Path determining apparatus for autonomous driving vehicle and path determining method

• US 10,073,458 B2
• Filed: 03/17/2017
• Issued: 09/11/2018
• Est. Priority Date: 11/11/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Jun Soo
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/462,612
• Publication Number:
  US 20180136662A1
• Time in Patent Office: 543 Days
• Field of Search: 701 26
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3446 Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A path determining apparatus for an autonomous driving vehicle includes a path generator periodically generating a plurality of autonomous driving paths, an adaptive likelihood field (ALF) detector detecting an ALF on a road based on road information and obstacle information, a weight setter applying the ALF detected by the ALF detector to each of the autonomous driving paths generated by the path generator to set a weight with respect to each of the autonomous driving paths, and a path determiner determining a final autonomous driving path based on the weight set with respect to each of the autonomous driving paths by the weight setter.

Claims

1. A path determining apparatus for an autonomous driving vehicle, the apparatus comprising:

a processor; and

a memory storing a program to be executed in the processor, the program comprising instructions for;

periodically generating a plurality of autonomous driving paths,

detecting an adaptive likelihood field (ALF) on a road based on road information and obstacle information, wherein the instructions for detecting the ALF comprise instructions for detecting the ALF based on the road information such that the autonomous driving vehicle drives along a center of a lane,

applying the detected ALF to each of the autonomous driving paths generated and setting a weight with respect to each of the autonomous driving paths, and

determining a final autonomous driving path based on the weight set with respect to each of the autonomous driving paths.

2. The path determining apparatus of claim 1, wherein the instructions for periodically generating the plurality of autonomous driving paths comprise instructions for:

calculating target positions at a current time point based on target positions calculated at a previous time point and present driving information, and

updating the autonomous driving paths.

3. The path determining apparatus of claim 2, wherein the driving information comprise a speed of the vehicle, an azimuth of the vehicle, and model information of the vehicle.

4. The path determining apparatus of claim 1, wherein the obstacle information comprise static obstacle information and dynamic obstacle information.

5. The path determining apparatus of claim 4, wherein the instructions for detecting the ALF comprise instructions for:

detecting a first ALF based on the road information such that the vehicle drives along the center of the lane;

detecting a second ALF based on the static obstacle information such that the vehicle avoids a collision with a static obstacle;

detecting a third ALF based on the dynamic obstacle information such that the vehicle avoids a collision with a dynamic obstacle; and

integrating the first ALF, the second ALF, and the third ALF to generate a final ALF.

6. The path determining apparatus of claim 5, wherein the road information comprise at least one of a lane of the road, a width of the road, or a shape of the road.

7. The path determining apparatus of claim 5, wherein the static obstacle information comprise at least one of a position, a size, or a shape of the static obstacle on the road.

8. The path determining apparatus of claim 5, wherein the dynamic obstacle information comprise at least one of a position, a speed, a direction, a size, or a shape of the dynamic obstacle on the road.

9. The path determining apparatus of claim 1, wherein instructions for applying the detected ALF to each of the autonomous driving paths generated and setting a weight with respect to each of the autonomous driving paths comprise instructions for:

giving a high weight to an autonomous driving path in which the autonomous driving vehicle has a low probability of collision with an obstacle among the autonomous driving paths.

10. The path determining apparatus of claim 9, wherein instructions for determining a final autonomous driving path comprise instructions for:

determining the autonomous driving path given with the high weight as the final autonomous driving path.

11. An autonomous driving vehicle comprising:

a path determining apparatus comprising a processor and a memory storing a program to be executed in the processor, the program comprising instructions for;

periodically generating a plurality of autonomous driving paths,

detecting an adaptive likelihood field (ALF) on a road based on road information and obstacle information, wherein the instructions for detecting the ALF comprise instructions for detecting the ALF based on the road information such that the autonomous driving vehicle drives along a center of a lane,

applying the detected ALF to each of the autonomous driving paths generated and setting a weight with respect to each of the autonomous driving paths, and

determining a final autonomous driving path based on the weight set with respect to each of the autonomous driving paths.

12. The autonomous driving vehicle of claim 11, wherein the instructions for periodically generating the plurality of autonomous driving paths comprise instructions for:

calculating target positions at a current time point based on target positions calculated at a previous time point and present driving information, and

updating the autonomous driving paths.

13. The autonomous driving vehicle of claim 12, wherein the driving information comprise a speed of the vehicle, an azimuth of the vehicle, and model information of the vehicle.

14. The autonomous driving vehicle of claim 11, wherein instructions for applying the detected ALF to each of the autonomous driving paths generated and setting a weight with respect to each of the autonomous driving paths comprise instructions for:

giving a high weight to an autonomous driving path in which the autonomous driving vehicle has a low probability of collision with an obstacle among the autonomous driving paths.

15. The autonomous driving vehicle of claim 14, wherein instructions for determining a final autonomous driving path comprise instructions for:

determining the autonomous driving path given with the high weight as the final autonomous driving path.

16. An autonomous driving vehicle comprising:

a path determining apparatus comprising a processor and a memory storing a program to be executed in the processor, the program comprising instructions for;

periodically generating a plurality of autonomous driving paths,

detecting an adaptive likelihood field (ALF) on a road based on road information and obstacle information, wherein the obstacle information comprise static obstacle information and dynamic obstacle information, wherein the instructions for detecting the ALF comprise instructions for detecting the ALF based on the road information such that the autonomous driving vehicle drives along a center of a lane,

applying the detected ALF to each of the autonomous driving paths generated and setting a weight with respect to each of the autonomous driving paths, and

determining a final autonomous driving path based on the weight set with respect to each of the autonomous driving paths.

17. The autonomous driving vehicle of claim 16, wherein the instructions for detecting the ALF comprise instructions for:

detecting a first ALF based on the road information such that the drives along the center of the lane;

detecting a second ALF based on the static obstacle information such that the vehicle avoids a collision with a static obstacle;

detecting a third ALF based on the dynamic obstacle information such that the vehicle avoids a collision with a dynamic obstacle; and

integrating the first ALF, the second ALF, and the third ALF to generate a final ALF.

18. The autonomous driving vehicle of claim 17, wherein the road information comprise at least one of a lane of the road, a width of the road, or a shape of the road.

19. The autonomous driving vehicle of claim 17, wherein the static obstacle information comprise at least one of a position, a size, or a shape of the static obstacle on the road.

20. The autonomous driving vehicle of claim 17, wherein the dynamic obstacle information comprise at least one of a position, a speed, a direction, a size, or a shape of the dynamic obstacle on the road.