Apparatus and method for controlling path of vehicle

• US 10,260,895 B2
• Filed: 04/19/2017
• Issued: 04/16/2019
• Est. Priority Date: 11/23/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Choi, Tae Sung, Chu, Keon Yup
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/491,122
• Publication Number:
  US 20180143028A1
• Time in Patent Office: 727 Days
• Field of Search: 701414
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• 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 21/3492 employing speed data or traffic data, e.g. real-time or historical traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968

Abstract

An apparatus for controlling a path of a vehicle includes: a path generating processor configured to generate a first path by searching for a path from a current location of the vehicle to a destination and generate a second path by searching for a path from a path deviation prediction area on the first path to the destination based on a request; a path deviation area extracting processor configured to extract the path deviation prediction area based on road attributes on the first path; and a path controller configured to determine whether to generate the second path based on a congestion level of a road around the vehicle and reset a driving path of the vehicle to the second path when path deviation occurs on the extracted path deviation prediction area.

Claims

1. An apparatus for controlling a path of a vehicle, the apparatus comprising:

a path generating processor configured to generate a first path by searching for a path from a current location of the vehicle to a destination and to generate a second path by searching for a path from a path deviation prediction area on the first path to the destination;

a path deviation area extracting processor configured to extract the path deviation prediction area based on road attributes on the first path when a driving path of the vehicle is set to the first path; and

a path controller configured to determine whether to generate the second path based on a congestion level of a road around the vehicle when the vehicle arrives at a range from the extracted path deviation prediction area on the first path, reset the driving path of the vehicle to the second path, and control driving of the vehicle along the second path when a path deviation occurs on the extracted path deviation prediction area.

2. The apparatus of claim 1, wherein the path deviation area extracting processor is configured to:

extract an area, where attributes information of a road while the vehicle is driven is changed on the first path, as the path deviation prediction area.

3. The apparatus of claim 2, wherein the path deviation area extracting processor is configured to:

extract an area, where one of an entrance ramp, an exit ramp, a crossroad, a fork of the road, an underpass, and an overpass is located on the first path, as the path deviation prediction area.

4. The apparatus of claim 1, wherein the path controller is configured to:

determine whether a driving lane of the vehicle corresponds to a target lane on the first path, when the vehicle arrives at the range from the extracted path deviation predication area on the first path.

5. The apparatus of claim 4, wherein the path controller is configured to:

calculate a road congestion level for the target lane or a side lane in a direction of the target lane, when the driving lane of the vehicle does not correspond to the target lane on the first path.

6. The apparatus of claim 5, wherein the path controller is configured to:

calculate the road congestion level using location, velocity, and length information of surrounding vehicles around the vehicle, which exist in an area in front and rear of the vehicle, among the surrounding vehicles around the vehicle on the target lane or the side lane in the direction of the target lane.

7. The apparatus of claim 6, wherein the path controller is configured to:

calculate the road congestion level using a value in which a sum of length areas of the surrounding vehicles, which exist in the area in front and rear of the vehicle, among the surrounding vehicles on the target lane or the side lane in the direction of the target lane is divided by a length of the area in front and rear of the vehicle.

8. The apparatus of claim 5, wherein the path controller is configured to:

determine that the second path is generated, when the road congestion level is greater than or equal to a threshold; and

request the path generating processor to generate the second path.

9. The apparatus of claim 1, further comprising:

a storage configured to store information of the first path and the second path.

10. A method for controlling a path of a vehicle, the method comprising:

generating, by a path generating processor, a first path by searching for a path from a current location of the vehicle to a destination;

extracting, by a path deviation area extracting processor, a path deviation prediction area based on road attributes on the first path, when a driving path of the vehicle is set to the first path;

generating, by the path generating processor, a second path from the extracted path deviation prediction area to the destination based on a congestion level of a road around the vehicle, when the vehicle arrives at a range from the extracted path deviation prediction area on the first path;

resetting, by a path controller, the driving path of the vehicle along the second path, when a path deviation occurs on the extracted path deviation prediction area; and

controlling, by the path controller, driving of the vehicle along the second path.

11. The method of claim 10, wherein the extracting of the path deviation predication area comprises:

extracting an area, where attributes information of a road while the vehicle is driven is changed on the first path, as the path deviation prediction area.

12. The method of claim 11, wherein the extracting of the path deviation predication area comprises:

extracting an area, where one of an entrance ramp, an exit ramp, a crossroad, a fork of the road, an underpass, and an overpass is located on the first path, as the path deviation prediction area.

13. The method of claim 10, further comprising:

determining whether a driving lane of the vehicle corresponds to a target lane on the first path, when the vehicle arrives at the range from the extracted path deviation predication area on the first path.

14. The method of claim 13, further comprising:

calculating a road congestion level for the target lane or a side lane in the direction of the target lane, when the driving lane of the vehicle does not correspond to the target lane on the first path.

15. The method of claim 14, wherein the calculating of the road congestion level comprises:

calculating the road congestion level using location, velocity, and length information of surrounding vehicles around the vehicle, which exist in an area in front and rear of the vehicle, among the surrounding vehicles on the target lane or the side lane in the direction of the target lane.

16. The method of claim 15, wherein the calculating of the road congestion level comprises:

calculating the road congestion level using a value in which the sum of length areas of the surrounding vehicles, which exist in the area in front and rear of the vehicle, among the surrounding vehicles on the target lane or the side lane in the direction of the target lane is divided by a length of the area in front and rear of the vehicle.

17. The method of claim 14, wherein the generating of the second path comprises:

generating the second path, when the road congestion level is greater than or equal to a threshold.

18. The method of claim 10, further comprising:

storing information of the generated second path.