Autonomous driving control apparatus and method thereof

Abstract

The invention discloses an autonomous driving control apparatus and a method thereof. A device for autonomous driving control may include a sensor device, a memory configured to store instructions that, when executed by the controller, may cause the apparatus to determine a curvature of a road on which a vehicle is traveling based on the road, and a controller operably connected to the sensor device and the memory; the sensor device generates a biased travel road on the basis of information associated with at least one of the travel road, the route of the travel road, and the characteristics of the vehicle, or on the basis of at least one of the specified information and the travel road, and controls the vehicle. And driving the vehicle on the driving road along the deviated driving road.

Description

[0001] Related Applications

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0088440 filed in the Korean Intellectual Property Office on July 7, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an autonomous driving control apparatus and method thereof, and more particularly, to a technology for generating a deflected driving route to safely control the driving of a host vehicle including a vehicle body in a road section having a high curvature. Background Art

[0004] Depending on the level of control, autonomous driving can be categorized as partially autonomous driving, conditionally autonomous driving, highly autonomous driving, and / or fully autonomous driving.

[0005] Meanwhile, the type (or kind) of the vehicle controlled by the autonomous driving control device may be changed. For example, the autonomous driving control device may control the travel of a vehicle equipped with two or more bodies including a tractor and / or a trailer.

[0006] For example, during the autonomous driving control apparatus controlling the travel of the host vehicle, a portion of at least one body included in the host vehicle may be deviated toward the center of a lane in which the host vehicle is traveling by more than a certain distance depending on the type of the host vehicle.

[0007] For example, when a host vehicle including a tractor and / or a trailer is traveling under the control of an autonomous driving control device, the tractor may properly travel within a prescribed range (e.g., a safety range) based on the center of a driving lane. On the other hand, a trailer physically separated from the tractor may collide with an adjacent structure or other vehicle due to traveling out of (or deviating from) the prescribed range from the center of the driving lane. This problem may be defined as a deviation from the track.

[0008] Furthermore, if the host vehicle including the tractor and / or trailer travels in a road section having a relatively high curvature (eg, a junction (JC) section of a highway), the possibility of a risk occurring due to deviation from the track increases. Summary of the invention

[0009] According to the present disclosure, a device may include a sensor device, a memory configured to store instructions, and a controller operably connected to the sensor device and the memory, wherein when executed by the controller, the instructions may enable the device to determine the curvature of a driving road on which a vehicle is driving based on the driving road; the sensor device and based on the curvature exceeding a threshold curvature, determine information associated with at least one of the driving road, the route of the driving road, the characteristics of the vehicle, or the kingpin inclination angle between the body of the vehicle; based on the determined information or at least one of the driving roads, generate a deviated driving road, and control the vehicle to drive on the driving road along the deviated driving road.

[0010] The device, wherein the information associated with the route may include a left line and a right line based on the driving direction of the vehicle, and wherein when the instruction is executed by the controller, the instruction may enable the device to determine the expected distance between the body of the vehicle and the left line and between the body of the vehicle and the right line based on the vehicle continuing to travel on the driving road and the determined information, and generate a deviated driving route based on the expected distance.

[0011] The device, wherein the expected distance includes at least one of a first distance between the left line and a first body of the vehicle, a second distance between the left line and a second body of the vehicle, a third distance between the right line and the first body of the vehicle, or a fourth distance between the right line and the second body of the vehicle.

[0012] The device, wherein when executed by the controller, the instructions can cause the device to determine optimization state information, the optimization state information may include at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature of the position of the driving road, a curvature change, or a deviation distance based on a driving route, wherein the deviation distance is associated with each of the vehicle bodies based on at least one of the determined information or the driving route, and the deviated driving route is generated based on at least a portion of the optimization state information.

[0013] The apparatus, wherein the kingpin inclination angle comprises an angle formed between a first heading direction of a first body and a second heading direction of a second body, wherein the first body and the second body are among the bodies at a point on the deviated driving path. The apparatus, wherein the instructions, when executed by the controller, can cause the apparatus to further determine the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature of a position, a curvature change amount, or a deviated distance.

[0014] The device, wherein when executed by the controller, the instructions can enable the device to determine that the vehicle is traveling along the deviated driving route based on at least one of a first position lateral error of a first body among the bodies that meets the condition, a second position lateral error of a second body among the bodies that meets the condition, or a first heading error of the second body that meets the condition.

[0015] The device, wherein when executed by the controller, the instructions can cause the device to determine at least one of a first offset state of a first body of the vehicle body or a second offset state of a second body of the vehicle body based on the determined information or at least one of the driving routes, and generate the deviated driving route based on at least one of the first offset state or the second offset state, so that the deviated driving route is adjacent to the center of the driving road.

[0016] According to the present disclosure, a method may include: determining, by a controller and based on a driving route, the curvature of a driving road on which a vehicle is traveling; determining, based on the curvature exceeding a threshold curvature, information associated with at least one of the driving road, a line of the driving road, a feature of the vehicle, or a kingpin inclination angle between a body of the vehicle, generating a deviated driving route based on the determined information or at least one of the driving routes, and controlling the vehicle to travel on the driving road along the deviated driving route.

[0017] The method, wherein the information associated with the line may include a left line and a right line based on the driving direction of the vehicle, and wherein generating a deviated driving route may include: determining an expected distance between the vehicle body and the left line, and an expected distance between the vehicle body and the right line based on the vehicle continuing to travel on the driving route and the determined information, and generating the deviated driving route based on the expected distances.

[0018] The method, wherein generating a deviated driving route may include: determining optimization status information, wherein the optimization status information may include at least one of the following: position lateral error, heading error, kingpin inclination angle, curvature of the position of the driving road, curvature change, or a deviated distance based on the driving route, wherein the deviated distance is associated with each of the vehicle bodies based on the determined information or at least one of the driving routes, and the deviated driving route is generated based on at least a portion of the optimization status information.

[0019] The method, wherein a caster angle comprises an angle formed between a first heading direction of a first body and a second heading direction of a second body, wherein the first body and the second body are between the bodies at a point on the deflected travel path.

[0020] The method, wherein determining the optimization state information may include determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature of the position, a curvature change, or a deviation distance.

[0021] The method may further include determining that the vehicle is traveling along a deviated driving route based on at least one of a first position lateral error of a first body of the body that meets the condition, a second position lateral error of a second body of the body that meets the condition, or a first heading error of the second body that meets the condition.

[0022] The method, wherein generating a deviated driving route may include: determining at least one of a first offset state of a first body of the vehicle body or a second offset state of a second body of the vehicle body based on at least one of the determined information; and generating the deviated driving route based on at least one of the first offset state or the second offset state, so that the deviated driving route is adjacent to the center of the driving road.

[0023] According to the present disclosure, a non-volatile computer-readable recording medium stores a program, which, when executed, can enable a controller to determine the curvature of a driving road on which a vehicle is traveling based on a driving route; determine information associated with at least one of the driving road, two lines of the driving road, a feature of the vehicle, or a kingpin inclination angle between a body of the vehicle based on the curvature exceeding a threshold curvature; generate a deviated driving route based on the determined information or at least one of the driving routes; and control the vehicle so that the vehicle travels on the driving road along the deviated driving route.

[0024] A non-volatile computer-readable recording medium, wherein the information associated with the lines may include information associated with a left line and a right line based on the driving direction of the vehicle, and wherein generating a deviated driving route may include: determining an expected distance between a vehicle body and a left line and an expected distance between a vehicle body and a right line based on the vehicle continuing to travel on the driving route and the determined information, and generating the deviated driving route based on the expected distances.

[0025] Non-volatile computer-readable recording medium, wherein generating a deflected driving route may include determining optimized state information, wherein the optimized state information may include at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, or a deflection distance based on the driving route, wherein the deflection distance is associated with each of the vehicle bodies based on at least one of the determined information, and the deflected driving route is generated based on at least a portion of the optimized state information.

[0026] A non-volatile computer-readable recording medium, wherein determining the optimization state information may include determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, or a deviation distance.

[0027] A non-volatile computer-readable recording medium, wherein the program, when executed, enables determining that the vehicle is traveling along the deviated driving route based on at least one of a first position lateral error of a first body among the bodies that satisfies the condition, a second position lateral error of a second body among the bodies that satisfies the condition, or a first heading error of the second body that satisfies the condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0029] Figure 1 An embodiment of components of an autonomous driving control device according to an embodiment of the present disclosure is shown;

[0030] Figure 2 An embodiment of a flow chart of an autonomous driving control method according to an embodiment of the present disclosure is shown;

[0031] Figure 3 An embodiment of a flow chart of an autonomous driving control method according to an embodiment of the present disclosure is shown;

[0032] Figure 4 An embodiment of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown;

[0033] Figure 5 An embodiment of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown;

[0034] Figure 6 An embodiment of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown;

[0035] Figure 7 An embodiment of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown;

[0036] Figure 8 An embodiment of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown;

[0037] Fig. 9An embodiment of a flow chart illustrating an autonomous driving control method according to an embodiment of the present disclosure; and

[0038] Fig.10 An embodiment of a computing system related to an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0039] In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. DETAILED DESCRIPTION

[0040] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. When adding reference numerals to components of the respective drawings, it should be noted that the same components have the same reference numerals even though they are shown in another drawing. In addition, when describing the embodiments of the present disclosure, if a well-known function or configuration may make the subject matter of the present disclosure unnecessarily obscure, the detailed description associated with the well-known function or configuration will be omitted.

[0041] When describing the elements of the embodiments of the present disclosure, the terms first, second, A, B, (a), (b) etc. can be used in this article. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, and are independent of the properties, order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical terms and scientific terms used herein will be interpreted as the customary terms of the field to which this disclosure belongs. It should be understood that the terms used in this article should be interpreted as having the same meaning as their meaning in the context of the present disclosure and the related art, and should not be interpreted in an idealized or overly formal sense, unless clearly defined in this article.

[0042] In the following, reference will be made to Figures 1 to 7 Various embodiments of the present disclosure are described in detail.

[0043] Figure 1 An embodiment of components of an autonomous driving control device according to an embodiment of the present disclosure is shown.

[0044] According to an embodiment, the autonomous driving control apparatus 100 may include at least one of a sensor device 110 , a memory 120 , a controller 130 , or any combination thereof. Figure 1 The configuration of the autonomous driving control device 100 shown in FIG. 1 is an embodiment, and the embodiments of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may further include Figure 1 Components not shown in the figure (for example, at least one of an interface device, a communication device, a display device, a notification device, or any combination thereof).

[0045] According to an embodiment, the sensor device 110 may obtain (or sense) various information for the host vehicle to travel.

[0046] For example, the sensor device 110 may include at least one sensor including at least one of a camera, a radar, a LiDAR, or any combination thereof.

[0047] For example, the sensor device 110 may determine (or identify) information about at least one of a driving state of the host vehicle, a driving mode of the host vehicle, a driving road of the host vehicle, an area adjacent to the host vehicle, or any combination thereof.

[0048] For example, the sensor device 110 can determine (or identify) information about the driving state of the main vehicle, which includes at least one of the actual (or real-time) driving speed of the main vehicle, the driving direction of the main vehicle, the driving acceleration and / or deceleration of the main vehicle, or any combination thereof.

[0049] For example, the sensor device 110 can determine (or identify) information about at least one of the real-time curvature of the main vehicle's driving road (or driving lane), two lines of the main vehicle's driving road (for example, the boundary line between the driving lane and the adjacent lane), the kingpin inclination angle between the main vehicle's body, or any combination thereof.

[0050] For example, the caster angle may include a difference between a first heading direction of a first body (eg, a tractor) and a second heading direction of a second body (eg, a trailer) among the bodies of the host vehicle at a point on the yaw travel path.

[0051] For example, if the main vehicle continues to travel on the prescribed driving route, the sensor device 110 can determine (or identify) the distance between each body of the main vehicle and each of the expected left and right lines. In this case, it is understood that the left and right lines are replaced by the boundaries of the driving road. For example, the determined (or identified) distance may include at least one of the following: a first distance between the left line and the first body of the main vehicle, a second distance between the left line and the second body of the main vehicle, a third distance between the right line and the first body of the main vehicle, a fourth distance between the right line and the second body of the main vehicle, or any combination thereof. It is understood that the above distances determined (or identified) by the sensor device 110 are determined (or identified) by the controller 130 using the information obtained by the sensor device 110.

[0052] According to an embodiment, the memory 120 may store instructions or data. For example, the memory 120 may store one or more instructions that, when executed by the controller 130, cause the autonomous driving control device 100 to perform various operations.

[0053] For example, the memory 120 and the controller 130 may be implemented as one chipset. The controller 130 may include at least one of a communication processor or a modem.

[0054] For example, the memory 120 may store various information related to the autonomous driving control apparatus 100. For example, the memory 120 may store information about the operation history of the controller 130. For example, the memory 120 may store information related to the state and / or operation of a component of the host vehicle (e.g., at least one of an engine control unit (ECU), the sensor device 110, the controller 130, or any combination thereof).

[0055] According to an embodiment, the controller 130 may be operably connected to the sensor device 110 and / or the memory 120. For example, the controller 130 may control operations of the sensor device 110 and / or the memory 120.

[0056] For example, when controlling the host vehicle based on a prescribed driving route, the controller 130 may determine (or identify) the curvature of a driving road on which the host vehicle is driving.

[0057] For example, the prescribed driving route may include a first driving route (eg, a normal route) created by the autonomous driving control apparatus 100 without considering an off-track situation to control the host vehicle to a destination.

[0058] For example, the controller 130 may determine (or recognize) the curvature of the driving road in real time by using the sensor device 110 .

[0059] For example, if the determined (or identified) curvature exceeds the reference curvature, the controller 130 may determine (or identify) information about at least one of the driving road, two lines of the driving road (or two boundaries of the driving road), characteristics of the main vehicle, the kingpin inclination angle between the bodies of the main vehicle, or any combination thereof by using the sensor device 110.

[0060] For example, the controller 130 may determine (or identify) information about the curvature of the driving road, the road surface state, the distance between the center of the driving road and two lines, or a combination thereof. The controller 130 may determine (or identify) the curvature of the driving road by using another component other than the sensor device 110. For example, the controller 130 may determine (or identify) the average curvature value of some sections (e.g., intersection sections) of the driving route that the host vehicle is expected to travel based on accurate map data obtained from an external source (e.g., a server) by using a communication device (not shown).

[0061] For example, the controller 130 may determine (or identify) information about characteristics (eg, at least one of length, width, height, weight, or any combination thereof) of at least one vehicle body included in the host vehicle.

[0062] For example, the caster angle may include a difference between a first heading direction of a first body and a second heading direction of a second body in the bodies at a point on the yaw travel path.

[0063] For example, based on the determined (or identified) information, if the main vehicle continues to travel on the prescribed driving route, the controller 130 can determine (or identify) the distance between the main vehicle (or each vehicle body included in the main vehicle) and each of the expected left and right lines.

[0064] For example, the controller 130 may generate a detour driving route based on at least one of the determined (or identified information, a prescribed driving path, or any combination thereof).

[0065] For example, a detour driving route may include a planned driving route that causes the host vehicle to travel along a route that is separated from the center of the driving road by a specified distance in a specific direction (e.g., to the left or right direction based on the direction the host vehicle is facing) compared to the prescribed driving route.

[0066] For example, the controller 130 may create a detour travel route by executing a prescribed algorithm using the optimized state information.

[0067] For example, the optimized status information may include at least one of the lateral position error, heading error, kingpin inclination angle, curvature at each position, curvature change, deflection distance based on a specified driving route or any combination thereof of each vehicle body determined (or identified) based on at least one information determined (or identified) by the controller 130, and determining (or specifying) driving video or any combination thereof.

[0068] For example, the optimized state information may include at least one piece of information determined (or identified) by the controller 130 within a predefined maximum value and a predefined minimum value corresponding to at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, a deflection distance, or any combination thereof.

[0069] For example, the controller 130 may determine (or identify) at least one of a first offset state of a first body (e.g., a tractor) among the bodies, a second offset state of a second body (e.g., a trailer), or any combination thereof based on at least one of the determined (or identified) information, a prescribed driving route, or any combination thereof.

[0070] For example, the controller 130 may generate a deflected driving route based on at least one of the first offset state, the second offset state, or any combination thereof, so that the deflected driving route is as close to the center of the driving road as possible. In other words, the controller 130 may minimize the first offset state and / or the second offset state so as to generate a deflected driving route as close to the center of the driving road as possible.

[0071] For example, the controller 130 may allow the host vehicle to travel on the driving road along a detour driving route.

[0072] For example, if at least one of a first position lateral error of a first vehicle body, a second position lateral error of a second vehicle body, a first heading error of a second vehicle body, or any combination thereof satisfies specified conditions, the controller 130 may determine (or identify) that the main vehicle is traveling along a deflected driving route.

[0073] For example, if the partial differential value of the equation corresponding to at least one of the first position lateral error, the second position lateral error, the first heading error, or any combination thereof is a specified value (e.g., 0), the controller 130 can determine (or identify) that the main vehicle is traveling along a deflected driving path.

[0074] Figure 1 The components of the autonomous driving control device 100 shown in FIG. 1 are embodiments, and the embodiments of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may further include a display device (not shown) and / or a notification device (not shown).

[0075] According to an embodiment, the display device may visually provide the user with a user interface including the driving route (eg, a deflected driving route) of the host vehicle.

[0076] For example, the display device can provide a user interface to the user in real time, which includes information generated by the controller 130 about at least one of the deviated driving route, the driving lane, the two lines of the driving lane, the distance between the driving lane and the deviated driving route, the distance between each body of the main vehicle and the two lines of the driving lane, or any combination thereof.

[0077] According to an embodiment, the notification device may include at least one output device. For example, the notification device may include an output device (eg, a speaker) included in at least a portion of the interior of the host vehicle.

[0078] For example, the notification device may output various types of sounds to the outside.

[0079] For example, under the control of the controller 130, the notification device may provide the user with a guidance message indicating that the planned driving route of the host vehicle is changed from a prescribed driving route (eg, a route for following the center of a driving lane) to a deviated driving route.

[0080] Figure 2 An embodiment of a flow chart of an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0081] According to an embodiment, an autonomous driving control device (e.g., Figure 1 Autonomous driving control equipment) can be executed Figure 2 For example, at least some components (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130 in the embodiment may be configured to perform Figure 2 operation.

[0082] In the following embodiments, operations S210 to S240 may be performed sequentially, but are not always performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 2 Descriptions corresponding to or identical to those given above may be briefly described or omitted to avoid redundancy.

[0083] According to an embodiment, the autonomous driving control apparatus may recognize the curvature of a route based on precise map data ( S210 ).

[0084] For example, the autonomous driving control apparatus may identify an average curvature value of a driving route that the host vehicle is expected to travel based on accurate map data received from an external source (eg, a server) by using a communication device.

[0085] According to an embodiment, the autonomous driving control apparatus may determine whether the road section average curvature exceeds a reference curvature ( S220 ).

[0086] For example, the road segment average curvature may be an average curvature value of some road segments (eg, intersection sections) of the driving road on which the host vehicle is driving.

[0087] For example, if it is determined that the road section average curvature exceeds the reference curvature (eg, operation S220 —Yes), the autonomous driving control apparatus may perform operation S230 .

[0088] For example, if it is determined that the road section average curvature does not exceed the reference curvature (eg, operation S220 —No), the autonomous driving control apparatus may perform operation S240 .

[0089] According to an embodiment, the autonomous driving control apparatus may create a route for detour driving ( S230 ).

[0090] Will refer to Figures 3 to 8 The method by which the autonomous driving control device creates a deflected driving route is described in more detail.

[0091] According to an embodiment, the autonomous driving control apparatus may create a normal route ( S240 ).

[0092] For example, the normal route may be a driving route created to follow the center of a driving road. When controlling the driving of the first host vehicle, the autonomous driving control apparatus may control the host vehicle based on the normal route.

[0093] Figure 3 An embodiment of a flow chart of an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0094] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100 in FIG. 1 may identify information according to reference numerals 310 to 340 and may execute a prescribed optimization algorithm (eg, a quadratic programming optimization 350 ) based on the identified information to generate a deflected driving route.

[0095] For example, the autonomous driving control apparatus may recognize information 310 about two lines of a driving lane (or a driving road).

[0096] For example, the autonomous driving control device may identify information 320 regarding a driving lane.

[0097] For example, the autonomous driving control device may identify information 330 regarding vehicle characteristics.

[0098] For example, the autonomous driving control device may identify information 340 regarding the kingpin inclination angle.

[0099] For example, the autonomous driving control device can identify at least one of the information about the distance from the center of the driving lane to the left and right lines (or the left and right boundaries), the distance between each body of the main vehicle and the two lines of the driving lane, the position lateral error of each body included in the main vehicle, the heading error, the kingpin inclination angle, the curvature of each position of the main vehicle, the curvature change, the deflection distance, or any combination thereof by using at least one of the information 310 about the two lines of the driving lane, the information 320 about the driving lane, the information 330 about the vehicle characteristics, or any combination thereof.

[0100] For example, the caster angle may include a difference between a first heading direction of a first vehicle body (eg, a tractor) and a second heading direction of a second vehicle body (eg, a trailer) among vehicles included in the host vehicle at a point on the driving route.

[0101] For example, the autonomous driving control device may create a deflected driving route based on the quadratic programming optimization 350 .

[0102] For example, the autonomous driving control device may identify the distance between the host vehicle and each of the left and right lines expected if the host vehicle continues to travel along the prescribed driving route, and may generate a deviated driving route based on the identified distances.

[0103] For example, the autonomous driving control device can identify optimized state information based on at least some of the multiple information according to reference numbers 310 to 340 and a specified driving route (for example, a driving route that allows the main vehicle to follow the center of the driving lane), and the optimized state information includes at least one of a position lateral error, a heading error, a curvature, a curvature change, a deflection distance, or any combination thereof for each position of the main vehicle.

[0104] For example, the autonomous driving control device can further identify the optimization state information based on predefined maximum and minimum values ​​(or allowable ranges) corresponding to at least one of the position lateral error, heading error, kingpin inclination angle, curvature at each position, curvature change, deflection distance, or any combination thereof.

[0105] For example, the autonomous driving control device may create a detour driving route by using at least a portion of the optimization state information.

[0106] For example, the autonomous driving control device can identify at least one of a first offset state of a first vehicle body, a second offset state of a second vehicle body, or any combination thereof based on at least one of the identification information, the prescribed driving route, or any combination thereof, and can create a deflected driving route to be adjacent to the center of the driving road based on at least one of the first offset state, the second offset state, or any combination thereof.

[0107] In the following Figure 4 and Figure 5 In the description of , a method will be described later in which an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100 in the embodiment of the present invention identifies the optimization state information based on the optimization algorithm (for example, quadratic programming) and generates a deflected driving route based on the optimization state information.

[0108] For example, the optimization algorithm performed by the autonomous driving control apparatus may be performed by calculating a domain based on a cost function (eg, cost) according to the following Equation 1.

[0109] [Equation 1]

[0110]

[0111] For example, "z" may be "n" state values ​​(e.g., n-dimensional vectors) obtained by the optimization algorithm. T can be the transposed vector of “z”. For example, “H” can be various types of matrices (e.g., Hessian matrices). For example, “q” can be an n-dimensional real matrix, and q T It may be a transposed matrix of “q.” The autonomous driving control apparatus may identify “z” in a direction in which a value of the cost function according to Equation 1 is minimized.

[0112] For example, "z" may include optimization status information.

[0113] For example, "z" may include waypoint status information X i For example, the route point status information X i At least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature, or any combination thereof may be included at each prescribed point of each vehicle body (e.g., a tractor and / or a trailer) included in the host vehicle. Each of the position lateral error and the heading error may be an error value (or a change amount) calculated by comparing the deviated driving route with a prescribed driving route (e.g., a driving route configured to follow the center of a driving road). Routing point status information X at a specific point (i) i An embodiment of can be as follows.

[0114] X i =[e lat_tractor ,e heading_tractor ,β,K,e lat_trailer ,e heading_trailer ] T

[0115] For example, “z” may include vehicle model input state information “u”. For example, the vehicle model input state information “u” may include the amount of change in curvature. For example, by using the vehicle model input state information “u” as an input value, the autonomous driving control device may convert the route point state information X at the first point into the route point state information X at the first point. 1 Change to the route point status information X at the second point 2 .

[0116] For example, "z" may include vehicle center reference deflection value state information d_tractor and / or d'_trailer. For example, the first vehicle body center reference deflection value state information d_tractor may include information that enables the distance from the center of the first vehicle body to the left line (or left boundary) of the driving road and the distance to its right line (or right boundary) to be substantially the same (or maximized) as each other. For example, the second vehicle body center reference deflection value state information d'_trailer may include information that enables the distance from the center of the second vehicle body to the left line (or left boundary) of the driving road and the distance to its right line (or right boundary) to be substantially the same (or maximized) as each other.

[0117] For example, the autonomous driving control apparatus may set an optimization algorithm according to the following Equation 2 to find a domain that satisfies a constraint function (eg, constraint).

[0118] [Equation 2]

[0119] b≤Az≤c

[0120] For example, "b" and "c" may be m-dimensional real vectors. For example, "A" may be an m×n-dimensional real matrix. In other words, the autonomous driving control device may identify the optimized state information and deflect the driving route through the calculation domain on the premise that the result of multiplying the matrix "A" and the vector "z" has a value between the vector "b" and the vector "c".

[0121] Figure 4 An example of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown.

[0122] According to an embodiment, Figure 4 It may be a diagram shown based on a first vehicle body (eg, a tractor vehicle) among the vehicles of the host vehicle 491 .

[0123] According to an embodiment, if the curvature of the driving road exceeds the reference curvature, the autonomous driving control device (eg, Figure 1 The autonomous driving control device 100 in the embodiment may identify at least one piece of information about a driving road, two lines of the driving road, a feature of the host vehicle, a kingpin inclination angle between bodies of the host vehicle, or any combination thereof, and may determine the driving direction based on the identified information, a prescribed driving route (e.g., Figure 4 The optimization state information is identified by at least one of the curve driving route shown in ) or any combination thereof.

[0124] For example, the optimization state information may include various information identified based on points (eg, the first point 401 , the second point 402 , and the third point 403 ) that specify the driving route.

[0125] For example, the autonomous driving control device may identify a first optimization point 411, and may identify a first position lateral error e of the first vehicle body from the first point 401 to the first optimization point 411. lat,1 .

[0126] For example, the autonomous driving control device may identify the second optimized point 412, and may identify a second position lateral error e from the second point 402 to the second optimized point 412. 2 The autonomous driving control device may identify a second heading error e corresponding to a difference between a second optimized heading 462 of the first vehicle body based on the second optimized point 412 and a second reference heading 452 of the first vehicle body based on the second point 402. 2,heading_tractor .

[0127] For example, the autonomous driving control device may identify the third optimization point 413 and may identify a third position lateral error e from the third point 403 to the third optimization point 413. 3,lat_tractor The autonomous driving control device may identify a third heading error e corresponding to a difference between a third optimized heading 463 of the first vehicle body based on the third optimization point 413 and a third reference heading 453 of the first vehicle body based on the third point 403. 3,heading_tractor .

[0128] For example, the autonomous driving control device may identify a first offset point 450 at which a distance from the first vehicle body to the left line (or left boundary) is the same as a distance from the first vehicle body to the right line (or right boundary). For example, the first offset point 450 may be spaced apart from the first optimization point 411 by a first offset distance (or first offset state) d in a direction facing the first point 401. 1_tractor For example, the first offset distance d 1_tractor It can be calculated by using the following equation.

[0129] [Equation 3]

[0130]

[0131] For example, d 1 d may be a distance spaced from the first optimization point 411 that enables the distance from the center of the first vehicle body to the left line (or left boundary) of the driving road and the distance to the right line (or right boundary) thereof to be substantially the same as (or maximized) each other. In other words, the autonomous driving control device may be based on the distance d spaced from the first optimization point 411. 1 The first offset point generates a deflected driving route. y，1 It can be a lateral position value of the first vehicle body identified based on the first point 401. For example, d left and d rightThe distances may be spaced from the first point 401 to the left line and the right line, respectively.

[0132] Figure 5 An example of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown.

[0133] According to an embodiment, Figure 5 The diagram may be based on a second vehicle body 592 (eg, a tractor) among the vehicles of the host vehicle 491. Figure 5 , the host vehicle may include a first body 591 and a second body 592 physically connected to the first body 591 .

[0134] According to an embodiment, if the curvature of the driving road exceeds the reference curvature, the autonomous driving control device (eg, Figure 1 The autonomous driving control device 100 in the embodiment may identify information about at least one of a driving road, two lines of the driving road, a feature of the host vehicle, a kingpin inclination angle between bodies of the host vehicle, or any combination thereof, and may determine the driving direction based on the identified information, a prescribed driving route (e.g., Figure 5 The optimization state information is identified by at least one of the curve driving route shown in ) or any combination thereof.

[0135] For example, the optimization state information may include various information identified based on points (eg, the first point 501 , the second point 502 , and the third point 503 ) that specify the driving route.

[0136] For example, the autonomous driving control device may identify a first virtual optimal point 521 based on a region of the second vehicle body 592, and may identify a first position lateral error e of the second vehicle body 592 from the first point 501 to the first virtual optimal point 521. lat,1 .

[0137] For example, the autonomous driving control device may identify a second optimized point 522 based on the second area 512 of the second vehicle body 592, and may identify a second position lateral error e from the second point 502 to the second optimized point 522. 2,lat_trailer The second body 592 may be physically connected to the second region 512 of the first body 591 . The autonomous driving control device may identify a second heading error corresponding to a difference between a second optimized heading of the second body 592 based on the second optimization point 522 and a second reference heading of the second body 592 based on the second point 502 .

[0138] For example, the autonomous driving control device may identify a third virtual optimal point 523 based on the third area 513 of the second vehicle body 592, and may identify a third position lateral error e from the third point 503 to the third virtual optimal point 523. 3，lattrailerThe second body 592 may be physically connected to the third region 513 of the first body 591. The autonomous driving control device may identify a third heading error 580 corresponding to a difference between a third optimized heading 525 of the second body 592 based on the third virtual optimization point 523 and a third reference heading 515 of the second body 592 based on the third point 503.

[0139] For example, the autonomous driving control device may identify a first offset point 550 at which a distance from the second vehicle body 592 to the left line (or left boundary) is the same as a distance from the second vehicle body 592 to the right line (or right boundary). For example, the first offset point 550 may be spaced apart from the first virtual optimal point 521 by a first offset distance (or a first offset state) d in a direction facing the first point 501. 1_trailer For example, the first offset distance d 1_trailer It can be calculated by using Equation 3 below.

[0140] For example, in Figure 5 Medium, d left_trailer and d right_trailer The distances spaced from the first point 501 to the left line and the right line may be respectively.

[0141] According to an embodiment, the autonomous driving control apparatus may identify a vector corresponding to the linearized tractor model based on parameters corresponding to the start point and the end point according to the following Equations 4 and 5.

[0142] [Equation 4]

[0143] p 0 =[e y-TT，0 , e θ-TT，0 , β 0 , e y-tr，0 , e θ-tr，0 , k 0 ] T

[0144] [Equation 5]

[0145] p N =[e y-TT，N , e θ-TT，N , β N , e y-tr，N , e θ-tr，N , k N ] T

[0146] For example, p 0 and p N can be vectors corresponding to the start and end points respectively. For example, e y_TT，0 and e Y_TT，NIt can be the lateral error of the position of the first vehicle body (e.g., tractor) corresponding to the starting point and the end point respectively. θ_TT，0 and e θ_TT，N It can be the heading error of the first vehicle body corresponding to the starting point and the end point respectively. 0 , β N It can be the kingpin inclination angle corresponding to the starting point and the end point respectively. y_tr，0 and e y_tr，N It can be the lateral error of the position of the second vehicle body (e.g., trailer) corresponding to the starting point and the end point respectively. θ_tr，0 and e θ_tr，N It may be the heading error of the second vehicle body corresponding to the starting point and the end point respectively.

[0147] According to an embodiment, the autonomous driving control apparatus may identify a vector corresponding to the linearized tractor model based on the following Equation 6.

[0148] [Equation 6]

[0149]

[0150] According to an embodiment, the autonomous driving control apparatus may identify a function corresponding to the trailer state based on the following Equation 7.

[0151] [Equation 7]

[0152]

[0153] For example, when and When it is a prescribed value (for example, 0), the autonomous driving control device can recognize that the first vehicle body and the second vehicle body completely follow the driving route.

[0154] According to an embodiment, the autonomous driving control apparatus may identify a range of lateral distance offset values ​​for generating a deflected driving route based on Equation 8 below.

[0155] [Equation 8]

[0156]

[0157]

[0158] According to an embodiment, the autonomous driving control apparatus may identify a lateral distance offset value for generating a deflected driving route based on Equation 9 below.

[0159] [Equation 9]

[0160]

[0161]

[0162] According to an embodiment, the autonomous driving control apparatus may identify a range of curvature values ​​for generating a deflected driving route based on the following Equation 10.

[0163] [Equation 10]

[0164] -k max ≤k j ≤k max

[0165] According to an embodiment, the autonomous driving control apparatus may determine a cost function (cost function J) for generating a detour driving route based on the following Equation 11.

[0166] [Equation 11]

[0167]

[0168] For example, in the process of generating a correction route for detour driving from the driving route previously generated, by minimizing the offset state (or distance) from the center of the driving road based on the cost function according to Equation 11 (or by maximizing the distance to the boundary of the driving road), the autonomous driving control device can allow the first vehicle body and the second vehicle body to travel at the center of the driving road as much as possible even if the first vehicle body and the second vehicle body travel in an offset method.

[0169] Figure 6 An example of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown.

[0170] Referring to reference numeral 610, according to an embodiment, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100 in FIG. 1 may generate a deflection driving route 650 to control the deflection driving of the main vehicle including the first body 691 and the second body 692. For example, when compared with the prescribed driving route 640 previously generated thereby, the deflection driving route 650 may include at least a portion of a route deflected from the center of the driving road in a prescribed direction. Therefore, the first body 691 may travel while ensuring a first gap distance 681 to the left line (or left boundary) based on the direction the main vehicle is facing. The second body 692 may travel while ensuring a second gap distance 682 to the right line (or right boundary) based on the direction the main vehicle is facing.

[0171] Referring to reference numeral 620 , according to an embodiment, the autonomous driving control apparatus may generate a deviated driving route 650 deviated by a prescribed distance 645 in a prescribed direction from the center of the driving road based on the prescribed driving route 640 previously generated thereby.

[0172] Figure 7An example of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown.

[0173] Referring to reference numeral 710, according to an embodiment, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100 in the embodiment may control the host vehicle based on the prescribed driving route 740 that has been created (or set). The prescribed driving route 740 may include a route in which the host vehicle is configured to follow the center of the driving road. In this case, since the second vehicle body 792 is spaced a certain distance 797 from the prescribed driving road 740 and is traveling while facing the prescribed reference direction 795, there may be a risk 799 of collision with a certain line (or certain boundary) of the driving road (e.g., the right line 734).

[0174] Referring to reference numeral 720, according to an embodiment, the autonomous driving control apparatus may generate a deflected driving route 750 deflected by a specific distance from the center of the driving road in a prescribed direction 745 based on the prescribed driving route 740 thus previously generated. In this case, the first vehicle body 791 may travel while ensuring a clearance distance of a first distance 781 from the left line 732 of the driving road, and the second vehicle body 792 may travel while ensuring a clearance distance of a second distance 782 from the right line 734 of the driving road. Therefore, driving safety may be improved.

[0175] Figure 8 An example of the operation of the autonomous driving control device according to an embodiment of the present disclosure is shown.

[0176] Referring to reference numeral 810, according to an embodiment, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100 in the embodiment may control the main vehicle based on the prescribed driving route 840 that has been created (or set). The prescribed driving route 840 may include a route in which the main vehicle is configured to follow the center of the driving road. In this case, since the second vehicle body 892 travels while being separated from the prescribed driving route 840 by a specific distance 897, the second vehicle body 892 is adjacent to a specific line (or specific boundary) of the driving road 831 (e.g., the right line 831-2), and therefore, because the second vehicle body 892 is adjacent to another vehicle 802 traveling on the right road 832 located on the right side of the driving road 831, risks such as an increased possibility of collision may occur.

[0177] Referring to reference numeral 820, according to an embodiment, the autonomous driving control apparatus may generate a deflected driving route 850 deflected by a specific distance in a prescribed direction 845 from the center of the driving road 831 based on the prescribed driving route 840 thus previously generated. In this case, the first vehicle body 891 may travel while ensuring a gap distance of a first distance 881 from the left line 831-1 of the driving road 831, and the second vehicle body 892 may travel while ensuring a gap distance of a second distance 882 from the right line 831-2 of the driving road 831. Therefore, since the possibility of collision is reduced by being relatively spaced apart from other vehicles 802 traveling on the right road 832 located on the right side of the driving road 831, driving safety may be improved.

[0178] Fig. 9 An embodiment of a flow chart of an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0179] According to an embodiment, an autonomous driving control device (e.g., Figure 1 Autonomous driving control equipment) can be executed Fig. 9 For example, at least some components (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130 in the embodiment may be configured to perform Fig. 9 operation.

[0180] In the following embodiments, S910 to S940 may be performed sequentially, but are not always performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Fig. 9 Descriptions corresponding to or identical to those given above may be briefly described or omitted to avoid redundancy.

[0181] According to an embodiment, the autonomous driving control apparatus may identify a curvature of a driving road on which a host vehicle is driving ( S910 ).

[0182] For example, the autonomous driving control apparatus may identify an average curvature value of a driving route in which the host vehicle is expected to travel based on accurate map data received from an external source (eg, a server) by using a communication device.

[0183] For example, the autonomous driving control apparatus may recognize the curvature of a driving road on which the host vehicle is driving by using a sensor device.

[0184] According to an embodiment, the autonomous driving control apparatus may determine whether the identified curvature exceeds a reference curvature ( S920 ).

[0185] For example, the identified curvature may be an average curvature value of some sections (eg, intersection sections) of the driving road on which the host vehicle is driving.

[0186] For example, the identified curvature may be an average curvature value for some segment of the expected travel route on which the host vehicle is expected to travel.

[0187] For example, if it is determined that the recognized curvature exceeds the reference curvature (eg, operation S920 —Yes), the autonomous driving control apparatus may perform operation S930 .

[0188] For example, if it is determined that the identified curvature does not exceed the reference curvature (eg, operation S920 —No), the autonomous driving control apparatus may perform operation S925 .

[0189] According to an embodiment, the autonomous driving control apparatus may control the host vehicle by using a predetermined driving route ( S925 ).

[0190] For example, the predetermined driving route (eg, a prescribed driving route) may include a driving route generated as the center of a driving lane (or a driving road) that the autonomous driving control apparatus allows the host vehicle to follow.

[0191] According to an embodiment, the autonomous driving control apparatus may identify at least one of a driving road, two lines of the driving road, a feature of the host vehicle, a kingpin inclination angle between bodies of the host vehicle, or any combination thereof by using a sensor device (S930).

[0192] For example, the autonomous driving control device may identify a distance between the host vehicle and each of the left and right lines expected if the host vehicle continues to travel along the prescribed driving route, and may further generate a detour driving route based on the identified distances.

[0193] For example, the autonomous driving control device can identify optimized state information based on at least some of the multiple information according to reference numbers 310 to 340 and a prescribed driving route (for example, a driving route that allows the main vehicle to follow the center of the driving lane), and the optimized state information includes at least one of a position lateral error, a heading error, a curvature, a curvature change, a deflection distance, or any combination thereof for each position of the main vehicle.

[0194] For example, the autonomous driving control device can further identify the optimization state information based on predefined maximum and minimum values ​​(or allowable ranges) corresponding to at least one of the position lateral error, heading error, kingpin inclination angle, curvature at each position, curvature change, deflection distance, or any combination thereof.

[0195] For example, the autonomous driving control device may create a detour driving route by using at least a portion of the optimization state information.

[0196] For example, the autonomous driving control device can identify at least one of a first offset state of a first vehicle body, a second offset state of a second vehicle body, or any combination thereof based on at least one of the identification information, the prescribed driving route, or any combination thereof, and can create a deflected driving route to be adjacent to the center of the driving road based on at least one of the first offset state, the second offset state, or any combination thereof.

[0197] According to an embodiment, the autonomous driving control apparatus may control the host vehicle to travel along a deflected driving route generated based on the recognized information ( S940 ).

[0198] For example, if at least one of a first position lateral error of a first vehicle body, a second position lateral error of a second vehicle body, a first heading error of the second vehicle body, or any combination thereof among the vehicle bodies satisfies a prescribed condition, the autonomous driving control device may recognize that the host vehicle is traveling along a deflected driving route. For example, the prescribed condition may include the following case: a partial differential value of an equation corresponding to at least one of the first position lateral error, the second position lateral error, the first heading error, or any combination thereof is a prescribed value (e.g., 0).

[0199] Fig.10 An embodiment of a computing system related to an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0200] Reference Fig.10 , a computing system 1000 related to an autonomous driving control method may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0201] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage 1600. Each of the memory 1300 and the storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0202] Therefore, the operation of the method or algorithm described in conjunction with the embodiments disclosed in the specification can be directly implemented using a hardware module, a software module, or a combination of a hardware module and a software module, which is executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and / or the storage 1600), such as a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk drive, a removable disk, or a compact disk ROM (CD-ROM).

[0203] 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. Alternatively or additionally, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be implemented using an application specific integrated circuit (ASIC). The ASIC may be provided in a user terminal. Alternatively or additionally, the processor and the storage medium may be implemented using separate components in a user terminal.

[0204] The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while keeping the advantages achieved by the prior art intact.

[0205] An embodiment of the present disclosure provides a driving route creation function that uses a prescribed algorithm to prevent a deviation from the track in advance if the driving route is created for autonomous driving control of a host vehicle corresponding to a specific type (e.g., a type of vehicle including a tractor and a trailer).

[0206] An example of the present invention provides the following function: when creating a driving route for a main vehicle in a road section with relatively high curvature, a deviated driving route that deviates from the center of the lane is created by utilizing at least one of the characteristics of each body included in the main vehicle (for example, the total length or the total width), the kingpin inclination angle (for example, the difference in angles observed from the body), the characteristics of the driving road, or any combination of the foregoing.

[0207] An embodiment of the present disclosure provides a function of determining whether the host vehicle is traveling along a deflected driving route based on whether at least one of a position lateral error, a heading error, or any combination thereof of each vehicle body included in the host vehicle satisfies a prescribed condition.

[0208] An embodiment of the present disclosure provides an autonomous driving control device, which is configured to: if optimized state information for creating a deflected driving route is identified, the optimized state information is identified within a predetermined (or set) range (or maximum and minimum values) corresponding to at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature of each position of the main vehicle, a curvature change, a deflection distance, or any combination thereof.

[0209] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0210] According to an embodiment of the present disclosure, an autonomous driving control device includes a sensor device, a memory storing instructions, and a controller operatively connected to the sensor device and the memory. For example, when the instructions are executed by the controller, the autonomous driving control device determines the curvature of a driving road on which a host vehicle is driving, and controls the host vehicle based on a prescribed driving route, when the curvature exceeds a reference curvature, uses the sensor device to determine information related to at least one of the driving road, two lines of the driving road, a feature of the host vehicle, and a kingpin inclination angle between the bodies of the host vehicle, or a combination of the driving road, two lines of the driving road, a feature of the host vehicle, and a kingpin inclination angle between the bodies of the host vehicle, generates a deflected driving route based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, and controls the host vehicle to drive on the driving road along the deflected driving route.

[0211] According to an embodiment, the information about the two lines may include information about the left line and the right line based on the driving direction of the host vehicle. For example, when the instructions are executed by the controller, the autonomous driving control device may determine the distance between the host vehicle and each of the left line and the right line expected if the host vehicle continues to travel on the prescribed driving route based on the determined information, and generate a deviated driving route based on the distance.

[0212] According to an embodiment, the distance may include at least one of the following: a first distance between the left line and the first body of the main vehicle, a second distance between the left line and the second body of the main vehicle, a third distance between the right line and the first body of the main vehicle, a fourth distance between the right line and the second body of the main vehicle, or a combination of the first distance, the second distance, the third distance, and the fourth distance.

[0213] According to an embodiment, when executed by a controller, the instructions may enable the autonomous driving control device to determine optimized state information, the optimized state information including at least one of the following: a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, a deflection distance based on a prescribed driving route, or a combination of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, and a deflection distance of each vehicle body based on at least one of the determined information and a prescribed driving route, and generate a deflected driving route by using at least part of the optimized state information.

[0214] According to an embodiment, the kingpin inclination angle may include a difference between a first heading direction of a first vehicle body and a second heading direction of a second vehicle body among the vehicle bodies at a point on the deflected travel path.

[0215] According to an embodiment, when executed by a controller, the instructions may cause the autonomous driving control device to further determine the optimization state information based on a predefined maximum value and a predefined minimum value corresponding to at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, a deflection distance, or a combination of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, and a deflection distance.

[0216] According to an example, the instruction, when executed by the controller, may enable the autonomous driving control device to determine that the main vehicle is traveling along a deflected driving route if at least one of a first position lateral error of the first vehicle body, a second position lateral error of the second vehicle body, a first heading error of the second vehicle body, or a combination of the first position lateral error of the first vehicle body or the second position lateral error of the second vehicle body, and the first heading error of the second vehicle body among the vehicles meets specified conditions.

[0217] According to an example, when executed by a controller, the instructions may cause the autonomous driving control device to determine a first offset state for a first vehicle body, a second offset state for a second vehicle body, or at least one of a combination of the first offset state and the second offset state among the vehicle bodies based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, and generate a deflected driving route so as to be adjacent to the center of the driving road.

[0218] According to an embodiment of the present disclosure, an autonomous driving control method includes: while controlling a main vehicle based on a prescribed driving route, determining, by a controller, a curvature of a driving road on which the main vehicle is driving; when the curvature exceeds a reference curvature, determining, by the controller using a sensor device, information about at least one of the driving road, two lines of the driving road, a feature of the main vehicle, and a kingpin inclination angle between a body of the main vehicle, or a combination of the driving road, two lines of the driving road, a feature of the main vehicle, and a kingpin inclination angle between a body of the main vehicle, generating, by the controller, a deflected driving route based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, and allowing, by the controller, the main vehicle to drive on the driving road along the deflected driving route.

[0219] According to an embodiment, the information about the two lines may include information about a left line and a right line based on the driving direction of the main vehicle. For example, generating a deflected driving route by the controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route may include: determining, by the controller, a distance between the main vehicle and each of the left line and the right line expected if the main vehicle continues to travel on the prescribed driving route based on the determined information, and generating the deflected driving route by the controller based on the distance.

[0220] According to an embodiment, generating a deflected driving route by a controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route may include: determining optimization status information by the controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, the optimization status information including position lateral error, heading error, kingpin inclination angle, curvature of each position, curvature change, deflection distance based on a prescribed driving road, or at least one of the combination of position lateral error, heading error, kingpin inclination angle, curvature of each position, curvature change and deflection distance of each vehicle body based on at least one of the determined information, the prescribed driving road, or a combination of the determined information and the prescribed driving route, and generating the deflected driving route by the controller by using at least part of the optimization status information.

[0221] According to an embodiment, the autonomous driving control method may also include the controller further determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value correspond to at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, a deflection distance, or a combination of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, and a deflection distance.

[0222] According to an embodiment, the autonomous driving control method may further include determining, by a controller, that the main vehicle is traveling along a deflected driving route if at least one of a first position lateral error of a first body, a second position lateral error of a second body, a first heading error of the second body, or a combination of the first position lateral error of the first body, the second position lateral error of the second body, and the first heading error of the second body in the vehicle body satisfies a specified condition.

[0223] According to an embodiment, generating a deflected driving route by a controller based on at least one of determined information, a prescribed driving path, or a combination of the determined information and the prescribed driving path may include: determining, by the controller based on at least one of the determined information, the prescribed driving road, or a combination of the determined information and the prescribed driving road, at least one of a first offset state of a first body, a second offset state of a second body, or a combination of the first offset state and the second offset state in the vehicle body, and generating a deflected driving route by the controller based on at least one of the first offset state, the second offset state, or a combination of the first offset state and the second offset state so as to be close to the center of the driving road.

[0224] According to an embodiment of the present disclosure, in a computer-readable recording medium including a program for executing an autonomous driving control method, the autonomous driving control method includes: while controlling a main vehicle based on a prescribed driving route, determining, by a controller, a curvature of a driving road on which the main vehicle is driving; when the curvature exceeds a reference curvature, determining, by the controller using a sensor device, information about at least one of the driving road, two lines of the driving road, a feature of the main vehicle, and a kingpin inclination angle between a body of the main vehicle, or a combination of the driving road, two lines of the driving road, a feature of the main vehicle, and a kingpin inclination angle between a body of the main vehicle, generating, by the controller, a deflected driving route based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, and allowing, by the controller, the main vehicle to drive on the driving road along the deflected driving route.

[0225] According to an embodiment, the information about the two lines may include information about a left line and a right line based on the driving direction of the main vehicle. For example, generating a deflected driving route by the controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route may include: determining, by the controller, a distance between the main vehicle and each of the left line and the right line expected if the main vehicle continues to travel on the prescribed driving route based on the determined information, and generating the deflected driving route by the controller based on the distance.

[0226] According to an embodiment, generating a deflected driving route by a controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route may include: determining optimization status information by the controller based on at least one of the determined information, the prescribed driving route, or a combination of the determined information and the prescribed driving route, the optimization status information including position lateral error, heading error, kingpin inclination angle, curvature of each position, curvature change, deflection distance based on a prescribed driving road, or at least one of the combination of position lateral error, heading error, kingpin inclination angle, curvature of each position, curvature change and deflection distance of each vehicle body based on at least one of the determined information, the prescribed driving road, or a combination of the determined information and the prescribed driving route, and generating the deflected driving route by the controller by using at least part of the optimization status information.

[0227] According to one embodiment, the autonomous driving control method may also include the controller further determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value correspond to at least one of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, a deflection distance, or a combination of a position lateral error, a heading error, a kingpin inclination angle, a curvature at each position, a curvature change, and a deflection distance.

[0228] According to an embodiment, the autonomous driving control method may further include determining, by a controller, that the main vehicle is traveling along a deflected driving route if at least one of a first position lateral error of a first body, a second position lateral error of a second body, a first heading error of the second body, or a combination of the first position lateral error of the first body, the second position lateral error of the second body, and the first heading error of the second body in the vehicle body satisfies a specified condition.

[0229] The above description is merely an embodiment of the technical concept of the present disclosure, and those skilled in the art may make various modifications and changes without departing from the essential features of the present disclosure.

[0230] Therefore, the embodiments of the present disclosure are not intended to limit but to explain the technical concept of the present disclosure, and the scope and spirit of the present disclosure are not limited by the above embodiments. The protection scope of the present disclosure should be interpreted by the attached claims, and all equivalents thereof should be interpreted as included in the scope of the present disclosure.

[0231] A description of an autonomous driving control apparatus and method thereof according to an embodiment of the present disclosure is as follows.

[0232] According to at least one embodiment of the present disclosure, the autonomous driving control device can provide the following function: by controlling the main vehicle based on a deflected driving route that is relatively deflected compared to the driving route previously created for the initial control of the main vehicle (for example, a driving route created to follow the center of the driving lane), each body of the main vehicle is allowed to ensure the left and right gap distances within the driving lane.

[0233] In addition, the autonomous driving control device can ensure safety by controlling the main vehicle so that the body included in the main vehicle travels within a safe range with adjacent external objects (e.g., road structures and / or another vehicle) on the driving lane to prevent the possibility of collision in advance.

[0234] In addition, according to at least one embodiment of the present disclosure, in the process of changing the initially set prescribed driving route to a deviated driving route, the efficiency of vehicle driving control can be guaranteed by using the minimum offset value within a predetermined range so that the main vehicle is as close to the center of the driving lane as possible.

[0235] Furthermore, according to at least one embodiment of the present disclosure, by controlling the host vehicle using a deflected driving route created based on an algorithm using various parameters, a track deviation problem occurring in some bodies of the host vehicle may be solved.

[0236] Furthermore, various effects understood directly or indirectly through the specification can be provided.

[0237] Although the present disclosure has been described above with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

Claims

1. A device for autonomous driving control, comprising: Sensor device; a memory configured to store instructions; as well as a controller operatively connected to the sensor device and the memory, Wherein, when the instructions are executed by the controller, the device: determining a curvature of a driving road on which the vehicle is traveling based on the driving route; Determining, by the sensor device and based on the curvature exceeding a threshold curvature, information associated with at least one of: the travel road; the line of the travel road; the characteristics of the vehicle; or a kingpin inclination angle between the bodies of the vehicle; generating a biased driving route based on at least one of the determined information or the driving route; as well as The vehicle is controlled to travel on the travel road along the deviated travel route.

2. The device according to claim 1, wherein: The information associated with the line includes a left line and a right line based on a traveling direction of the vehicle, and Wherein, when the instructions are executed by the controller, the device: Based on the vehicle continuing to travel on the travel route and the determined information, an expected distance for: between the body of the vehicle and the left line; and between the body of the vehicle and the right line; and The deviated driving route is generated based on the expected distance.

3. The device according to claim 2, wherein: The expected distance includes at least one of the following: a first distance between the left line and a first body of the vehicle; a second distance between the left line and a second body of the vehicle; a third distance between the right line and the first body of the vehicle; or A fourth distance between the right line and the second body of the vehicle.

4. The device according to claim 1, wherein: The instructions, when executed by the controller, cause the device to: Determine optimization status information including at least one of the following: Lateral position error; Heading error; Kingpin inclination angle; a curvature of a location for the travel road; The amount of change in curvature; or a deviation distance based on the travel route, wherein the deviation distance is associated with each of the vehicle bodies based on at least one of the determined information or the travel route; as well as The biased driving route is generated based on at least a portion of the optimized state information.

5. The device according to claim 4, wherein: The kingpin inclination angle includes an angle formed between a first heading direction of a first body and a second heading direction of a second body, wherein the first body and the second body are among the bodies at a point on the deflected travel path.

6. The device according to claim 4, wherein: The instructions, when executed by the controller, cause the device to: The optimization state information is further determined based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of the following: The lateral position error; the heading error; The kingpin inclination angle; Curvature for location; The curvature change; or The deflection distance.

7. The device according to claim 4, wherein: The instructions, when executed by the controller, cause the device to: Determining that the vehicle is traveling along the deviated driving route based on at least one of the following: A first position lateral error of a first body in the body satisfies a condition; A second position lateral error of a second vehicle body among the vehicle bodies satisfies the condition; or The first heading error of the second vehicle body satisfies the condition.

8. The device according to claim 4, wherein: The instructions, when executed by the controller, cause the device to: Based on at least one of the determined information or the travel route, at least one of the following is determined: a first offset state of a first one of the vehicle bodies; or a second offset state of a second one of the vehicle bodies; and The deflected running route is generated based on at least one of the first deflection state or the second deflection state so that the deflected running route is adjacent to the center of the running road.

9. A method for autonomous driving control, comprising: determining, by the controller and based on the travel route, a curvature of a driving road on which the vehicle is traveling; Based on the curvature exceeding a threshold curvature, determining information associated with at least one of: the travel road; the line of the travel road; the characteristics of the vehicle; or a kingpin inclination angle between the bodies of the vehicle; generating a biased driving route based on at least one of the determined information or the driving route; as well as The vehicle is controlled to travel on the travel road along the deviated travel route.

10. The method according to claim 9, wherein: The information associated with the line includes a left line and a right line based on a traveling direction of the vehicle, and The driving routes for generating deviations include: Based on the vehicle continuing to travel on the travel route and the determined information, an expected distance for: between the body of the vehicle and the left line; and between the body of the vehicle and the right line; and The deviated driving route is generated based on the expected distance.

11. The method according to claim 9, wherein: Generating the deviated driving route includes: Determine optimization status information including at least one of the following: Lateral position error; Heading error; Kingpin inclination angle; a curvature of a location for the travel road; The amount of change in curvature; or a deviation distance based on the travel route, wherein the deviation distance is associated with each of the vehicle bodies based on at least one of the determined information or the travel route; and The biased driving route is generated based on at least a portion of the optimized state information.

12. The method according to claim 11, wherein: The kingpin inclination angle includes an angle formed between a first heading direction of a first body and a second heading direction of a second body, wherein the first body and the second body are among the bodies at a point on the deflected travel path.

13. The method according to claim 11, wherein: Determining the optimization state information includes determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of the following: The lateral position error; the heading error; The kingpin inclination angle; Curvature for location; The curvature change; or The deflection distance.

14. The method according to claim 11, further comprising: Determining that the vehicle is traveling along the deviated driving route based on at least one of the following: A first position lateral error of a first body in the body satisfies a condition; A second position lateral error of a second vehicle body among the vehicle bodies satisfies the condition; or The first heading error of the second vehicle body satisfies the condition.

15. The method according to claim 11, wherein: Generating the deviated driving route includes: Based on at least one of the determined information, determine at least one of the following: a first offset state of a first one of the vehicle bodies; or a second offset state of a second one of the vehicle bodies; and The deflected running route is generated based on at least one of the first deflection state or the second deflection state so that the deflected running route is adjacent to the center of the running road.

16. A non-volatile computer-readable recording medium storing a program which, when executed, causes: determining, by the controller and based on the travel route, a curvature of a driving road on which the vehicle is traveling; Based on the curvature exceeding a threshold curvature, determining information associated with at least one of: the travel road; the line of the travel road; the characteristics of the vehicle; or a kingpin inclination angle between the bodies of the vehicle; generating a biased driving route based on at least one of the determined information or the driving route; as well as The vehicle is controlled to travel on the travel road along the deviated travel route.

17. The non-volatile computer-readable recording medium according to claim 16, wherein: The information associated with the line includes information associated with a left line and a right line based on a traveling direction of the vehicle, and The driving routes for generating deviations include: Based on the vehicle continuing to travel on the travel route and the determined information, an expected distance for: between the body of the vehicle and the left line; and between the body of the vehicle and the right line; and The deviated driving route is generated based on the expected distance.

18. The non-volatile computer-readable recording medium according to claim 16, wherein: Generating the deviated driving route includes: Determine optimization status information including at least one of the following: Lateral position error; Heading error; Kingpin inclination angle; The curvature for each position; The amount of change in curvature; or a deviation distance based on the travel route, wherein the deviation distance is associated with each vehicle body based on at least one of the determined information; and The biased driving route is generated based on at least a portion of the optimized state information.

19. The non-volatile computer-readable recording medium according to claim 18, wherein: Determining the optimization state information includes determining the optimization state information based on a predefined maximum value and a predefined minimum value, wherein the predefined maximum value and the predefined minimum value are based on at least one of the following: The lateral position error; the heading error; The kingpin inclination angle; The curvature for each position; The curvature change; or The deflection distance.

20. The non-volatile computer-readable recording medium according to claim 18, wherein: The program, when executed, causes: Determining that the vehicle is traveling along the deviated driving route based on at least one of the following: A first position lateral error of a first body in the body satisfies a condition; A second position lateral error of a second vehicle body among the vehicle bodies satisfies the condition; or The first heading error of the second vehicle body satisfies the condition.

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