AUTONOMOUS DRIVING APPARATUS AND METHOD FOR VEHICLE

• US 20130211656A1
• Filed: 08/30/2012
• Published: 08/15/2013
• Est. Priority Date: 02/09/2012
• Status: Abandoned Application

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: AN, Kyoung-Hwan, SUNG, Kyung-Bok, KWAK, Dong-Yong
• Application Number:
  US13/598,706
• Publication Number:
  US 20130211656A1
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network

Abstract

Disclosed herein are an autonomous driving apparatus and method for a vehicle. The autonomous driving apparatus includes an autonomous driving context data processing unit, a simulator unit, a section determination unit, a path planning unit, and a context determination main control unit. The autonomous driving context data processing unit gathers autonomous driving context data. The simulator unit simulates autonomous driving based on the gathered autonomous driving context data. The section determination unit determines a reliable section or an unreliable section based on results of the simulation. The path planning unit searches for at least one global path to a set destination based on results of the determination, and searches the at least one global path for a local path along which the autonomous driving is possible. The context determination main control unit controls the autonomous driving of the vehicle along the local path.

Claims

1. An autonomous driving method for a vehicle, comprising:

obtaining a current position of the vehicle and setting a destination of the vehicle;

searching paths, ranging from the current position of the vehicle to the destination, for an autonomous driving global path having a reliable section;

periodically obtaining a position of the vehicle moving along the autonomous driving global path;

if the obtained position falls within a set error range, determining whether the vehicle has reached the destination based on results of matching the position of the vehicle with a map;

if, as a result of the determination, it is determined that the vehicle has not reached the destination, obtaining a current link and a subsequent link of the vehicle and determining whether the subsequent link corresponds to the reliable section; and

if, as a result of the determination, it is determined that the subsequent link is the reliable section, controlling driving of the vehicle so that the vehicle is moved by autonomous driving.

2. The autonomous driving method as set forth in claim 1, wherein the reliable section corresponds to a spatial-temporal section in which autonomous driving context data obtained on a specific road satisfies conditions required for the autonomous driving.

3. The autonomous driving method as set forth in claim 2, wherein the controlling the driving of the vehicle comprises:

if, as a result of the determination, it is determined that the subsequent link is the reliable section, determining whether the vehicle is now moving under autonomous driving;

if, as a result of the determination, it is determined that the vehicle is now being moved by the autonomous driving, obtaining autonomous driving context data using sensors of the vehicle or from an external infrastructure;

running simulation based on the autonomous driving context data;

planning an autonomous driving local path based on results of the simulation; and

controlling the driving of the vehicle based on the autonomous driving local path.

4. The autonomous driving method as set forth in claim 3, wherein the determining whether the vehicle is now moving under autonomous driving comprises, if, as a result of the determination, it is determined that the vehicle is not now being moved by the autonomous driving, informing a vehicle driver that the vehicle is located in an area in which the autonomous driving is possible.

5. The autonomous driving method as set forth in claim 3, wherein the autonomous driving context data corresponds to data required for the autonomous driving of the vehicle, and comprises at least one of a data gathering time, a gathering position, a Global Positioning System (GPS) context, lane recognition information, matching with stored 3D map information, static/dynamic obstacle detection information, signal lamp recognition information, signpost recognition information, weather, each link average driving speed, and driver manipulation information.

6. The autonomous driving method as set forth in claim 1, further comprising:

if, as a result of the determination, it is determined that the periodically obtained position falls within the set error range, obtaining a prediction link based on the results of matching the position of the vehicle with the map; and

if, as a result of the determination, it is determined that the vehicle is now being moved by the autonomous driving, requesting manual driving from a vehicle driver so that the driver manually drives the vehicle.

7. The autonomous driving method as set forth in claim 6, wherein the requesting the manual driving from the vehicle driver comprises, if the vehicle is not manually moved by the driver within a set time after the manual driving has been requested, controlling the vehicle so that the vehicle is parked at a side of a road.

8. An autonomous driving apparatus for a vehicle, comprising:

an autonomous driving context data processing unit for gathering autonomous driving context data;

a simulator unit for simulating autonomous driving of the vehicle based on the gathered autonomous driving context data;

a section determination unit for determining a reliable section or an unreliable section of a road based on results of the simulation of the autonomous driving of the vehicle;

a path planning unit for searching for at least one global path along which the vehicle moves from a current position to a set destination based on results of the determination of the reliable section or the unreliable section, and searching the at least one global path for a local path along which the autonomous driving is possible; and

a context determination main control unit for controlling the autonomous driving of the vehicle along the local path.

9. The autonomous driving apparatus as set forth in claim 8, wherein the autonomous driving context data corresponds to data required for the autonomous driving of the vehicle, and comprises at least one of a data gathering time, a gathering position, a GPS context, lane recognition information, matching with stored 3D map information, static/dynamic obstacle detection information, signal lamp recognition information, signpost recognition information, weather, each link average driving speed, and driver manipulation information.

10. The autonomous driving apparatus as set forth in claim 8, wherein the autonomous driving context data processing unit comprises:

a vehicle autonomous driving context data processing unit for gathering the autonomous driving context data using sensors of the vehicle; and

an infrastructure autonomous driving context data processing unit for gathering the autonomous driving context data based on an external infrastructure.

11. The autonomous driving apparatus as set forth in claim 8, wherein the reliable section corresponds to a spatial-temporal section in which the autonomous driving context data of the road satisfies conditions required for the autonomous driving.

12. The autonomous driving apparatus as set forth in claim 8, wherein the unreliable section corresponds to a GPS shadow region in which reception of GPS signals is impossible while a vehicle is moving along the road or an area in which recognition of signal lamps is impossible because of a position of the signal lamp or a view hidden by a preceding vehicle while a vehicle is moving along the road.

13. The autonomous driving apparatus as set forth in claim 8, further comprising a generalization unit for generalizing a driving path of a driver inside the vehicle, wherein the context determination main control unit controls the autonomous driving of the vehicle based on results of the generalization of the path of the driver.

14. The autonomous driving apparatus as set forth in claim 13, wherein the generalization unit does not generalize the path of the driver if a static obstacle is detected because of road construction ahead of the vehicle and thus the driver changes lanes and does not proceed along a planned path.

15. The autonomous driving apparatus as set forth in claim 13, wherein the generalization unit generalizes the path of the driver if a dynamic obstacle is detected in the path of the driver.

16. The autonomous driving apparatus as set forth in claim 13, wherein the generalization unit does not generalize the path of the driver if there is no obstacle ahead of the vehicle or if an obstacle, such as a frozen road section, is not detected.