AUTONOMOUS DRIVING CONTROL APPARATUS AND METHOD FOR DETERMINING LANE CHANGE AND TIMING THEREOF BASED ON ANALYSIS FOR SHAPES AND LINKS OF FORWARD ROAD

摘要

An autonomous driving control apparatus and method are provided to automatically determine whether a lane change is required by considering shapes of forward roads, a link relationship between the roads, a speed limit, the number of lanes, road characteristics (e.g., a crossroad, a crosswalk, an interchange, a junction, a speed bump, a dead-end, etc.), and the like which are recognized from a detailed map. The method also effectively determines a timing of the lane change when the lane change is required for a driver to more conveniently, stably, and efficiently arrive at a destination using an autonomous driving.

主权项

1. An autonomous driving control method of a vehicle, comprising:
generating, by a controller, a path plan turn a current position of the vehicle toward a destination with reference to a map database while driving the vehicle; determining, by the controller, a farthest segment among a plurality of segments for each lane of a road from the current position of the vehicle to a predetermined target segment on the path plan as a local goal point; determining, by the controller, whether / a lane change is required to arrive at the local goal point and determining a direction of the lane change when the lane change is required; and determining, by the controller, a lane change completion segment among the segments for each lane up to the target segment and determining a segment position before a distance for the lane change from an end of the lane change completion segment as a timing position for the lane change.