US-12623689-B2 - Autonomous driving control apparatus and autonomous driving control method

Abstract

The autonomous driving control apparatus may be configured to generate one or more driving routes while a host vehicle travels in a first driving route, generate, based on a comparison of each of a plurality of final steering avoidance times for the one or more driving routes to a threshold time, a non-collision route range and a collision route range among the one or more driving routes, and control, based on the first driving route being included in the collision route range, the host vehicle to travel in a second driving route included in the non-collision route range.

Inventors

• Jin Kwon Kim
• Jeong Woo Kim
• Dong Eon OH
• Seung Geon MOON

Assignees

• HYUNDAI MOTOR COMPANY
• KIA CORPORATION

Dates

Publication Date

20260512

Application Date

20231006

Priority Date

20221215

Claims (20)

1. 1 . An autonomous driving control apparatus comprising: a memory configured to store one or more instructions; and a controller coupled to the memory, wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: generate one or more driving routes while a host vehicle travels in a first driving route; generate, based on a comparison of each of a plurality of final steering avoidance times for the one or more driving routes to a threshold time, a non-collision route range and a collision route range among the one or more driving routes; and control, based on the first driving route being included in the collision route range, the host vehicle to travel in a second driving route included in the non-collision route range, wherein each of the final steering avoidance times is based on a time duration for the host vehicle to reach a point where the host vehicle starts steering to avoid a collision according to a corresponding one of the one or more driving routes.
2. 2 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: control, based on the first driving route being included in the non-collision route range, the host vehicle to maintain course in the first driving route.
3. 3 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: generate the one or more driving routes by generating the one or more driving routes during a specific maximum search time period based on a specific time cycle.
4. 4 . The autonomous driving control apparatus of claim 1 , wherein the one or more driving routes are within a specific curvature radius range associated with the host vehicle.
5. 5 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: predict a travel route of an external object, wherein the external object does not move away from the host vehicle, and wherein the external object does not move behind the host vehicle.
6. 6 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: determine a largest value of the plurality of final steering avoidance times; and store, in the memory, the largest value in correspondence to the one or more driving routes.
7. 7 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller, determine a first minimum steering avoidance time, based on at least one of: a transverse avoidance requiring distance calculated by adding a first length from a first point corresponding to an external object to a contact point that contacts a transverse line extending from the first point on the one or more driving routes, and a second length regarding the host vehicle, an available transverse acceleration obtained by subtracting a transverse acceleration value required for the host vehicle to travel along the one or more driving routes from the first driving route from an allowable transverse acceleration limit value of the host vehicle, or a required travel time that is necessary for the host vehicle to travel from a current point to the first point, and wherein the autonomous driving control apparatus is configured to determine the plurality of final steering avoidance times for the one or more driving routes by subtracting the first minimum steering avoidance time from a predicted collision time with the external object.
8. 8 . The autonomous driving control apparatus of claim 7 , wherein the autonomous driving control apparatus is configured to determine the plurality of final steering avoidance times by: determining a second minimum steering avoidance time based on a second point corresponding to the external object; and subtracting a larger value of the first minimum steering avoidance time and the second minimum steering avoidance time from the predicted collision time with the external object, and wherein the second point is a point included in one of a left area or a right area with respect to a direction which the host vehicle faces.
9. 9 . The autonomous driving control apparatus of claim 8 , wherein the autonomous driving control apparatus is configured to determine the plurality of final steering avoidance times by: determining a third minimum steering avoidance time based on a third point corresponding to the external object; and subtracting a smaller value of the first minimum steering avoidance time and the third minimum steering avoidance time from the predicted collision time with the external object, and wherein the first point and the third point are included in different areas of the left area and the right area.
10. 10 . The autonomous driving control apparatus of claim 1 , wherein the autonomous driving control apparatus is configured to, when the one or more instructions are executed by the controller: control, based on the first driving route being included in the collision route range, the host vehicle to travel in a border route that is closest, of the non-collision route range, to the first driving route.
11. 11 . A method comprising: generating, by one or more processors, one or more driving routes while a host vehicle travels in a first driving route; generating, based on a comparison of each of a plurality of final steering avoidance times for the one or more driving routes to a threshold time, a non-collision route range and a collision route range among the one or more driving routes; and control, based on the first driving route being included in the collision route range, the host vehicle to travel in a second driving route included in the non-collision route range, wherein each of the final steering avoidance times is based on a time duration for the host vehicle to reach a point where the host vehicle starts steering to avoid a collision according to a corresponding one of the one or more driving routes.
12. 12 . The method of claim 11 , further comprising: generating one or more additional driving routes while the host vehicle travels in a third driving route; and controlling, based on the third driving route being included in a second non-collision route range, the host vehicle to maintain course in the third driving route.
13. 13 . The method of claim 11 , wherein the generating of the one or more driving routes comprises: generating the one or more driving routes during a specific maximum search time period based on a specific time cycle.
14. 14 . The method of claim 11 , wherein the one or more driving routes are in a specific curvature radius range associated with the host vehicle.
15. 15 . The method of claim 11 , further comprising: predicting a travel route of an external object, wherein the external object does not move away from the host vehicle, and wherein the external object does not move behind the host vehicle.
16. 16 . The method of claim 11 , further comprising: determining a largest value of the plurality of final steering avoidance times; and storing the largest value in correspondence to the one or more driving routes.
17. 17 . The method of claim 11 , further comprising: determining a first minimum steering avoidance time, based on at least one of: a transverse avoidance requiring distance calculated by adding a first length from a first point corresponding to an external object to a contact point that contacts a transverse line extending from the first point on the one or more driving routes, and a second length regarding the host vehicle, an available transverse acceleration obtained by subtracting a transverse acceleration value required for the host vehicle to travel along the one or more driving routes from the first driving route from an allowable transverse acceleration limit value of the host vehicle, and a required travel time that is necessary for the host vehicle to travel from a current point to the first point; and determining the plurality of final steering avoidance times for the one or more driving routes by subtracting the first minimum steering avoidance time from a predicted collision time with the external object.
18. 18 . The method of claim 17 , wherein the determining the plurality of final steering avoidance times comprises: determining a second minimum steering avoidance time based on a second point corresponding to the external object; and subtracting a larger value of the first minimum steering avoidance time and the second minimum steering avoidance time from the predicted collision time with the external object, and wherein the first point and the second point are included in a same area of a left area or a right area with respect to a direction which the host vehicle faces.
19. 19 . The method of claim 18 , wherein the determining the plurality of final steering avoidance times comprises: determining a third minimum steering avoidance time based on a third point corresponding to the external object; and subtracting a smaller value of the first minimum steering avoidance time and the third minimum steering avoidance time from the predicted collision time with the external object, and wherein the first point and the third point are included in different areas of the left area and the right area with respect to the direction which the host vehicle faces.
20. 20 . The method of claim 11 , further comprising: controlling, based on the first driving route being included in the collision route range, the host vehicle to travel in a border route that is closest, of the non-collision route range, to the first driving route.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims the benefit of priority to Korean Patent Application No. 10-2022-0176134, filed in the Korean Intellectual Property Office on Dec. 15, 2022, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to an autonomous driving control apparatus and an autonomous driving control method, and more particularly, to a technology of determining a new driving route. BACKGROUND As autonomous driving vehicles have gradually been adopted, various technologies regarding autonomous driving have been developed. For example, for stable driving of an autonomous driving vehicle, technologies related to measuring a driving environment, controlling driving of a vehicle according to a measured driving environment, and preventing collision with an autonomous driving vehicle are becoming important. The autonomous driving vehicle may go to a destination by itself while maintaining a distance from an obstacle that is present on a driving route and adjusting a speed and a travel direction thereof according to a shape of a road even though a driver does not manipulate an accelerator pedal or a brake. For example, a vehicle may be accelerated on a straight road and may be decelerated while a travel direction thereof is changed in correspondence to a curvature of the road in a curved road. In particular, to safely control autonomous driving of the host vehicle, technologies regarding methods of generating a driving route have been developed. An autonomous driving control apparatus according to a conventional technology controls both driving and avoidance of a collision by generating one driving route to control driving of the host vehicle. However, when a user gets involved in control of a host vehicle or a plurality of devices (e.g., driving route generators) that generate a driving route are mounted, accuracy and promptness of control of autonomous driving may deteriorate. SUMMARY The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while advantages achieved by the prior art are maintained intact. An aspect of the present disclosure provides an autonomous driving control apparatus that, while a host vehicle is controlled in a driving route generated by a specific driving route generator, by an autonomous driving control apparatus including a plurality of devices (e.g., driving route generators) that generate and/or correct the driving route for driving of the host vehicle, determines whether a driving route is suitable by using another driving route generator, to determine whether the driving route is to be changed, and an autonomous driving control method. Another aspect of the present disclosure provides an autonomous driving control apparatus, that sets a range for a time and/or a radius for searching for a route, predicts routes of surround objects within the set range, determines whether a danger of collision of a host vehicle and the surrounding objects is present based on a prediction result, and generates an avoidance route based on the determination result to change the driving route, and an autonomous driving control method. Another aspect of the present disclosure provides an autonomous driving control apparatus that uses a transverse collision avoidance algorithm to avoid a collision between a host vehicle and an external object, and an autonomous driving control method. The technical problems to be solved by the present disclosure are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains. According to one or more example embodiments of the present disclosure, an autonomous driving control apparatus may include: a memory configured to store one or more instructions; and a controller coupled to the memory. The autonomous driving control apparatus may be configured to, when the one or more instructions are executed by the controller: generate one or more driving routes while a host vehicle travels in a first driving route; generate, based on a comparison of each of a plurality of final steering avoidance times for the one or more driving routes to a threshold time, a non-collision route range and a collision route range among the one or more driving routes; and control, based on the first driving route being included in the collision route range, the host vehicle to travel in a second driving route included in the non-collision route range. The autonomous driving control apparatus may be configured to, when the one or more instructions are executed by the controller: control, based on the first driving route being included in the non-collision route range, the host vehicle to maintain course in the first driving route. The autonomous driving control apparatus may be configured to, when the on