150 may determine whether there is a U-turn section ahead of the vehicle based on the received driving path. The processor 150 may identify whether there is a U-turn section within a predetermined distance ahead of the vehicle on the driving path.

[0035] If it is determined that there is a U-turn section ahead of the vehicle, then in S120, the processor 150 may identify whether a U-turn can be made in the U-turn section without reversing. If the vehicle enters the U-turn section, the processor 150 may Figure 1 The processor 150 determines whether a U-turn can be made without reversing based on surrounding information detected by the detection device 120 and / or road information extracted from the map data. For example, if the road width is too narrow to make a U-turn without reversing or if there are parked and stopped vehicles on the U-turn path, the processor 150 may determine that making a U-turn is impossible and / or infeasible. For example, if the road width is sufficient to make a U-turn without reversing or if there are no parked and stopped vehicles on the U-turn path, the processor 150 may determine that a U-turn can be made without reversing.

[0036] If the U-turn can be made without reversing, then in S130, the processor 150 may generate (or plan) a U-turn path that does not include a reversing path (or a U-turn path). The processor 150 may generate the U-turn path using a U-turn path generation algorithm.

[0037] If it is impossible and / or impractical to make a U-turn without reversing, in S140, the processor 150 may generate a U-turn path including a turning path (or a three-point turning path). The three-point turning path may include a main forward path, a reverse path, and a secondary forward path.

[0038] The processor 150 may output the generated U-turn path to the navigation terminal 110 and / or the vehicle controller (not shown). The navigation terminal 110 may display the U-turn path on its display screen. The vehicle controller (not shown) may control the behavior of the vehicle so that the vehicle follows the U-turn path.

[0039] The case where the processor 150 generates a U-turn path or a three-point turn (or disconnected U-turn) path and controls the vehicle to drive along the U-turn path is described as an example, but the present disclosure is not limited thereto. The processor 150 may generate a main forward path on the three-point turn path, may control the driving of the vehicle along the main forward path to generate a reverse path, may move the vehicle along the reverse path to generate a secondary forward path, and may control the vehicle to follow the secondary forward path. Alternatively, the processor 150 may generate a main forward path on the three-point turn path and may control the driving of the vehicle along the main forward path to generate a reverse path. Thereafter, the processor 150 may move the vehicle along the main forward path, may control the behavior of the vehicle along the generated reverse path to generate a secondary forward path, and may control the driving of the vehicle along the secondary forward path if the control of the vehicle along the reverse path ends.

[0040] Figure 4 is a flow chart illustrating a method for planning a three-point turn route.

[0041] See also Figure 4 , in S210, Figure 1 The processor 150 may plan a main forward path. The processor 150 may generate the main forward path with respect to the road width, the minimum turning radius of the vehicle, etc. The processor 150 may set a target path to be entered by making a U-turn. The processor 150 may use a U-turn path planning technique to generate a U-turn path for entering the set target path (i.e., the main forward path). The processor 150 may use Figure 1 The detection device 120 identifies that there are parked and stopped vehicles on the U-turn path. If there are parked and stopped vehicles on the main forward path, the processor 150 may move the vehicle to a point where the vehicle does not collide with the parked and stopped vehicles.

[0042] In S220, the processor 150 may plan a reversing path based on the end point of the main forward path. If the vehicle is fully reversed (or backed up) in the reversable area and if the vehicle is reversed to a minimum value, the processor 150 may generate a reversing path separately. If the vehicle is fully reversed in the reversable area, the processor 150 may generate a reversing path with a minimum turning radius relative to the center of the front bumper of the vehicle. If the vehicle is reversed to a minimum value and if the vehicle is reversed with a maximum turn and performs a maximum turn in the opposite direction to move forward, the processor 150 may calculate a minimum reversing point so that the right corner point of the front bumper does not collide with a parked and stopped vehicle.

[0043] In S230, the processor 150 may plan a secondary forward path based on the end point of the reverse path. If the vehicle is fully reversed in the reverseable area, the processor 150 may calculate an arc path for allowing the vehicle to immediately enter the target path. If the vehicle is reversed to a minimum, the processor 150 may plan a secondary forward path so that the vehicle drives to a minimum turning radius.

[0044] The situation that a U-turn with reverse is impossible and / or impractical due to a parked and stopped vehicle is described as an example, but the present disclosure is not limited thereto. Due to the possibility of collision with objects such as roadside stones or roadside facilities, a U-turn with reverse is impossible and / or impractical.

[0045] Figure 5 is a diagram for describing an exemplary method of planning a main forward path.

[0046] If the autonomous vehicle 510 should make a U-turn on the driving path, if the autonomous vehicle 510 enters the U-turn into the target lane L tar , the processor 150 of the system 100 for generating a driving path loaded into the autonomous vehicle 510 can set the lane to enter by making a U-turn. The processor 150 can be programmed to allow the autonomous vehicle 510 to make a U-turn to enter the target lane L tar At this time, the processor 150 can use a previously known U-turn path planning method to plan the main forward path.

[0047] Autonomous vehicle 510 can perform autonomous driving along the planned main forward path. tar If there is a parked and stopped vehicle 520 on the road, the autonomous vehicle 510 may drive along the planned main forward path, and the vehicle 510 may move only to a point where the autonomous vehicle 510 does not collide with the parked and stopped vehicle 520. In other words, the autonomous vehicle 510 may stop at a point where the distance from the parked and stopped vehicle 520 reaches a predetermined threshold distance.

[0048] Figure 6 is a diagram for describing an exemplary method of planning a reverse path.

[0049] Autonomous vehicle 610 may perform main forward driving along the main forward path and may plan a reverse path based on the point where autonomous vehicle 610 ends the main forward driving. Processor 150 of system 100 for generating a driving path in autonomous vehicle 610 may calculate an arc having a minimum turning radius relative to the center of a front bumper of autonomous vehicle 610 and may generate a reverse path RT.

[0050] If the center of the front bumper of the autonomous vehicle 610 is the origin (0, 0), the processor 150 may represent the rotation center of the autonomous vehicle 610 as C(-I, -R 1 ). Herein, I may refer to the distance from the center of the front bumper of autonomous vehicle 610 to the center of the rear axle of autonomous vehicle 610, i.e., the sum of the front suspension and wheel base of autonomous vehicle 610, and R 1 It can refer to the rotation center C (-I, -R 1 ) to the center of the rear axle of the autonomous vehicle 610.

[0051] The processor 150 may calculate the minimum turning radius R relative to the center of the front bumper of the autonomous vehicle 610. 2 The arc point with a radius of θ. At this time, the processor 150 may gradually increase the central angle θ of the arc from 0 degrees to a predetermined angle A, and may calculate the arc point. Here, A may be determined as a value sufficient to cover the reversing area. The processor 150 may generate an arc path composed of the calculated arc points, that is, a reversing path RT.

[0052] If a reversing path RT is planned, the autonomous vehicle 610 can fully reverse in the reversing area based on the planned reversing path RT. For example, the autonomous vehicle 610 can set its current position to the reversing starting point P on the reversing path RT. start , and can follow the reversing path RT from the reversing starting point P start Reverse to the reversing end point P stop .

[0053] Fig. 7A and Figure 7B is a diagram for describing an exemplary method of planning a reverse path.

[0054] If there is a parked and stopped vehicle 720 on the main forward path, if the autonomous vehicle 710 travels along the main forward path, the autonomous vehicle 710 may stop if the distance from the parked and stopped vehicle 720 reaches a predetermined threshold distance. If reversing with maximum steering and moving forward in the opposite direction with maximum steering, the autonomous vehicle 710 may calculate a required rotation center angle so that the right corner points of the front bumpers of the parked and stopped vehicle 720 and the autonomous vehicle 710 do not collide with each other. The autonomous vehicle 710 may calculate a minimum reversing point based on the calculated rotation center angle.

[0055] Specifically, the processor 150 of the system 100 for generating a driving route in the autonomous vehicle 710 may set the coordinate axes of the polar coordinate system so that the parked and stopped vehicle 720 and the x-axis are parallel to each other at the point where the autonomous vehicle 710 stops to reverse.

[0056] If the autonomous vehicle 710 is moving forward, the processor 150 may steer the steering wheel by maximum steering and may calculate the turning path CL0 and the boundary line BL of the parked and stopped vehicle 720. The center point of the turning path CL0 may be P1(2R 1 ,θ 1 ).

[0057] The processor 150 may calculate a difference d between a maximum value on the y-axis of the turning path CL0 and a minimum value on the y-axis of the boundary line BL.

[0058] If the autonomous vehicle 710 moves forward to the minimum turning radius based on the calculated difference d, the processor 150 may generate a turning path CL1 for allowing the autonomous vehicle 710 not to collide with the parked and stopped vehicle 720. The center point of the turning path CL1 may be P2(2R 1 ,θ 2 ).

[0059] The processor 150 may calculate the rotation center angle between P1 and P2 using Equations 1 to 4 below.

[0060] [Equation 1]

[0061] d=y P1 -y P2 =y P1 -2Ri*sinθ 2

[0062] [Equation 2]

[0063] [Equation 3]

[0064]

[0065] [Equation 4]

[0066] Δθ=θ 2 -θ 1

[0067] Here, Ri is the distance from the rotation center of the vehicle to the center of the rear axle of the vehicle, θ 2 is the angle when P2 is displayed in polar coordinates (i.e., the angle from the x-axis to P2), θ 1 is the angle when P1 is displayed in polar coordinates (ie, the angle from the x-axis to P1).

[0068] The processor 150 may calculate a point P4 at which the center P3 of the front bumper of the autonomous vehicle 710 moves by Δθ using the following Equations 5 to 7.

[0069] [Equation 5]

[0070] x P4 =Rcosθ 4

[0071] [Equation 6]

[0072] y P4 =Rsinθ 4

[0073] [Equation 7]

[0074] θ 4 =θ 3 +Δθ

[0075] Thereafter, autonomous vehicle 710 may move backward with maximum steering until the center of the front bumper of autonomous vehicle 710 reaches P4 from P3.

[0076] Fig. 8A and Figure 8B is a diagram for describing an exemplary method of planning a secondary forward path.

[0077] If autonomous vehicle 810 backs up sufficiently to stop in the reversable area, system 100 for generating a driving path in autonomous vehicle 810 may calculate an arc path for allowing autonomous vehicle 810 to immediately enter the target lane from the current posture of autonomous vehicle 810. At this time, system 100 for generating a driving path may calculate the arc path using the turning radius and the rotation center of the arc.

[0078] The system 100 for generating a driving path may use the straight line L of the target lane. tar When the distance from the rotation center becomes the turning radius of the arc, the radius R is calculated.

[0079] First, the processor 150 of the system 100 for generating a driving path may calculate the straight line L of the target lane. tarThe equation (ax+by+c=0). Figure 8B , the processor 150 can obtain the straight line L of the target lane tar The equation (x = x 1 ).

[0080] Next, the processor 150 may calculate the target lane based on the straight line L tar The equation for calculating the turning radius of the arc R (= l + x 1 ). Here, the turning radius of the arc can be expressed as the following equation 8.

[0081] [Equation 8]

[0082]

[0083] Here, l is a value obtained by adding the front overhang (FOV) and the wheel base (W / B) of the vehicle, which refers to the distance from the center of the front bumper of the vehicle to the center of the rear axle of the vehicle.

[0084] And -al+c=f is replaced in the above equation 8 to be simplified. If bR+f≥0, And, if bR+f<0,

[0085] Finally, the processor 150 may calculate the arc path point. If the rotation center is C(-1, R), the processor 150 may calculate the arc point with the center of the front bumper of the autonomous vehicle 810 as the origin, and the minimum turning radius R relative to the center of the front bumper. 2 is the radius. At this time, the processor 150 may gradually increase the central angle θ of the arc from -π / 2 (on the y-axis) to a predetermined angle B, and may calculate the arc point. In this article, B is the angle required to align the vehicle heading on the target lane, which may be calculated.

[0086] Additionally or alternatively, if autonomous vehicle 810 is backing up to a minimum, processor 150 may generate a forward path relative to the center of the front bumper of autonomous vehicle 810. In this case, processor 150 may calculate the minimum turning radius R 2 A circular arc path with a radius of is generated as the secondary forward path.

[0087] Fig. 9 is a diagram showing an example of generating a reverse path. Fig.10 is a diagram showing an example of generating a secondary forward path.

[0088] like Fig. 9 As shown, if a reversing path is generated, the autonomous vehicle can set its current position to a reversing start point P91 based on the reversing path, and can reverse to a reversing end point P92.

[0089] After completing the reversing to the reversing end point, the autonomous vehicle may generate a secondary forward path RT1. The autonomous vehicle may drive forward along the secondary forward path RT1 to enter the target lane.

[0090] If a U-turn path is generated for autonomous driving, an embodiment of the present disclosure may generate and provide a U-turn path with a reverse (or three-point turn) to avoid collisions with vehicles parked and stopped in the target lane and to perform the U-turn safely.

[0091] Additionally, aspects of the present disclosure may relate to making U-turns with minimal backing.

[0092] Furthermore, aspects of the present disclosure may involve planning and providing a three-point turn path relative to the center of the front bumper of the vehicle with respect to the kinematic characteristics of the vehicle so that the vehicle can easily follow the planned U-turn path.

[0093] One aspect of the present disclosure provides a system and method for generating a driving path in a vehicle to generate and provide a U-turn path with reverse (or backing up) when generating a U-turn path for autonomous driving.

[0094] Another aspect of the present disclosure provides a system and method for generating a driving path in a vehicle to provide a path for making a U-turn with minimal backing up.

[0095] Another aspect of the present disclosure provides a system and method for generating a driving path in a vehicle to plan and provide a three-point turn path with respect to the kinematic characteristics of the vehicle relative to the center of a front bumper.

[0096] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0097] According to one aspect of the present disclosure, a system for generating a driving path in a vehicle may include a processor that receives the driving path from a navigation terminal. The processor may determine whether there is a U-turn section on the driving path, may determine whether the U-turn cannot be made without reversing in response to determining that the U-turn section exists on the driving path, and may generate a three-point turn path in response to determining that the U-turn cannot be made without reversing.

[0098] The processor may generate a three-point turn path including a primary forward path, a reverse path, and a secondary forward path.

[0099] The processor may set a target lane to be entered by making a U-turn and may generate a U-turn path for entering the target lane as a main forward path.

[0100] The vehicle may be driven along the primary forward path until a distance between the vehicle and an object located on the primary forward path reaches a predetermined threshold distance.

[0101] The processor may calculate an arc point having a radius of a minimum turning radius relative to a center of a front bumper of the vehicle, and generate a reverse path based on the calculated arc point.

[0102] The processor may calculate a rotation center angle at which a corner point of a front bumper of the vehicle does not collide with an object in response to the vehicle moving forward to a minimum turning radius, and may calculate a minimum backing point of the vehicle based on the rotation center angle.

[0103] The vehicle can be moved backwards with maximum steering to the minimum reversing point.

[0104] The processor may calculate an equation of a straight line for the target lane, may calculate a turning radius of the vehicle based on the equation of the straight line, and may generate a secondary forward path based on the turning radius of the vehicle.

[0105] The processor may calculate an arc point at which a minimum turning radius relative to a center of a front bumper of the vehicle is a radius, and may generate a secondary forward path based on the calculated arc point.

[0106] The processor may determine whether the U-turn cannot be made without reversing based on at least one of surrounding information detected by the detection device and road information extracted from the map data, or any combination thereof.

[0107] According to another aspect of the present disclosure, a method for generating a driving path in a vehicle may include: receiving a driving path from a navigation terminal; determining whether there is a U-turn section on the driving path; in response to determining that there is a U-turn section on the driving path, determining whether the U-turn cannot be made without reversing; and in response to determining that the U-turn cannot be made without reversing, generating a three-point turn path.

[0108] Generating the three-point turn path may include planning a primary forward path, planning a reverse path, and planning a secondary forward path.

[0109] Planning the main forward path may include: setting a target lane to be entered by making a U-turn; and generating the U-turn path for entering the target lane as the main forward path.

[0110] Planning the primary forward path may further include allowing the vehicle to drive along the primary forward path until a distance between the vehicle and an object located on the primary forward path reaches a predetermined threshold distance.

[0111] Planning the backing path may include: calculating an arc point, where a minimum turning radius relative to a center of a front bumper of the vehicle is a radius; and generating the backing path based on the calculated arc point.

[0112] Planning the reverse path may include: in response to the vehicle moving forward to a minimum turning radius, calculating a rotation center angle at which a corner point of a front bumper of the vehicle does not collide with an object; and calculating a minimum reverse point of the vehicle based on the rotation center angle.

[0113] Planning the backing path may further include allowing the vehicle to move backwards with maximum steering to a minimum backing point.

[0114] Planning the secondary forward path may include: calculating an equation of a straight line of the target lane; calculating a turning radius of the vehicle based on the equation of the straight line; and generating the secondary forward path based on the turning radius of the vehicle.

[0115] Planning the secondary forward path may include: calculating an arc point where a minimum turning radius relative to a center of a front bumper of the vehicle is a radius; and generating the secondary forward path based on the calculated arc point.

[0116] In addition, the step of determining whether a U-turn cannot be made without reversing the vehicle includes: determining whether a U-turn cannot be made without reversing the vehicle based on at least one or any combination of surrounding information detected by a detection device and road information extracted from map data.

[0117] All descriptions herein of actions of a processor may include actions caused by one or more processors.

[0118] In the above, although the present disclosure has been described with reference to examples and drawings, the present disclosure is not limited thereto, but various modifications and changes can be made by a person skilled in the art to which the present disclosure belongs without departing from the spirit and scope of the present disclosure claimed in the attached claims. Therefore, the examples of the present disclosure are not intended to limit the technical spirit of the present disclosure, but are provided for the purpose of illustration only. The scope of the present disclosure should be interpreted based on the attached claims, and all technical concepts within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. A system for a vehicle, the system include: The processor is configured as: receiving a driving route from a navigation terminal; Determining that a single-action U-turn cannot be performed based on the presence of a U-turn section on the driving path; as well as Based on a determination that the single-motion U-turn cannot be performed, a three-point turn path is generated for the U-turn segment.

2. The system according to claim 1, in, The processor is further configured to generate the three-point turn path including a primary forward path, a reverse path, and a secondary forward path.

3. The system according to claim 1, in, The processor is further configured to: Setting a target lane entered by the three-point turn path; and The three-point turn path for entering the target lane is generated as a main forward path.

4. The system according to claim 3, in, The vehicle is configured to drive along the primary forward path until a distance between the vehicle and an object located on the primary forward path reaches a predetermined threshold distance.

5. The system according to claim 1, in, The processor is further configured to: calculating an arc point of a minimum turning radius relative to a center of a front bumper of the vehicle; as well as A reversing path is generated based on the calculated arc points.

6. The system according to claim 1, in, The processor is further configured to: Calculating a rotation center angle so that a corner point of a front bumper of the vehicle avoids colliding with an object, thereby causing the vehicle to move forward to a minimum turning radius based on the calculated rotation center angle; as well as Based on the rotation center angle, a minimum backing point of the vehicle is calculated.

7. The system according to claim 6, in, The vehicle is configured to move rearwardly to the minimum backing point with maximum steering.

8. The system according to claim 1, in, The processor is further configured to: Calculate the equation for the straight line of the target lane; calculating a turning radius of the vehicle based on an equation for the straight line; and A secondary forward path is generated based on the turning radius of the vehicle.

9. The system according to claim 1, in, The processor is further configured to: calculating an arc point of a minimum turning radius relative to a center of a front bumper of the vehicle; and A secondary forward path is generated based on the calculated arc points.

10. The system according to claim 1, in, The processor is further configured to determine that the single-action U-turn cannot be performed based on at least one of surrounding information detected by the detection device and road information extracted from map data.

11. A method for a vehicle, the method include: receiving a driving route from a navigation terminal; Determining that a U-turn section exists on the driving path; determining that a single-action U-turn cannot be performed based on a determination that the U-turn section exists on the driving path; as well as Based on a determination that the single-motion U-turn cannot be performed, a three-point turn path is generated for the U-turn segment.

12. The method according to claim 11, in, Generating the three-point turning path includes: Plan the main forward path; Plan a reverse path; and Plan the next forward path.

13. The method according to claim 12, in, Planning the main forward path includes: Setting a target lane entered by the three-point turn path; and The three-point turn path for entering the target lane is generated as the main forward path.

14. The method according to claim 13, further comprising: include: The vehicle is allowed to drive along the primary forward path until a distance between the vehicle and an object located on the primary forward path reaches a predetermined threshold distance.

15. The method according to claim 12, in, Planning the reversing path includes: calculating an arc point of a minimum turning radius relative to a center of a front bumper of the vehicle; and The reverse path is generated based on the calculated arc points.

16. The method according to claim 12, in, Planning the reversing path includes: calculating a rotation center angle so that a corner point of a front bumper of the vehicle avoids collision with an object, so that the vehicle moves forward to a minimum turning radius based on the calculated rotation center angle; and A minimum backing point of the vehicle is calculated based on the rotation center angle.

17. The method according to claim 16, further comprising: include: The vehicle is moved backward to the minimum reversing point with maximum steering.

18. The method according to claim 12, in, Planning the secondary forward path includes: Calculate the equation for the straight line of the target lane; calculating a turning radius of the vehicle based on an equation for the straight line; and The secondary forward path is generated based on the turning radius of the vehicle.

19. The method according to claim 12, in, Planning the secondary forward path includes: calculating an arc point of a minimum turning radius relative to a center of a front bumper of the vehicle; and The secondary forward path is generated based on the calculated arc points.

20. The method according to claim 11, in, Determination that the single-action U-turn cannot be performed includes: Based on at least one of surrounding information detected by the detection device and road information extracted from the map data, it is determined that the single-action U-turn cannot be made.

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