According to one embodiment of the present invention, a method for generating a U-turn path of an autonomous driving vehicle can comprise: a step of recognizing a U-turn situation; a step of generating a reference path corresponding to the U-turn situation by generating a plurality of virtual path points on a precision map based on driving environment information; a step of generating a candidate path by following a movement trajectory of a preceding vehicle when there is the preceding vehicle in front of a vehicle; and a step of generating an optimal U-turn path by comparing the reference path with the candidate path.
일 실시 예에 의한 자율주행 차량의 유턴경로 생성방법은, 유턴상황을 인지하는 단계; 주행 환경정보를 바탕으로 정밀지도 상에 복수의 가상 경로점을 생성하여 상기 유턴상황에 대응되는 기준경로를 생성하는 단계; 상기 차량의 전방에 선행차량이 존재하면, 상기 선행차량의 이동궤적을 추종하여 후보경로를 생성하는 단계; 및 상기 기준경로와 상기 후보경로를 서로 비교하여 최적 유턴경로를 생성하는 단계;를 포함할 수 있다.
APPARATUS AND METHOD FOR GENERATING U-TURN PATH OF AUTONOMOUS VEHICLE
자율주행 차량의 유턴경로 생성장치 및 그 방법
2021-07-27
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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