The present invention relates to a method for controlling an autonomous vehicle driving on a main lane, comprising: a step of determining whether an autonomous vehicle is driving on a merging lane; a step of determining whether a merging request message from a merging vehicle is received if it is determined that the autonomous vehicle is driving on the merging lane; a step of determining whether a collision with the merging vehicle occurs based on the merging request message if the merging request message is received; and a step of transmitting a merging consent message to the merging vehicle if a collision with the merging vehicle is expected. Thus, the present invention can provide the method for controlling the autonomous vehicle driving that can propose a communication protocol required for various driving between vehicles using V2X communication technology, and can control the vehicle accordingly.

    본 발명은 본선 차선에 주행중인 자율주행차량의 제어 방법에 있어서, 상기 자율주행차량의 합류 차선 주행 여부를 판단하는 단계와, 상기 자율주행차량이 합류 차선을 주행하고 있다고 판단되면 합류 차량의 합류 요청 메시지의 수신 여부를 판단하는 단계와, 상기 합류 요청 메시지가 수신되면, 상기 합류 요청 메시지를 기초로 상기 합류 차량과의 충돌 여부를 판단하는 단계와, 상기 합류 차량과의 충돌이 예상되면 합류 동의 메시지를 상기 합류 차량에 송신하는 단계를 포함할 수 있다.


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    Title :

    METHOD FOR CONTROLLING AUTONOMOUS VEHICLE


    Additional title:

    자율주행차량의 제어 방법


    Contributors:

    Publication date :

    2024-01-15


    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



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