Automatic driving control apparatus and method thereof

Abstract

The invention relates to an automatic driving control apparatus and a method thereof. The automatic driving control device includes a sensor device, a memory, and a controller. For example, the automatic driving control device may determine at least one lane detection result with respect to a lane in which the host vehicle travels using at least one of a first sensor included in the sensor device, a second sensor included in the sensor device, or any combination thereof; generating at least one driving route based on the at least one lane detection result; a final driving route for automatic driving of the host vehicle is determined based on the at least one driving route.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0104998 filed in the Korean Intellectual Property Office on August 10, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an automatic driving control device and a method thereof, and more particularly, to a technology for identifying a driving route for automatic driving control of a vehicle based on information obtained using different types of sensors. Background Art

[0004] For example, autonomous driving can be divided into partial autonomous driving, conditional autonomous driving, highly autonomous driving and / or fully autonomous driving according to its control level.

[0005] On the other hand, in the automatic driving control function, various types of control algorithms (or functions) for controlling the travel of the own vehicle have been developed.

[0006] For example, the autonomous driving control device can perform various driving functions, such as smart cruise control that can control the longitudinal movement of the vehicle while staying in the lane, highway driving assistance, and a lane keeping assist system, wherein the lane keeping assist system is used to provide a warning to the user or return the vehicle to the lane in which the vehicle deviates.

[0007] In particular, the above functions may require technology for identifying lane lines that the host vehicle is traveling in. Lane lines may be identified from images in the forward direction for the autonomous vehicle.

[0008] Typically, an autonomous driving control device may use a sensor (e.g., a camera device) mounted on an area of ​​a windshield (e.g., front glass) of the vehicle to obtain at least one image regarding an area including a forward direction of the vehicle.

[0009] In addition, the automatic driving control device may use an exterior rearview mirror (or a side mirror) to obtain at least one image regarding an area including a lateral direction of the vehicle.

[0010] However, when there is no obstacle in front of the vehicle, at least one image including lane lines existing at a relatively long distance can be obtained with the aid of a camera device installed near the windshield. But when there is an obstacle, at least one image in which the lane lines are obscured by the obstacle can be obtained, thereby reducing the control accuracy of the automatic driving control device.

[0011] In addition, when the curvature of the lane on which the vehicle is traveling is high, the recognition performance of the camera device mounted on the windshield is relatively reduced.

[0012] In addition, even on a lane with a high curvature, the camera device installed on the exterior rearview mirror can recognize a relatively high-precision recognition result regardless of whether there is an obstacle in front of the vehicle. However, due to the characteristics of the camera device, the recognition distance (or coverage) may be short, the curvature information corresponding to the driving direction of the vehicle may be recognized relatively late, and the result of recognizing the lane line may be distorted. Summary of the invention

[0013] The present invention is dedicated to solving the above-mentioned problems arising in the prior art, while completely maintaining the advantages achieved by the prior art.

[0014] One aspect of the present invention provides an automatic driving control device for identifying at least one lane detection result regarding a lane in which a host vehicle is traveling using a sensor device including sensors of different types.

[0015] Another aspect of the present invention provides an automatic driving control device, which is used to generate at least one driving route using each of at least one lane detection results, and identify a final driving route for automatic driving of the vehicle based on at least one of the reliability of each of the generated at least one driving route, the similarity between at least one driving route, the curvature of the estimated lane, or any combination thereof.

[0016] Another aspect of the present invention provides an automatic driving control device for adaptively applying a scheme for generating a final driving route based on whether the reliability of each of different types of sensors is greater than or equal to a reference reliability.

[0017] Another aspect of the present invention provides an automatic driving control device, which is used to divide the situation where lane lines included in lane detection results respectively identified by different types of sensors correspond to different lane lines or the situation where lane lines correspond to the same lane lines, and selectively apply one of multiple schemes to generate a final driving route.

[0018] Another aspect of the present invention provides an automatic driving control device for identifying route information corresponding to a virtual driving route generated based on a lane detection result. Another aspect of the present invention provides an automatic driving control device for identifying an equation included in the route information, which can identify the curvature and heading of each driving route identified based on at least one coefficient of the equation, and can use the identified result to identify the similarity between the driving routes.

[0019] The technical problems to be solved by the present invention are not limited to the above problems, and those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein from the following description.

[0020] According to one aspect of the present invention, an automatic driving control device may include: a sensor device, a memory, and a controller, wherein the sensor device includes a first sensor and a second sensor different from the first sensor; the memory stores at least one instruction; and the controller is operably connected to the sensor device and the memory. For example, at least one instruction may be configured to cause the automatic driving control device to: determine at least one lane detection result about the lane in which the vehicle is traveling using at least one of the first sensor, the second sensor, or any combination thereof when executed by the controller; generate at least one driving route based on the at least one lane detection result; and determine a final driving route for automatic driving of the vehicle based on the at least one driving route.

[0021] According to an embodiment, the sensor device may include a first sensor and a second sensor, wherein the first sensor determines a first lane detection result regarding an area including a forward direction of the vehicle, and includes at least one first camera device installed on at least one area of ​​a windshield of the vehicle; the second sensor determines a second lane detection result regarding an area including a lateral direction of the vehicle, and includes at least one second camera device installed on at least one area of ​​an exterior rearview mirror of the vehicle.

[0022] According to the implementation scheme, the at least one instruction can be configured to enable the autonomous driving control device, when executed by the controller: to determine a first lane detection result using a first sensor and to determine a second lane detection result using a second sensor; to generate a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively; to generate a final driving route based on at least one of a similarity value between the first driving route and the second driving route, a first reliability value of the first driving route, a second reliability value of the second driving route, or any combination thereof.

[0023] According to the implementation scheme, the at least one instruction can be configured to cause the automatic driving control device, when executed by the controller: to determine a first reliability value for the first driving route and a second reliability value for the second driving route; when the first reliability value is greater than or equal to a reference reliability value, to generate a final driving route based on the first driving route; when the first reliability value is less than the reference reliability value and when the second reliability value is greater than or equal to the reference reliability value, to generate a final driving route based on the second driving route.

[0024] According to the implementation scheme, the at least one instruction may be configured to cause the autonomous driving control device, when executed by the controller: to determine a first reliability value for the first driving route and a second reliability value for the second driving route when the first lane line included in the first lane detection result corresponds to a lane line in the opposite direction of the second lane line included in the second lane detection result; to determine a similarity value between the first driving route and the second driving route when the first reliability value and the second reliability value are greater than or equal to a reference reliability value; and to generate a final driving route including information about the first lane line and the second lane line based on the first driving route and the second driving route when the similarity value is greater than or equal to a reference similarity value.

[0025] According to the embodiment, the at least one instruction can be configured to cause the automatic driving control device to: determine a first reliability value for the first driving route and a second reliability value for the second driving route when the first lane line included in the first lane detection result corresponds to a lane line in the opposite direction of the second lane line included in the second lane detection result; determine a similarity value between the first driving route and the second driving route when the first reliability value and the second reliability value are greater than or equal to a reference reliability value; and generate a final driving route including information about the first lane line and the second lane line based on the driving route with a lower curvature between the first driving route and the second driving route when the similarity value is less than a reference similarity value.

[0026] According to the embodiment, the at least one instruction can be configured to cause the autonomous driving control device, when executed by the controller, to: determine a first reliability value for the first driving route and a second reliability value for the second driving route when the first lane line included in the first lane detection result corresponds to a lane line in the opposite direction of the second lane line included in the second lane detection result; and generate a final driving route including information about the first lane line and the second lane line based on the driving route corresponding to the reliability value having a higher value between the first reliability value and the second reliability value.

[0027] According to the implementation scheme, the at least one instruction may be configured to cause the autonomous driving control device, when executed by the controller: to determine a first reliability value for the first driving route and a second reliability value for the second driving route when the first lane line included in the first lane detection result corresponds to a lane line in the same direction as the second lane line included in the second lane detection result; to determine a similarity value between the first driving route and the second driving route when the first reliability value and the second reliability value are greater than or equal to a reference reliability value; and to generate a final driving route including information about the first lane line and the second lane line based on at least one piece of route information corresponding to the first driving route (for example, an average of a first equation coefficient and at least one second equation coefficient corresponding to the second driving route) when the similarity value is greater than or equal to a reference similarity value.

[0028] According to the embodiment, the at least one instruction can be configured to cause the automatic driving control device, when executed by the controller: when the first lane line included in the first lane detection result corresponds to a lane line in the same direction of the second lane line included in the second lane detection result, determine a first reliability value for the first driving route and a second reliability value for the second driving route; when the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determine a similarity value between the first driving route and the second driving route; when the similarity value is less than a reference similarity value, generate a final driving route including information about the first lane line and the second lane line based on a driving route with a lower curvature between the first driving route and the second driving route.

[0029] According to the implementation scheme, the at least one instruction can be configured to cause the automatic driving control device to, when executed by the controller: before the vehicle enters a road section with a curvature of a specified value or greater, when it is determined based on the estimated driving route of the vehicle that the vehicle is expected to enter the road section and it is determined that the first reliability value of the first driving route and the second reliability value of the second driving route are greater than or equal to the reference reliability value, control the vehicle to travel based on the first driving route identified using the first sensor.

[0030] According to the implementation scheme, the at least one instruction can be configured to enable the automatic driving control device to, when executed by the controller: when the vehicle enters the road section, if the accuracy of the curvature information included in the first lane detection result is less than the reference accuracy, control the vehicle to travel based on the second driving route.

[0031] According to the implementation scheme, the at least one instruction can be configured to enable the automatic driving control device, when executed by the controller: after the vehicle completes entering the road section, determine the similarity value between the first driving route and the second driving route; when the similarity value meets the specified criteria, generate the final driving route based on the first driving route.

[0032] According to the implementation scheme, the at least one instruction can be configured to enable the autonomous driving control device, when executed by the controller: to generate a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively; to determine at least one route information corresponding to the first driving route; to determine a similarity value between the first driving route and the second driving route based on whether the difference between the at least one route information is greater than a threshold; and to further generate a final driving route based on the similarity value.

[0033] According to the implementation scheme, the at least one instruction can be configured to enable the automatic driving control device, when executed by the controller: to determine the position information of the control target point based on the vehicle's driving speed and the estimated driving time to the control target point; to determine the similarity value between the first driving route and the second driving route based on at least one of the first curvature of the first driving route, the first heading of the first driving route, the second curvature of the second driving route, the second heading of the second driving route, or any combination thereof, wherein the first curvature, the first heading, the second curvature and the second heading are identified based on the position information.

[0034] According to an embodiment, the at least one instruction can be configured to enable the automatic driving control device to: when the difference between the first curvature and the second curvature is less than a reference curvature difference and when the difference between the first heading and the second heading is less than a reference heading difference, determine that the similarity value between the first driving route and the second driving route is greater than or equal to a reference similarity value.

[0035] According to another aspect of the present invention, the automatic driving control method may include: determining, by a controller, at least one lane detection result regarding the lane in which the vehicle is traveling, using a first sensor included in a sensor device, a second sensor included in the sensor device, or at least one of any combinations thereof; generating, by the controller, at least one driving route based on the at least one lane detection result; and determining, by the controller, a final driving route for automatic driving of the vehicle based on the at least one driving route.

[0036] According to the implementation scheme, the automatic driving control method may further include: generating a first driving route by a controller based on a first lane detection result identified using a first sensor, and generating a second driving route by a controller based on a second lane detection result identified using a second sensor; determining a first reliability value of the first driving route and a second reliability value of the second driving route by the controller; when the first reliability value is greater than or equal to a reference reliability value, generating a final driving route based on the first driving route by the controller; when the first reliability value is less than the reference reliability value and when the second reliability value is greater than or equal to the reference reliability value, generating a final driving route based on the second driving route by the controller.

[0037] According to the implementation scheme, the autonomous driving control method may further include: generating, by a controller, a first driving route based on a first lane detection result identified using a first sensor, and generating, by a controller, a second driving route based on a second lane detection result identified using a second sensor; when a first lane line included in the first lane detection result corresponds to a lane line in an opposite direction of a second lane line included in the second lane detection result, determining, by the controller, a first reliability of the first driving route and a second reliability of the second driving route; when the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining, by the controller, a similarity value between the first driving route and the second driving route; when the similarity value is less than a reference similarity value, generating, by the controller, a final driving route including information about the first lane line and the second lane line based on a driving route with a lower curvature between the first driving route and the second driving route.

[0038] According to the implementation scheme, the automatic driving control method may further include: generating a first driving route by a controller based on a first lane detection result identified using a first sensor, and generating a second driving route by a controller based on a second lane detection result identified using a second sensor; when a first lane line included in the first lane detection result corresponds to a lane line in the same direction of a second lane line included in the second lane detection result, determining a first reliability value of the first driving route and a second reliability value of the second driving route by the controller; when the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining a similarity value between the first driving route and the second driving route by the controller; when the similarity value is less than a reference similarity value, generating a final driving route including information about the first lane line and the second lane line based on a driving route with a lower curvature between the first driving route and the second driving route.

[0039] According to the implementation scheme, the automatic driving control method may further include: generating a first driving route through a controller based on a first lane detection result identified using a first sensor, and generating a second driving route through a controller based on a second lane detection result identified using a second sensor; when the controller determines that the vehicle is expected to enter a road section with a curvature of a specified value or greater based on the expected driving route of the vehicle and determines that the first reliability value of the first driving route and the second reliability value of the second driving route are greater than or equal to a reference reliability value: before the vehicle enters the road section, the controller controls the vehicle to travel based on the first driving route identified using the first sensor; when the vehicle enters the road section, if the accuracy of the curvature information included in the first lane detection result is less than the reference accuracy, the controller controls the vehicle to travel based on the second driving route; after the vehicle completes entering the road section, the controller determines the similarity value between the first driving route and the second driving route; when the similarity value meets the specified standard, the controller generates a final driving route based on the first driving route. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0041] Figure 1 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention;

[0042] Figure 2 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0043] Figure 3 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0044] Figure 4 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0045] Figure 5 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0046] Figure 6 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0047] Figure 7 is an operational conceptual diagram of an automatic driving control device according to an embodiment of the present invention;

[0048] Fig. 8A is an operational conceptual diagram of an automatic driving control device according to an embodiment of the present invention;

[0049] Figure 8B is an operational conceptual diagram of an automatic driving control device according to an embodiment of the present invention;

[0050] Figure 8C is an operational conceptual diagram of an automatic driving control device according to an embodiment of the present invention;

[0051] Fig. 9 is a flowchart of an automatic driving control method according to an embodiment of the present invention; and

[0052] Fig.10 A computing system related to an automatic driving control method according to an embodiment of the present invention is shown.

[0053] Regarding the description of the drawings, the same or similar reference numerals may be used for the same or similar components.

[0054] Description of reference numerals:

[0055] 712: First left lane

[0056] 714: First right lane

[0057] 792: Branch Road

[0058] 790: Driveway

[0059] 701: This car

[0060] 722: Second left lane

[0061] 724: Second right lane

[0062] 801: This car

[0063] 802: Another vehicle

[0064] 812: First left lane line

[0065] 814: First right lane

[0066] 822: Second left lane line

[0067] 824: Second right lane line

[0068] 891: First lane. DETAILED DESCRIPTION

[0069] Hereinafter, some embodiments of the present invention will be described in detail with reference to the exemplary drawings. In the drawings, the same reference numerals will be used throughout to represent the same or equivalent components. In addition, in order not to unnecessarily obscure the subject matter of the present invention, the detailed description of well-known features or functions will be omitted.

[0070] When describing components according to embodiments of the present invention, terms such as first, second, "A", "B", (a), (b) and the like may be used. These terms are used only to distinguish one element from another, without limiting the corresponding elements by considering the 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 conventional terms in the field to which the present invention belongs. It will be understood that the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of the present invention and related fields and will not be interpreted in an idealized or overly formal sense, unless explicitly defined herein.

[0071] In the following, reference will be made to Figures 1 to 10 Embodiments of the present invention are described in detail.

[0072] Figure 1 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention.

[0073] According to the embodiment, the automatic driving control device 100 may include at least one of a sensor device 110, a memory 120, a controller 130, or any combination thereof. Figure 1 The components of the automatic driving control device 100 shown are exemplary, and the embodiments of the present invention are not limited thereto. For example, the automatic driving control device 100 may further include Figure 1 Components not shown (eg, at least one of an interface, a communication device, a display device, or any combination thereof).

[0074] According to the embodiment, the sensor device 110 may obtain (or recognize) various information for the travel of the host vehicle.

[0075] For example, the sensor device 110 may include at least one sensor including at least one of a camera, radio detection and ranging (RADAR), light detection and ranging (LiDAR), or any combination thereof.

[0076] For example, the sensor device 110 may include a first sensor and a second sensor.

[0077] As an example, the first sensor may identify a first lane detection result about an area including a forward direction of the vehicle. As an example, the first sensor may include at least one first camera device mounted on at least one area of ​​a windshield of the vehicle. The at least one first camera device may include, for example, a forward-looking camera device.

[0078] As an example, the second sensor may identify a second lane detection result regarding an area including the lateral direction of the vehicle. As an example, the second sensor may include at least one second camera device installed on at least one area of ​​an exterior rearview mirror (or side mirror) of the vehicle. The at least one second camera device may include, for example, a surround camera device. The at least one second camera device may identify a second lane detection result regarding an area including the lateral direction of the vehicle by means of, for example, a fisheye lens.

[0079] For example, sensor device 110 may obtain information about the lane in which the host vehicle is traveling.

[0080] As an example, the sensor device 110 may identify information about at least one lane line of a lane. The sensor device 110 may identify a lane detection result including at least one of a left lane line of a lane, a right lane line of a lane, or any combination thereof.

[0081] As an example, the sensor device 110 may obtain information using at least one sensor, and may recognize information obtained based on other external components (eg, a communication device).

[0082] According to the embodiment, the memory 120 may store commands or data. For example, the memory 120 may store one or more instructions that, when executed by the controller 130, cause the automatic driving control device 100 to perform various operations.

[0083] 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.

[0084] For example, the memory 120 may store various information related to the automatic driving control device 100. As an example, the memory 120 may store information about the operation history of the controller 130. As an example, the memory 120 may store information about the state and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, the controller 130, or any combination thereof).

[0085] 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 the operation of the sensor device 110 and / or the memory 120.

[0086] For example, the controller 130 may use the sensor device 110 to identify at least one lane detection result regarding the lane in which the host vehicle is traveling.

[0087] For example, the controller 130 may use the first sensor included in the sensor device 110 to identify a first lane detection result about an area including the forward direction of the vehicle. As an example, the first sensor may include at least one first forward-looking camera device installed on at least one area of ​​the windshield of the vehicle.

[0088] For example, the controller 130 may use the second sensor included in the sensor device 110 to identify a second lane detection result about an area including the side of the vehicle in front of the vehicle. As an example, the second sensor may include at least one surround camera device installed on at least one area of ​​the exterior rearview mirror of the vehicle.

[0089] For example, the controller 130 may generate a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively.

[0090] As an example, each of the first lane detection result and the second lane detection result may include information about the lane obtained using the first sensor and the second sensor. The information about the lane may include, for example, at least one of the curvature of the lane, the left lane line of the lane, the right lane line of the lane, the position of the vehicle on the lane, the distance from the center of the vehicle to the left lane line and the right lane line, the road surface condition, the slope, or any combination thereof.

[0091] As an example, each of the first driving route and the second driving route may include a virtual driving route corresponding to a lane in which the host vehicle is traveling, which is generated based on the first lane detection result and the second lane detection result.

[0092] For example, the controller 130 may generate a final driving route for automatic driving control of the vehicle based on at least one of the first driving route, the second driving route, or any combination thereof. The final driving route may include, for example, a virtual driving route generated by the automatic driving control device 100 for driving the vehicle. The controller 130 may generate the final driving route based on, for example, at least one of the similarity (or similarity value) between the first driving route and the second driving route, the first reliability (or first reliability value) of the first driving route, the second reliability (or second reliability value) of the second driving route, or any combination thereof.

[0093] For example, the controller 130 may identify each of a first reliability of the first driving route and a second reliability of the second driving route. The controller 130 may determine the driving route to be used for generating the final driving route based on, for example, whether each reliability is greater than or equal to a reference reliability, whether a lane line included in the first lane detection result and a lane line included in the second lane detection result are the same lane line, or whether the similarity between the first driving route and the second driving route is greater than or equal to a reference similarity. The reference reliability and / or the reference similarity may be, for example, a set value that can be changed by a developer and / or a user.

[0094] As an example, when the first reliability is greater than or equal to the reference reliability, the controller 130 may generate the final driving route based on the first driving route.

[0095] As an example, when the first reliability is less than the reference reliability and when the second reliability is greater than or equal to the reference reliability, the controller 130 may generate the final driving route based on the second driving route.

[0096] In other words, when the first reliability is greater than or equal to the reference reliability, the controller 130 may use the first driving route to generate the final driving route without considering the magnitude of the second reliability.

[0097] As an example, when a first lane line included in a first lane detection result corresponds to a lane line in an opposite direction of a second lane line included in a second lane detection result, the controller 130 may identify whether the first reliability and the second reliability are greater than or equal to a reference reliability.

[0098] When the first lane line and the second lane line are lane lines in opposite directions (for example, when the first lane line is the left lane line of the lane and the second lane line is the right lane line of the lane) and when the first reliability and the second reliability are greater than or equal to the reference reliability, the controller 130 can identify the similarity between the first driving route and the second driving route.

[0099] For example, when the identified similarity is greater than or equal to the reference similarity, the controller 130 may generate a final driving route including information about the first lane line and the second lane line based on the first driving route and the second driving route. For example, the controller 130 may identify first virtual route information corresponding to the first lane line based on the first driving route, may identify second virtual route information corresponding to the second lane line based on the second driving route, and may generate a final driving route including the first virtual route information and the second virtual route information.

[0100] When the identified similarity is less than the reference similarity, the controller 130 may generate a final driving route including information about the first lane line and the second lane line based on the driving route with a lower curvature between the first driving route and the second driving route. In other words, the controller 130 may generate the final driving route based on a driving route that is relatively close to a straight line between the first driving route and the second driving route. When the curvature of the first driving route is lower than that of the second driving route, the controller 130 may generate a left lane line (e.g., a left lane line of a lane) of the final driving route corresponding to the first lane line based on the first driving route, and may generate a right lane line of the final driving route corresponding to the second lane line based on a plurality of information included in the first driving route.

[0101] When the first lane line and the second lane line are lane lines in opposite directions (for example, when the first lane line is the left lane line of the lane and the second lane line is the right lane line of the lane), the controller 130 may generate a final driving route including information about the first lane line and the second lane line based on a driving route corresponding to a reliability having a higher value between the first reliability and the second reliability. For example, when the first reliability is greater than or equal to the reference reliability and when the second reliability is less than the reference reliability, the controller 130 may generate a final driving route based on the first driving route.

[0102] When the first lane line and the second lane line are lane lines in the same direction (for example, when the first lane line and the second lane line are both the left lane line and the right lane line of the lane) and when the first reliability and the second reliability are greater than or equal to the reference reliability, the controller 130 can identify the similarity between the first driving route and the second driving route.

[0103] For example, when the identified similarity is greater than or equal to the reference similarity, the controller 130 may generate a final driving route including information about the first lane line and the second lane line based on at least one route information corresponding to the first driving route. For example, the at least one route information may include at least one coefficient (e.g., a first equation coefficient and / or a second equation coefficient), and the at least one coefficient is included in the equation corresponding to the first driving route. For example, the controller 130 may identify a first equation and a second equation corresponding to the first driving route and the second driving route, respectively. The controller 130 may identify, for example, at least one of the coefficients of the first equation and the second equation, the coefficients of the equation obtained by differentiating the first equation and the second equation n times, or any combination thereof. The controller 130 may generate a final driving route including information about the first lane line and the second lane line based on, for example, an average value of a coefficient associated with the first equation and a coefficient associated with the second equation (which corresponds to a coefficient associated with the first equation).

[0104] When the identified similarity is less than the reference similarity, the controller 130 may generate a final driving route including information about the first lane line and the second lane line based on the driving route with a lower curvature between the first driving route and the second driving route. In other words, the controller 130 may generate the final driving route based on a driving route that is relatively close to a straight line between the first driving route and the second driving route. When the curvature of the first driving route is lower than that of the second driving route, the controller 130 may generate a left lane line (e.g., a left lane line of a lane) of the final driving route corresponding to the first lane line based on the first driving route, and may generate a right lane line of the final driving route corresponding to the second lane line based on a plurality of information included in the first driving route.

[0105] For example, the controller 130 may identify the curvature information of the lane in which the vehicle is traveling and / or the lane in which the vehicle is expected to travel based on the estimated driving route of the vehicle. As an example, the controller 130 may use navigation information and / or road traffic information (which is obtained using a communication device (not shown)) to identify the curvature information of the estimated driving route.

[0106] As an example, the controller 130 may identify the road section that the vehicle is expected to enter with a curvature of a specified value or greater based on the estimated driving route of the vehicle. The controller 130 may identify, for example, at least one of the estimated remaining time, the estimated remaining distance, or any combination thereof before the vehicle enters the road section with a curvature of a specified value or greater from the current position.

[0107] As an example, when it is identified based on the estimated driving route of the vehicle that the vehicle is expected to enter a road section with a curvature of a specified value or greater and the first reliability of the first driving route and the second reliability of the second driving route are identified to be greater than or equal to the reference reliability, before entering the road section (for example, when there is a specified distance or more and / or a specified time or more remaining before the vehicle enters the road section), the controller 130 can control the vehicle to travel based on the first driving route identified using the first sensor. In other words, when it is identified that there is a certain distance or more or a certain time or more remaining before the vehicle enters the road section with a curvature of a specified value or greater, the controller 130 can use the first sensor including the forward-looking camera device to perform automatic driving control of the vehicle.

[0108] As an example, when it is identified that the vehicle enters a road section with a curvature of a specified value or greater, the controller 130 can determine the data for controlling the driving of the vehicle based on the sensing accuracy of the first sensor when the vehicle enters the road section. For example, when it is identified that the accuracy of the curvature information of the road section included in the first lane detection result when the vehicle enters the road section has an error of a certain difference or greater difference with the curvature information obtained from the outside (e.g., navigation) (or when the accuracy of the curvature information of the road section included in the first lane detection result is less than the reference accuracy), the controller 130 can control the vehicle to travel based on the second driving route identified using the second sensor. In other words, when it is identified that the sensing accuracy of the first sensor is less than the reference accuracy when the vehicle enters a road section with a curvature of a specified value or greater, the controller 130 can use the second sensor including the surround camera device to perform automatic driving control of the vehicle.

[0109] As an example, when it is identified that the vehicle has completed entering a road section with a curvature of a specified value or greater (or when the vehicle deviates from the road section or when the vehicle is traveling in a road section with a curvature less than a specified value), the controller 130 can determine the data used to control the driving of the vehicle based on the magnitude of the similarity between the first driving route and the second driving route. For example, when it is identified that the similarity meets a specified standard (for example, when it is identified that the similarity is greater than or equal to the specified standard), the controller 130 can generate a final driving route for automatic driving control of the vehicle based on the first driving route. In other words, when it is identified that the vehicle has completed entering a road section with a curvature of a specified value or greater and it is identified that the similarity between the driving routes identified using the first sensor and the second sensor is greater than or equal to the reference similarity, the controller 130 can use the first sensor including a forward-looking camera device to perform automatic driving control of the vehicle.

[0110] For example, the controller 130 may generate the final driving route with the aid of at least one equation corresponding to the lane. For example, the controller 130 may identify the similarity between the first driving route and the second driving route based on a portion of the difference between at least one piece of information corresponding to the first driving route (e.g., the difference between the first equation coefficient and the second equation coefficient corresponding to the second driving route) being greater than a threshold, and may generate the final driving route based on the magnitude of the similarity.

[0111] As an example, the controller 130 may identify the similarity between the driving routes obtained using different sensors, and may generate a final driving route for the autonomous driving control of the vehicle based on the magnitude of the similarity. An example of the following equation 1 (which corresponds to the lane identified by the controller 130) is shown below.

[0112] [Equation 1]

[0113] y=ax3 +b 2 +cχ 1 +d

[0114] For example, y can represent the lateral error between the lane line and the vehicle when the longitudinal position of the vehicle is x.

[0115] As an example, the controller 130 may identify at least one route information corresponding to the first driving route (e.g., first equation coefficient) and at least one route information corresponding to the second driving route (e.g., second equation coefficient). At this time, the controller 130 may identify each of the following equations 2, 3, and 4, where equation 2 is obtained by differentiating the above equation 1, equation 3 is obtained by differentiating the following equation 2, and equation 4 is obtained by differentiating the following equation 3.

[0116] [Equation 2]

[0117] y′=3aχ 2 +2bχ 1 +C

[0118] [Equation 3]

[0119] y″=6aχ 1 +2b

[0120] [Equation 4]

[0121] y″′=6a

[0122] For example, y′ according to the above equation 2 may represent the heading error when the longitudinal position of the host vehicle is x.

[0123] For example, y″ according to the above equation 3 may represent the curvature of the lane when the longitudinal position of the host vehicle is x.

[0124] For example, y′″ according to the above Equation 4 may represent the curvature change rate of the lane.

[0125] The controller 130 may identify the similarity between the driving routes based on at least one of the coefficients a, b, c of the equation or any combination thereof. As an example, the controller 130 may identify the similarity between the driving routes based on a specific longitudinal position x of the host vehicle.

[0126] For example, the domain x of the equation may correspond to a control target point. The control target point may be, for example, a specific point at which the vehicle is expected to travel and which is necessary for autonomous driving control. For ease of description, the target point xtg is described below as an example.

[0127] For example, the controller 130 may use the following equation 5 to identify the target point x tg .

[0128] [Equation 5]

[0129] χ tg =V χ *T ah

[0130] For example, the controller 130 may use the vehicle's travel speed V x and preview time T ah To identify the target point (or control target point) x tg . Preview time T ah It may be, for example, the estimated travel time required for the vehicle to travel from the current position to the target point, but the embodiments of the present invention are not limited thereto. The controller 130 may identify the position information (eg, longitudinal position information) of the control target point based on the above equation 5.

[0131] For example, the controller 130 can identify the similarity between the driving routes based on the difference between the curvature obtained using the first sensor and the second sensor and the difference between the headings obtained using the first sensor and the second sensor according to the position information about the target point xtg. The difference between the various parameters can be calculated based on the following equations 6 and 7.

[0132] [Equation 6]

[0133] |y1′(χ tg )-y2′(χ tg )|<θ th

[0134] [Equation 7]

[0135] |y1″(χ tg )-y2″(χ tg )|<ρ th

[0136] For example, when the absolute value of the difference between the values ​​calculated based on the target point xtg using the above equation 2 as in the above equation 6 is less than the curvature similarity determination boundary value (or reference curvature difference) θ th And when the absolute value of the difference between the values ​​calculated based on the target point xtg using the above equation 3 as in the above equation 7 is less than the heading similarity determination boundary value (or reference heading difference) ρ th , the controller 130 may identify that the similarity between the first driving route and the second driving route is greater than or equal to the reference similarity.

[0137] Figure 2 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0138] According to the embodiment, the autonomous driving control device (e.g. Figure 1The automatic driving control device 100) can execute Figure 2 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 2 operation.

[0139] The operations in S212 to S240 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations described above in combination may be briefly described or omitted. Figure 2 Content that corresponds to or repeats the content described.

[0140] According to the implementation scheme, at S212, the automatic driving control device may use the first sensor to identify the first lane detection result.

[0141] For example, the autonomous driving control device may use a first sensor including at least one first camera device mounted on at least one area of ​​the windshield of the vehicle to identify a first lane detection result regarding an area including a forward direction of the vehicle.

[0142] According to the implementation scheme, at S214, the automatic driving control device may use the second sensor to identify the second lane detection result.

[0143] For example, the autonomous driving control device may use a second sensor including at least one second camera device mounted on at least one area of ​​the vehicle's exterior rearview mirror to identify a second lane detection result regarding an area including the lateral direction of the vehicle.

[0144] According to the implementation scheme, at S222, the automatic driving control device may generate a first driving route based on the first lane detection result.

[0145] According to the implementation scheme, at S224, the automatic driving control device may generate a second driving route based on the second lane detection result.

[0146] According to the embodiment, at S230, the automatic driving control device may identify the final driving route based on at least one of the similarity between the generated driving routes, the reliability of the generated driving routes, or any combination thereof.

[0147] According to the implementation scheme, at S240, the automatic driving control device can control the vehicle to travel based on the final driving route.

[0148] Figure 3 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0149] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100) can execute Figure 3 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 3 operation.

[0150] The operations in S310 to S350 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 3 Content that corresponds to or repeats the content described.

[0151] According to the embodiment, at S310, the automatic driving control device may identify a first lane detection result and a second lane detection result regarding a left lane line and a right lane line of a lane.

[0152] According to the implementation scheme, at S320, the automatic driving control device may generate a first driving route and a second driving route.

[0153] For example, the automatic driving control device can generate a first driving route based on the first lane detection result, and can generate a second driving route based on the second lane detection result.

[0154] According to the embodiment, at S330, the automatic driving control device may identify the first reliability and the second reliability.

[0155] For example, the automatic driving control device may identify a first reliability of a first driving route and a second reliability of a second driving route.

[0156] For example, the autonomous driving control device can identify errors between driving routes generated based on reference data of the driving routes (e.g., information about the driving routes received from an external source such as a navigation or communication device), and can identify the reliability of each of the first driving route and the second driving route based on the magnitude of the error.

[0157] According to the embodiment, at S340, the automatic driving control device may identify whether the first reliability and the second reliability are greater than or equal to the reference reliability.

[0158] For example, when it is determined that both the first reliability and the second reliability are greater than or equal to the reference reliability (eg, S340-Yes), the automatic driving control device may execute S350.

[0159] For example, when it is determined that neither the first reliability nor the second reliability is greater than or equal to the reference reliability (eg, S340-No), the automatic driving control device may execute S345.

[0160] According to the implementation scheme, at S345, the automatic driving control device may control the vehicle to travel based on a driving route having a reference reliability or higher.

[0161] For example, the automatic driving control device can use the driving route corresponding to the reliability between the first reliability and the second reliability that is greater than or equal to the reference reliability to generate a final driving route, and can perform automatic driving control of the vehicle based on the generated final driving route.

[0162] According to the embodiment, at S350, the automatic driving control device may identify the first driving route as the final driving route, and may control the vehicle to travel based on the final driving route.

[0163] Figure 4 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0164] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100) can execute Figure 4 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 4 operation.

[0165] The operations in S410 to S470 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 4 Content that corresponds to or repeats the content described.

[0166] According to the embodiment, at S410, the automatic driving control device may identify a first lane detection result regarding a first lane line of the lane and a second lane detection result regarding a second lane line of the lane.

[0167] For example, the autonomous driving control device may identify a first lane detection result and a second lane detection result regarding a first lane line (which includes a left lane line of a lane) and a second lane line (which includes a right lane line of a lane), respectively.

[0168] In other words, the automatic driving control device can use the first sensor and the second sensor to identify information about lane lines corresponding to opposite directions, respectively.

[0169] According to the implementation scheme, at S420, the automatic driving control device may generate a first driving route and a second driving route.

[0170] For example, the automatic driving control device can generate a first driving route based on the first lane detection result, and can generate a second driving route based on the second lane detection result.

[0171] According to the embodiment, at S430, the automatic driving control device may identify the first reliability and the second reliability.

[0172] For example, the automatic driving control device may identify a first reliability of a first driving route and a second reliability of a second driving route.

[0173] For example, the autonomous driving control device can identify errors between driving routes generated based on reference data of the driving routes (e.g., information about the driving routes received from an external source such as a navigation or communication device), and can identify the reliability of each of the first driving route and the second driving route based on the magnitude of the error.

[0174] According to the embodiment, at S440, the automatic driving control device may identify whether the first reliability and the second reliability are greater than or equal to the reference reliability.

[0175] For example, when it is determined that both the first reliability and the second reliability are greater than or equal to the reference reliability (eg, S440-Yes), the automatic driving control device may execute S450.

[0176] For example, when it is determined that neither the first reliability nor the second reliability is greater than or equal to the reference reliability (eg, S440-No), the automatic driving control device may execute S445.

[0177] According to the implementation scheme, at S445, the automatic driving control device may control the vehicle to travel based on a driving route having a reference reliability or higher reliability.

[0178] For example, the automatic driving control device can use the driving route corresponding to the reliability between the first reliability and the second reliability that is greater than or equal to the reference reliability to generate a final driving route, and can perform automatic driving control of the vehicle based on the generated final driving route.

[0179] According to the implementation scheme, at S450, the automatic driving control device may determine the similarity between the first driving route and the second driving route.

[0180] For example, the controller can identify at least one piece of route information corresponding to a first driving route (e.g., a first equation coefficient) and at least one piece of route information corresponding to a second driving route (e.g., a second equation coefficient), and can identify the similarity between the first driving route and the second driving route based on whether the difference between at least one piece of route information (e.g., the difference between the first equation coefficient and at least one second equation coefficient) is greater than a threshold.

[0181] For example, the automatic driving control device can identify the position information of the control target point based on the vehicle's driving speed and the estimated driving time to the control target point, and can identify the similarity between the first driving route and the second driving route based on at least one of the first curvature of the first driving route, the first heading of the first driving route, the second curvature of the second driving route, the second heading of the second driving route, or any combination thereof identified according to the position information.

[0182] According to the embodiment, at S460, the automatic driving control device may determine whether the similarity is greater than or equal to a reference similarity.

[0183] For example, when the difference between the first curvature and the second curvature is less than the reference curvature difference and when the difference between the first heading and the second heading is less than the reference heading difference, the automatic driving control device can determine that the similarity between the first driving route and the second driving route is greater than or equal to the reference similarity.

[0184] For example, when the similarity is greater than or equal to the reference similarity (eg, S460-Yes), the automatic driving control device may execute S470.

[0185] For example, when the similarity is less than the reference similarity (eg, S460-No), the automatic driving control device may execute S465.

[0186] According to the implementation scheme, at S465, the automatic driving control device may generate a final driving route based on the driving route with a lower curvature.

[0187] For example, the automatic driving control device can generate the final driving route based on the driving route with lower curvature between the first driving route and the second driving route (for example, a driving route that is relatively close to a straight line).

[0188] According to the implementation scheme, at S470, the automatic driving control device may generate a final driving route based on the first driving route and the second driving route.

[0189] Figure 5 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0190] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100) can execute Figure 5 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 5 operation.

[0191] The operations in S510 to S570 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. For example, the operations in combination with the above may be briefly described or omitted. Figure 5 The content described corresponds to or repeats the content (for example, Figure 4 content).

[0192] According to the embodiment, at S510, the automatic driving control device may identify a first lane detection result regarding a first lane line of the lane and a second lane detection result regarding a second lane line of the lane.

[0193] For example, the automatic driving control device can identify a first lane detection result and a second lane detection result regarding one of the left lane line or the right lane line of the lane.

[0194] In other words, the autonomous driving control device may use the first sensor and the second sensor to identify information about lane lines corresponding to the same direction.

[0195] According to the implementation scheme, at S520, the automatic driving control device may generate a first driving route and a second driving route.

[0196] For example, the automatic driving control device can generate a first driving route based on the first lane detection result, and can generate a second driving route based on the second lane detection result.

[0197] According to the embodiment, at S530, the automatic driving control device may identify the first reliability and the second reliability.

[0198] For example, the automatic driving control device may identify a first reliability of a first driving route and a second reliability of a second driving route.

[0199] For example, the autonomous driving control device can identify errors between driving routes generated based on reference data of the driving routes (e.g., information about the driving routes received from an external source such as a navigation or communication device), and can identify the reliability of each of the first driving route and the second driving route based on the magnitude of the error.

[0200] According to the embodiment, at S540, the automatic driving control device may identify whether the first reliability and the second reliability are greater than or equal to the reference reliability.

[0201] For example, when it is determined that both the first reliability and the second reliability are greater than or equal to the reference reliability (eg, S540-Yes), the automatic driving control device may execute S550.

[0202] For example, when it is determined that neither the first reliability nor the second reliability is greater than or equal to the reference reliability (eg, S540-No), the automatic driving control device may execute S545.

[0203] According to the implementation scheme, at S545, the automatic driving control device may control the vehicle to travel based on a driving route having a reference reliability or higher.

[0204] For example, the automatic driving control device can use the driving route corresponding to the reliability between the first reliability and the second reliability that is greater than or equal to the reference reliability to generate a final driving route, and can perform automatic driving control of the vehicle based on the generated final driving route.

[0205] According to the implementation scheme, at S550, the automatic driving control device may determine the similarity between the first driving route and the second driving route.

[0206] For example, the automatic driving control device can identify at least one piece of route information corresponding to a first driving route (e.g., a first equation coefficient) and at least one piece of route information corresponding to a second driving route (e.g., a second equation coefficient), and can identify the similarity between the first driving route and the second driving route based on whether the difference between at least one piece of route information (e.g., the difference between the first equation coefficient and at least one second equation coefficient) is greater than a threshold.

[0207] For example, the automatic driving control device can identify the position information of the control target point based on the vehicle's driving speed and the estimated driving time to the control target point, and can identify the similarity between the first driving route and the second driving route based on at least one of the first curvature of the first driving route, the first heading of the first driving route, the second curvature of the second driving route, the second heading of the second driving route, or any combination thereof identified according to the position information.

[0208] According to the embodiment, at S560, the automatic driving control device may determine whether the similarity is greater than or equal to a reference similarity.

[0209] For example, when the difference between the first curvature and the second curvature is less than the reference curvature difference and when the difference between the first heading and the second heading is less than the reference heading difference, the automatic driving control device can determine that the similarity between the first driving route and the second driving route is greater than or equal to the reference similarity.

[0210] For example, when the similarity is greater than or equal to the reference similarity (eg, S560-Yes), the automatic driving control device may execute S570.

[0211] For example, when the similarity is less than the reference similarity (eg, S560-No), the automatic driving control device may execute S565.

[0212] According to the implementation scheme, at S565, the automatic driving control device may generate a final driving route based on the driving route with a lower curvature.

[0213] For example, the automatic driving control device can generate the final driving route based on the driving route with lower curvature between the first driving route and the second driving route (for example, a driving route that is relatively close to a straight line).

[0214] According to the implementation scheme, at S570, the automatic driving control device can generate a final driving route based on at least one route information corresponding to the first driving route and the second driving route respectively (for example, the average value of the coefficients of the equations corresponding to the first driving route and the second driving route respectively).

[0215] For example, the coefficients may include at least one coefficient of an equation identified by the autonomous driving control device in response to each of the first driving route and the second driving route. Figure 1 The description of Equation 1 above is substituted.

[0216] Figure 6 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0217] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100) can execute Figure 6 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 6 operation.

[0218] The operations in S610 to S635 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 6 Content that corresponds to or repeats the content described.

[0219] According to the implementation scheme, at S610, the automatic driving control device can identify the driving condition of the vehicle.

[0220] For example, the automatic driving control device may use a sensor device to identify at least one of information about the driving environment in which the vehicle is traveling, driving information of the vehicle, or any combination thereof.

[0221] For example, the autonomous driving control device can identify driving conditions including the estimated driving route of the vehicle based on navigation information and / or traffic information obtained using a communication device (for example, traffic information obtained using vehicle-to-vehicle (V2V) communication and / or vehicle-to-everything (V2X) communication).

[0222] According to the implementation scheme, at S620, the automatic driving control device can identify whether the vehicle is located before entering a lane (or road section) with a curvature of a specified value or greater.

[0223] For example, the automatic driving control device can identify that the vehicle is expected to enter a road section with a curvature of a specified value or greater based on at least one of the vehicle's real-time position, traffic volume, the vehicle's driving speed, or any combination thereof, and can identify whether a specified distance or longer distance or a specified time or longer time remains before the vehicle enters the road section.

[0224] For example, when the host vehicle is located before entering a road having a curvature of a specified value or greater (eg, S620-Yes), the automatic driving control device may execute S630.

[0225] For example, when the vehicle is not before entering a road with a curvature of a specified value or greater (e.g., S620-No) (e.g., when the vehicle is traveling on a road (or road section) or when the vehicle is after entering the road), the automatic driving control device may execute S625.

[0226] According to the implementation scheme, at S625, when the vehicle enters the road (or at the same time as the vehicle enters the road), the automatic driving control device can control the vehicle to travel according to the second driving route generated based on the second lane detection result.

[0227] For example, since the curvature of the road is relatively high, the automatic driving control device can control the vehicle to travel based on the second driving route identified using the second sensor (which has a relatively high accuracy in identifying curvature information).

[0228] According to the implementation scheme, at S630, the automatic driving control device can control the vehicle to travel according to the first driving route generated based on the first lane detection result.

[0229] For example, since the vehicle is located before entering the road, the automatic driving control device can determine that the vehicle is traveling in a road section with relatively low curvature, and can control the vehicle to travel based on the first driving route identified using the first sensor (which has a relatively high accuracy in identifying straight sections).

[0230] According to the implementation scheme, after the vehicle enters the road, when the result of determining the similarity between the first driving route and the second driving route meets the specified conditions, at S635, the automatic driving control device can control the vehicle to travel based on the first driving route.

[0231] For example, when it is determined that the similarity between the first driving route and the second driving route is greater than or equal to the reference similarity, the automatic driving control device can determine to perform high-precision driving control using only the recognition result of the first sensor, and can control the vehicle to travel based on the first driving route.

[0232] Figure 7 2 is a conceptual diagram of the operation of an automatic driving control device according to an embodiment of the present invention.

[0233] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100 may use a sensor device (e.g., Figure 1 The sensor device 110) is used to identify at least one lane detection result regarding the lane 790 in which the vehicle 701 is traveling.

[0234] For example, the automatic driving control device may use a first sensor (e.g., a front-view camera) to identify a first lane detection result about an area including the forward direction of the host vehicle 701. The first lane detection result may include, for example, information about a first left lane line 712 and a first right lane line 714. The first right lane line 714 may be, for example, a right lane line of a branch road 792 branched from a point in front of the lane 790 in which the host vehicle 701 is traveling.

[0235] For example, the automatic driving control device may use a second sensor (e.g., a surround camera device) to identify a second lane detection result about an area including the lateral direction of the vehicle 701. The second lane detection result may include, for example, information about a second left lane line 722 and a second right lane line 724.

[0236] exist Figure 7 In the case shown, the automatic driving control device can generate a first driving route and a second driving route corresponding to the first lane detection result and the second lane detection result respectively, and can determine a driving route as a driving route for generating a final driving route based on the similarity between the driving routes.

[0237] For example, when the reliability of the first lane detection result or the second lane detection result is greater than or equal to the reference reliability and when the similarity is less than the reference similarity, the automatic driving control device may select a driving route with a lower curvature between the first driving route and the second driving route (for example, based on Figure 7 , a final driving route including information about the left lane line and the right lane line of lane 790 is generated based on a second driving route generated based on the second lane detection result.

[0238] Therefore, the automatic driving control device can improve the accuracy of the automatic driving control of the vehicle 701 and minimize the possibility of erroneous control.

[0239] FIG. 8A to FIG. 8C 2 is a conceptual diagram of the operation of an automatic driving control device according to an embodiment of the present invention.

[0240] refer to Fig. 8A 881, according to the embodiment, the automatic driving control device (e.g., Figure 1 The automatic driving control device 100 of the present invention can use a sensor device (for example, Figure 1 sensor device 110) to obtain information about the first lane 891.

[0241] For example, the automatic driving control device may use a first sensor (e.g., a front-view camera) to identify a first lane detection result about an area including the forward direction of the host vehicle 801. The first lane detection result may include, for example, information about a first left lane line 812 and a first right lane line 814.

[0242] For example, the automatic driving control device may use a second sensor (e.g., a surround camera device) to identify a second lane detection result about an area including the lateral direction of the vehicle 801. The second lane detection result may include, for example, information about a second left lane line 822 and a second right lane line 824.

[0243] In the case according to reference numeral 881, the first lane detection result may include slightly inaccurate or insufficient data due to another vehicle 802. In this case, the automatic driving control device may control the host vehicle 801 to travel according to the second driving route generated based on the second lane detection result.

[0244] refer to Figure 8B Referring to figure mark 882, according to the implementation scheme, the automatic driving control device can identify that the vehicle 801 is expected to enter a second lane 892 (or road section) having a curvature of a specified value or greater.

[0245] For example, the automatic driving control device may use the first sensor to identify a first lane detection result regarding an area including the forward direction of the host vehicle 801. The first lane detection result may include information regarding the third left lane line 832 and the third right lane line 834, for example.

[0246] For example, the automatic driving control device may use the second sensor to identify a second lane detection result regarding an area including the lateral direction of the host vehicle 801. The second lane detection result may include information regarding the fourth left lane line 842 and the fourth right lane line 844, for example.

[0247] In the case according to reference numeral 882, when the first reliability and the second reliability corresponding to the first lane detection result and the second lane detection result, respectively, are greater than or equal to the reference reliability, the automatic driving control device may control the vehicle 801 to travel based on the first lane detection result. In other words, before the vehicle 801 enters the high curvature section (e.g., the second lane 892), the automatic driving control device may use the first sensor including the forward-looking camera device to perform automatic driving control of the vehicle 801.

[0248] refer to Figure 8C Referring to the reference numeral 883 , according to the implementation scheme, the automatic driving control device may recognize that the vehicle 801 enters a third lane 893 (or road section) having a curvature of a specified value or greater.

[0249] For example, since the curvature of the third lane 893 is greater than or equal to a specified value, the automatic driving control device may be unable to use the first sensor to identify the first lane detection result regarding the area including the forward direction of the host vehicle 801.

[0250] For example, the automatic driving control device may use the second sensor to identify a second lane detection result regarding an area including the lateral direction of the host vehicle 801. The second lane detection result may include information regarding the fifth left lane line 852 and the fifth right lane line 854, for example.

[0251] In the case according to reference numeral 883, when the accuracy of the curvature information included in the first lane detection result is less than the reference reliability (or when the first reliability of the first lane detection result is less than the reference reliability), the automatic driving control device can control the vehicle 801 to travel based on the second lane detection result. In other words, when the vehicle 801 enters a high curvature section (e.g., the third lane 893), the automatic driving control device can use the second sensor including the surround camera device to perform automatic driving control of the vehicle 801.

[0252] Fig. 9 is a flowchart of an automatic driving control method according to an embodiment of the present invention.

[0253] According to the embodiment, the autonomous driving control device (e.g. Figure 1 The automatic driving control device 100) can execute Fig. 9 For example, components included in the automatic driving control device (e.g., Figure 1 At least some of the sensor device 110, memory 120 and / or controller 130) may be configured to perform Fig. 9 operation.

[0254] The operations in S910 to S930 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Fig. 9 Content that corresponds to or repeats the content described.

[0255] According to the embodiment, at S910, the automatic driving control device may use the sensor device to identify at least one lane detection result regarding the lane in which the host vehicle is traveling.

[0256] For example, the automatic driving control device may respectively use a first sensor including a forward-looking camera device and a second sensor including a surround-view camera device to identify each of a first lane detection result and a second lane detection result regarding a lane.

[0257] According to the implementation scheme, at S920, the automatic driving control device can generate at least one driving route based on at least one lane detection result.

[0258] For example, the automatic driving controller device may generate a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively.

[0259] According to the embodiment, at S930, the automatic driving control device may identify a final driving route for automatic driving of the host vehicle based on at least one driving route.

[0260] For example, the automatic driving control device can generate the final driving route based on at least one of the similarity between the first driving route and the second driving route, the first reliability of the first driving route, the second reliability of the second driving route, or any combination thereof.

[0261] Fig.10 A computing system related to an automatic driving control method according to an embodiment of the present invention is shown.

[0262] refer to Fig.10, the computing system 1000 regarding the 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 device 1600 and a network interface 1700 connected to each other via a bus 1200.

[0263] 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 device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0264] Accordingly, the operations of the methods or algorithms described in conjunction with the embodiments disclosed in this specification may be directly implemented using hardware modules, software modules, or a combination of hardware modules and software modules executed by the processor 1100. The software modules may be located on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0265] 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, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be located in an application specific integrated circuit (ASIC). The ASIC may be located in a user terminal. In another case, the processor and the storage medium may be located in a user terminal as separate components.

[0266] Effects of the automatic driving control device and method thereof according to an embodiment of the present invention will be described.

[0267] According to at least one embodiment of the present invention, the autonomous driving control device may generate a driving route for autonomous driving control using the type and reliability of each sensor of the vehicle and the similarity between multiple pieces of information obtained by means of the sensor.

[0268] In addition, according to at least one embodiment of the present invention, the autonomous driving control device can pre-identify situations where the accuracy of the sensing results of a specific sensor is relatively reduced, and can determine whether to use the sensing results of the sensor based on the identified situation, thereby improving the accuracy of autonomous driving control.

[0269] In addition, according to at least one embodiment of the present invention, in a situation where the vehicle should travel in a road section, the automatic driving control device can divide the situation before the vehicle enters the road section with relatively high curvature, the situation when the vehicle enters the road section, and the situation after the vehicle enters the road section, and can selectively use the sensing data for generating the driving route, thereby performing more accurate and more stable automatic driving control.

[0270] In addition, various effects directly or indirectly determined by the present invention can be provided.

[0271] Although the present invention has been described above with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto but may be variously modified and changed by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0272] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. An automatic driving control device, comprising: a sensor device comprising a first sensor and a second sensor different from the first sensor; a memory storing at least one instruction; as well as a controller operatively connected to the sensor device and the memory, Wherein, the at least one instruction is configured to, when executed by the controller, cause the automatic driving control device to: Determine at least one lane detection result regarding a lane in which the host vehicle is traveling using at least one of the first sensor, the second sensor, or any combination thereof; generating at least one driving route based on the at least one lane detection result; A final driving route for automated driving of the vehicle is determined based on the at least one driving route.

2. The automatic driving control device according to claim 1, wherein: The sensor device comprises: The first sensor is configured to determine a first lane detection result regarding an area including a forward direction of the host vehicle, and includes at least one first camera device mounted on at least one area of ​​a windshield of the host vehicle; and The second sensor is configured to determine a second lane detection result regarding an area including a lateral direction of the vehicle and includes at least one second camera device installed on at least one area of ​​an exterior rearview mirror of the vehicle.

3. The automatic driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: determining a first lane detection result using the first sensor and determining a second lane detection result using the second sensor; generating a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively; The final driving route is generated based on at least one of a similarity value between the first driving route and the second driving route, a first reliability value of the first driving route, a second reliability value of the second driving route, or any combination thereof.

4. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: determining a first reliability value for the first driving route and a second reliability value for the second driving route; When the first reliability value is greater than or equal to a reference reliability value, generating a final driving route based on the first driving route; When the first reliability value is smaller than the reference reliability value and when the second reliability value is greater than or equal to the reference reliability value, a final driving route is generated based on the second driving route.

5. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a first lane line included in the first lane detection result corresponds to a lane line in an opposite direction to a second lane line included in the second lane detection result: determining a first reliability value for the first driving route and a second reliability value for the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining a similarity value between the first driving route and the second driving route; When the similarity value is greater than or equal to a reference similarity value, a final driving route including information about a first lane line and a second lane line is generated based on the first driving route and the second driving route.

6. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a first lane line included in the first lane detection result corresponds to a lane line in an opposite direction to a second lane line included in the second lane detection result: determining a first reliability value for the first driving route and a second reliability value for the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining a similarity value between the first driving route and the second driving route; When the similarity value is less than a reference similarity value, a final driving route including information about a first lane line and a second lane line is generated based on a driving route having a lower curvature between the first driving route and the second driving route.

7. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a first lane line included in the first lane detection result corresponds to a lane line in an opposite direction to a second lane line included in the second lane detection result: determining a first reliability value for the first driving route and a second reliability value for the second driving route; A final driving route including information on a first lane line and a second lane line is generated based on a driving route corresponding to a reliability value having a higher value between the first reliability value and the second reliability value.

8. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a first lane line included in the first lane detection result corresponds to a lane line in the same direction as a second lane line included in the second lane detection result: determining a first reliability value for the first driving route and a second reliability value for the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining a similarity value between the first driving route and the second driving route; When the similarity value is greater than or equal to the reference similarity value, a final driving route including information about the first lane line and the second lane line is generated based on at least one piece of route information corresponding to the first driving route.

9. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a first lane line included in the first lane detection result corresponds to a lane line in the same direction as a second lane line included in the second lane detection result: determining a first reliability value for the first driving route and a second reliability value for the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining a similarity value between the first driving route and the second driving route; When the similarity value is less than a reference similarity value, a final driving route including information about a first lane line and a second lane line is generated based on a driving route having a lower curvature between the first driving route and the second driving route.

10. The automatic driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Before the vehicle enters a road section with a curvature of a specified value or greater, when it is determined based on the vehicle's estimated driving route that the vehicle is expected to enter the road section and it is determined that the first reliability value of the first driving route and the second reliability value of the second driving route are greater than or equal to the reference reliability value, the vehicle is controlled to travel based on the first driving route identified using the first sensor.

11. The automatic driving control device according to claim 10, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When the host vehicle enters the road section, in a case where the accuracy of the curvature information included in the first lane detection result is less than the reference accuracy, the host vehicle is controlled to travel based on the second travel route.

12. The automatic driving control device according to claim 10, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: After the vehicle has completed entering the road section, determining a similarity value between the first driving route and the second driving route; When the similarity value meets a specified criterion, a final driving route is generated based on the first driving route.

13. The automatic driving control device according to claim 2, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: generating a first driving route and a second driving route based on the first lane detection result and the second lane detection result, respectively; determining at least one piece of route information corresponding to the first driving route; determining a similarity value between the first driving route and the second driving route based on whether a difference between the at least one route information is greater than a threshold; A final driving route is further generated based on the similarity value.

14. The automatic driving control device according to claim 13, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Determine the position information of the control target point based on the driving speed of the vehicle and the estimated driving time to the control target point; A similarity value between the first driving route and the second driving route is determined based on at least one of a first curvature of the first driving route, a first heading of the first driving route, a second curvature of the second driving route, a second heading of the second driving route, or any combination thereof, wherein the first curvature, the first heading, the second curvature, and the second heading are identified based on the location information.

15. The automatic driving control device according to claim 14, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When the difference between the first curvature and the second curvature is less than the reference curvature difference and when the difference between the first heading and the second heading is less than the reference heading difference, it is determined that the similarity value between the first driving route and the second driving route is greater than or equal to the reference similarity value.

16. An automatic driving control method, comprising: determining, by the controller, at least one lane detection result regarding a lane in which the host vehicle is traveling using at least one of a first sensor included in the sensor device, a second sensor included in the sensor device, or any combination thereof; generating, by a controller, at least one driving route based on the at least one lane detection result; A final driving route for automated driving of the vehicle is determined by the controller based on the at least one driving route.

17. The automatic driving control method according to claim 16, further comprising: generating, by the controller, a first driving route based on a first lane detection result identified using the first sensor, and generating, by the controller, a second driving route based on a second lane detection result identified using the second sensor; Determining, by a controller, a first reliability value of the first driving route and a second reliability value of the second driving route; When the first reliability value is greater than or equal to a reference reliability value, generating a final driving route based on the first driving route by a controller; When the first reliability value is less than the reference reliability value and when the second reliability value is greater than or equal to the reference reliability value, a final driving route is generated based on the second driving route by a controller.

18. The automatic driving control method according to claim 16, further comprising: generating, by the controller, a first driving route based on a first lane detection result identified using the first sensor, and generating, by the controller, a second driving route based on a second lane detection result identified using the second sensor; When a first lane line included in the first lane detection result corresponds to a lane line in an opposite direction of a second lane line included in the second lane detection result, determining, by a controller, a first reliability value of the first driving route and a second reliability value of the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining, by a controller, a similarity value between the first driving route and the second driving route; When the similarity value is less than a reference similarity value, a final driving route including information about a first lane line and a second lane line is generated by a controller based on a driving route having a lower curvature between the first driving route and the second driving route.

19. The automatic driving control method according to claim 16, further comprising: generating, by the controller, a first driving route based on a first lane detection result identified using the first sensor, and generating, by the controller, a second driving route based on a second lane detection result identified using the second sensor; When a first lane line included in the first lane detection result corresponds to a lane line in the same direction as a second lane line included in the second lane detection result, determining, by a controller, a first reliability value of the first driving route and a second reliability value of the second driving route; When the first reliability value and the second reliability value are greater than or equal to a reference reliability value, determining, by a controller, a similarity value between the first driving route and the second driving route; When the similarity value is less than a reference similarity value, a final driving route including information about a first lane line and a second lane line is generated based on a driving route having a lower curvature between the first driving route and the second driving route.

20. The automatic driving control method according to claim 16, further comprising: generating, by the controller, a first driving route based on a first lane detection result identified using the first sensor, and generating, by the controller, a second driving route based on a second lane detection result identified using the second sensor; When the controller determines that the vehicle is expected to enter a road section with a curvature of a specified value or greater based on the expected driving route of the vehicle and determines that the first reliability value of the first driving route and the second reliability value of the second driving route are greater than or equal to the reference reliability value: Before the vehicle enters the road section, the controller controls the vehicle to travel based on a first travel route identified by a first sensor; When the vehicle enters the road section, if the accuracy of the curvature information included in the first lane detection result is less than the reference accuracy, controlling the vehicle to travel based on the second driving route through the controller; After the vehicle has completed entering the road section, the controller determines a similarity value between the first driving route and the second driving route, and when the similarity value meets a specified standard, the controller generates a final driving route based on the first driving route.

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