KR102739617B1 - Apparatus and method for determining lane position for road infrastructure detection of autonomous vehicle - Google Patents

Abstract

A lane position determination method for detecting road infrastructure of an autonomous vehicle is provided. The method includes the steps of: identifying information of a road infrastructure device from a pre-prepared precision map including position information of a road infrastructure device for the autonomous vehicle; calculating a relative position of a target road infrastructure device based on an absolute position of the autonomous vehicle; collecting detection information on a front vehicle through a detection sensor mounted on the autonomous vehicle; calculating a lateral movement distance for normally detecting the target road infrastructure device based on the detection information; and controlling driving of the autonomous vehicle based on the calculated lateral movement distance.

Description

{APPARATUS AND METHOD FOR DETERMINING LANE POSITION FOR ROAD INFRASTRUCTURE DETECTION OF AUTONOMOUS VEHICLE}

The present invention relates to a lane position determination device and method for detecting road infrastructure of an autonomous vehicle.

Autonomous vehicles and advanced driver assistance systems detect information about the driving environment from various sensors and use it for judgment to support autonomous driving and drivers. For example, the current status of a traffic light (red, green, etc.) is recognized by a camera sensor or transmitted as a signal status based on V2X to ensure safe driving. If V2I service is not supported, the camera sensor becomes the only means of detecting traffic light information.

However, if there is a tall vehicle in front of the target vehicle, there is a problem in that the traffic light cannot be detected by the camera sensor due to obscuration depending on the distance between the vehicles.

Publication of Patent Publication No. 10-20210044963 (April 26, 2021)

The problem to be solved by the present invention is to provide a lane position determination device and method for detecting road infrastructure of an autonomous vehicle, which performs lateral movement control of the autonomous vehicle in relation to a preceding vehicle by using location information of the autonomous vehicle, location information of the traffic infrastructure, and location and size information of the preceding vehicle so as to detect traffic infrastructure when driving or stopping.

However, the problems to be solved by the present invention are not limited to the problems described above, and other problems may exist.

According to a first aspect of the present invention for solving the above-described problem, a lane position determination method for detecting road infrastructure of an autonomous vehicle comprises the steps of: identifying information of a road infrastructure device from a pre-prepared precision map including position information of a road infrastructure device for the autonomous vehicle; calculating a relative position of a detection target road infrastructure device based on an absolute position of the autonomous vehicle; collecting detection information on a front vehicle through a detection sensor mounted on the autonomous vehicle; calculating a lateral movement distance for normally detecting the detection target road infrastructure device based on the detection information; and controlling driving of the autonomous vehicle based on the calculated lateral movement distance.

In some embodiments of the present invention, the step of collecting detection information on a front vehicle through a detection sensor mounted on the autonomous vehicle may collect at least one of a longitudinal and lateral relative position with respect to the front vehicle and a relative angle with respect to the front vehicle.

In some embodiments of the present invention, the step of calculating a lateral movement distance for normally detecting the target road infrastructure device based on the detection information may calculate the lateral movement distance based on a longitudinal and lateral relative position of the target road infrastructure device obtained from the precision map, a longitudinal and lateral relative position of the front vehicle, a relative angle with respect to the front vehicle, and an initial lateral position of the autonomous vehicle based on the target road infrastructure device.

In some embodiments of the present invention, the step of calculating a lateral movement distance for normally detecting the target road infrastructure device based on the detection information may include the step of calculating a required lateral position of the autonomous vehicle based on the target road infrastructure device; and the step of calculating a lateral movement distance of the autonomous vehicle based on the required lateral position and the initial lateral position.

In some embodiments of the present invention, the step of controlling driving of the autonomous vehicle based on the calculated lateral movement distance may control the vehicle to move according to the movement distance without changing lanes within the current lane, or may control the vehicle to move according to the movement distance by changing to a lane different from the current lane.

In addition, a lane position determination device for road infrastructure detection of an autonomous vehicle according to a second aspect of the present invention includes a detection sensor that generates detection information of a front vehicle and road infrastructure devices based on at least one of a camera sensor and a lidar sensor, a memory in which a precision map prepared in advance for driving of an autonomous vehicle is stored and a program for determining and controlling a lane position based on the detection sensor and the precision map is stored, a lateral movement distance calculation unit that identifies information of the road infrastructure devices from the precision map, calculates a relative position of a detection target road infrastructure device based on an absolute position of the autonomous vehicle, and calculates a lateral movement distance for normally detecting the detection target road infrastructure device based on the detection information, and a lateral movement distance control unit that controls driving of the autonomous vehicle based on the calculated lateral movement distance.

In some embodiments of the present invention, the detection sensor can collect at least one of a longitudinal and lateral relative position with respect to the front vehicle and a relative angle with respect to the front vehicle.

In some embodiments of the present invention, the lateral movement distance calculation unit can calculate the lateral movement distance based on the longitudinal and lateral relative position of the target road infrastructure device acquired from the precision map, the longitudinal and lateral relative position with respect to the front vehicle, the relative angle with respect to the front vehicle, and the initial lateral position of the autonomous vehicle with respect to the target road infrastructure device.

In some embodiments of the present invention, the lateral movement distance calculation unit can calculate a required lateral position of the autonomous vehicle based on the detection target road infrastructure device, and calculate a lateral movement distance of the autonomous vehicle based on the required lateral position and the initial lateral position.

In some embodiments of the present invention, the lateral movement distance control unit can control movement according to the movement distance without changing lanes within the current lane, or can control movement according to the movement distance by changing to a lane different from the current lane.

According to another aspect of the present invention for solving the above-described problem, a computer program is coupled with a computer as hardware to execute a lane position determination method for detecting road infrastructure of an autonomous vehicle, and is stored in a computer-readable recording medium.

Other specific details of the present invention are included in the detailed description and drawings.

According to one embodiment of the present invention described above, even in a situation where V2X infrastructure is not supported, autonomous vehicles can recognize traffic infrastructure through left and right lateral movement, thereby supporting stable autonomous driving. In addition, there is an advantage in that it can be similarly applied to advanced localization that corrects the location information of autonomous vehicles through detection information of surrounding objects during driving.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

FIG. 1 is a block diagram of a lane position determination device for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention.
Figure 2 is a flowchart of a lane position determination method according to one embodiment of the present invention.
FIG. 3 is a diagram for explaining an algorithm for determining lane position in one embodiment of the present invention.
FIG. 4a and FIG. 4b are drawings for explaining the change in lane position in relation to the preceding vehicle.
FIG. 5 is a block diagram of an inter-vehicle distance control device for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention.
FIG. 6 is a flowchart of a method for controlling the inter-vehicle distance for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention.
FIG. 7 is a diagram for explaining an algorithm for inter-vehicle distance control in one embodiment of the present invention.

The advantages and features of the present invention, and the methods for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and the present embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person skilled in the art of the scope of the present invention, and the present invention is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. The terms "comprises" and/or "comprising" as used in the specification do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and/or" includes each and every combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, it is to be understood that these components are not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with the meaning commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly specifically defined.

Hereinafter, a lane position determination device (100) and method for detecting road infrastructure of an autonomous vehicle according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4b, and then an inter-vehicle distance control device (200) and method for an autonomous vehicle according to a second embodiment of the present invention will be described with reference to FIGS. 5 to 7. At this time, the first and second embodiments can share technical features with each other, and it goes without saying that all or part of the technical features can be applied to each other.

FIG. 1 is a block diagram of a lane position determination device (100) for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention.

A lane position determination device (100) for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention includes a detection sensor (110), a memory (120), a lateral movement distance calculation unit (130), and a lateral movement distance control unit (140). At this time, the lateral movement distance calculation unit (130) and the lateral movement distance control unit (140) may be performed by at least one processor (not shown).

The detection sensor (110) generates detection information for a front vehicle corresponding to the vehicle driving or stopped at a predetermined angle. In one embodiment, the detection sensor (110) may include at least one of a camera sensor and a lidar sensor, and may generate detection information by separately or merging the captured image and sensed information.

As an example, the camera of the detection sensor (110) may be a front camera that captures a front image of the vehicle, but is not necessarily limited thereto. In other words, any camera that can generate detection information about the front vehicle, such as a side camera or a camera located at a corner, can be applied.

A precision map prepared in advance for driving an autonomous vehicle is stored in the memory (120), and a program for determining and controlling a lane position based on the detection sensor (110) and the precision map is stored. Here, the memory (120) is a general term for a nonvolatile storage device and a volatile storage device that maintain stored information even when power is not supplied.

For example, the memory (120) may include NAND flash memory such as a compact flash (CF) card, a secure digital (SD) card, a memory stick, a solid-state drive (SSD), and a micro SD card, a magnetic computer storage device such as a hard disk drive (HDD), and an optical disc drive such as a CD-ROM or DVD-ROM.

The lateral movement distance calculation unit (130) identifies information on road infrastructure devices from a precision map, calculates the relative position of the target road infrastructure device based on the absolute position of the autonomous vehicle, and calculates the lateral movement distance for normally detecting the target road infrastructure device based on the detection information.

The lateral movement distance control unit (140) controls the driving of the autonomous vehicle based on the lateral movement distance calculated by the lateral movement distance calculation unit (130).

Hereinafter, a method performed by a lane position determination device (100) for detecting road infrastructure of an autonomous vehicle according to the embodiment of FIG. 1 of the present invention will be described with reference to FIGS. 2 to 4b.

Fig. 2 is a flowchart of a lane position determination method according to one embodiment of the present invention. Fig. 3 is a diagram for explaining an algorithm for lane position determination in one embodiment of the present invention. Figs. 4a and 4b are diagrams for explaining the contents of lane position change in relation to a front vehicle.

A lane position determination method according to one embodiment of the present invention is performed including the steps of: a step (S110) of identifying information on a road infrastructure device from a precision map prepared in advance for the autonomous vehicle; a step (S120) of calculating a relative position of a target road infrastructure device based on an absolute position of the autonomous vehicle; a step (S130) of collecting detection information on a front vehicle through a detection sensor mounted on the autonomous vehicle; a step (S140) of calculating a lateral movement distance for normally detecting the target road infrastructure device based on the detection information; and a step (S150) of controlling the driving of the autonomous vehicle based on the calculated lateral movement distance.

First, information on road infrastructure devices is identified from a pre-prepared high-definition map (HD MAP) for autonomous vehicles (S110).

Here, the term road infrastructure device refers to a concept that encompasses all devices that require recognition for autonomous vehicle driving, such as traffic lights and traffic signs. One embodiment of the present invention can obtain absolute location information (including height information) of road infrastructure devices through a precision map.

Next, the relative position of the target road infrastructure device is calculated based on the absolute position of the autonomous vehicle (S120).

In one embodiment, the absolute position of the autonomous vehicle can be obtained based on the GPS in the vehicle. Based on this absolute position, the relative position between the autonomous vehicle and the road infrastructure device can be calculated.

Next, detection information about the vehicle ahead is collected through a detection sensor mounted on the autonomous vehicle (S130).

In one embodiment, the detection information may include at least one of a longitudinal and lateral relative position with respect to a preceding vehicle and a relative angle with respect to the preceding vehicle.

Next, based on the detection information, the lateral movement distance for normally detecting the target road infrastructure device is calculated (S140).

As an example, referring to FIG. 3, in order to calculate the lateral movement distance for normally detecting the target road infrastructure device (P3) according to the relationship with the front vehicle (P2), the longitudinal and lateral relative positions of the target road infrastructure device (P3) obtained from the precision map are ), relative position in longitudinal and lateral directions with respect to the vehicle in front (P2) ( ), relative angle to the vehicle in front (P2) ( ) and the initial lateral position of the autonomous vehicle (P1) relative to the target road infrastructure device (P3) to be detected ( ) can be used to calculate the lateral movement distance (P1→P1') of the autonomous vehicle (P1).

At this time, the relative angle with the front vehicle (P2) can be calculated based on Equation 1.

[Formula 1]

More specifically, the required lateral position of the autonomous vehicle (P1) relative to the target road infrastructure device (P3) ) can be calculated based on Equation 2.

[Formula 2]

And based on equation 3, the required transverse position ( ) and initial transverse position ( ) based on the lateral movement distance or movement amount of the autonomous vehicle (P1, P1') ) can be produced.

[Formula 3]

Next, the driving of the autonomous vehicle is controlled based on the calculated lateral movement distance (S150).

Figures 4a and 4b illustrate a case where the detection sensor does not recognize a road infrastructure device (P3) depending on the positional relationship between the autonomous vehicle (P1) and the front vehicle (P2), and a case where the road infrastructure device (P3) can be recognized depending on the lateral movement (P1').

In one embodiment, the lateral movement control of the autonomous vehicle may be controlled to move according to a travel distance without changing lanes within the current lane.

In another embodiment, the lateral movement control of the autonomous vehicle may be controlled to move according to the travel distance by changing to a different lane from the current lane.

Meanwhile, in the above description, steps S110 to S150 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present invention. In addition, some steps may be omitted as needed, and the order between the steps may be changed. In addition, even if other omitted contents are present, the contents of Fig. 1 may also be applied to the contents of the lane position determination method for detecting road infrastructure of an autonomous vehicle of Figs. 2 to 4b.

Hereinafter, with reference to FIGS. 5 to 7, a device (200) and method for controlling the inter-vehicle distance for detecting road infrastructure of an autonomous vehicle according to a second embodiment of the present invention will be described.

FIG. 5 is a block diagram of an inter-vehicle distance control device (200) for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention.

An inter-vehicle distance control device (200) for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention includes a detection sensor (210), a memory (220), an inter-vehicle distance calculation unit (230), and an inter-vehicle distance control unit (240). At this time, the inter-vehicle distance calculation unit (230) and the inter-vehicle distance control unit (240) can be performed by at least one processor (not shown).

The detection sensor (210) generates detection information for a front vehicle corresponding to the vehicle driving or stopped at a predetermined angle. In one embodiment, the detection sensor (210) may include at least one of a camera sensor and a lidar sensor, and may generate detection information by separately or merging the captured image and sensed information.

As an example, the camera of the detection sensor (210) may be a front camera that captures a front image of the vehicle, but is not necessarily limited thereto. In other words, any camera that can generate detection information about the front vehicle, such as a side camera or a camera located at a corner, can be applied.

A precision map prepared in advance for driving an autonomous vehicle is stored in the memory (220), and a program for controlling the distance between vehicles in front is stored based on the detection sensor (210) and the precision map.

The inter-vehicle distance calculation unit (230) identifies information on road infrastructure devices from a precision map, calculates the relative position of the target road infrastructure device based on the absolute position of the autonomous vehicle, and calculates the inter-vehicle distance from the front vehicle for normally detecting the target road infrastructure device based on the detection information.

The inter-vehicle distance control unit (240) controls the driving of the autonomous vehicle based on the inter-vehicle distance calculated by the inter-vehicle distance calculation unit (230).

Hereinafter, a method performed by the inter-vehicle distance control device (200) of an autonomous vehicle according to the embodiment of FIG. 5 of the present invention will be described with reference to FIGS. 6 and 7.

Fig. 6 is a flowchart of a method for controlling the distance between vehicles for detecting road infrastructure of an autonomous vehicle according to one embodiment of the present invention. Fig. 7 is a diagram for explaining an algorithm for controlling the distance between vehicles according to one embodiment of the present invention.

According to one embodiment of the present invention, a method for controlling the inter-vehicle distance includes the steps of: (S210) identifying information on a road infrastructure device from a precision map prepared in advance for an autonomous vehicle; (S220) calculating a relative position of a target road infrastructure device based on an absolute position of the autonomous vehicle; (S230) collecting detection information on a front vehicle through a detection sensor mounted on the autonomous vehicle; (S240) calculating a head-to-head distance from a front vehicle for normally detecting the target road infrastructure device based on the detection information; and (S250) controlling driving of the autonomous vehicle based on the calculated head-to-head distance.

First, information on road infrastructure devices is identified from a pre-prepared high-definition map (HD MAP) for autonomous vehicles (S210).

Here, the term road infrastructure device refers to a concept that encompasses all devices that require recognition for autonomous vehicle driving, such as traffic lights and traffic signs. One embodiment of the present invention can obtain absolute location information (including height information) of road infrastructure devices through a precision map.

Next, the relative position of the target road infrastructure device is calculated based on the absolute position of the autonomous vehicle (S220).

In one embodiment, the absolute position of the autonomous vehicle can be obtained based on the GPS in the vehicle. Based on this absolute position, the relative position between the autonomous vehicle and the road infrastructure device can be calculated.

Next, detection information about the vehicle ahead is collected through a detection sensor mounted on the autonomous vehicle (S230).

In one embodiment, the detection information may include at least one of a relative distance from a front vehicle, a relative position, and size information (width and height) of the front vehicle.

Next, based on the detection information, the distance between the vehicle and the preceding vehicle is calculated to normally detect the target road infrastructure device (S240).

In one embodiment, in order to calculate the distance between the vehicle and the preceding vehicle, the distance between the vehicle and the preceding vehicle is calculated based on the installation location of the detection sensor and the horizontal and vertical FOV (Field of View) information of the detection sensor to normally detect traffic infrastructure devices such as traffic lights.

For example, the distance between vehicles can be determined differently depending on the width or size of the vehicle in front; if the vehicle in front has a taller garage, a longer distance between vehicles is required, and if the vehicle in front has a smaller garage, a shorter distance between vehicles is required.

Specifically, referring to FIG. 6, one embodiment of the present invention is a mounting height of a detection sensor ( ) and the height of the front vehicle based on the detection sensor ( ) and the horizontal and vertical FOV of the detection sensor ( ) based on the detection sensor's detection required distance ( ) can be calculated using the following equation 4.

[Formula 4]

Next, the detection requirement distance ( ) and the mounting location of the detection sensor ( , design allowance( Based on the minimum required distance from the vehicle in front ( ) can be calculated using the following equation 5.

[Formula 5]

The minimum required distance calculated in this way ( ) can provide the distance between vehicles.

Next, the driving of the autonomous vehicle is controlled based on the calculated inter-vehicle distance (S250).

At this time, if the calculated inter-vehicle distance is shorter than the pre-set inter-vehicle distance (hereinafter, “safe distance”) for safety reasons, the driving of the autonomous vehicle can be controlled with the safety distance as a priority. Conversely, if the calculated inter-vehicle distance is greater than the safe distance, the driving of the autonomous vehicle can be controlled based on the calculated inter-vehicle distance.

Meanwhile, in the above description, steps S210 to S250 may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present invention. In addition, some steps may be omitted as needed, and the order between the steps may be changed. In addition, even if other omitted contents are present, the contents of FIG. 5 may also be applied to the contents of the inter-vehicle distance control method for detecting road infrastructure of an autonomous vehicle of FIGS. 6 to 7.

The method for controlling the distance between vehicles and the method for determining the lane position of an autonomous vehicle according to one embodiment of the present invention described above can be implemented as a program (or application) to be executed in combination with a computer as hardware and stored in a medium.

The above-described program may include codes coded in a computer language, such as C, C++, JAVA, Ruby, or machine language, that can be read by the processor (CPU) of the computer through the device interface of the computer, so that the computer reads the program and executes the methods implemented as a program. Such codes may include functional codes related to functions that define functions necessary for executing the methods, and may include control codes related to execution procedures necessary for the processor of the computer to execute the functions according to a predetermined procedure. In addition, such codes may further include memory reference-related codes regarding which location (address address) of the internal or external memory of the computer should be referenced for additional information or media necessary for the processor of the computer to execute the functions. In addition, if the processor of the computer needs to communicate with another computer or server located remotely in order to execute the functions, the code may further include communication-related code regarding how to communicate with another computer or server located remotely using the communication module of the computer, what information or media to send and receive during communication, etc.

The above storage medium means a medium that stores data semi-permanently and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, cache, or memory. Specifically, examples of the storage medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, or optical data storage device. That is, the program can be stored in various storage media on various servers that the computer can access or in various storage media on the user's computer. In addition, the medium can be distributed to computer systems connected to a network, so that a computer-readable code can be stored in a distributed manner.

The above description of the present invention is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential characteristics of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single component may be implemented in a distributed manner, and likewise, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

100 : Lane Position Determination Device
110: Detection sensor
120: Memory
130: Lateral movement distance calculation unit
140: Lateral movement distance control unit
200 : Inter-vehicle distance control device
210: Detection sensor
220: Memory
230: Inter-vehicle distance calculation unit
240: Inter-vehicle distance control unit

Claims (10)

In a lane position determination method for detecting road infrastructure of an autonomous vehicle,
A step of identifying information of road infrastructure devices from a pre-prepared precision map for the autonomous vehicle;
A step of calculating the relative position of a target road infrastructure device based on the absolute position of the autonomous vehicle;
A step of collecting detection information about a front vehicle through a detection sensor mounted on the autonomous vehicle;
A step of calculating a lateral movement distance for normally detecting the target road infrastructure device based on the above detection information; and
A step of controlling driving of an autonomous vehicle based on the calculated lateral movement distance is included.
The step of collecting detection information about the front vehicle through the detection sensor mounted on the autonomous vehicle comprises collecting at least one of the longitudinal and lateral relative position with respect to the front vehicle and the relative angle with respect to the front vehicle.
The step of calculating the lateral movement distance for normally detecting the target road infrastructure device based on the above detection information is to calculate the lateral movement distance based on the longitudinal and lateral relative positions of the target road infrastructure device obtained from the precision map, the longitudinal and lateral relative positions of the front vehicle, the relative angle with respect to the front vehicle, and the initial lateral position of the autonomous vehicle based on the target road infrastructure device.
Lane position determination method for road infrastructure detection of autonomous vehicles.
delete delete In the first paragraph,
The step of calculating the horizontal movement distance for normally detecting the target road infrastructure device based on the above detection information is as follows.
A step of calculating a required lateral position of the autonomous vehicle based on the above-detected target road infrastructure device; and
Comprising a step of calculating a lateral movement distance of the autonomous vehicle based on the above-mentioned required lateral position and the above-mentioned initial lateral position,
Lane position determination method for autonomous vehicle road infrastructure detection.
In a lane position determination method for detecting road infrastructure of an autonomous vehicle,
A step of identifying information of road infrastructure devices from a pre-prepared precision map for the autonomous vehicle;
A step of calculating the relative position of a target road infrastructure device based on the absolute position of the autonomous vehicle;
A step of collecting detection information about a front vehicle through a detection sensor mounted on the autonomous vehicle;
A step of calculating a lateral movement distance for normally detecting the target road infrastructure device based on the above detection information; and
A step of controlling driving of an autonomous vehicle based on the calculated lateral movement distance is included.
The step of controlling the driving of the autonomous vehicle based on the calculated lateral movement distance is as follows.
Controlling to move according to the above-mentioned travel distance without changing lanes within the current lane, or controlling to move according to the above-mentioned travel distance by changing to a lane different from the current lane.
Lane position determination method for autonomous vehicle road infrastructure detection.
In a lane position determination device for detecting road infrastructure of an autonomous vehicle,
A detection sensor that generates detection information of a front vehicle and road infrastructure devices based on at least one of a camera sensor and a lidar sensor;
A memory in which a precision map prepared in advance for driving an autonomous vehicle is stored, and a program for determining and controlling lane positions based on detection sensors and the precision map is stored.
A lateral movement distance calculation unit that identifies information on road infrastructure devices from the above-mentioned precision map, calculates a relative position of a target road infrastructure device based on the absolute position of the autonomous vehicle, and calculates a lateral movement distance for normally detecting the target road infrastructure device based on the detection information.
It includes a lateral movement distance control unit that controls the driving of the autonomous vehicle based on the calculated lateral movement distance,
The above detection sensor collects at least one of a longitudinal and lateral relative position with respect to the front vehicle and a relative angle with respect to the front vehicle,
The above lateral movement distance calculation unit calculates the lateral movement distance based on the longitudinal and lateral relative positions of the detection target road infrastructure devices acquired from the precision map, the longitudinal and lateral relative positions with respect to the preceding vehicle, the relative angle with respect to the preceding vehicle, and the initial lateral position of the autonomous vehicle based on the detection target road infrastructure devices.
Lane positioning device for detecting road infrastructure for autonomous vehicles.
delete delete In Article 6,
The above lateral movement distance calculation unit calculates a required lateral position of the autonomous vehicle based on the detection target road infrastructure device, and calculates a lateral movement distance of the autonomous vehicle based on the required lateral position and the initial lateral position.
Lane positioning device for autonomous vehicles to detect road infrastructure.
In a lane position determination device for detecting road infrastructure of an autonomous vehicle,
A detection sensor that generates detection information of a front vehicle and road infrastructure devices based on at least one of a camera sensor and a lidar sensor;
A memory in which a precision map prepared in advance for driving an autonomous vehicle is stored, and a program for determining and controlling lane positions based on detection sensors and the precision map is stored.
A lateral movement distance calculation unit that identifies information on road infrastructure devices from the above-mentioned precision map, calculates a relative position of a target road infrastructure device based on the absolute position of the autonomous vehicle, and calculates a lateral movement distance for normally detecting the target road infrastructure device based on the detection information.
It includes a lateral movement distance control unit that controls the driving of the autonomous vehicle based on the calculated lateral movement distance,
The above lateral movement distance control unit controls movement according to the movement distance without changing lanes within the current lane, or controls movement according to the movement distance by changing to a lane different from the current lane.
Lane positioning device for autonomous vehicles to detect road infrastructure.

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