US-12623690-B2 - Autonomous driving control apparatus and method thereof

US12623690B2US 12623690 B2US12623690 B2US 12623690B2US-12623690-B2

Abstract

An autonomous driving control apparatus for controlling autonomous driving around another vehicle that is parked includes a controller configured to receive information about an object sensed by sensors provided in one or more other vehicles from the one or more other vehicles, through a communication device provided in an autonomous vehicle. The controller is further configured to control autonomous driving around the one or more other vehicles based on the received information. The autonomous driving control apparatus allows an autonomous vehicle to safely travel in a space with many persons, such as in a public housing parking lot, a mart parking lot, or the like.

Inventors

Jung Min Lim

Assignees

HYUNDAI MOTOR COMPANY
KIA CORPORATION

Dates

Publication Date: 20260512
Application Date: 20221108
Priority Date: 20220311

Claims (15)

1 . An autonomous driving control apparatus, comprising: a communication device provided in an autonomous vehicle and configured to communicate with one or more other vehicles parked around the autonomous vehicle; and a controller configured to receive information about an object sensed by sensors provided in the one or more other vehicles from the one or more other vehicles through the communication device, and to control autonomous driving around the one or more other vehicles based on the received information, wherein the controller is further configured to: receive the information about the object from the one or more other vehicles that are located in a driving direction of the autonomous vehicle; not receive the information about the object from the one or more other vehicles that are not located in the driving direction of the autonomous vehicle; and transmit information about a position of the autonomous vehicle to the one or more other vehicles, through the communication device, wherein the one or more other vehicles determine an approach of the autonomous vehicle, based on the information about the position of the autonomous vehicle and the information received from the autonomous vehicle, and enable the sensors provided in the one or more other vehicles, wherein the controller determines motion of the object, based on a change in information received from the one or more other vehicles, and controls the autonomous driving based on the determined motion of the object, and wherein the controller is further configured to: receive information about a position of each of the one or more other vehicles, a parking direction of each of the one or more other vehicles, and a position where each of the sensors sensing the object is mounted on each of the one or more other vehicles; determine information about a position of the object, based on the information about the position of each of the one or more other vehicles, the parking direction of each of the one or more other vehicles, and the position where each of the sensors sensing the object is mounted on each of the one or more other vehicles; and control the autonomous driving based on the determined information about the position of the object.
2 . The autonomous driving control apparatus of claim 1 , wherein the controller determines the position of the autonomous vehicle using an image obtained from a global positioning system (GPS) or a camera provided in the autonomous vehicle.
3 . The autonomous driving control apparatus of claim 1 , wherein the one or more other vehicles obtain a surrounding image using cameras provided in the one or more other vehicles, determine an approach of the autonomous vehicle based on the obtained surrounding image, and enable the sensors provided in the one or more other vehicles, when the approach of the autonomous vehicle is identified.
4 . The autonomous driving control apparatus of claim 1 , wherein the controller selectively receives the information about the object from the one or more other vehicles in response to a position and the driving direction of the autonomous vehicle through the communication device.
5 . The autonomous driving control apparatus of claim 1 , wherein the controller fails to receive the information about the object from the one or more other vehicles, through the communication device, when a transmission of the autonomous vehicle is in a P stage.
6 . The autonomous driving control apparatus of claim 1 , wherein the controller controls the autonomous driving such that the autonomous vehicle travels at a low speed when the object disappears after being sensed.
7 . The autonomous driving control apparatus of claim 1 , wherein the controller determines a distance between the autonomous vehicle and the object, based on information about a position of the object, and controls the autonomous driving based on the determined distance between the autonomous vehicle and the object.
8 . The autonomous driving control apparatus of claim 1 , wherein the controller determines at least one of a speed of the object or a movement direction of the object, based on the change in information received from the one or more other vehicles, and wherein the controller controls the autonomous driving based on the at least determined one of the speed of the object or the movement direction of the object.
9 . The autonomous driving control apparatus of claim 8 , wherein the controller controls the autonomous driving based on whether the movement direction of the object is a direction towards a driving route or a road of the autonomous vehicle.
10 . The autonomous driving control apparatus of claim 1 , further comprising: a display device provided in the autonomous vehicle and configured to display various pieces of information, wherein the one or more other vehicles obtain an image of the object using cameras provided in the one or more other vehicles, and wherein the controller receives the image of the object through the communication device and outputs the received image of the object through the display device.
11 . The autonomous driving control apparatus of claim 1 , further comprising: a display device provided in the autonomous vehicle and configured to display various pieces of information, wherein the controller outputs information about a periphery of the autonomous vehicle through the display device, the information including information about a position of the object.
12 . An autonomous driving control method, comprising: transmitting, by a controller, information about a position of an autonomous vehicle to one or more other vehicles, through a communication device; determining, by the one or more other vehicles, an approach of the autonomous vehicle based on the information about the position of the autonomous vehicle and information being received from the autonomous vehicle; enabling, by the one or more other vehicles, sensors provided in the one or more other vehicles based on the approach of the autonomous vehicle being determined; receiving, by the controller, information about an object sensed by the sensors provided in the one or more other vehicles parked around the autonomous vehicle from the one or more other vehicles through the communication device provided in the autonomous vehicle; and controlling, by the controller, autonomous driving around the one or more other vehicles based on the received information, wherein receiving the information about the object includes: receiving, by the controller, the information about the object from the one or more other vehicles that are located in a driving direction of the autonomous vehicle; and not receiving, by the controller, the information about the object from the one or more other vehicles that are not located in the driving direction of the autonomous vehicle, and wherein controlling the autonomous driving around the one or more other vehicles includes: determining, by the controller, motion of the object based on a change in information received from the one or more other vehicles; and controlling, by the controller, the autonomous driving based on the determined motion of the object, wherein the receiving of the information about the object sensed by the sensors provided in the one or more other vehicles parked around the autonomous vehicle from the one or more other vehicles, through the communication device, by the controller includes: receiving, by the controller, information about a position of each of the one or more other vehicles, a parking direction of each of the one or more other vehicles, and a position where each of the sensors sensing the object is mounted on each of the one or more other vehicles, and wherein the controlling of the autonomous driving around the one or more other vehicles, based on the received information, by the controller includes: determining, by the controller, information about a position of the object, based on the information about the position of each of the one or more other vehicles, the parking direction of each of the one or more other vehicles, and the position where each of the sensors sensing the object is mounted on each of the one or more other vehicles; and controlling, by the controller, the autonomous driving based on the determined information about the position of the object.
13 . The autonomous driving control method of claim 12 , wherein the controlling of the autonomous driving around the one or more other vehicles, based on the received information, by the controller includes: determining, by the controller, at least one of a speed of the object or a movement direction of the object, based on a change in information received from the one or more other vehicles; and controlling, by the controller, the autonomous driving based on the at least determined one of the speed of the object or the movement direction of the object.
14 . The autonomous driving control method of claim 12 , further comprising: obtaining, by the one or more other vehicles, an image of the object using cameras provided in the one or more other vehicles; receiving, by the controller, the image of the object, through the communication device; and outputting, by the controller, the received image of the object, through a display device provided in the autonomous vehicle and configured to display various pieces of information.
15 . The autonomous driving control method of claim 12 , further comprising: outputting, by the controller, information about a periphery of the autonomous vehicle, the information including information about a position of the object, through a display device provided in the autonomous vehicle and configured to display various pieces of information.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims the benefit of priority to Korean Patent Application No. 10-2022-0030976, filed in the Korean Intellectual Property Office on Mar. 11, 2022, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to an autonomous driving control apparatus and a method thereof. More particularly, the present disclosure relates to an autonomous driving control apparatus for controlling autonomous driving around another parked vehicle and a method thereof. BACKGROUND An autonomous vehicle needs the capability of adaptively coping with a surrounding situation that changes in real-time while driving. First of all, a reliable determination control function is required to mass produce and enable autonomous vehicles. A semi-autonomous vehicle recently on the market basically performs driving, braking, and steering on behalf of a driver to reduce fatigue of the driver. Unlike fully autonomous driving, semi-autonomous driving should allow the driver to keep focusing on driving. For example, semi-autonomous driving should allow the driver to continue holding the steering wheel. Recently, the semi-autonomous vehicle is loaded with a highway driving assist (HDA) function, and a driver status warning (DSW) function for determining driver carelessness, such as drowsy driving or gaze departure, and for determining state abnormality and outputting a warning alarm through a cluster or the like. The semi-autonomous vehicle is also loaded with a driver awareness warning (DAW) function for determining whether the vehicle crosses the line and performs unstable driving using a front view camera, a forward collision-avoidance assist (FCA), or active emergency brake system (AEBS) function for performing emergency braking when detecting a head-on collision, or the like. A vehicle to which an autonomous driving system is applied has been developed, and the safety system of the vehicle has advanced. However, many accidents still occur due to the systematic limitations of an existing autonomous driving system. Particularly, accidents frequently occur because of not coping with situations that suddenly occur in a space with many persons and obstacles, such as a public housing parking lot or a mart parking lot. Therefore, there is a need to develop a technology for preventing such problematic situations. 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 for controlling autonomous driving around another vehicle that is parked and a method thereof. Another aspect of the present disclosure provides an autonomous driving control apparatus for allowing an autonomous vehicle to safely travel in a space with many persons, such as a public housing parking lot or a mart parking lot, and a method thereof. Another aspect of the present disclosure provides an autonomous driving control apparatus for delivering information about a blind spot to a user who rides in the vehicle and a method thereof. Another aspect of the present disclosure provides an autonomous driving control apparatus for displaying hazard information to warn the user and a method thereof. Another aspect of the present disclosure provides an autonomous driving control apparatus for sensing a surrounding obstacle using a sensor of another vehicle that is parked and a method thereof. The technical problems to be solved by the present disclosure are not limited to the aforementioned problems. Any other technical problems not mentioned herein should be clearly understood from the following description by those having ordinary skill in the art to which the present disclosure pertains. According to an aspect of the present disclosure, an autonomous driving control apparatus may include a communication device provided in an autonomous vehicle to communicate with one or more other vehicles parked around the autonomous vehicle. The autonomous driving control apparatus may also include a controller that receives information about an object sensed by sensors provided in the one or more other vehicles from the one or more other vehicles, through the communication device. The controller also controls autonomous driving around the one or more other vehicles based on the received information. In an embodiment, the controller may transmit information about a position of the autonomous vehicle to the one or more other vehicles through the communication device. The one or more other vehicles may determine an approach of the autonomous vehicle, based on the information about the position of the autonomous vehicle and the information received from the autonomous vehicle, and may enable the sensors provided in the one or more other vehicles. In an embodiment, the controller may determine the p