Drive control apparatus and method for autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9910443-B1
Application number	US-201615364708-A
Country	US
Kind code	B1
Filing date	Nov 30, 2016
Priority date	Oct 14, 2016
Publication date	Mar 6, 2018
Grant date	Mar 6, 2018

Abstract

A drive control apparatus and method for an autonomous vehicle is provided. The drive control method includes: determining whether a subject vehicle has entered a pocket lane area during autonomous driving; determining whether the subject vehicle enters a pocket lane according to pocket lane conditions that are determined on the basis of surrounding environment information of the subject vehicle when the subject vehicle enters the pocket lane area; generating a tracking path with respect to a front vehicle when it is determined to enter the pocket lane; and performing the autonomous driving by controlling the subject vehicle to follow the front vehicle according to the tracking path with respect to the front vehicle.

First claim

What is claimed is:

1. A drive control method for an autonomous vehicle, the method comprising:
determining whether the subject vehicle has entered a pocket lane area during autonomous driving;
subsequently, determining whether the subject vehicle will enter a pocket lane based on pocket lane conditions, the lane conditions being determined on the basis of surrounding environment information of the subject vehicle when the subject vehicle enters the pocket lane area;
generating a tracking path with respect to a front vehicle when it is determined to enter the pocket lane; and
performing the autonomous driving by controlling the subject vehicle to follow the front vehicle according to the tracking path with respect to the front vehicle.

2. The drive control method according to claim 1 , wherein the pocket lane area is defined as an area within a predetermined distance from a pocket lane entry point in a straight driving lane that is positioned on the right of the pocket lane.

3. The drive control method according to claim 2 , wherein a length of the pocket lane area is calculated using a road speed limit and a time taken for the vehicle to reach the pocket lane when the vehicle is driving at the road speed limit.

4. The drive control method according to claim 1 , wherein determining whether the subject vehicle would enter the pocket lane comprises:
determining the pocket lane conditions by detecting a degree of traffic congestion in the pocket lane, a distance between a rear vehicle and the subject vehicle, a relative speed of the rear vehicle, and a color of a traffic light that is turned on, on the basis of data measured by sensors;
determining whether the subject vehicle is allowed to stop according to the pocket lane conditions;
turning on a turn signal and reducing a vehicle speed when the subject vehicle is allowed to stop;
checking whether the front vehicle is present in the pocket lane while the subject vehicle is reducing the vehicle speed;
detecting a position of the front vehicle when the front vehicle is present in the pocket lane;
determining whether the subject vehicle is allowed to enter the pocket lane along a driving path based on the position of the front vehicle; and
performing the autonomous driving along the driving path when the subject vehicle is allowed to enter the pocket lane.

5. The drive control method according to claim 4 , further comprising generating a new driving path to reach a predetermined destination by driving on a straight driving lane unless it is determined that the subject vehicle is allowed to stop in determining whether or not the subject vehicle is allowed to stop.

6. The drive control method according to claim 4 , further comprising performing the autonomous driving along the driving path unless it is determined that the front vehicle is present in the pocket lane in checking whether or not the front vehicle is present in the pocket lane.

7. The drive control method according to claim 4 , further comprising determining whether the subject vehicle enters the pocket lane unless the subject vehicle is allowed to enter the pocket lane in the step of determining whether the subject vehicle is allowed to enter the pocket lane along the driving path.

8. A drive control apparatus for an autonomous vehicle, comprising:
a sensor unit configured to sense surrounding environment information of the subject vehicle;
a driving path generator configured to detect pocket lane conditions on the basis of the surrounding environment information when the subject vehicle enters a pocket lane area during autonomous driving, determining whether the subject vehicle enters a pocket lane according to the detected pocket lane conditions, and generating a driving path; and
a vehicle controller configured to control the autonomous driving of the subject vehicle according to the driving path.

9. The drive control apparatus according to claim 8 , wherein the driving path generator is further configured to analyze the pocket lane conditions by detecting a degree of traffic congestion in the pocket lane, a distance between a rear vehicle and the subject vehicle, a relative speed of the rear vehicle, and a color of a traffic light that is turned on through the sensor unit.

10. The drive control apparatus according to claim 9 , wherein the driving path generator is further configured to whether the subject vehicle is allowed to stop according to results of analyzing the pocket lane conditions.

11. The drive control apparatus according to claim 10 , wherein the driving path generator is further configured to the vehicle controller to turn on a turn signal and reduce a vehicle speed when the subject vehicle is allowed to stop, and checks whether a front vehicle is present in the pocket lane.

12. The drive control apparatus according to claim 11 , wherein the driving path generator is further configured to detect a position of the front vehicle in the pocket lane when the front vehicle is present in the pocket lane, and to determine whether the subject vehicle is allowed to enter the pocket lane along the driving path.

13. The drive control apparatus according to claim 12 , wherein the driving path generator is further configured to provide the driving path to the vehicle controller when the subject vehicle is allowed to enter the pocket lane along the driving path.

14. The drive control apparatus according to claim 12 , wherein the driving path generator is further configured to generate a tracking path with respect to the front vehicle unless the subject vehicle is allowed to enter the pocket lane along the driving path.

15. The drive control apparatus according to claim 10 , wherein the driving path generator further configured to search or generate a new driving path to reach a predetermined destination by driving on a straight driving path unless the subject vehicle is allowed to stop.

Assignees

• Hyundai Motor Co Ltd

Inventors

• Lee Dong Hwi
• Chu Keon Yup
• Yoo Su Jung
• Choi Tae Sung

Classifications

• B60W2552/00

  Input parameters relating to infrastructure · CPC title

• B60W60/0015

  specially adapted for safety · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title