Vehicle path generation apparatus and method thereof

Abstract

The invention relates to a vehicle path generation apparatus and a method thereof. The vehicle path generation apparatus includes: a processor; and a storage device configured to store data and an algorithm, when the data and the algorithm are executed by the processor, cause the processor to: in response to a cut-in activation condition being satisfied during autonomous driving of the vehicle, set a drivable area for cut-in to generate a cut-in path within the drivable area, and control the vehicle to follow the cut-in path, when there is no space available for performing a lane change for a cut-in, the processor is configured to determine that a cut-in activation condition is satisfied.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0083577 filed in the Korean Intellectual Property Office on June 28, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a vehicle path generation device and method thereof, and more particularly, to a technology for generating a cut-in path for an autonomous driving vehicle. Background Art

[0004] A vehicle includes an automatic driving control device for performing automatic driving to automatically move to a destination using a navigation function, a lane recognition function, and an obstacle recognition function.

[0005] Autonomous vehicles that perform this kind of autonomous driving need to have the ability to adaptively respond to real-time changes in the surrounding environment while driving.

[0006] In particular, in situations such as lane merging, the automated driving vehicle needs to cut in, but because there is not enough space for lane change, the cut-in situation is different from the general lane change situation. That is, in a state where there is no space available for lane change because the merging lane is occupied by other vehicles, an active response is required, such as trying to enter the space between other vehicles. Summary of the invention

[0007] An exemplary embodiment of the present disclosure is directed to providing a vehicle path generation apparatus and method thereof, which are capable of generating a cut-in path to perform cut-in control without collision in response to a situation where there is no free space for lane change due to space occupied by an object traveling in a target lane that a vehicle attempts to cut in during autonomous driving.

[0008] In addition, exemplary embodiments of the present disclosure are directed to providing a vehicle path generation device and method thereof, which are capable of improving the performance of an autonomous driving vehicle by generating a cut-in path while taking into account the collision risk and the minimum turning radius of the vehicle.

[0009] The technical objectives of the present disclosure are not limited to the above objectives, and those skilled in the art can clearly understand other technical objectives not mentioned through the description of the claims.

[0010] An exemplary embodiment of the present disclosure provides a vehicle path generation device, which includes: a processor; and a storage device, which is configured to store data and algorithms, which, when executed by the processor, enable the processor to: in response to satisfying a cut-in activation condition during automatic driving of a vehicle, set a drivable area for cut-in to generate a cut-in path within the drivable area, and control the vehicle to follow the cut-in path, wherein when there is no space available to perform a lane change for cut-in, the processor is configured to determine that the cut-in activation condition is satisfied.

[0011] In an exemplary embodiment of the present disclosure, the processor may be configured to, during autonomous driving, attempt to cut into the space between objects traveling in a target lane to merge when the objects occupy space in the target lane and there is no space to perform a lane change.

[0012] In an exemplary embodiment of the present disclosure, the processor may be configured to determine that a cut-in activation condition is satisfied when the vehicle is traveling in a merging lane, there is no space available for lane change in a target lane for lane change, and an object traveling in the target lane is at a low speed lower than a predetermined speed.

[0013] In an exemplary embodiment of the present disclosure, when the target lane for cutting in is the first lane and the vehicle is traveling in the second lane, the processor may be configured to set the drivable area using the right lane boundary of the vehicle's own lane and the left lane boundary of the target lane.

[0014] In an exemplary embodiment of the present disclosure, when there are a first object and a second object traveling on a target lane for cutting in, the processor is configured to set the left lane boundary of the target lane as a first left lane boundary, set the boundary between the first object and the second object as a second left lane boundary, and set the boundary between the second object and the vehicle as a third left lane boundary, and set the drivable area by utilizing the right lane boundary, the first left lane boundary, the second left lane boundary and the third left lane boundary of the vehicle's own lane.

[0015] In an exemplary embodiment of the present disclosure, the processor may be configured to set the first left lane boundary, the second left lane boundary, and the third left lane boundary to be continuously connected.

[0016] In an exemplary embodiment of the present disclosure, the processor may be configured to generate a grid map of the area from the rear of the vehicle to the merge point, and mark and display the boundary of the drivable area on the grid map. In some embodiments, the position of the drivable area on the grid map includes an index.

[0017] In an exemplary embodiment of the present disclosure, the processor can be configured to set a first point moved forward by the total length of the vehicle from the current position of the object traveling in the target lane for cutting in, a second point moved forward by the total length of the vehicle from the first point, a third point moved forward by the total length of the vehicle from the current position of the vehicle, and a fourth point as the current position of the vehicle.

[0018] In an exemplary embodiment of the present disclosure, the processor may be configured to generate a first Bezier curve path using the first point, the second point, the third point, and the fourth point.

[0019] In an exemplary embodiment of the present disclosure, the processor may be configured to determine whether the first Bezier curve path partially or completely overlaps with a boundary of the drivable area to determine a collision risk between the vehicle and an object traveling on the target lane.

[0020] In an exemplary embodiment of the present disclosure, when the first Bezier curve path partially or completely overlaps with the boundary of the drivable area, the processor is configured to set a fifth point by moving the first point forward a predetermined distance, and generate a second Bezier curve path using the fifth point, the second point, the third point and the fourth point.

[0021] In an exemplary embodiment of the present disclosure, the processor may be configured to determine whether the second Bezier curve path partially or completely overlaps with the boundary of the drivable area to determine the risk of collision between the vehicle and the object traveling on the target lane, and when the second Bezier curve path does not overlap with the boundary of the drivable area, the processor is configured to determine that there is no risk of collision between the vehicle and the object traveling on the target lane, and determine the fifth point as the target entry point for entering the target lane.

[0022] In an exemplary embodiment of the present disclosure, the processor may be configured to control the vehicle to travel in its own lane when both the first Bezier curve path and the second Bezier curve path overlap with the boundary of the drivable area.

[0023] In an exemplary embodiment of the present disclosure, the processor may be configured to set a fifth point, a second point, a third point, and a fourth point as target entry points for entering a target lane, set a sixth point between the fifth point and the second point, and set a seventh point between the third point and the fourth point to generate a third Bezier curve using the fifth point, the sixth point, the seventh point, and the fourth point.

[0024] In an exemplary embodiment of the present disclosure, the processor may be configured to determine that the third Bezier curve includes one or more points, and compare the minimum curvature radius of each of the one or more points with the minimum turning radius of the vehicle, and when the minimum curvature radius of the one or more points is greater than the minimum turning radius of the vehicle, determine that the third Bezier curve is an entry path.

[0025] In an exemplary embodiment of the present disclosure, when there is at least one point among the one or more points whose minimum curvature radius is smaller than the minimum turning radius of the vehicle, the processor is configured to change the sixth point and the seventh point to generate a fourth Bezier curve using the changed points, and compare the minimum curvature radius of the fourth Bezier curve with the minimum turning radius of the vehicle.

[0026] An exemplary embodiment of the present disclosure provides a vehicle path generation method, which includes: determining, by a processor, whether a cut-in activation condition is met during autonomous driving; setting a drivable area for cut-in in response to determining that the cut-in activation condition is met; generating a cut-in path within the drivable area; and controlling a vehicle to follow the cut-in path, wherein determining whether the cut-in activation condition is met during autonomous driving may include determining that the cut-in activation condition is met when there is no space available to perform a lane change for cut-in.

[0027] In an exemplary embodiment of the present disclosure, determining whether the cut-in activation condition is met includes: when the vehicle is traveling on a merging lane, there is no space available for lane changing in a target lane for lane changing, and an object traveling on the target lane is at a low speed lower than a predetermined speed, determining that the cut-in activation condition is met.

[0028] In an exemplary embodiment of the present disclosure, setting the drivable area may include: when the target lane for cutting in is the first lane and the vehicle is traveling in the second lane, setting the drivable area using the right lane boundary of the vehicle's own lane and the left lane boundary of the target lane.

[0029] In an exemplary embodiment of the present disclosure, generating a cutting-in path within a drivable area includes: setting a first point moved forward by the total length of the vehicle from a current position of an object traveling on a target lane for cutting-in, a second point moved forward by the total length of the vehicle from the first point, a third point moved forward by the total length of the vehicle from the current position of the vehicle, and a fourth point as the current position of the vehicle; generating a first Bezier curve path using the first point, the second point, the third point, and the fourth point; and determining whether the first Bezier curve path partially or completely overlaps with a boundary of the drivable area to determine a collision risk between the vehicle and the object traveling on the target lane.

[0030] According to the present technology, a cutting-in path can be generated to perform cutting-in control without collision in response to a situation where there is no free space for lane change due to space occupied by an object traveling in a target lane that the vehicle attempts to cut-in during automatic driving.

[0031] In addition, according to the present technology, the performance of the autonomous driving vehicle can be improved by generating a cut-in path taking into account the collision risk and the minimum turning radius of the vehicle.

[0032] Furthermore, various effects determined directly or indirectly by this document can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A block diagram showing an example configuration of a vehicle path generation apparatus is illustrated.

[0034] Figure 2 A diagram for explaining an example method of determining a drivable area as a target area is illustrated.

[0035] Figure 3 A diagram for explaining an example grid map generation method for collision judgment is illustrated.

[0036] Figure 4 A diagram for explaining an example method of determining a target entry point into a target lane is illustrated.

[0037] Figure 5 An example view for explaining a Bezier curve is illustrated.

[0038] Figure 6 An example of a travel path generated by a host vehicle is illustrated.

[0039] Figure 7 A diagram for explaining an example method of determining a control point in consideration of a minimum turning radius of a vehicle is illustrated.

[0040] Figure 8 A diagram for explaining an example method of generating a cut-in path in consideration of a minimum turning radius of a vehicle is illustrated.

[0041] Fig. 9 A diagram for explaining an example method of determining whether it is possible to travel on a cut-in path is illustrated.

[0042] Fig.10 An example of generating a cut-in path is shown.

[0043] Fig.11 A flow chart showing an example method for generating a vehicle path for a cut-in is illustrated.

[0044] Fig.12 A flow chart implementing an example cut-through path generation process is illustrated.

[0045] Fig.13 An example computing system is illustrated.

[0046] Description of reference numerals:

[0047] 100: Vehicle path generation device

[0048] 110: Communication device

[0049] 120: Storage device

[0050] 130: Interface device

[0051] 140: Processor DETAILED DESCRIPTION

[0052] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. It should be noted that when adding reference numerals to the constituent elements of each drawing, the same reference numerals are used as much as possible even if the same constituent elements are indicated on different drawings. When describing the exemplary embodiments, when it is determined that the detailed description of the well-known configuration or function associated with the exemplary embodiments may confuse the main points of the present disclosure, the detailed description of the well-known configuration or function will be omitted.

[0053] When describing the constituent elements according to the exemplary embodiments, terms such as first, second, A, B, (a) and (b) may be used. These terms are only used to distinguish the constituent elements from other constituent elements, and the nature, order or sequence of the constituent elements are not limited by these terms. In addition, all terms including technical scientific terms used in this article have the same meaning as the meanings commonly understood by technicians in the technical field (technicians in the field) to which the exemplary embodiments of the present disclosure belong, unless they are defined differently. The terms defined in the general dictionary should be interpreted as having meanings that match the terms in the relevant technical background, and should not be interpreted as having idealized or overly formal meanings, unless they are clearly defined in this specification.

[0054] In the following, reference will be made to Figures 1 to 13 Various exemplary embodiments of the present disclosure are described in detail.

[0055] Figure 1 A block diagram showing an example configuration of a vehicle path generation device is illustrated. Vehicles according to the present disclosure may include autonomous vehicles, semi-autonomous vehicles, etc., which can operate on their own without manipulation by a driver or passenger.

[0056] In response to a situation where a cut-in activation condition is met during automatic driving of a vehicle, the vehicle path generation device 100 according to an exemplary embodiment of the present disclosure can set a drivable area for cut-in, can generate a cut-in path within the drivable area, and control the vehicle to follow the cut-in path.

[0057] That is, in response to the situation that there are traveling objects (other vehicles) in the target lane for merging during automatic driving and these objects occupy the space of the target lane and there is no space where lane change can be performed, the vehicle path generation device 100 can try to cut in between the objects. In this case, the drivable area is an area where the vehicle can travel to cut in, and the vehicle path generation device 100 can determine the drivable area by using the right lane of the lane where the vehicle is traveling, the left lane of the target lane, etc.

[0058] The vehicle path generation device 100 may be implemented inside the vehicle or implemented separately from the vehicle. In this case, the vehicle path generation device 100 may be formed integrally with the internal control unit of the vehicle, or may be implemented as a separate hardware device connected to the control unit of the vehicle through a connection device. For example, the vehicle path generation device 100 may be implemented integrally with the vehicle, may be implemented in the form of being installed or attached to the vehicle as a configuration separate from the vehicle, or a part of the vehicle path generation device 100 may be implemented integrally with the vehicle, and another part may be implemented in the form of being installed or attached to the vehicle as a configuration separate from the vehicle.

[0059] Reference Figure 1 The vehicle path generation apparatus 100 may include a communication device 110 , a storage device 120 , an interface device 130 , and a processor 140 .

[0060] The communication device 110 is a hardware device implemented by various electronic circuits to send and receive signals through wireless or wired connections, and can send and receive information based on vehicle-mounted devices and vehicle-mounted network communication technologies. For example, the vehicle-mounted network communication technology may include controller area network (CAN) communication, local interconnect network (LIN) communication, flexible optical communication, etc.

[0061] In addition, the communication device 110 can communicate with a server, infrastructure, or a third vehicle outside the vehicle, etc. through wireless Internet access or short-range communication technology. Here, the wireless communication technology may include wireless LAN (WLAN), wireless broadband (Wibro), Wi-Fi, world interoperability for microwave access (Wimax), etc. In addition, the short-range communication technology may include Bluetooth, ZigBee, ultra-wideband (UWB), radio frequency identification (RFID), infrared data association (IrDA), etc.

[0062] The communication device 110 may perform V2X communication. V2X communication may include communication between a vehicle and all entities, such as V2V (Vehicle to Vehicle) communication referring to communication between vehicles, V2I (Vehicle to Infrastructure) communication referring to communication between a vehicle and an eNB or a roadside unit (RSU), V2P (Vehicle to Pedestrian) communication referring to communication between a user equipment (UE) equipped by a vehicle and an individual (pedestrian, cyclist, vehicle driver or passenger), and V2N (Vehicle to Network) communication.

[0063] The storage device 120 may store data and / or algorithms required for the operation of the processor 140 .

[0064] For example, the storage device 120 may store a Bezier algorithm, etc. In addition, the storage device 120 may store an algorithm for determining a minimum turning radius of a vehicle and a minimum curvature radius of a generated Bezier curve path.

[0065] The storage device 120 may include at least one storage medium such as the following types of memory: flash memory, hard disk, micro, card (e.g., secure digital (SD) card or extreme digital (XD) card), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic memory (MRAM), magnetic disk, and optical disk.

[0066] The interface device 130 may include an input device for receiving a control command from a user and an output device for outputting the operating state of the device 100 and its results. Herein, the input device may include a key, and may also include a mouse, a joystick, a micro switch, a stylus, etc. In addition, the input device may include a soft key implemented on a display.

[0067] The interface device 130 may be implemented as a head-up display (HUD), a cluster instrument (cluster), an audio video navigation (AVN) or a human machine interface (HMI), a user selection menu (USM).

[0068] The output device may include a display and may also include a voice output device such as a speaker. In this case, in response to a touch sensor formed of a touch film, a touch sheet, or a touch pad being provided on the display, the display may be operated as a touch screen and may be implemented in a form in which the input device and the output device are integrated. In the present disclosure, the output device may output a cut-in path so that the driver may check the cut-in path.

[0069] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFTLCD), an organic light emitting diode display (OLED display), a flexible display, a field emission display (FED), a 3D display, or any combination thereof.

[0070] The processor 140 may be electrically connected to the communication device 110 , the storage device 120 , the interface device 130 , etc., may electrically control each component, and may be a circuit that runs software commands to perform various data processing and calculations described below.

[0071] The processor 140 may perform overall control so that each component may perform its function normally by processing the signal transmitted between each component of the vehicle path generation device 100. The processor 140 may be implemented in the form of hardware, software, or a combination of hardware and software. For example, the processor 140 may be implemented as a microprocessor, but the present disclosure is not limited thereto. For example, the processor 140 may be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controller installed in a vehicle. The processor 140 may be implemented by a non-transitory memory (e.g., a storage device 120) storing, for example, a program, a software instruction reproduction algorithm, etc. that performs various functions described below when executed, and a processor configured to run the program, the software instruction reproduction algorithm, etc. In this article, the memory (e.g., the storage device 120) and the processor 140 may be implemented as separate semiconductor circuits. Alternatively, the memory (e.g., the storage device 120) and the processor 140 may be implemented as a single integrated semiconductor circuit. The processor 140 may be implemented as one or more processors.

[0072] In response to a situation where a cut-in activation condition is met during autonomous driving of the vehicle, the processor 140 may set a drivable area for cut-in, may generate a cut-in path within the drivable area, and control the vehicle to follow the cut-in path.

[0073] The processor 140 may determine that the cut-in activation condition is satisfied in the following state: the vehicle is traveling in a merging lane, there is no space available for lane change in a target lane for lane change, and an object traveling in the target lane is at a low speed lower than a predetermined speed.

[0074] The processor 140 may set the drivable area using the right lane boundary of the vehicle's own lane and the left lane boundary of the target lane in a state where the target lane for cutting in is the first lane and the vehicle is traveling in the second lane.

[0075] In addition, in a state where there are the first object and the second object traveling on the target lane for cutting in, the processor 140 may set the left lane boundary of the target lane as the first left lane boundary, the boundary between the first object and the second object may be set as the second left lane boundary, the boundary between the second object and the vehicle may be set as the third left lane boundary, and the drivable area may be set by using the right lane boundary, the first left lane boundary, the second left lane boundary, and the third left boundary of the vehicle's own lane. In this case, the processor 140 may set the first left lane boundary, the second left lane boundary, and the third left lane boundary to be continuously connected.

[0076] The processor 140 may select an object that is located in front of the vehicle, farther than the distance determined based on the vehicle speed, and closest to the vehicle as a first object, and may select an object that is traveling behind the first object among objects traveling in a target lane for merging during autonomous driving as a second object.

[0077] The processor 140 may generate a grid map of the area from the rear of the vehicle to the merging point, and may mark and display the boundary of the drivable area on the grid map. In this case, the position of the drivable area on the grid map may include an index.

[0078] The processor 140 can set a first point moved forward a predetermined first length (the total length of the main vehicle) from the current position of the object traveling on the target lane for cutting into, a second point moved forward a predetermined second length (e.g., 1m) from the first point, a third point moved forward the predetermined first length from the current position of the vehicle, and a fourth point which is the current position of the vehicle.

[0079] The processor 140 may generate a first Bezier curve path using the first point, the second point, the third point, and the fourth point, and may determine whether the first Bezier curve partially or completely overlaps with a boundary of the drivable area to determine a collision risk between the vehicle and an object traveling in the target lane. The processor 140 may determine that there is a collision risk in response to the first Bezier curve path overlapping with the boundary of the drivable area.

[0080] The processor 140 may set a fifth point by moving the first point forward a predetermined distance in response to the first Bezier curve path overlapping the boundary of the drivable area, and may generate a second Bezier curve path using the fifth point, the second point, the third point, and the fourth point.

[0081] Subsequently, the processor 140 can determine whether the second Bezier curve path overlaps with the boundary of the drivable area, can determine whether there is a risk of collision between the vehicle and the object traveling in the target lane, can determine that there is no risk of collision between the vehicle and the object traveling in the target lane in response to the second Bezier curve path not overlapping with the boundary of the drivable area, and can determine the fifth point as the target entry point for entering the target lane.

[0082] In response to the situation that the second Bezier curve path overlaps with the boundary of the drivable area, the processor 140 may not determine the target entry point into the target lane, and may control the vehicle to travel in its own lane.

[0083] The processor 140 may also set a sixth point moved forward by a predetermined first length from the fifth point which is the target entry point for entering the target lane, may set a seventh point between the fifth point and the sixth point, and may set an eighth point between the third point and the fourth point, so as to generate a third Bezier curve using the fifth point, the seventh point, the eighth point and the fourth point.

[0084] The processor 140 may determine that the third Bezier curve includes one or more points, and may compare the minimum curvature radius of the one or more points with the minimum turning radius of the vehicle, and may determine the third Bezier curve as a cutting-in path in response to the minimum curvature radius of the one or more points being greater than the minimum turning radius of the vehicle.

[0085] In response to the presence of at least one point smaller than the radius, the processor 140 may change the seventh and eighth points to generate a fourth Bezier curve using the changed points, and may compare the minimum curvature radius of the fourth Bezier curve with the minimum turning radius of the vehicle.

[0086] Therefore, according to the present disclosure, when the vehicle needs to cut in during autonomous driving, optimal cut-in control can be performed by setting a drivable area, then generating a cut-in path within the drivable area, and determining the drivable cut-in path by considering the minimum curvature radius of the cut-in path and the minimum turning radius of the vehicle to improve the reliability of the autonomous driving vehicle.

[0087] Figure 2 A diagram for explaining an example method of determining a drivable area as a target area is illustrated.

[0088] Reference Figure 2, the vehicle path generation device 100 may set the target area (drivable area 200) in response to a situation where the first object 21 and the second object 22 exist in the target lane 12 that the host vehicle 10 attempts to enter and the host vehicle 10 attempts to cut in between the first object 21 and the second object 22. In this case, the vehicle path generation device 100 may select an object that is located in front of the host vehicle 10, located at a position farther than the distance determined based on the speed of the host vehicle 10, and closest to the host vehicle 10 as the first object 21, and may select an object that is traveling behind the first object 21 among the objects traveling on the target lane for merging during automatic driving as the second object 22. For example, in a state where the speed of the host vehicle 10 is 8.3 mps, by multiplying the speed (8.3 mps) by a predetermined coefficient (e.g., 0.65), the lateral control distance becomes 5.4 m. Therefore, an object located more than 5.4 m away from the host vehicle 10 may be selected as the first object 21.

[0089] The vehicle path generation apparatus 100 sets the right lane of the own lane 11 as the right boundary 211 of the drivable area 200, and sets the left lane of the target lane 12 as the first left boundary 221 in the drivable area 200. In addition, the vehicle path generation apparatus 100 sets the second left boundary 222 between the first object 21 and the second object 22, and the second left boundary 222 of the drivable area 200 is connected to the first left boundary 221 of the drivable area 200.

[0090] Furthermore, the vehicle path generation apparatus 100 may set a lane between the right side of the second object 22 and the left side of the host vehicle 10 as a third left boundary 223 of the target area 200 , and the third left boundary 223 is connected to the second left boundary 222 .

[0091] In this way, the vehicle path generation apparatus 100 sets the drivable area 200 based on the right boundary 211 , the first left boundary 221 , the second left boundary 222 , and the third left boundary 223 .

[0092] Then, in order to generate a cutting path, the vehicle path generation device 100 generates Figure 3 The grid diagram used for collision judgment is shown.

[0093] Figure 3 A diagram for explaining an example grid map generation method for collision judgment is illustrated.

[0094] Reference Figure 3In order to determine whether the cut-in path conflicts with the boundary 230 of the drivable area 200, the vehicle path generation device 100 generates the entire grid map including the own lane and the target lane, and marks the boundary 230 of the drivable area 200 on the grid map. In this case, the position of each drivable area 200 on the grid map can be stored in the form of an index (x, y).

[0095] The vehicle path generation apparatus 100 may generate a grid map in an area of ​​a predetermined distance (eg, 10 m) from the rear of the vehicle to a cut-in point (eg, a merging point).

[0096] The vehicle path generation apparatus 100 may determine that there is a collision risk in response to a situation where the cut-in path overlaps or intersects the boundary 230 of the drivable area 200 .

[0097] Thus, the risk of collision is determined and Figure 4 As shown, in response to determining that there is no risk of collision, a target entry point for entering the target lane can be determined. In this case, the entry target point for entering the target lane represents a target point for entering the target lane.

[0098] Figure 4 A diagram for explaining an example method of determining a target entry point into a target lane is illustrated.

[0099] Reference Figure 4 In response to entering the target lane, the vehicle path generation apparatus 100 may set a point of the total length wl of the host vehicle located in front of the rear object 20 as a point P for determining a target point of the target lane. 1 In addition, the target point P 1 The point of the length wl of the host vehicle in front is set as point P 0 .

[0100] The vehicle path generation apparatus 100 sets the center position of the front portion (eg, the front bumper) of the host vehicle 10 as point P 3 As the host vehicle 10 position, and will be located at point P 3 The point of the total length wl of the front host vehicle 10 is set as point P 2 .

[0101] The vehicle path generation device 100 can convert the four points P 0 , P 1 , P 2 and P 3 The Bezier algorithm is applied to generate a Bezier curve path 401. In this case, in response to the point P 0 , P 1 , P 2 and P 3 Applied to the Bessel algorithm, point P0 and P 3 is on the Bezier curve path 401, but point P 1 and P 2 Not located on the Bezier curve path 401 .

[0102] In this case, in response to changing point P 0 , P 1 , P 2 and P 3 Applied to the Bessel algorithm, point P 0 and P 3 is on the Bezier curve path 401, but point P 1 and P 2 is not located on the Bezier curve path 401. That is, the vehicle path generation device 100 passes through the fixed point P 1 , P 2 and P 3 At the same time, point P 0 From point P 1 Move forward n times of a predetermined length to generate a Bezier curve path, and determine the point P 0 Whether the Bezier path generated at the position has an index that overlaps with the drivable area 200. Figure 4 , a block 403 is illustrated for tracking the movement of the vehicle 10 along the curved path 401 , and in response to a situation where the vehicle width 402 contacts the boundary of the drivable area 200 while moving the vehicle 10 , it may be determined that a collision risk exists.

[0103] The vehicle path generation device 100 can form a Bezier curve path in the shape of a box 403 based on the vehicle width, and can determine whether there is a collision risk between the host vehicle 10 and an object traveling on the target lane by determining whether the Bezier curve path in the shape of the box overlaps with the boundary of the drivable area 200.

[0104] That is, the vehicle path generation device 100 converts point P 1 In the direction of travel of the target lane, from P 1 The point that moves forward 1m is determined as point P 0 , and then the four points P 0 , P 1 , P 2 and P 3 The Bezier algorithm is applied to generate a Bezier curve path, and it is determined whether the generated Bezier curve path overlaps with the boundary of the drivable area 200. In response to the situation that the generated Bezier curve path overlaps with the boundary of the drivable area 200, the vehicle path generation device 100 sets the point P 1 The point that moves 1m further forward is redefined as point P. 0 , by re-determining the point P0 and fixed point P 1 , P 2 and P 3 The Bezier algorithm is reapplied to regenerate the Bezier curve path, and it is determined whether the regenerated Bezier curve path overlaps with the boundary of the drivable area 200. In this way, the point P 1 Further move forward 1m until the regenerated Bezier curve path does not overlap with the boundary of the drivable area 200. The point P at which the Bezier curve path does not overlap with the boundary of the drivable area 200 is 0 The target entry point C that can be determined as entering the target lane 1 .

[0105] As mentioned above, until point P 0 The target entry point C is determined to enter the target lane 1 , at point P 1 and point P 0 The one or more Bezier curve paths formed between may correspond to the first Bezier curve path, and the final point P 0 The formed one Bezier curve path may correspond to the second Bezier curve path.

[0106] In this way, the vehicle path generation apparatus 100 can repeatedly move the point P 1 The process of calculating the position of the drivable area 200 is repeated 2 to 3 times to obtain the point P at the time point when the Bezier curve path does not overlap with the boundary of the drivable area 200. 0 In this case, repeatedly moving point P 0 The process of positioning the point P 2 to 3 times is to avoid 0 The position of is moved beyond the overall length of the host vehicle 10 .

[0107] Thus, in response to the point P 0 If the Bezier curve path at the position does not overlap with the drivable area 200, the corresponding point P 0 The position of the target lane is determined as the target entry point C 1 .

[0108] In this way, according to the present disclosure, by changing point P 0 The shortest lane change path is determined by determining the point closest to the longitudinal distance of the host vehicle. 0 represents the position closest to the host vehicle 10 without collision, so at point P 0 There will be no collision anywhere in the front.

[0109] Figure 5 An example view for explaining a Bezier curve is illustrated.

[0110] Reference Figure 5 , the vehicle path generation device 100 can use four points P 0 , P 1 , P 2 and P 3 Generate a cubic curve. This can be done by using the first three points P 0 , P 1 and P 2 Generate the second Bezier curve and use the last three points P 1 , P 2 and P 3 Generates a second Bezier curve to generate a Bezier curve path by linear interpolation.

[0111] A formula for determining a Bezier curve path is shown in Formula 1 below.

[0112] (Formula 1)

[0113] B(t)=(1-t) 3 P 0 +3(1-t) 2 Tp 1 +3(1-t)t 2 P 2 +t 3 P 3

[0114] 0≤t≤1

[0115] At this time, t represents a variable of the moving distance.

[0116] exist Figure 5 Middle, Q 0 Indicates P 0 and P 1 The internal dividing point between 1 Indicates P 1 and P 2 The internal dividing point between 2 Indicates P 2 and P 3 The internal dividing point between 0 Indicates Q 0 and Q 1 The internal dividing point between 1 Indicates Q 1 and Q 2 The internal dividing point between 0 and R 1 The internal dividing point between.

[0117] Figure 6 An example of a travel path generated by a host vehicle is illustrated.

[0118] Reference Figure 6 The vehicle path generation device 100 can generate a path 601 that can be driven along its own lane in response to the situation where the target entry point into the target lane is not determined, that is, the Bezier curve path that does not overlap with the drivable area 200 is not determined.

[0119] The vehicle path generation apparatus 100 may re-determine a target entry point into a target lane while traveling along an own lane.

[0120] Figure 7 A diagram for explaining an example method of determining a control point in consideration of a minimum turning radius of a vehicle is illustrated.

[0121] Reference Figure 7 In response to a situation where a target entry point into a target lane is determined, the vehicle path generation apparatus 100 may determine a control point having a minimum curvature radius of the path that is greater than a minimum turning radius of the vehicle.

[0122] The vehicle path generation apparatus 100 may be based on the previously determined target entry point C for entering the target lane. 1 To set point C for generating the lane change path 0 , C 2 and C 3 .

[0123] That is, point C 0 From point C 1 The position moved forward by the length of the host vehicle, point C 1 The minimum target entry position where the vehicle does not conflict with the boundary of the drivable area 200 is represented by point C. 2 From point C 3 The position is moved forward by the length of the host vehicle, and point C 3 Indicates the current position of the host vehicle.

[0124] Figure 8 A diagram for explaining an example method of generating a cut-in path in consideration of a minimum turning radius of a vehicle is illustrated, and Fig. 9 A diagram for explaining an example method of determining whether it is possible to travel on a cut-in path is illustrated.

[0125] Reference Figure 8 , the vehicle path generation device 100 may change point d 1 and d 2 , that is, adjust the length l 1 and l 2 , and four points C can be used 1 ,d 1 ,d 2 and C 3A third Bezier curve path 801 is generated. In this case, the length l 1 and l 2 The interval between can be predetermined by experimental values. 1 Indicates point C 0 and C 1 The control point of point d 2 Indicates point C 2 and C 3 control point.

[0126] The vehicle path generation device 100 may check whether the minimum curvature radius of the generated Bezier curve path 801 is greater than the minimum turning radius of the vehicle and, in response to the case where the minimum curvature radius of the Bezier curve path 801 is less than the minimum turning radius of the vehicle, change the point d 1 and point d 2 to regenerate the Bezier path.

[0127] The vehicle path generation apparatus 100 may repeat the above process until a Bezier curve path having a minimum curvature radius greater than a minimum turning radius of the vehicle is generated.

[0128] In response to a situation where the minimum curvature radius of the generated Bezier curve path 801 is greater than the minimum turning radius of the vehicle, the vehicle path generation apparatus 100 may use the corresponding curve as a lane change path (a fourth Bezier curve path).

[0129] like Fig. 9 As shown, the Bezier curve path 801 includes at least one or more points t1 to t7, and the vehicle path generation device 100 can check whether the minimum curvature radius of each of the points t1 to t7 of the Bezier curve path 801 is greater than the minimum turning radius of the vehicle, and in response to the situation that the minimum curvature radius of all points t1 to t7 is greater than the minimum turning radius of the vehicle, it can be determined that the minimum curvature radius of the corresponding Bezier curve path 801 is greater than the minimum turning radius of the vehicle, so as to determine the corresponding curve path as a lane change path.

[0130] That is, in response to the situation that the minimum curvature radius of any point among points t1 to t7 is smaller than the minimum turning radius of the vehicle, it is determined that the minimum curvature radius of the corresponding Bezier curve path 801 is smaller than the minimum turning diameter of the vehicle, and therefore the corresponding path is not used.

[0131] Fig.10 An example of generating a cut-in path is shown.

[0132] Reference Fig.10 , the vehicle path generation apparatus 100 generates a cut-in path 802 based on the final Bezier curve, and the vehicle 10 travels along the corresponding path 802 .

[0133] Therefore, according to the present disclosure, in response to an attempt at cut-in control during autonomous driving, it is possible to determine whether there is a risk of collision between the main vehicle and another vehicle when cutting in by setting a drivable area, and even if there is no risk of collision between the main vehicle and the other vehicle, the final cut-in path can be determined by determining whether the minimum curvature radius of the generated cut-in path meets the minimum turning radius of the main vehicle, thereby accurately performing cut-in control during autonomous driving.

[0134] In the following, reference will be made to Fig.11 and Fig.12 A vehicle path generation method for cut-in of an autonomous driving vehicle according to an exemplary embodiment of the present disclosure is described in detail. Fig.11 A flow chart illustrating an example method of generating a vehicle path for a cut-in is illustrated, and Fig.12 A flow chart implementing an example cut-through path generation process is illustrated.

[0135] In the following, it is assumed Figure 1 The vehicle path generation device 100 performs Fig.11 and Fig.12 In addition, Fig.11 and Fig.12 In the description, operations described as being performed by the device may be understood as being controlled by the processor 140 of the vehicle path generating apparatus 100 .

[0136] Reference Fig.11 , the vehicle path generation apparatus 100 determines whether a cut-in activation condition is satisfied while the vehicle is traveling ( S100 ).

[0137] The vehicle path generation apparatus 100 may determine that the cut-in activation condition is satisfied in response to the vehicle traveling in a merging lane, no available space for lane change in a target lane for lane change, and an object in the target lane traveling at a low speed (eg, 5 kph).

[0138] Then, the vehicle path generation device 100 sets the drivable area 200 as the target area (S200). Figure 2 As shown, the drivable area 200 can be set using the right lane of the host vehicle's own lane, the left lane of the target lane that the host vehicle wants to cut into, the lane between the first object and the second object in the target lane, and the lane between the second object and the host vehicle.

[0139] The vehicle path generation device 100 generates a cut-in path for cut-in control within the drivable area 200 and controls the host vehicle to follow the cut-in path (S300). Fig.12 The generation of the cut-in path is described in more detail.

[0140] The vehicle path generation apparatus 100 determines whether such cut-in is completed (S400), and ends the corresponding logic when the cut-in is completed. In this case, the vehicle path generation apparatus 100 may determine that the cut-in is completed in response to the vehicle reaching the target entry point of the target lane.

[0141] In the following, reference will be made to Fig.12 The process of generating the cutting path in step S300 is described in detail.

[0142] The vehicle path generation device 100 generates a grid map for collision judgment (S301). Figure 3 As shown, the vehicle path generation apparatus 100 generates a grid map of an area from the rear of the vehicle to a merging point at a predetermined distance in a rear direction, and displays a boundary of a drivable area on the grid map.

[0143] The vehicle path generation apparatus 100 determines a target entry point for entering a target lane without causing a collision (S302). Figure 4 As shown, the vehicle path generation apparatus 100 determines a target entry point into the target lane without conflict between the cut-in path and the boundary of the drivable area 200 .

[0144] After completing the process of determining the target entry point into the target lane, the vehicle path generation apparatus 100 determines whether it is necessary to generate a cut-in path ( S303 ).

[0145] That is, the vehicle path generation apparatus 100 may determine whether it is necessary to generate the cut-in path by determining whether a target entry point into the target lane has been determined.

[0146] That is, in response to a situation where the target entry point into the target lane is determined, a cutting-in path can be generated based on the target entry point into the target lane, and in response to a situation where the target entry point into the target lane is not determined (there is a risk of collision between all cutting-in paths and the boundary of the drivable area 200), an own lane driving path is generated to drive in one's own lane instead of the cutting-in path.

[0147] As mentioned above Figure 6 As shown, the vehicle path generation device 100 controls the vehicle to travel along the own lane travel path (S304).

[0148] On the other hand, in response to the target entry point entering the target lane being determined, the vehicle path generation apparatus 100 determines a control point having a minimum curvature radius of a path greater than a minimum turning radius of the vehicle (S305), and generates a cut-in path based on a cubic Bezier curve (S306).

[0149] As mentioned above Figure 8 and Fig. 9 As shown, four points are set based on a target entry point into a target lane, and a Bezier curve path is generated using the four points, so that in response to a situation where the minimum curvature radius of the Bezier curve path is greater than the minimum turning radius of the vehicle, the corresponding Bezier curve path is determined as a cut-in path.

[0150] Fig.13 An example computing system is illustrated.

[0151] Reference Fig.13 The computing system 1000 includes 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 via a bus 1200 .

[0152] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that performs processing on commands 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.

[0153] Therefore, the steps of the method or algorithm described in conjunction with the exemplary embodiments disclosed herein may be directly implemented by a hardware module, a software module, or a combination of the two, executed by the processor 1100. The software module may reside in a storage medium (i.e., the memory 1300 and / or the storage device 1600) such as the following: RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, and CD-ROM.

[0154] An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can be located in a user terminal. Optionally, the processor and the storage medium can reside in a user terminal as separate components.

[0155] The above description is merely an illustration of the technical idea of ​​the present disclosure, and those skilled in the art to which the present disclosure belongs may make various modifications and changes without departing from the basic features of the present disclosure.

[0156] Therefore, the exemplary embodiments disclosed in the present disclosure are not intended to limit the technical ideas of the present disclosure, but are used to explain the technical ideas of the present disclosure, and the scope of the technical ideas of the present disclosure is not limited by these exemplary embodiments. The protection scope of the present disclosure should be interpreted by the claims, and all technical ideas within the equivalent scope should be interpreted as included in the scope of the present disclosure.

Claims

1. A vehicle path generation device, comprising: processor; as well as A storage device storing data and algorithms, which, when executed by the processor, enable the processor to: In response to a cut-in activation condition being satisfied during automatic driving of the vehicle, setting a drivable area for cut-in to generate a cut-in path within the drivable area, and controlling the vehicle to follow the cut-in path, The processor determines that the cut-in activation condition is satisfied when there is no available space to perform a lane change to perform a cut-in, The processor is electrically connected to a steering device of the vehicle, and the steering device controls the steering of the vehicle so that the vehicle follows the cut-in path.

2. The vehicle path generation device according to claim 1, wherein: During autonomous driving, when objects traveling in a target lane occupy a space in the target lane and there is no space to perform a lane change, the processor attempts to cut into a space between the objects to perform a lane change.

3. The vehicle path generation device according to claim 1, wherein: The processor determines that the cut-in activation condition is satisfied when the vehicle is traveling in a merging lane and an object traveling in the target lane is at a low speed lower than a predetermined speed.

4. The vehicle path generation device according to claim 1, wherein: When the target lane for cutting in is the first lane and the vehicle is traveling in the second lane, The processor sets the drivable area using a right lane boundary of the vehicle's own lane and a left lane boundary of the target lane.

5. The vehicle path generation device according to claim 4, wherein: When there are a first object and a second object traveling in a target lane for cutting in, The processor sets the left lane boundary of the target lane as a first left lane boundary, sets the boundary between the first object and the second object as a second left lane boundary, and sets the boundary between the second object and the vehicle as a third left lane boundary to set the drivable area by using the right lane boundary of the vehicle's own lane, the first left lane boundary, the second left lane boundary, and the third left lane boundary, and sets the first left lane boundary, the second left lane boundary, and the third left lane boundary to be continuously connected.

6. The vehicle path generation device according to claim 1, wherein: The processor generates a grid map of an area from the rear of the vehicle to a merging point, and marks and displays a boundary of the drivable area on the grid map, wherein a position of the drivable area on the grid includes an index.

7. The vehicle path generation device according to claim 1, wherein: The processor sets a first point moved forward by a predetermined first length from a current position of an object traveling in a target lane for cutting in, a second point moved forward by a predetermined second length from the first point, a third point moved backward by the predetermined first length from the current position of the vehicle, and a fourth point as the current position of the vehicle.

8. The vehicle path generation device according to claim 7, wherein: The processor generates a first Bezier curve path using the first point, the second point, the third point, and the fourth point.

9. The vehicle path generation device according to claim 8, wherein: The processor sets a fifth point of the first Bezier curve that does not overlap with a boundary of the drivable area by moving the first point forward at least once the predetermined second length.

10. The vehicle path generation device according to claim 9, wherein: The processor determines whether the first Bezier curve path overlaps with a boundary of the drivable area to determine a collision risk between the vehicle and an object traveling in the target lane.

11. The vehicle path generation device according to claim 10, wherein: When the first Bezier curve path overlaps with the boundary of the drivable area, The processor sets the fifth point by moving the first point forward by the predetermined second length, and generates a second Bezier curve path using the fifth point, the second point, the third point, and the fourth point.

12. The vehicle path generation device according to claim 11, wherein: The processor determines whether the second Bezier curve path overlaps with the boundary of the drivable area to determine a collision risk between the vehicle and an object traveling on the target lane. When the second Bezier curve path does not overlap with the boundary of the drivable area, the processor determines that there is no collision risk between the vehicle and the object traveling on the target lane, and determines the fifth point as a target entry point for entering the target lane.

13. The vehicle path generation device according to claim 11, wherein: The processor controls the vehicle to travel in its own lane when the second Bezier curve path overlaps with a boundary of the drivable area.

14. The vehicle path generation device according to claim 11, wherein: The processor generates a cut-in path having a minimum radius of curvature greater than a minimum turning radius of the vehicle based on a target entry point into the target lane.

15. The vehicle path generation device according to claim 11, wherein: The processor sets a sixth point moved forward from the fifth point by the predetermined first length, a seventh point between the fifth point and the sixth point, and an eighth point between the third point and the fourth point, and The processor further generates a third Bezier curve using the fifth point, the seventh point, the eighth point, and the fourth point.

16. The vehicle path generation device according to claim 15, wherein: The processor compares a minimum curvature radius of each of one or more points included in the third Bezier curve with a minimum turning radius of the vehicle, and determines the third Bezier curve as a cutting-in path when the minimum curvature radii of the one or more points are all greater than the minimum turning radius of the vehicle.

17. The vehicle path generation device according to claim 15, wherein: When there is at least one point among the one or more points whose minimum curvature radius is smaller than the minimum turning radius of the vehicle, The processor changes the seventh point and the eighth point to generate a fourth Bezier curve using the changed points, and compares a minimum curvature radius of the fourth Bezier curve with a minimum turning radius of the vehicle.

18. A vehicle path generation method, comprising: determining, by a processor, whether a cut-in activation condition is satisfied during autonomous driving; In response to determining that the cut-in activation condition is satisfied, setting a drivable area for cut-in; generating a cut-in path within the drivable area; as well as Control the vehicle to follow the cut-in path, Wherein, determining whether the cut-in activation condition is satisfied during the autonomous driving includes determining that the cut-in activation condition is satisfied when there is no space available to perform a lane change to perform the cut-in.

19. The vehicle path generation method according to claim 18, wherein: Determining whether the cut-in activation condition is met includes: The cut-in activation condition is determined to be satisfied when the vehicle is traveling in a merging lane, there is no space available for lane change in a target lane for lane change, and an object traveling in the target lane is at a low speed lower than a predetermined speed.

20. The vehicle path generation device according to claim 18, wherein: Generating the cut-in path in the drivable area includes: setting a first point moved forward by a predetermined first length from a current position of an object traveling on a target lane for cutting in, a second point moved forward by a predetermined second length from the first point, a third point moved forward by the predetermined first length from the current position of the vehicle, and a fourth point as the current position of the vehicle; generating a first Bezier curve path using the first point, the second point, the third point and the fourth point; and It is determined whether the first Bezier curve path overlaps with a boundary of the drivable area to determine a collision risk between the vehicle and an object traveling on the target lane.

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