본 발명은 자율주행차량의 주행제어방법을 개시한다. 보다 상세하게는, 본 발명은 정밀도로지도와 신호정보를 활용하여 차량 주행 판단을 통해 딜레마 구간을 제거하고 안전하게 주행하도록 하는 자율주행차량의 교차로 주행제어 방법 및 시스템에 관한 것이다. 본 발명의 실시예에 따르면, 자율주행차량이 교차로를 진행하는 데 있어서, 정밀도로지도의 기하구조 정보를 통해 황색현시 종료 전 교차로를 완전히 통과할 수 있는지 그렇지 못하다면 교차로 전방 정지선에 정지하도록 하는 알고리즘에 기초하여 정속 주행 후 교차로를 통과하는 주행 제어, 가속 주행 후 교차로를 통과하여 딜레마를 회피하는 주행 제어 및, 가속 주행 후 교차로를 통과하여 딜레마를 회피하는 주행 제어를 통해, 딜레마 구간이 발생하지 않도록 제어가 가능하여 주행 안전성을 크게 향상시킬 수 있는 효과가 있다.
The present invention relates to a method for controlling the driving of an autonomous vehicle and, more specifically, to a method and a system for controlling the crossroad driving of an autonomous vehicle, capable of removing a dilemma section and enabling safe driving through a vehicle driving determination using a precise road map and signal information. In accordance with an embodiment of the present invention, when an autonomous vehicle is advancing through crossroads, the system checks whether the autonomous vehicle can completely pass through the crossroads before the end of yellow light through geometric structure information of the precise road map, and, if the autonomous vehicle cannot pass therethrough, the system can enable a control operation to avoid the occurrence of a dilemma section through a driving control operation of passing through crossroads after constant-speed driving based on an algorithm for inducing a stop at a crossroad stop line, a driving control operation of avoiding dilemma by passing through crossroads after accelerating driving, and a driving control operation of avoiding dilemma by passing through crossroads after accelerating driving, thereby having an effect of considerably improving driving safety.
INTERSECTION DRIVING CONTROL METHOD AND SYSTEM FOR AUTONOMOUS VEHICLE
자율주행차량의 주행제어 방법 및 시스템
2023-05-30
Patent
Electronic Resource
Korean
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 |
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