Vehicle control device, vehicle device including the same, and method thereof

Abstract

The invention relates to a vehicle control device, a vehicle device including the same, and a method thereof. An apparatus for automatic driving of a vehicle may include a processor and a memory storing instructions that, when executed by the processor, may cause the apparatus to: determine a second path that is different from a first path for automatic driving of the vehicle, determine whether a path transition condition is satisfied, and determine whether the path transition condition is satisfied; determining a closing longitudinal distance at which path transfer from the first path to the second path is completed according to a moving distance between the first path and the second path on the basis of determining that the path transfer condition is satisfied, and generating a transfer path connecting the first path and the second path on the basis of the determined closing longitudinal distance, and the vehicle may be automatically driven along the transfer path.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the priority of Korean Patent Application No. 10-2023-0080496 filed on June 22, 2023 in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a vehicle control device, a vehicle device including the vehicle control device, and a method thereof. Background Art

[0004] The autonomous driving technology of the vehicle device may be applied in various forms. The vehicle device may determine an autonomous driving path in various ways and may travel along the determined path. For example, the vehicle device may determine a path based on image recognition using a camera or a path based on a high-definition map and may travel along the determined autonomous driving path.

[0005] During the autonomous driving process, if the vehicle device travels using only one path, it may not be able to effectively respond to changes in the surrounding conditions. Therefore, during the autonomous driving process, it may be necessary to continuously calculate the optimal path and change to the calculated path. The sudden change of the path during the autonomous driving process may cause discomfort or uneasiness to the passengers in the vehicle device. Therefore, when changing the path during the autonomous driving process, it is necessary to change the path steadily or gradually so that the passengers do not feel uncomfortable. Summary of the invention

[0006] The present invention has been made to solve the above-mentioned problems.

[0007] According to the present invention, a device for automatic driving of a vehicle may include: a processor; and a memory storing instructions, which, when executed by the processor, may enable the device to: determine a second path different from a first path used for automatic driving of the vehicle; determine whether a path transition condition is satisfied; based on determining that the path transition condition is satisfied, determine a convergent longitudinal distance to be completed for the path transition from the first path to the second path according to a moving distance between the first path and the second path; based on the determined convergent longitudinal distance, generate a transfer path connecting the first path and the second path; and enable the vehicle to automatically drive along the transfer path.

[0008] When the type of the first path and the type of the second path are different from each other, the path transfer condition of the device is satisfied. When executed by a processor, the instructions in the device can cause the device to determine the type of the first path or the type of the second path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0009] Based on determining that the moving distance is greater than or equal to the specified value, the path transfer condition of the device is satisfied. The moving distance of the device is a vertical distance between the first path and the second path.

[0010] When executed by a processor, the instructions in the device may cause the device to: calculate vertical distances between the first path and the second path at multiple points on the second path; and determine a maximum value among the vertical distances as the moving distance.

[0011] When executed by a processor, the instructions in the device can cause the device to calculate the vertical distances at the following locations: a first point on the second path, the first point corresponding to the position of the vehicle on the first path; a second point on the second path, the second point before the first point; and a third point on the second path, the third point after the first point.

[0012] When executed by a processor, the instructions in the device may cause the device to: calculate a time required to change from a first path to a second path based on the moving distance; and multiply the time by a longitudinal speed of the vehicle to determine a closing longitudinal distance.

[0013] When executed by the processor, the instructions in the device may cause the device to calculate the time based on determining that the curvature associated with the moving distance is in a bang-bang form. When executed by the processor, the instructions in the device may cause the device to calculate the time based on determining that the vehicle moves at a constant speed during the path change process.

[0014] When executed by a processor, the instructions in the device may cause the device to calculate the time based on a lateral acceleration below a specified value. When executed by a processor, the instructions in the device may cause the device to calculate the time based on a margin of a specified ratio.

[0015] When executed by a processor, the instructions in the device may cause the device to store information about the transfer path in combination with the first path and the second path. When executed by a processor, the instructions in the device may cause the device to: determine the first path within a first time period; and determine the second path within a second time period.

[0016] According to the present invention, a method for automatic driving of a vehicle executed by a processor may include: determining a second path different from a first path for automatic driving of the vehicle; determining whether a path transfer condition is satisfied; based on determining that the path transfer condition is satisfied, determining a longitudinal distance of convergence to be completed for path transfer from the first path to the second path according to a moving distance between the first path and the second path; based on the determined longitudinal distance of convergence, generating a transfer path connecting the first path and the second path; and causing the vehicle to automatically drive along the transfer path.

[0017] The method may further include: storing information about the transfer path in combination with the first path and the second path. The method may further include: determining the type of the first path or the type of the second path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0018] The method may further include: calculating vertical distances between the first path and the second path at a plurality of points of the second path; and determining a maximum value among the vertical distances as the moving distance.

[0019] The method may further include: calculating a time required to change from the first path to the second path based on the moving distance; and multiplying the time by the longitudinal speed of the vehicle to determine the longitudinal distance of the approach. The calculating of the time in the method may include calculating the time based on determining that the curvature associated with the moving distance is in a bang-bang form. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will be more clearly understood through the following detailed description presented in conjunction with the accompanying drawings:

[0021] Figure 1 An example of the configuration of a vehicle device according to an example of the present invention is shown;

[0022] Figure 2 An example of the configuration of a vehicle control device according to an example of the present invention is shown;

[0023] Figure 3 An example of an automated driving control method according to an example is shown;

[0024] Figure 4 An example of determining the path type according to an example is shown;

[0025] Figure 5 An example of calculating path movement amount according to an example is shown;

[0026] Figure 6 An example of the operation of a path transition determination device according to an example is shown;

[0027] Figure 7 An example of a close longitudinal distance according to an example is shown;

[0028] Figure 8 An example of calculating a close longitudinal distance according to an example is shown;

[0029] Fig. 9 An example of a generated transfer path according to an example is shown;

[0030] Fig.10 An example of a computing system according to an example of the present invention is shown. DETAILED DESCRIPTION

[0031] Hereinafter, some examples of the present invention will be described in detail with reference to the accompanying drawings. When adding reference numerals to the components of each drawing, it should be noted that the same components are designated by the same reference numerals even if the same components are shown on other drawings. In addition, when describing examples of the present invention, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily confuse the main points of the present invention.

[0032] When describing components according to examples of the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the properties, order, or sequence of the corresponding components. In addition, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as those commonly understood by technicians in the field to which the present invention belongs. Terms defined in commonly used dictionaries should be understood to have meanings equivalent to the contextual meanings in the relevant technical field, and should not be understood to have ideal or overly formal meanings unless clearly defined in this application.

[0033] The following will refer to Figures 1 to 10 Examples of the present invention are described in detail.

[0034] Figure 1 An example of a configuration of a vehicle device according to an example of the present invention is shown. Figure 1 A configuration related to autonomous driving is shown, but is not limited thereto.

[0035] refer to Figure 1 The vehicle device 101 (which may be installed in or on the vehicle) may include a sensor 110 , an information acquisition device 120 , and a vehicle control device 130 .

[0036] The sensor 110 can detect objects around the vehicle device 101. In other words, the sensor 110 can detect the distance, relative speed, etc. to the objects in front of / behind the vehicle (e.g., the front / rear vehicles, signs, obstacles, etc.). For example, the sensor 110 may include a camera, radio detection and ranging (RADAR) or light detection and ranging (LiDAR). In addition, the sensor 110 may have state information of various actuators of the vehicle. For example, the state information of the actuators of the vehicle may include the direction, speed, acceleration, angular velocity, etc. of the vehicle.

[0037] The information acquisition device 120 may acquire information related to autonomous driving, such as the location information and map information of the vehicle. For example, the information acquisition device 120 may acquire the current location information of the vehicle through a global positioning system (GPS), and may acquire high-definition map information such as the curvature of the road on which the vehicle is traveling or the current lane position of the vehicle. In this case, the information acquisition device 120 may store the map information in a separate storage device (not shown), and may receive the location information or map information of the vehicle from an external server through a communication device (not shown).

[0038] The vehicle control device 130 may determine an autonomous driving path of the vehicle device 101. For example, the vehicle control device 130 may determine the autonomous driving driving path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0039] The vehicle control device 130 may determine an automatic driving path according to a specified time period using a solution (or type) with the highest reliability, and may cause the vehicle device 101 to move along the determined driving path. For example, the vehicle control device 130 may determine a first path based on a high-definition map within a first time period. Thereafter, the vehicle control device 130 may determine a second path based on a lane ahead within a second time period.

[0040] When the vehicle device 101 is traveling along the first path, if the second path is determined to be the optimal path, the vehicle control device 130 may determine whether to change the path. When changing the path, the vehicle control device 130 may determine a longitudinal distance of convergence at a level at which the passenger will not feel uncomfortable. The vehicle control device 130 may generate a transition path connecting the first path and the second path based on the determined longitudinal distance of convergence. The vehicle control device 130 may cause the vehicle device 101 to travel along the transition path to change the automatic driving path. Figure 2 The detailed functions of the vehicle control device 130 are described in detail.

[0041] Figure 2 An example of a configuration of a vehicle control device according to an example of the present invention is shown.

[0042] refer to Figure 2 The vehicle control device 130 may include a path determination device 205 , a first input device 210 , a second input device 220 , a path transfer determination device 230 , and a transfer path generator 240 .

[0043] The path determination device 205 may determine the driving path of the vehicle device 101 in various ways according to the specified determination time period. For example, the path determination device 205 may determine the driving path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0044] The path determination device 205 may determine the reliability of each type (e.g., map type, front lane type, side lane type, or road boundary type) related to the determination of the autonomous driving in a specified determination time period. The reliability may be a value determined by comprehensively reflecting the driving state, the arrangement of surrounding objects, etc. The path determination device 205 may determine the autonomous driving path of the type with the highest reliability in each determination time period and send it to the first input device 210 and the second input device 220.

[0045] The first input device (or path type input device) 210 may receive information about the path determined as the optimal path by the path determination device 205 during a specified determination period. The first input device 210 may send type information of the previous path and type information of the current path to the path transition determination device 230.

[0046] The second input device (or path movement amount input device) 220 can receive information about the path determined as the optimal path by the path determination device 205 in a specified determination time period. The second input device 220 can calculate the path movement amount between the previous path and the current path (or, the vertical distance between the paths or the lateral distance between the paths). The path movement amount can be the vertical distance between the first path and the second path. The second input device 220 can calculate the maximum value of the vertical distances between the first path and the second path as the path movement amount. The second input device 220 can send the calculated path movement amount to the path transfer determination device 230.

[0047] The path transfer determining device 230 may receive information about the first path in the previous time period (e.g., type information of the first path) and information about the second path in the current time period (type information of the second path) from the first input device 210. The path transfer determining device 230 may receive the path movement amount from the second input device 220.

[0048] The path transfer determining device 230 can identify whether the path transfer condition is satisfied based on the received information. The path transfer condition can be a condition indicating a state in which the path transfer is required, and the path transfer condition can be satisfied if the first path and the second path are of different types or if the path movement amount is greater than or equal to a specified reference value (e.g., 0.1 m).

[0049] If the path transfer condition is satisfied, the path transfer determination device 230 may calculate a longitudinal distance for the change from the first path to the second path. The longitudinal distance may be determined to be a level at which the passenger will not feel uncomfortable or unwell. The path transfer determination device 230 may send the calculated longitudinal distance to the transfer path generator 240. Additional information on the calculation of the longitudinal distance will be referred to in Figures 3 to 8 supply.

[0050] The transfer path generator 240 may generate a transfer path between the first path and the second path based on the received convergence longitudinal distance. The vehicle device 101 may travel along the generated transfer path to change from the first path to the second path.

[0051] Figure 3 An example of an automatic driving control method according to an example is shown.

[0052] refer to Figure 3 In operation 310, the vehicle device 101 may travel along a first path. The first path may be a path determined as an optimal path within a previously determined time period.

[0053] In operation 320, the vehicle device 101 may determine a second path. The second path may be a path determined to be an optimal path within a current determination time period.

[0054] In operation 330, the vehicle device 101 may identify whether a path transition condition is satisfied. The path transition condition may be a condition for determining whether a change from a first path to a second path occurs.

[0055] According to an example, if the type of the first path and the type of the second path are different from each other, the path transfer condition may be satisfied. For example, if the first path is a path (or map type) determined based on a high-definition map, and the second path is a path (or front lane type) determined based on a front lane (e.g., a lane directly in front of the vehicle), the vehicle device 101 may determine that the path transfer condition is satisfied.

[0056] According to an example, if the path movement amount (or the maximum movement amount) is greater than or equal to a specified reference value, the path transfer condition may be satisfied. For example, the path movement amount may be the maximum value of the vertical distances between the first path and the second path. If the path movement amount is greater than or equal to a specified reference value (e.g., 0.1 m), the vehicle device 101 may determine that the path transfer condition is satisfied.

[0057] If the path transition condition is not satisfied (NO in operation 330 ), the vehicle device 101 may determine not to change the path, and the vehicle may continue to travel along the existing first path.

[0058] In operation 340, the vehicle device 101 may determine a longitudinal distance of approach at which the passenger does not feel uncomfortable based on the path movement amount (or the maximum movement amount). If the longitudinal distance of approach becomes shorter, the discomfort felt by the passenger may increase. If the longitudinal distance of approach becomes longer, the discomfort felt by the passenger may decrease, but the driving stability may decrease.

[0059] According to an example, the vehicle device 101 may determine the closing longitudinal distance by the following Equation 1 reflecting the path movement amount (or maximum movement amount) and the longitudinal speed of the vehicle device 101 .

[0060] [Equation 1]

[0061]

[0062] n: path movement amount (or maximum movement amount)

[0063] Vs: Longitudinal speed of the vehicle

[0064] In operation 350, the vehicle device 101 may generate a transfer path connecting the first path and the second path based on the determined convergence longitudinal distance. The transfer path may be determined by reflecting the convergence longitudinal distance.

[0065] In operation 360, the vehicle device 101 may travel along the generated transfer path and the second path. During the transfer process, the vehicle device 101 may maintain a stable driving state so that the passengers do not feel uncomfortable.

[0066] Figure 4 An example of determining a path type according to an example is shown.

[0067] refer to Figure 2 and Figure 4 The path determination device 205 of the vehicle device 101 can determine the driving path of the vehicle device 101 in various ways according to the specified determination time period. For example, the path determination device 205 can determine the driving path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0068] According to an example, the path determination device 205 may determine the reliability of each type (e.g., map type, front lane type, side lane type, or road boundary type) related to the determination of the autonomous driving in a specified determination time period. The reliability may be a value determined by comprehensively reflecting the driving state, the arrangement of surrounding objects, etc. The path determination device 205 may determine the autonomous driving path of the type with the highest reliability in each determination time period and send it to the first input device 210 and the second input device 220.

[0069] In the first time period, the path determination device 205 may determine a first path (or optimal path) 410 with the highest reliability. For example, the first path 410 may be a path (or map type) based on a high-definition map. The vehicle device 101 may travel along the first path 410. The path determination device 205 may send information about the first path 410 (hereinafter referred to as "first path information") to the first input device 210 and the second input device 220. The first input device 210 and the second input device 220 may store the first path information.

[0070] In a second time period after the first time period, the vehicle device 101 may travel along the first path 410. In the second time period, the path determination device 205 may determine a second path 420 having the highest reliability. For example, the second path 420 may be a path based on a road boundary (or a road boundary type). The path determination device 205 may send information about the second path 420 (hereinafter referred to as "second path information") to the first input device 210 and the second input device 220.

[0071] In a state where the first input device 210 stores the first path information, the first input device 210 may receive the second path information. The first input device 210 may send type information (e.g., map type) of the first path 410 and type information (e.g., road boundary type) of the second path 420 to the path transition determining device 230.

[0072] In a state where the second input device 220 stores the first path information, the second input device 220 may receive the second path information. The second input device 220 may calculate the maximum movement amount based on the first path information and the second path information (refer to Figure 5 The second input device 220 may send the calculated maximum movement amount to the path transfer determining device 230 .

[0073] The path transfer determination device 230 can determine whether to transfer the path based on the type information of the first path 410, the type information of the second path 420, and the maximum movement amount. Hereinafter, the following case will be described: in the first time period (or the previous time period), the first path 410 is determined as the optimal path, so that the vehicle device 101 travels along the first path 410, and in the second time period (or the current time period), the second path 420 is determined as the optimal path.

[0074] Figure 5 An example of calculating the path movement amount according to the example is shown.

[0075] refer to Figure 2 and Figure 5 In the first time period, the second input device 220 may receive first path information about the first path 410 from the path determination device 205. The second input device 220 may store the first path information. In a second time period after the first time period, the second input device 220 may receive second path information about the second path 420 from the path determination device 205.

[0076] The second input device 220 may calculate a path movement amount between the first path 410 and the second path 420 based on the first path information and the second path information. The path movement amount may be a distance from a point on the second path 420 (e.g., a point corresponding to the current position of the vehicle device 101) to a point where a straight line drawn in a vertical direction intersects the first path 410.

[0077] According to an example, the second input device 220 may respectively calculate the path movement amounts at a plurality of points of the second path 420 , and may determine a maximum value among the path movement amounts as the path movement amount (or maximum movement amount).

[0078] For example, the second input device 220 may calculate the movement amount (or vertical distance) at the first point 510 (e.g., -10 m) before the point (or second point 520) corresponding to the current position of the vehicle device 101, the second point 520 (e.g., 0 m) corresponding to the current position of the vehicle device 101, and the third point 530 (e.g., 20 m) and the fourth point 540 (e.g., 40 m) after the point corresponding to the current position of the vehicle device 101, respectively. The second input device 220 may calculate the first movement amount 510a at the first point 510, and may calculate the second movement amount 520a at the second point 520. The second input device 220 may calculate the third movement amount 530a at the third point 530, and may calculate the fourth movement amount 540a at the fourth point 540. The second input device 220 may determine the maximum value among the first to fourth movement amounts 510a, 520a, 530a, and 540a as the maximum movement amount, and may send the determined maximum movement amount to the path transfer determination device 230.

[0079] Figure 6 An example of the operation of the path transition determination device according to the example is shown.

[0080] refer to Figure 2 and Figure 6 In operation 610, the path transfer determining device 230 may receive information about the first path (e.g., type information of the first path) and information about the second path (e.g., type information of the second path) from the first input device 210. The path transfer determining device 230 may receive a path movement amount (or a maximum movement amount) from the second input device 220.

[0081] In operation 620, the path transfer determining device 230 may identify a path transfer condition. The path transfer condition may be satisfied if the first path and the second path are of different types or if the path movement amount (or maximum movement amount) is greater than or equal to a specified reference value (eg, 0.1 m).

[0082] If the path transfer condition is not satisfied (No in operation 620 ), in operation 625 , the path transfer determining device 230 may maintain the existing first path.

[0083] If the path transfer condition is satisfied (operation 620 is yes), in operation 630, the path transfer determining device 230 may calculate a longitudinal distance for closing in for changing from the first path to the second path. The longitudinal distance for closing in may be determined as a level at which the passenger will not feel uncomfortable during the path transfer process. According to an example, the path transfer determining device 230 may calculate a closing in time according to the path movement amount to determine the longitudinal distance for closing in.

[0084] In operation 640, the path transfer determination device 230 may send the calculated convergence longitudinal distance to the transfer path generator 240. The transfer path generator 240 may generate a transfer path between the first path and the second path based on the determined convergence longitudinal distance.

[0085] Figure 7 An example of a close longitudinal distance according to an example is shown.

[0086] refer to Figure 7 If the path transfer condition is satisfied, the path transfer determining device 230 may use the path movement amount (or the maximum movement amount) to determine the approaching longitudinal distance L. When the path is transferred, the approaching longitudinal distance may be determined to be a level at which the passenger will not feel uncomfortable.

[0087] For example, the closing longitudinal distance may be determined by reflecting the path movement amount (or maximum movement amount), as shown in the following equation 1.

[0088] [Equation 1]

[0089]

[0090] n: path movement amount (or maximum movement amount)

[0091] Vs: Longitudinal speed of the vehicle

[0092] A transfer path connecting the first path 410 and the second path 420 may be generated based on the longitudinal distance of the close approach. The vehicle device 101 may travel along the transfer path within the longitudinal distance of the close approach to change the automatic driving path from the first path 410 to the second path 420. Additional information on the calculation of the longitudinal distance of the close approach will be referred to in Figure 8 supply.

[0093] Figure 8 An example of calculating the convergence longitudinal distance according to the example is shown.

[0094] refer to Figure 8 If the path transfer condition is satisfied, the path transfer determining device 230 may calculate the longitudinal distance of the change from the first path to the second path. If the first path and the second path are of different types, or if the path movement amount (or maximum movement amount) is greater than the reference value, the path transfer condition may be satisfied.

[0095] During the path change process, the degree of discomfort or uneasiness felt by people may be related to the lateral acceleration a of the vehicle device 101. n In the process of path transfer, if the expected lateral acceleration a n，期望If the vehicle's current longitudinal velocity V s Using the expected lateral acceleration a n，期望 The curvature value n" 期望 It can be obtained as shown in Equation 2 below.

[0096] [Equation 2]

[0097]

[0098] The transfer path (or connection path) connecting between the first path and the second path should be continuously connected between the first path and the second path so as not to cause discomfort. Therefore, at the starting point of the path change and at the end point of the path change, the value of the change amount n' (on the second graph 820) of the path movement amount n (on the first graph 810) can be set to "0". In order to reduce the calculation time, the opposite simple Bang-Bang form can be assumed to calculate a certain curvature n" (see the third graph 830).

[0099] The curvature n" is the slope on the graph of n' (or the second graph 820), which can be derived as follows.

[0100] [Equation 3]

[0101]

[0102] Therefore, n" can be obtained as follows.

[0103] [Equation 4]

[0104]

[0105] The area on the graph of n' (or the second graph 820) can be found as follows.

[0106] [Equation 5]

[0107]

[0108] Therefore, n' can be derived as follows.

[0109] [Equation 6]

[0110]

[0111] When the above equation 6 is substituted into the above equation 4, the curvature n" can be expressed as a formula with respect to the path movement amount n and the longitudinal distance s.

[0112] [Equation 7]

[0113]

[0114] When Equation 7 above is compared with Equation 2 above, the expected lateral acceleration a n，期望 and the path movement amount n can have the following relationship.

[0115] [Equation 8]

[0116]

[0117] [Equation 9]

[0118]

[0119] The approach time t for traveling along the transfer path at the desired lateral acceleration can be derived as follows.

[0120] [Equation 10]

[0121]

[0122] According to regulations related to autonomous driving (e.g., UNECE WP.29 no.157 (Automatic Lane Keeping System)), the expected lateral acceleration value during lane keeping can be set to be no greater than a specified value (e.g., 1.0 m / s 2 ). If this is reflected, the approach time t for traveling along the transfer path at the desired lateral acceleration can be derived as follows.

[0123] [Equation 11]

[0124] Approach time

[0125] For the sake of calculating the time, assuming that the speed of the vehicle device 101 does not change during the path change, if a 50% safety margin is added by reflecting the point where the curvature n" is assumed to be a Bang-Bang type curvature, the closing time t can be obtained as follows.

[0126] [Equation 12]

[0127] Approach time

[0128] Therefore, the close longitudinal distance can be obtained as follows.

[0129] [Equation 1]

[0130]

[0131] n: path movement amount (or maximum movement amount)

[0132] Vs: Longitudinal speed of the vehicle

[0133] Fig. 9An example of generating a transition path according to an example is shown.

[0134] refer to Figure 2 and Fig. 9 , the transfer path generator (or transfer path generating device) 240 may generate a path based on the determined convergence longitudinal distance. The transfer path generator 240 may reflect the convergence longitudinal distance L at the current driving point 901 to determine the second point 902. The transfer path generator 240 may connect the second point 902 at the current driving point of the first path 410 to generate the transfer path 910. The transfer path generator 240 may store information about the transfer path 910 in combination with the first path 410 and the second path 420.

[0135] The vehicle device 101 may travel along the transfer path 910. During the path transfer process, discomfort felt by passengers may be minimized. If the path change is completed, the vehicle device 101 may travel along the second path 420.

[0136] Fig.10 An example of a computing system according to an example of the present invention is shown.

[0137] refer to Fig.10 , the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0138] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0139] Therefore, the operations of the methods or algorithms described in conjunction with the examples disclosed herein may be implemented directly in hardware or in software modules executed by the processor 1100, or in a combination thereof. The software modules may reside on a storage medium (e.g., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable hard disk, and CD-ROM.

[0140] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Optionally or additionally, the storage medium may be integrated with the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a passenger terminal. In another case, the processor and the storage medium may reside in a user terminal as separate components.

[0141] An example of the present invention provides a vehicle control device, a vehicle device including the device, and a method thereof, wherein the vehicle control device is used to determine whether to change the route during automatic driving, calculate an appropriate longitudinal distance of approach at which passengers will not feel uncomfortable, and when changing the route, reflect the longitudinal distance of approach during the route change process.

[0142] The technical problems solved by the present invention 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 invention belongs through the following description.

[0143] According to an example of the present invention, a vehicle device can support automatic driving and can include a vehicle control device. When the vehicle device is driving along a first path by automatic driving, the vehicle control device can determine a second path, can identify a path transfer condition, and if the path transfer condition is satisfied, can determine a longitudinal distance of convergence from the first path to the second path based on a path movement amount between the first path and the second path, can generate a transfer path connecting the first path and the second path based on the determined longitudinal distance of convergence, and can cause the vehicle device to drive along the transfer path.

[0144] According to an example, if the type of the first path and the type of the second path are different from each other, the path transfer condition may be satisfied.

[0145] According to an example, the vehicle control device may determine the type of the first path or the type of the second path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

[0146] According to an example, if the path movement amount is greater than or equal to a specified value, the path transition condition may be satisfied.

[0147] According to an example, the path movement amount may be a vertical distance between the first path and the second path.

[0148] According to an example, the vehicle control device may calculate vertical distances between the first path and the second path at a plurality of points of the second path, and may determine a maximum value among the vertical distances as the path movement amount.

[0149] According to an example, the vehicle control device may calculate vertical distances at a first point of the second path, a second point before the first point, and a third point after the first point, the first point corresponding to the position of the vehicle device on the first path.

[0150] According to an example, the vehicle control device may calculate a time required to change from the first path to the second path based on the path movement amount, and may multiply the time by the longitudinal speed of the vehicle device to determine the closing longitudinal distance.

[0151] According to an example, if the curvature of the path movement amount is in a Bang-Bang form, the vehicle control device may calculate the time.

[0152] According to an example, if the vehicle device travels at a constant speed during the route change, the vehicle control device may calculate the time.

[0153] According to an example, the vehicle control means may calculate the time reflecting a lateral acceleration below a specified value.

[0154] According to an example, the vehicle control device may calculate the time reflecting a margin of a specified ratio.

[0155] According to an example, the vehicle control device may store information about the transfer path in combination with the first path and the second path.

[0156] According to another example of the present invention, a vehicle control device can support automatic driving of a vehicle device. The vehicle control device may include a path determination device, a path transfer determination device, and a transfer path generator. The path determination device can determine a first path within a first time period, and can determine a second path within a second time period. The path transfer determination device can identify a path transfer condition, and if the path transfer condition is met, it can determine a longitudinal distance of convergence from the first path to the second path based on the path movement amount between the first path and the second path. The transfer path generator can generate a transfer path connecting the first path and the second path based on the determined longitudinal distance of convergence.

[0157] According to an example, if the type of the first path and the type of the second path are different from each other, the path transfer condition may be satisfied.

[0158] According to an example, if the path movement amount is greater than or equal to a specified value, the path transition condition may be satisfied.

[0159] According to an example, the path movement amount may be a vertical distance between the first path and the second path.

[0160] According to an example, the path transition determination means may utilize, as the path movement amount, a maximum value among vertical distances between the first path and the second path, the vertical distances being calculated at a plurality of points on the second path.

[0161] According to another example of the present invention, a control method for a vehicle device may include determining a second path while the vehicle device is traveling along a first path by automatic driving, identifying a path transfer condition, and if the path transfer condition is met, determining a longitudinal distance of convergence for changing from the first path to the second path based on a path movement amount between the first path and the second path, generating a transfer path connecting the first path and the second path based on the determined longitudinal distance of convergence, and causing the vehicle device to travel along the transfer path.

[0162] According to an example, if the type of the first path and the type of the second path are different from each other, the path transfer condition may be satisfied.

[0163] According to an example, if the path movement amount is greater than or equal to a specified value, the path transition condition may be satisfied.

[0164] According to an example, the control method may further include storing information about the transfer path in combination with the first path and the second path.

[0165] If the route needs to be changed during autonomous driving, the present technology can determine the closing time or closing longitudinal distance so that the passenger does not feel uncomfortable and the driving route can be changed.

[0166] Additionally or alternatively, various effects directly or indirectly determined by the present invention can be provided.

[0167] Although the present invention has been described above with reference to the examples and drawings, the present invention is not limited thereto and those skilled in the art may make various changes and modifications without departing from the spirit and scope of the invention as claimed in the appended claims.

[0168] Therefore, examples of the present invention are provided to explain the spirit and scope of the present invention, but are not limited thereto, and the spirit and scope of the present invention are not limited by these examples. The scope of the present invention 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 invention.

Claims

1. A device for automatic driving of a vehicle, the device comprising: processor; as well as a memory storing instructions which, when executed by the processor, cause the apparatus to: determining a second path different from the first path for autonomous driving of the vehicle; Determine whether the path transfer condition is met; Based on determining that the path transfer condition is satisfied, determining a longitudinal distance of convergence to be completed for path transfer from the first path to the second path according to a moving distance between the first path and the second path; generating a transfer path connecting the first path and the second path based on the determined longitudinal distance of convergence; Enables the vehicle to drive autonomously along the transfer path.

2. The device for automatic driving of a vehicle according to claim 1, wherein: When the type of the first path and the type of the second path are different from each other, the path transfer condition is satisfied.

3. The device for automatic driving of a vehicle according to claim 1, wherein: When executed by a processor, the instructions cause the device to determine the type of the first path or the type of the second path based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

4. The device for automatic driving of a vehicle according to claim 1, wherein: Based on determining that the moving distance is greater than or equal to the specified value, the path transfer condition is satisfied.

5. The device for automatic driving of a vehicle according to claim 1, wherein: The moving distance is a vertical distance between the first path and the second path.

6. The device for automatic driving of a vehicle according to claim 1, wherein: When executed by a processor, the instructions cause the device to: calculating a perpendicular distance between the first path and the second path at a plurality of points on the second path; The maximum value among the vertical distances is determined as the moving distance.

7. The device for automatic driving of a vehicle according to claim 6, wherein: When executed by a processor, the instructions cause the device to calculate the vertical distance at the following locations: a first point of the second path, the first point corresponding to a position of the vehicle on the first path; a second point of the second path, the second point being before the first point; as well as A third point of the second path, the third point being after the first point.

8. The device for automatic driving of a vehicle according to claim 1, wherein: When executed by a processor, the instructions cause the device to: calculating the time required to change from the first path to the second path based on the moving distance; The time is multiplied by the longitudinal speed of the vehicle to determine the closing longitudinal distance.

9. The device for automatic driving of a vehicle according to claim 8, wherein: When executed by a processor, the instructions cause the apparatus to calculate the time based on determining that the curvature associated with the moving distance is in a bang-bang form.

10. The device for automatic driving of a vehicle according to claim 8, wherein: When executed by a processor, the instructions cause the apparatus to calculate the time based on determining that the vehicle moves at a constant speed during the path change.

11. The device for automatic driving of a vehicle according to claim 8, wherein: When executed by a processor, the instructions cause the apparatus to calculate the time based on a lateral acceleration below a specified value.

12. The device for automatic driving of a vehicle according to claim 8, wherein: When executed by a processor, the instructions cause the apparatus to: calculate the time based on a margin of a specified ratio.

13. The device for automatic driving of a vehicle according to claim 1, wherein: When executed by a processor, the instructions cause the apparatus to: store information about the transition path in combination with the first path and the second path.

14. The device for automatic driving of a vehicle according to claim 1, wherein: When executed by a processor, the instructions cause the device to: determining a first path within a first time period; A second path is determined during a second time period.

15. A method for autonomous driving of a vehicle executed by a processor, the method comprising: determining a second path different from the first path for autonomous driving of the vehicle; Determine whether the path transfer condition is met; Based on determining that the path transfer condition is satisfied, determining a longitudinal distance of convergence to be completed for path transfer from the first path to the second path according to a moving distance between the first path and the second path; generating a transfer path connecting the first path and the second path based on the determined longitudinal distance of convergence; Enables the vehicle to drive autonomously along the transfer path.

16. The method according to claim 15, further comprising: Information about the transfer path is stored in conjunction with the first path and the second path.

17. The method according to claim 15, further comprising: The type of the first path or the type of the second path is determined based on at least one of a high-definition map, a front lane, a side lane, or a road boundary.

18. The method according to claim 15, further comprising: calculating a perpendicular distance between the first path and the second path at a plurality of points on the second path; The maximum value among the vertical distances is determined as the moving distance.

19. The method according to claim 15, further comprising: calculating the time required to change from the first path to the second path based on the moving distance; The time is multiplied by the longitudinal speed of the vehicle to determine the closing longitudinal distance.

20. The method according to claim 19, wherein: Calculating the time required to change from the first path to the second path includes calculating the time based on determining that the curvature associated with the moving distance is in a bang-bang form.

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