KR20170070458A - Vehicle and controlling method for the vehicle - Google Patents

Abstract

The disclosed embodiment provides a vehicle and a control method thereof that can change a lane by following a preceding vehicle in a lane to be moved in a situation in which a lane warning is generated. A vehicle according to an embodiment includes a distance sensor; An image sensor configured to acquire an image of a lane; And a processor for generating a driving trajectory of a target vehicle running in a lane to be moved using data obtained from the distance sensor and the image sensor and controlling the vehicle so as to follow the generated trajectory when the lane is not recognized .

Description

[0001] VEHICLE AND CONTROLLING METHOD FOR THE VEHICLE [0002]

The disclosed embodiment relates to a vehicle.

In general, the driving aids may assist in longitudinal driving such as adaptive cruise control (ACC), or may assist in the operation of lane departure warning systems (LDWS) or lane keeping systems (LKAs) Assist System) to assist the driver in the lateral direction.

In recent years, an autonomous vehicle that automatically controls the vehicle in longitudinal and lateral directions without the intervention of the driver has been developed.

The disclosed embodiment provides a vehicle and a control method thereof that can change a lane by following a preceding vehicle in a lane to be moved in a situation in which a lane warning is generated.

A vehicle according to an embodiment includes a distance sensor; An image sensor configured to acquire an image of a lane; And a processor for generating a driving trajectory of a target vehicle running in a lane to be moved using data obtained from the distance sensor and the image sensor and controlling the vehicle so as to follow the generated trajectory when the lane is not recognized .

Further, the processor may extract the coordinates of the target vehicle using the data acquired by the distance sensor, and accumulate the extracted coordinates based on the running information of the subject vehicle to generate the running trajectory of the target vehicle have.

Further, the processor may form an object from the data acquired by the distance sensor, and determine a target vehicle traveling in a lane to which the object is to be moved.

Further, the processor can extract any one of the coordinates included in the boundary of the object or the object representing the target vehicle.

Further, the processor calculates the running information of the subject vehicle including the amount of change of the x-coordinate of the subject vehicle, the amount of change of the y-coordinate and the amount of change of the advancing angle, and calculates the current position of the subject vehicle using the running information of the subject vehicle The coordinates can be accumulated based on the reference.

In addition, the processor may generate the driving trajectory by modeling the accumulated coordinates as a curve.

Further, the processor may control the subject vehicle so that the corresponding point of the subject vehicle corresponding to the coordinates of the target vehicle follows the trajectory of the driving.

A method of controlling a vehicle according to an exemplary embodiment of the present invention includes: determining a target vehicle traveling in a lane to be moved using data obtained from a distance sensor and an image sensor; Generate a driving trajectory of the determined target vehicle; And controlling the vehicle to follow the generated trajectory if the lane is not recognized.

The determining of the target vehicle traveling in the lane to be moved may include: clustering data acquired by the distance sensor to generate an object; And determining a target vehicle that is traveling in the lane to which the object is to be moved.

The generating of the travel trajectory of the determined target vehicle may include extracting coordinates of the target vehicle using data acquired by the distance sensor; Accumulate the extracted coordinates based on the running information of the subject vehicle; And generating a driving trajectory of the target vehicle using the accumulated coordinates.

In addition, extracting the coordinates of the target vehicle using the data obtained by the distance sensor may include extracting a boundary of the object representing the target vehicle or any one of the coordinates included in the object.

In addition, accumulating the extracted coordinates based on the running information of the subject vehicle means that,

Calculating traveling information of the subject vehicle including a variation amount of the x-coordinate of the subject vehicle, a variation amount of the y-coordinate, and a variation amount of the traveling angle; And accumulating the coordinates based on the current position of the subject vehicle using the running information of the subject vehicle.

The generating of the driving trajectory of the target vehicle using the accumulated coordinates may include generating the driving trajectory by modeling the accumulated coordinates as a curve.

The control of the vehicle so as to follow the generated trajectory includes controlling the subject vehicle so that the corresponding point of the subject vehicle corresponding to the coordinates of the target vehicle forming the trajectory of the vehicle follows the trajectory of the vehicle can do.

According to the vehicle and the control method thereof according to the disclosed embodiment, it is possible to stably change the lane even if the lane is detected by the image sensor.

1 is an external view of a vehicle according to an embodiment.
2 is a view showing the internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
4 is a view showing an object generated by clustering data acquired by a distance sensor of a vehicle according to an embodiment.
5 is a view showing a target vehicle and a lane determined using data obtained from a distance sensor and an image sensor of a vehicle according to an embodiment.
6 is a diagram showing a trajectory of a target vehicle generated by accumulating coordinates of a target vehicle in a vehicle according to an embodiment.
7 is a view showing a trajectory of a target vehicle in a vehicle according to an embodiment.
8 is a diagram showing an error in recognition of a lane based on data acquired by an image sensor of a vehicle according to an embodiment.
FIG. 9 is a diagram illustrating a lane change by following a trajectory of a target vehicle in a vehicle according to an embodiment.
10 is a flowchart showing a control method of a vehicle according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a vehicle and a control method thereof according to an aspect of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an external view of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an internal configuration of a vehicle according to an embodiment.

1, a vehicle 100 according to an embodiment of the present invention includes a main body 1 forming an outer appearance of a vehicle 100, wheels 51 and 52 for moving the vehicle 100, wheels 51 A door 71 for shielding the inside of the vehicle 100 from the outside, a windshield 30 for providing a driver inside the vehicle 100 with a view toward the front of the vehicle 100, And side mirrors 81 and 82 for providing the driver with a field of view behind the vehicle 100. [

The wheels 51 and 52 include a front wheel 51 provided on the front side of the vehicle 100 and a rear wheel 52 provided on the rear side of the vehicle 100. [

The driving device 80 provides a rotational force to the front wheel 51 or the rear wheel 52 so that the main body 1 moves forward or backward. The driving device 60 may include an engine for generating a rotational force by burning fossil fuel or a motor for generating a rotational force by receiving power from a capacitor (not shown).

The door 71 is rotatably provided on the left and right sides of the main body 1 so that the driver can ride inside the vehicle 100 at the time of opening and shields the inside of the vehicle 100 from the outside at the time of closing .

A front glass 30 called windshield glass is provided on the front upper side of the main body 100. The driver inside the vehicle 100 can see the front of the vehicle 100 through the windshield 30. [ The side mirrors 81 and 82 include a left side mirror 81 provided on the left side of the main body 1 and a right side mirror 82 provided on the right side. The driver inside the vehicle 100 can visually confirm the state of the side and rear of the vehicle 100 through the side mirrors 81 and 82. [

In addition, the vehicle 100 may include various sensors for sensing obstacles and the like around the vehicle 100 and helping the driver to recognize the situation around the vehicle 100. In addition, the vehicle 100 may include various sensors capable of sensing driving information of the vehicle, such as the speed of the vehicle. Further, the vehicle may include a sensor for acquiring an image of a surrounding environment of the vehicle including a lane or the like. Various sensors capable of detecting the traveling information of the vehicle 100 and the surroundings of the vehicle 100 will be described later.

2, the vehicle 100 may include a dashboard provided with a gear box 120, a center fascia 130, a steering wheel 140, and a dashboard 150. Referring to FIG.

The gear box 120 may be provided with a gear lever 121 for shifting the vehicle. In addition, as shown in the figure, the gear box includes a dial control unit (not shown) provided to allow a user to control the functions of the multimedia device including the navigation device 10 and the audio device 133 or the main function of the vehicle 100 111 and an input unit 110 including various buttons.

The center fascia 130 may be provided with an air conditioner 132, an audio device 133, a navigation system 10, and the like.

The air conditioner controls the temperature, humidity, air cleanliness, and air flow inside the vehicle 100 to comfortably maintain the interior of the vehicle 100. The air conditioner may include at least one discharge port installed in the center fascia 130 and discharging air. The center fascia 130 may be provided with a button or a dial for controlling the air conditioner or the like. A user such as a driver can control the air conditioner of the vehicle 100 using a button or a dial disposed on the center pacea 130. [ Of course, the air conditioner may be controlled through the buttons of the input unit 110 installed in the gear box 120 or the dial control unit 111.

According to the embodiment, the navigation system 10 may be installed in the center fascia 130. The navigation system 10 may be embedded in the center fascia 130 of the vehicle 100. According to one embodiment, the center fascia 130 may be provided with an input unit for controlling the navigation system 10. According to an embodiment, the input of navigation 10 may be located at a location other than the center fascia 130. For example, the input of the navigation system 10 may be formed around the display 300 of the navigation system 10. As another example, the input unit of the navigation system 10 may be installed in the gear box 120 or the like.

The steering wheel 140 is a device for adjusting the running direction of the vehicle 100. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 100 and includes a rim 141, And spokes 142 connecting hubs. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 100, for example, an audio device and the like. In addition, various dashboards 150 may be installed on the dashboard to indicate the traveling speed, engine speed, fuel amount, etc. of the vehicle 100. The dashboard 150 may include a dashboard display 151 that displays vehicle status, information related to vehicle driving, information associated with the operation of the multimedia device, and the like.

The driver can operate the vehicle 100 by operating the various devices provided on the dashboard. The vehicle 100 is provided with information outside the vehicle 100 necessary for driving the vehicle 100 or information about the outside of the vehicle 100 necessary for driving the vehicle 100 in addition to the devices that the driver can operate for the operation of the vehicle 100, Various sensors capable of sensing the own running information can be provided.

The vehicle according to the disclosed embodiment can perform autonomous travel without intervention of the driver based on information sensed by various sensors. It is necessary to recognize the lane of the lane on which the vehicle is traveling for autonomous driving. Particularly, in order to change the lane, it is necessary to recognize the lane more accurately. When recognizing a lane using an image obtained from an image sensor of a vehicle, it may be difficult to recognize the lane correctly due to various surrounding situations such as when the lane is covered by the surrounding vehicle or when the marking of the lane is poor. In this case, when the lane is not properly recognized, it is difficult to change the lane in a stable manner and the possibility of collision with the surrounding vehicle can not be excluded.

The embodiment disclosed herein provides a vehicle and a control method thereof that can stably change a driving lane even in a situation where lane recognition is difficult. Hereinafter, the vehicle and its control method according to the embodiment disclosed with reference to Figs. 3 to 9 will be described in more detail.

FIG. 3 is a control block diagram of a vehicle according to an embodiment. FIG. 4 is a diagram illustrating an object generated by clustering data acquired by a distance sensor of a vehicle according to an embodiment. FIG. And a target vehicle and a lane determined using data obtained from the distance sensor and the image sensor of the vehicle. FIG. 6 is a diagram showing a trajectory of a target vehicle generated by accumulating coordinates of a target vehicle in a vehicle according to an embodiment. FIG. 7 is a diagram showing a trajectory of a target vehicle in a vehicle according to an embodiment, 8 is a diagram showing an error in the recognition of the lane based on the data acquired by the image sensor of the vehicle according to the embodiment. 9 is a diagram showing a lane change by following a trajectory of a target vehicle in a vehicle according to an embodiment.

3, the vehicle according to the disclosed embodiment includes an input 303 for receiving an input associated with an autonomous mode, an image sensor 309 for acquiring an image outside the vehicle, a distance A processor 317 for performing control for changing the driving lane on the basis of the information obtained by the sensor 307, the image sensor 309 and the distance sensor 307, a display (for example, 300) and a drive device (80) for driving the vehicle under the control of the processor (317) under autonomous mode.

The input unit 303 may be provided so that the user can input a command to turn on the autonomous mode.

The input unit 303 may be provided in a center fascia, a gear box, or a steering wheel, and may be implemented in various forms such as a hard key, a soft key type button, a toggle switch, a dial, a voice recognition device,

The input unit 303 may receive an input for selecting either the autonomous mode or the manual operation mode in which the driver directly operates the vehicle. That is, the driver can directly operate the vehicle in the manual operation mode, and then can operate the input unit 303 to select the autonomous driving mode. In the autonomous driving mode, the driver can directly operate the vehicle have. The processor 317 can inform the driver that the mode is switched through the display 300 or the speaker when switching between the autonomous driving mode and the manual driving mode.

Also, the input unit may be provided so as to input a command for changing to the driving lane during autonomous driving. The possibility of collision with the nearby vehicle may not be excluded at the time of the change to the car, so that the vehicle may be set to change the lane when a separate command for changing the car is input have. In this case, when the driver inputs the vehicle change command through the input unit, the processor can perform control for changing the vehicle using the running information of the vehicle, the image sensor, and the information obtained from the distance sensor. Details of this will be described later.

The image sensor 309 acquires an image of the exterior of the vehicle, in particular, the image of the ground surface of the front road on which the vehicle travels, and transmits it to the processor 317. The image sensor 309 may further include at least one of a left camera for acquiring images on the left and right sides of the vehicle, a right camera, and a rear camera for acquiring images of the rear of the vehicle, It is possible. The camera may comprise a CCD or CMOS sensor.

The distance sensor 307 can detect an object outside the vehicle, for example, a stationary object including a preceding vehicle traveling in front of the vehicle, a road, a structure provided around the road, etc., and a lane approaching from the opposite lane. The distance sensor 307 according to the disclosed embodiment can detect the preceding vehicle and calculate the inter-vehicle distance from the preceding vehicle. The distance sensor 307 can sense not only the preceding vehicle traveling in front of the traveling lane but also the preceding vehicle traveling in the lane of the traveling lane. The distance sensor 307 of the vehicle according to the disclosed embodiment may include a radar or light detection and ranging (Lidar), but it is preferably implemented as a ladder for accurate measurement. The following description will be made on the assumption that the distance sensor 307 is a multilayer laser that transmits a multilayer laser in a vertical direction

When a command for selecting an autonomous mode is input through the input unit 303 or a command for selecting a cruise control function, a lane departure warning function, a lane departure warning function, or the like is inputted, the processor 317 receives data Various objects in the vicinity including the preceding vehicle can be detected. In addition, the lane can be detected using the image acquired by the image sensor. Alternatively, the processor 317 may determine whether the vehicle is traveling by using the data acquired by the distance sensor and the image acquired by the image sensor 309, .

4 shows data obtained from the distance sensor. Referring to FIG. 4 (a), the data obtained by the distance sensor 307 may be composed of points indicating the distance from the preceding vehicle. The processor can generate a rectangular shaped object as shown in FIG. 4 (b) by applying a clustering algorithm to the point data obtained from the distance sensor.

FIG. 5 is a diagram showing lanes detected using data obtained from the distance sensor and images obtained from the image sensor together. When the lane is detected using the image obtained by the image sensor, the processor can display the data of the object type acquired by the distance sensor and the lane together, as shown in FIG.

When a lane change command is input through the input unit, the processor determines a lane to which the vehicle is to be moved, and determines a preceding vehicle that is traveling in the lane of the target lane when the lane is determined. As shown in FIG. 5, when the target lane is determined as the left lane of the lane under the current running, the preceding vehicle running in the left lane can be determined as the target vehicle TC. That is, the processor can determine the target lane and the target vehicle (TC) by using the information obtained from the distance sensor and the image sensor when the lane change command is input through the input unit.

When the target vehicle TC is determined, the processor extracts the coordinates P of the target vehicle TC. The coordinates of the target vehicle TC may be included in an object representing the target vehicle TC at a point on which the running trajectory R of the target vehicle TC is generated, TC).

As shown in Fig. 6, the point corresponding to the rear right end of the target vehicle TC can be determined as the coordinates of the target vehicle TC. When the coordinates of the target vehicle TC are determined, the processor accumulates the coordinates of the target vehicle TC based on the current position of the child vehicle SC.

The processor uses the speed sensor of the own vehicle SC and the yaw rate sensor to calculate the running amount of the vehicle SC including the amount of change in the x-axis direction, the amount of change in the y- And calculate the position of the previous coordinates of the target vehicle TC based on the current position of the vehicle SC using the calculated travel information. Here, the amount of change in the x-axis direction of the subject vehicle SC, the amount of change in the y-axis direction, and the amount of change in the traveling angle of the subject vehicle SC are determined at predetermined time intervals, for example, And the position of the present-present vehicle (SC).

6, the processor accumulates the coordinates of the target vehicle TC on the basis of the current position of the own vehicle SC, and outputs the accumulated target vehicle TC Can be modeled in the form of a curve to generate the running locus R of the target vehicle TC.

7 shows the driving locus R of the target vehicle TC shown in Fig. 6 along with the lane detected using the object of the target vehicle TC and the image of the image sensor shown by using the data obtained by the distance sensor Respectively. It can be seen that the running locus R of the target vehicle TC is generated by accumulating the coordinates corresponding to the rear right end of the target vehicle TC as shown in Fig.

As described above, when the target vehicle TC running in the lane to be moved is determined and the running locus R of the target vehicle TC is calculated, the processor changes the running lane according to the lane changing instruction.

When it is desired to change the driving lane and there is no problem in lane recognition, the processor performs control of the own vehicle SC for changing the lane based on the recognized lane.

However, as shown in Fig. 8, a lane misunderstanding can occur. It can be seen that the lane shown in Fig. 8 is different from the one shown in Fig. 7 in that the width of the lane is widened and not constant. If the lane recognition is not performed or the lane is not recognized, the processor controls the subordinate vehicle SC so as to follow the running trajectory R of the target vehicle TC without performing the lane change based on the lane, . The error of the lane can be obtained by comparing with the reference value stored in advance in the memory.

That is, as shown in FIG. 9, when a lane misidentification occurs, the processor can change the lane by allowing the own vehicle SC to follow the running locus R of the target vehicle TC. The processor determines that the corresponding point of the child vehicle SC corresponding to the coordinates on which the running locus R is based is the running locus R of the target vehicle TC when following the running locus R of the target vehicle TC, It is possible to control the driving device so as to follow. That is, as shown in Fig. 9, the processor can control the driving device so that the right end of the subordinate vehicle SC, which is not the center of the subordinate vehicle SC, follows the driving trajectory R. [

Therefore, even in a situation in which lane marking such as lane marker marking failure or lane marking by another vehicle may occur, according to the disclosed embodiment, By controlling the vehicle SC, the lane can be stably changed to the target lane.

10 is a flowchart showing a control method of a vehicle according to an embodiment.

As shown in FIG. 10, data is acquired 900 from the distance sensor and the image sensor, and when a lane change command is input 910, the processor determines a target vehicle TC in operation on a lane to be moved 920 , The coordinates of the target vehicle TC are extracted (930).

The processor 317 can detect various surrounding objects including the preceding vehicle using the data obtained from the distance sensor. In addition, the lane can be detected using the image acquired by the image sensor. 4 shows data obtained from the distance sensor. Referring to FIG. 4 (a), the data obtained by the distance sensor 307 may be composed of points indicating the distance from the preceding vehicle. The processor can generate a rectangular shaped object as shown in FIG. 4 (b) by applying a clustering algorithm to the point data obtained from the distance sensor.

FIG. 5 is a diagram showing lanes detected using data obtained from the distance sensor and images obtained from the image sensor together. When the lane is detected using the image obtained by the image sensor, the processor can display the data of the object type acquired by the distance sensor and the lane together, as shown in FIG.

When a lane change command is input through the input unit, the processor determines a lane to which the vehicle is to be moved, and determines a preceding vehicle that is traveling in the lane of the target lane when the lane is determined. As shown in FIG. 5, when the target lane is determined as the left lane of the lane under the current running, the preceding vehicle running in the left lane can be determined as the target vehicle TC. That is, the processor can determine the target lane and the target vehicle (TC) by using the information obtained from the distance sensor and the image sensor when the lane change command is input through the input unit.

When the target vehicle TC is determined, the processor extracts the coordinates P of the target vehicle TC. The coordinates of the target vehicle TC may be included in an object representing the target vehicle TC at a point on which the running trajectory R of the target vehicle TC is generated, TC). As shown in Fig. 6, the point corresponding to the rear right end of the target vehicle TC can be determined as the coordinates of the target vehicle TC.

When the coordinates of the target vehicle TC are extracted, the processor accumulates the extracted coordinates to generate a running locus R 940. If the lane is not recognized 950, (960). When the lane is recognized, the lane information is used to change the lane (970).

When the coordinates of the target vehicle TC are determined, the processor accumulates the coordinates of the target vehicle TC based on the present position of the child vehicle.

The processor calculates the travel information including the amount of change in the x-axis direction of the subject vehicle, the amount of change in the y-axis direction, and the amount of change in the traveling angle of the subject vehicle using the speed sensor and the yaw rate sensor of the subject vehicle, The position of the previous coordinates of the target vehicle TC based on the present position of the subject vehicle can be calculated using the information. Here, the amount of change in the x-axis direction of the subject vehicle, the amount of change in the y-axis direction, and the amount of change in the traveling angle of the subject vehicle can be detected by a predetermined time interval, for example, .

6, the processor accumulates the coordinates of the target vehicle TC on the basis of the current position of the subject vehicle, and outputs the coordinates of the accumulated target vehicle TC as a curve To generate the running locus R (R) of the target vehicle TC.

As described above, when the target vehicle TC running in the lane to be moved is determined and the running locus R of the target vehicle TC is calculated, the processor changes the running lane according to the lane changing instruction.

When it is desired to change the driving lane, if there is no problem in lane recognition, the processor performs control of the vehicle for lane change based on the recognized lane.

However, as shown in Fig. 8, a lane misunderstanding can occur. It can be seen that the lane shown in Fig. 8 is different from the one shown in Fig. 7 in that the width of the lane is widened and not constant. If such lane misapprehension occurs or the lane is not recognized, the processor changes the lane by controlling the lane marker so as to follow the running locus R of the target vehicle TC without changing the lane based on the lane .

That is, as shown in FIG. 9, when a lane misidentification occurs, the processor can change the lane by causing the subject vehicle to follow the trajectory R of the target vehicle TC. When following the running locus R of the target vehicle TC, the processor causes the corresponding point of the child vehicle corresponding to the coordinates that became the basis of the running locus R to follow the running locus R of the target vehicle TC The driving device can be controlled. That is, as shown in FIG. 9, the processor can control the driving device so that the right end of the subject vehicle, which is not the center of the subject vehicle, follows the trajectory R.

303: Input unit
317: Processor
307: Distance sensor
309: Image sensor
300: Display
315: Memory

Claims (14)

Distance sensor;
An image sensor configured to acquire an image of a lane; And
And a processor for generating a driving trajectory of the target vehicle in the lane to be moved using the data obtained from the distance sensor and the image sensor and controlling the vehicle so as to follow the generated driving trajectory if the lane is not recognized Vehicle. The method according to claim 1,
The processor comprising:
A vehicle that generates the trajectory of the target vehicle by accumulating the coordinates of the target vehicle using the data acquired by the distance sensor and accumulating the extracted coordinates based on the running information of the subject vehicle, The method according to claim 1,
The processor comprising:
A vehicle that forms an object from the data acquired by the distance sensor, and determines a target vehicle traveling in a lane to which the object is to be moved, The method of claim 3,
The processor comprising:
And extracts a boundary of the object representing the target vehicle or any one of coordinates included in the object. 3. The method of claim 2,
The processor comprising:
Calculating the running information of the subject vehicle including the amount of change of the x-coordinate of the subject vehicle, the amount of change of the y-coordinate, and the amount of change of the running angle, and accumulating the coordinates based on the current position of the subject vehicle using the running information of the subject vehicle Vehicle. 3. The method of claim 2,
The processor comprising:
And modeling the accumulated coordinates as a curve to generate a running trajectory. 3. The method of claim 2,
The processor comprising:
And controls the subject vehicle so that the corresponding point of the subject vehicle corresponding to the coordinates of the target vehicle follows the driving trajectory. Determining a target vehicle in a lane to be driven using data obtained from the distance sensor and the image sensor;
Generate a driving trajectory of the determined target vehicle;
And if the lane is not recognized, controlling the vehicle to follow the generated driving trajectory. 9. The method of claim 8,
The determination of the target vehicle that is traveling in the lane to be moved,
Clustering data obtained by the distance sensor to generate an object;
Determining a target vehicle traveling in a lane to which the object is to be moved; 9. The method of claim 8,
Generating the trajectory of the determined target vehicle,
Extracting coordinates of the target vehicle using data obtained from the distance sensor;
Accumulate the extracted coordinates based on the running information of the subject vehicle;
And generating a driving trajectory of the target vehicle using the accumulated coordinates. 11. The method of claim 10,
And extracting the coordinates of the target vehicle using the data obtained by the distance sensor,
Extracting a boundary of an object representing the target vehicle or any one of coordinates included in the object. 11. The method of claim 10,
Accumulating the extracted coordinates based on the running information of the subject vehicle means that,
Calculating traveling information of the subject vehicle including a variation amount of the x-coordinate of the subject vehicle, a variation amount of the y-coordinate, and a variation amount of the traveling angle;
And accumulating the coordinates based on the current position of the subject vehicle using the running information of the subject vehicle. 11. The method of claim 10,
Generating the trajectory of the target vehicle using the accumulated coordinates,
And modeling the accumulated coordinates as a curve to generate a driving trajectory. 9. The method of claim 8,
Controlling the vehicle so as to follow the generated driving trajectory,
And controlling the subject vehicle so that the corresponding point of the subject vehicle corresponding to the coordinates of the target vehicle forming the trajectory of the vehicle follows the trajectory of the vehicle.

Images