차선 기반의 확률론적 주변 차량 거동 예측 및 이를 이용한 종방향 제어 방법 및 장치가 제시된다. 본 발명에서 제안하는 차선 기반의 확률론적 주변 차량 거동 예측 및 이를 이용한 종방향 제어 방법은 센서를 통해 주변 차량 정보를 획득하는 단계, 획득된 주변 차량 정보를 이용하여 주변 차량의 목표 차선을 예측하는 단계, 각 목표 차선에 대하여 획득된 주변 차량 정보를 이용하여 주행 경로 예측을 수행하는 단계 및 미래 불확실성이 고려된 주변 차량의 목표차선 및 경로를 이용하여 충돌 가능성에 대한 확률을 계산하고 충돌 회피를 위한 종방향 제어를 진행하는 단계를 포함한다.

    Disclosed are probabilistic prediction for a motion of a lane-based surrounding vehicle and a longitudinal control method and apparatus using the same. The method includes obtaining surrounding vehicle information using a sensor, predicting a target lane of the surrounding vehicle based on the obtained surrounding vehicle information, performing future driving trajectory prediction for each target lane based on the surrounding vehicle information, and computing a probability of a collision likelihood based on a target lane and trajectory predictions of the surrounding vehicle in which future uncertainty has been taken into consideration and performing longitudinal control for collision avoidance.


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    Title :

    Lane-based Probabilistic Surrounding Vehicle Motion Prediction and its Application for Longitudinal Control


    Additional title:

    차선 기반의 확률론적 주변 차량 거동 예측 및 이를 이용한 종방향 제어 방법


    Publication date :

    2020-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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