KR20210066956A - Device and method to control vehicle for changing lane - Google Patents

Abstract

Provided are a vehicle control method, a vehicle control device, a recording medium, and an autonomous driving vehicle. According to the vehicle control method, the present invention generates an entire path plan according to current position information and destination information, generates node set data which is a group of nodes from a current position to a destination by using the entire path plan, and generates a local path plan with respect to whether a lane is changed by using vehicle position data corresponding to the node set data and the current position, and controls the vehicle according to the local path plan to generate the path plan having a lane change from the existing lane to the destination to allow the autonomous driving vehicle to smoothly drive by using a navigation device.

Description

{Device and method to control vehicle for changing lane}

The present invention relates to a vehicle control apparatus and a vehicle control method, and more particularly, to a vehicle control apparatus and method for route planning of an autonomous vehicle including a lane change.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

Recently, navigation technology that guides an optimal route between a departure point and a destination has been developed at a high level.

However, the navigation function related to autonomous driving is still insufficient, and in particular, there is a lack of standards for the composition of vector maps for navigation including lane change in autonomous driving.

Existing driving route planning for autonomous vehicles does not provide specific information on the lanes to follow to get to the destination, and does not take into account the surrounding road conditions at all. Accordingly, there is a problem in that the autonomous vehicle cannot properly arrive at its destination if the lane change is not made in time due to other vehicles or obstacles.

Accordingly, it is required to find a way to provide a lane change method in consideration of the destination of the autonomous vehicle.

The present invention has been devised to solve the above problems, and an object of the present invention is to generate a global route plan according to current location information and destination information, and to use the global route plan to control nodes from the current location to the destination by using the global route plan. A vehicle control method for generating a set of node set data, generating a local route plan for lane change or not using the node set data and vehicle location data corresponding to the current location, and controlling the vehicle according to the local route plan, vehicle To provide a control device, a recording medium and an autonomous vehicle.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

According to an embodiment of the present invention for achieving the above object, a vehicle control method by a vehicle control device includes: generating a global route plan according to current location information and destination information; generating node set data that is a set of nodes from a current location to a destination using a global route plan; generating a local route plan for whether to change a lane by using the node set data and vehicle location data corresponding to the current location; and controlling the vehicle according to the local route plan.

The vehicle location data may include a current lane ID, a left lane ID, a right lane ID, a previous lane ID, a next lane ID, a previous node ID, a current node ID, and a next node ID.

In addition, in the regional route plan generation step, the next node is set as the destination node, the destination node and the current lane are compared to determine whether a lane change is necessary, and when it is determined that the lane change is not necessary, the local route is maintained straight. You can also create route plans.

The method may further include generating obstacle information on whether an obstacle exists in a left lane and an obstacle in a right lane.

In addition, in the local route plan generation step, if it is determined that a lane change is necessary, it is determined whether an obstacle exists in the change target lane, and if it is determined that an obstacle exists, a local route plan may be generated by maintaining straight. have.

Also, in the step of generating the local route plan, the local route plan may be generated by decelerating the speed by a specific value while maintaining the straight line.

Also, in the step of generating the local route plan, when it is determined that there is no obstacle, the local route plan may be generated by changing the lane to the change target lane.

And, in the global path plan generation step, when it is determined that a lane change is necessary and an obstacle exists and the local path plan is generated to keep going straight, if the distance to the destination node is less than or equal to a threshold value, the global path plan can also be regenerated.

Also, when the current location is a location past the current node, the vehicle location data may be updated, and the next updated node may be set as the target node.

On the other hand, according to an embodiment of the present invention, a computer-readable recording medium containing a computer program for performing a vehicle control method by a vehicle control device includes the steps of generating a global route plan according to current location information and destination information ; generating node set data that is a set of nodes from a current location to a destination using a global route plan; generating a local route plan for whether to change a lane by using the node set data and vehicle location data corresponding to the current location; and controlling the vehicle according to the local route plan; a computer program for performing a vehicle control method including a computer program is recorded.

On the other hand, according to an embodiment of the present invention, a vehicle control apparatus, a communication unit for receiving current location information and destination information; and generating a global route plan according to the current location information and the destination information, generating node set data that is a set of nodes from the current location to the destination using the global route plan, and generating the node set data and the vehicle location corresponding to the current location and a controller for generating a local route plan for whether to change lanes by using the data and controlling the vehicle according to the local route plan.

Meanwhile, according to an embodiment of the present invention, an autonomous vehicle includes: a Global Positioning System (GPS) for detecting current location information; an input unit for receiving destination information; and generating a global route plan according to the current location information and the destination information, generating node set data that is a set of nodes from the current location to the destination using the global route plan, and generating the node set data and the vehicle location corresponding to the current location and a vehicle control device for generating a local route plan for whether to change a lane by using the data, and controlling the vehicle according to the local route plan.

According to various embodiments of the present disclosure, a global route plan is generated according to current location information and destination information, and node set data that is a set of nodes from a current location to a destination is generated using the global route plan, and node set data and vehicle location data corresponding to the current location to generate a local route plan for lane change and to provide a vehicle control method, vehicle control device, recording medium and autonomous driving vehicle for controlling the vehicle according to the local route plan. Thus, it is possible to create a route plan including a lane change from the existing lane to the destination so that the autonomous vehicle can drive smoothly using the navigation system.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art from the following description. will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as a part of the detailed description to help the understanding of the present invention, provide embodiments of the present invention, and together with the detailed description, explain the technical features of the present invention.
1 is a view showing the configuration of an autonomous vehicle according to an embodiment of the present invention;
2 is a diagram illustrating a configuration of node information according to an embodiment of the present invention;
3 is a view showing the configuration of vehicle location data according to an embodiment of the present invention;
4 is a view showing the configuration of a vehicle control device according to an embodiment of the present invention;
5 is a view showing the overall operation of a vehicle control device according to an embodiment of the present invention;
6 is a flowchart provided to explain a vehicle control method according to an embodiment of the present invention;
7 is a flowchart provided to explain a search tree generation process according to an embodiment of the present invention;
8 is a flowchart provided to explain a process of generating a global route plan and node set data according to an embodiment of the present invention;
9 is a flowchart provided to explain a process of generating a local route plan according to an embodiment of the present invention.

In order to clarify the characteristics and advantages of the problem solving means of the present invention, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the accompanying drawings.

However, detailed descriptions of well-known functions or configurations that may obscure the gist of the present invention in the following description and accompanying drawings will be omitted. Also, it should be noted that throughout the drawings, the same components are denoted by the same reference numerals as much as possible.

The terms or words used in the following description and drawings should not be construed as being limited to conventional or dictionary meanings, and the inventor may appropriately define the concept of terms for describing his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that there is.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical spirit of the present invention, so at the time of the present application, various It should be understood that there may be equivalents and variations.

In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, and are used only for the purpose of distinguishing one component from other components, and to limit the components. not used For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component.

In addition, when an element is referred to as being “connected” or “connected” to another element, it means that it is logically or physically connected or can be connected.

In other words, it should be understood that a component may be directly connected or connected to another component, but another component may exist in the middle, and may be indirectly connected or connected.

In addition, terms such as "comprises" or "have" described in this specification are intended to designate the existence of a feature, number, step, operation, component, part, or combination thereof described in the specification, one or the It should be understood that the above does not preclude the possibility of the existence or addition of other features or numbers, steps, operations, components, parts, or combinations thereof.

In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. have.

Also, "a or an", "one", "the" and similar terms are otherwise indicated herein in the context of describing the invention (especially in the context of the following claims). or may be used in a sense including both the singular and the plural unless clearly contradicted by context.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

1 is a diagram illustrating a configuration of an autonomous vehicle 10 according to an embodiment of the present invention. As shown in FIG. 1 , the autonomous vehicle 10 includes a lidar 20 , a camera 30 , a GPS 40 , an input unit 50 , and a vehicle control device 100 .

The lidar 20 measures the distance of objects arranged around the autonomous vehicle 10 .

Specifically, the lidar 20 is a device that precisely draws the surroundings by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. . LIDAR is sometimes interpreted as an abbreviation of LIght Detection And Ranging in English, but the origin of its name is a compound word created by mixing “light” and “radar (radio detection and ranging)”. In other words, the name lidar refers to a radar that uses light instead of radio waves. Although the principle of lidar is the same as that of a traditional radar, the wavelength of the electromagnetic wave used is different, so the actual application technology and range of application are different.

The lidar 20 is used for not only the distance to the target object, but also the moving speed and direction, temperature, and analysis and concentration of surrounding atmospheric substances. It can detect non-metallic rocks, clouds, raindrops, aerosols, etc. using ultraviolet, visible, and near-infrared rays, so it can be used for weather observation, to accurately draw terrain, to guide the landing of aircraft, or to recognize the surroundings of autonomous vehicles. It is used as a device and is also used to find out the chemical composition of a gas mixed in the air by using the phenomenon that the wavelength of light that scatters well for each molecule is different.

In recent years, lidar has emerged as a core technology for sensors that acquire information necessary to implement 3D images. If the topography is surveyed by analyzing the spatial location of the reflection point by measuring the return time by firing a laser pulse to the ground while flying with the lidar mounted on the aircraft, the reflection and return time is different depending on the structure, so the optical image is obtained from this. It is possible to obtain a 3D model that is difficult to obtain. Ground LiDAR can also combine this with GPS location coordinates to obtain precise data.

The lidar 20 generally consists of a laser, a scanner, a receiver, and a positioning system. Lasers have different wavelengths depending on the application, and generally use light with a wavelength of 600-1000 nm. However, to reduce damage to the human eye, longer wavelength light is sometimes used. The scanner is the part that allows you to quickly scan your surroundings to get information. For this purpose, various types of mirrors are being applied. The receiver is a part that detects the returning light, and the sensitivity of the receiver to the light is a major factor in determining the performance of the lidar. Essentially, the receiver detects photons and amplifies them. The positioning system is a part that confirms the position coordinates and direction where the receiver is placed in order to implement a 3D image.

The camera 30 shoots a video about the autonomous vehicle 10 .

In addition, the autonomous vehicle 10 may include GPS to detect information about its current location.

The Global Positioning System (GPS) 40 is a satellite navigation system that receives a signal from a GPS satellite and calculates the user's current location, and detects current location information.

The input unit 50 receives destination information through a user interface. The input unit 50 receives destination information from the user through a user interface such as a touch screen or a button or wheel.

The vehicle control device 100 controls the overall operation of the autonomous vehicle 10 . Specifically, the vehicle control device 100 generates a global route plan according to the current location information and the destination information, and generates node set data that is a set of nodes from the current location to the destination using the global route plan, and the node set Using the data and vehicle location data corresponding to the current location, a local route plan for whether to change lanes is generated, and the autonomous vehicle 10 is controlled to drive according to the local route plan.

In addition, the vehicle control device 100 may detect whether there is an obstacle in the vicinity of the autonomous vehicle 10 by using the lidar data input from the lidar 20 and the video data input from the camera 30 . In this case, obstacle information on whether an obstacle exists in the left lane and whether an obstacle in the right lane exists is generated.

Here, the global route plan represents a route from the current location to the destination. And, the node set data is a set of all nodes included in the global path plan. Nodes indicate junctions in the vector map, and lanes indicate lanes on the road connecting nodes and there are as many lanes as the actual number of lanes between nodes. And, the local route plan represents a plan for traveling between nodes according to the global route plan.

Such global route planning, node set data, and local route planning may be implemented using a road information vector map. Here, the road information vector map represents data including various information on roads across the country, and specifically, information on which type of road the current location is of a straight road, a curved road, and an intersection, and the current Information on whether the road at the location is a highway, a national road, or a general road, and information on whether the road at the current location is a child protection zone is included. Specifically, the road information may be included in the precision map data, and may be configured as a vector map in the form of vector data. A vector map refers to a map composed of vector data.

The main components of vector data are points (nodes), lines (lanes), and planes (polygons). Each element is used when rendering the map.

First, point data is used to express text or icon symbols representing main points on the map, and it has X-axis (latitude) and Y-axis (longitude) coordinates.

Second, line data is used to express road center lines, railroads, subways, administrative boundaries, national boundaries, contour lines, etc. on the map, and each point is connected with a line and expressed as a single continuous line (LineString in OpenGIS SimpleFeature) use).

Finally, face data is used to express buildings, parks, complexes, rivers, seas, road surfaces, etc. The data type is similar to line data, but it is defined as a polygon with the first and last points of the Point Array connected. also do

The road information is composed of vector data as described above, and can be implemented using a map with precision. The precision road map is 3D high-precision vector data for roads and surrounding facilities, and includes lanes (regulatory lines, road boundary lines, stop lines, lane center lines), road facilities (median dividers, tunnels, bridges, underpasses), signs necessary for autonomous driving, etc. It represents an electronic map made in three dimensions of facility (traffic safety signs, road markings, signal flags) information. Maps with precision are produced through the combination of cutting-edge surveying techniques and data construction technology, and maps are produced with precision after acquiring various road information using MMS (Mobile Mapping System). With the precision produced in this way, the map is vector data containing geometric location information, geometric (shx) spatial (sbx, sbn) index file, database file containing attribute information, projection, and coordinate system information. It may also include a projection file that includes it.

Node information and vehicle location data using the vector map will be described in more detail with reference to FIGS. 2 and 3 . 2 and 3 show that node information and vehicle location data are displayed using a vector map.

2 is a diagram illustrating a configuration of node information according to an embodiment of the present invention. As shown in FIG. 2 , node information on the current location of the autonomous vehicle 10 includes a current lane ID (current dtlane), a next lane ID (next dtlane), a previous node ID (previous jnode), and a current node ID ( current jnode), and the next node ID (next jnode). Here, the current node ID represents the ID of the node immediately preceding the location of the autonomous vehicle 10 , the previous node ID represents the ID of the node immediately behind the location of the autonomous vehicle 10 , and the next node ID indicates the ID of the node immediately following the current node ID.

As such, the node information includes various information to specify a node for the current location of the autonomous vehicle 10 .

3 is a diagram illustrating a configuration of vehicle location data according to an embodiment of the present invention. The vehicle location data represents data necessary to specify the current location of the autonomous vehicle 10 on the vector map. 3 , the vehicle location data includes a current lane ID (current dtlane), a left lane ID (left dtlane), a right lane ID (right dtlane), a previous lane ID (previous dtlane), and a next lane ID (next dtlane). ), previous node ID (previous jnode), current node ID (current jnode), and next node ID (next jnode). Here, the current lane ID indicates the ID of a lane corresponding to the location of the autonomous vehicle 10 , the left lane ID indicates the ID of a lane located immediately to the left of the location of the autonomous vehicle 10 , and the right lane The ID indicates the ID of a lane located immediately to the right of the location of the autonomous vehicle 10 , the previous lane ID indicates the ID of a lane located behind the previous node in the location of the autonomous vehicle 10 , and the ID of the next lane is Indicates the ID of a lane located between the current node and the next node in the location of the autonomous vehicle 10 .

As such, the vehicle location data includes various information to specify a node and a lane for the current location of the autonomous vehicle 10 .

4 is a diagram illustrating a configuration of a vehicle control apparatus 100 according to an embodiment of the present invention. As shown in FIG. 4 , the vehicle control apparatus 100 includes a communication unit 110 and a control unit 120 .

The communication unit 110 transmits and receives data from internal sensors or modules of the autonomous vehicle 10 . Specifically, the communication unit 110 transmits and receives data through a controller area network (CAN). CAN (Controller Area Network) is a communication standard mainly used inside a vehicle and is used as a network to control more than 100 ECUs (Electronic Control Units). Also, the communication unit 110 may communicate with external devices of the autonomous vehicle 10 , and may be connected to communicate with an external server or other vehicles for outsourced communication. The communication unit 110 may perform communication in various wireless communication methods such as Bluetooth, Wi-Fi (WIFI), near field communication (NFC), cellular, and LTE (Long-Term Evolution) for external communication, and performs communication through wired communication. Of course you can.

The communication unit 110 receives lidar data detected by the lidar 20 . In addition, the communication unit 110 receives vehicle driving data and video data captured by the camera 30 . Here, the vehicle driving data includes current position data of the vehicle, current speed data, and right-turn or left-turn angle data of the vehicle. In addition, the communication unit 110 may receive current location information from the GPS 40 , or may receive destination information from the input unit 50 .

The controller 120 controls the overall operation of the vehicle control device 100, generates a global route plan according to the current location information and the destination information, and uses the global route plan to be a node that is a set of nodes from the current location to the destination. Generates set data, generates a local route plan for whether to change lanes using the node set data and vehicle location data corresponding to the current location, and controls the autonomous vehicle 10 to drive according to the local route plan. In addition, the controller 120 controls operations of the vehicle control apparatus 100 illustrated in FIGS. 5 to 9 .

5 is a diagram illustrating the overall operation of a vehicle control apparatus according to an embodiment of the present invention.

As shown in FIG. 5 , the vehicle control device 100 receives current location information and destination information and generates a global route plan using a search tree. In addition, the vehicle control apparatus 100 generates node set data jnode_set that is a set of nodes from the current location to the destination by using the global route plan. Then, the vehicle control device 100 uses the node set data, vehicle location data corresponding to the current location, and obstacle information to generate a local route plan for whether to change lanes, and autonomously drives according to the planned route of the local route plan. The driving vehicle 10 is controlled. Also, the vehicle control device 100 may re-generate the global route plan through the route re-search request.

6 is a flowchart provided to explain a vehicle control method according to an embodiment of the present invention.

First, the vehicle control device 100 generates a global route plan according to the current location information and the destination information (S210). Then, the vehicle control apparatus 100 generates node set data that is a set of nodes from the current location to the destination by using the global route plan ( S220 ).

Also, the vehicle control apparatus 100 generates a local route plan for whether to change a lane by using the node set data and vehicle location data corresponding to the current location ( S230 ).

Thereafter, the vehicle control device 100 controls the autonomous vehicle 10 to travel according to the planned route of the local route plan ( S240 ).

7 is a flowchart provided to explain a search tree generation process according to an embodiment of the present invention.

The search tree is a tree in which nodes for generating a global route plan can be searched, and the nodes included in all routes between the current location and the destination are expressed in a tree form. The vehicle control apparatus 100 may generate a search tree offline by using the vector map.

First, the vehicle control apparatus 100 configures a vector map with lane information and node information (S310). Then, the vehicle control apparatus 100 checks whether i is less than the total number of nodes (S320). Here, i represents the i-th node and represents a value that increases by 1 from 1 to the total number of nodes. And, the total number of nodes indicates the total number of nodes included in the node set data, that is, the total number of nodes included in the global path plan.

When i is smaller than the total number of nodes (S320-Y), the vehicle control apparatus 100 adds the next node of the i-th node as a child node to the search tree (S330).

Thereafter, the vehicle control apparatus 100 checks whether j is smaller than the number of the next lane of the i-th node ( S340 ). Here, j denotes a j-th lane among lanes next to the i-th node, and represents a value increasing by 1 until the number of lanes. For example, in the case of FIG. 2, there are two lanes next to the current node, and in this case, j increases to 2.

If j is smaller than the number of lanes next to the i-th node (S340-Y), the vehicle control apparatus 100 sets the next node of the neighboring lane to the next node in the neighboring lane of the j-th lane. It is added to the tree as a child node of the th node (S350).

Then, the vehicle control apparatus 100 increases the j value by 1 (S360), and performs step S340 again.

If j is greater than or equal to the number of the next lane of the i-th node (S340-N), the vehicle control apparatus 100 increases the value of i by 1 (S345) and performs step S320 again do.

If i is greater than or equal to the total number of nodes (S320-N), the vehicle control apparatus 100 completes creation of the search tree.

Through this process, the vehicle control apparatus 100 generates a search tree.

8 is a flowchart provided to explain a process of generating a global route plan and node set data according to an embodiment of the present invention.

When a request for initial start or route re-search is input (S410), the vehicle control apparatus 100 generates vehicle location data corresponding to the current location and uses this to generate a search tree (S420).

Then, the vehicle control apparatus 100 generates a global route plan using the shortest route search algorithm based on the search tree (S430).

Thereafter, the vehicle control apparatus 100 generates node set data that is a set of nodes from the current location to the destination by using the global route plan ( S440 ). Specifically, the vehicle control device 100 generates node set data by collecting node information of all nodes included in the global route plan.

Through this process, the vehicle control device 100 generates the global route plan and node set data.

9 is a flowchart provided to explain a process of generating a local route plan according to an embodiment of the present invention.

First, the vehicle control apparatus 100 checks whether i is smaller than the total number of nodes in the node set data (S510). Here, i represents the i-th node and represents a value that increases by 1 from 1 to the total number of nodes. And, the total number of nodes indicates the total number of nodes included in the node set data, that is, the total number of nodes included in the global path plan.

When i is smaller than the total number of nodes in the node set data (S510-Y), the vehicle control apparatus 100 sets the next node as the target node (S520). Here, the destination node represents a node to arrive at in the short term in the local route plan.

Then, the vehicle control apparatus 100 compares the target node with the current lane to determine whether a lane change is necessary ( S530 ). Specifically, the vehicle control apparatus 100 determines that a lane change is necessary when a right turn or a left turn is required to go to the destination node, and when the destination node is in a straight-line direction, it is determined that a lane change is not necessary. .

When it is determined that the lane change is unnecessary (S540-N), the vehicle control apparatus 100 generates a local route plan by maintaining a straight line (S545).

On the other hand, when it is determined that a lane change is necessary (S540-Y), the vehicle control apparatus 100 determines whether an obstacle exists in the change target lane of the autonomous vehicle 10 using the obstacle information (S550). . To this end, the vehicle control apparatus 100 generates obstacle information on whether an obstacle exists in a left lane and an obstacle in a right lane.

When it is determined that there is an obstacle in the change target lane (S550-Y), the vehicle control apparatus 100 generates a local route plan by maintaining a straight line (S540). In this case, the vehicle control apparatus 100 may generate a local route plan by decelerating the speed by a specific value while maintaining the straight line. This is to avoid obstacles that exist in the lane to be changed. In addition, the vehicle control device 100 generates a local path plan by accelerating the speed by a specific value when there is no obstacle in front, and decelerates the speed by a specific value when there is an obstacle in front. can also create

Then, in a situation where the vehicle control device 100 determines that a lane change is necessary and an obstacle exists and generates a local route plan to keep going straight, when the distance to the target node is less than or equal to a threshold (S560- Y), the global route plan is regenerated (S565). If the distance to the target node is less than or equal to the threshold, since a sufficient distance for the autonomous vehicle 10 to change lanes is not secured, the vehicle control device 100 maintains the autonomous vehicle 10 in a straight line. Since it is a situation in which it cannot go to the destination node, the entire driving path is modified by regenerating the global path plan.

On the other hand, when it is determined that there is no obstacle in the change target lane, the vehicle control apparatus 100 generates a local route plan by changing the lane to the change target lane (S555).

Thereafter, the vehicle control apparatus 100 determines whether the current location of the autonomous vehicle 10 is a location past the current node ( S570 ).

If the current location of the autonomous vehicle 10 is before passing the current node (S570-N), the vehicle control apparatus 100 performs step S530 again.

On the other hand, when the current location of the autonomous vehicle 10 is a location that has passed the current node (S570-Y), the vehicle location needs to be updated, so the vehicle control device 100 increases the i value by 1 to increase the vehicle location. The location data is updated (S575), and the process returns to step S510 to check again whether the updated i is smaller than the total number of nodes in the node set data (S510). Then, when i is smaller than the total number of nodes in the node set data (S510-Y), the vehicle control apparatus 100 sets the next updated node as the target node (S520) and repeats the subsequent steps.

On the other hand, if the updated i is greater than or equal to the total number of nodes in the node set data (S510-N), the vehicle control apparatus 100 determines that it has arrived at the destination (S515).

Through this process, the vehicle control device 100 generates a local route plan, and through this, the vehicle control device 100 can generate a route plan including a lane change from the current location to the destination.

On the other hand, it goes without saying that the technical idea of the present invention can also be applied to a computer-readable recording medium containing a computer program for performing the function and method of the apparatus according to the present embodiment. In addition, the technical ideas according to various embodiments of the present invention may be implemented in the form of computer-readable programming language codes recorded on a computer-readable recording medium. The computer-readable recording medium may be any data storage device readable by the computer and capable of storing data. For example, the computer-readable recording medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, flash memory, solid state disk (SSD), or the like. In addition, the computer-readable code or program stored in the computer-readable recording medium may be transmitted through a network connected between computers.

Although this specification and drawings describe exemplary device configurations, implementations of the functional operations and subject matter described herein may be implemented in other types of digital electronic circuits, or include structures disclosed herein and structural equivalents thereof. may be implemented as computer software, firmware, or hardware, or a combination of one or more of these.

Accordingly, although the present invention has been described in detail with reference to the above-described examples, those skilled in the art to which the present invention pertains can make modifications, changes and modifications to the examples without departing from the scope of the present invention.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims In addition, various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

10: autonomous vehicle
20 : Lidar
30 : camera
40: GPS
50: input unit
100: vehicle control unit
110: communication department
120: control unit

Claims (12)

A vehicle control method by a vehicle control device, comprising:
generating a global route plan according to the current location information and the destination information;
generating node set data that is a set of nodes from a current location to a destination using a global route plan;
generating a local route plan for whether to change a lane by using the node set data and vehicle location data corresponding to the current location; and
A vehicle control method comprising a; controlling the vehicle according to the local route plan.
The method according to claim 1,
vehicle location data,
A vehicle control method comprising a current lane ID, a left lane ID, a right lane ID, a previous lane ID, a next lane ID, a previous node ID, a current node ID, and a next node ID.
3. The method according to claim 2,
The regional route plan creation stage is,
Setting the next node as the destination node, comparing the destination node with the current lane to determine whether a lane change is necessary, and when it is determined that the lane change is not necessary, generating a local route plan by maintaining a straight line How to control the vehicle.
4. The method according to claim 3,
The method of claim 1, further comprising: generating obstacle information on whether an obstacle exists in a left lane and an obstacle in a right lane.
5. The method according to claim 4,
The regional route plan creation stage is
A vehicle control method characterized in that when it is determined that a lane change is necessary, it is determined whether an obstacle exists in the change target lane, and when it is determined that an obstacle exists, a local route plan is generated by maintaining a straight line.
6. The method of claim 5,
The regional route plan creation stage is,
A vehicle control method, characterized in that the local route plan is generated by decelerating the speed by a specific value while maintaining the straight line.
6. The method of claim 5,
The regional route plan creation stage is,
When it is determined that there is no obstacle, the vehicle control method characterized in that the local route plan is generated by changing the lane to the change target lane.
6. The method of claim 5,
The steps to create a global route plan are:
Vehicle control, characterized in that the global route plan is regenerated when the distance to the destination node is less than or equal to a threshold value in a situation where it is determined that a lane change is necessary and an obstacle exists, and a local route plan is generated by maintaining a straight line Way.
4. The method according to claim 3,
When the current location is a location past the current node, the vehicle location data is updated, and the updated next node is set as the target node.
A computer-readable recording medium containing a computer program for performing a vehicle control method by a vehicle control device, comprising:
generating a global route plan according to the current location information and the destination information;
generating node set data that is a set of nodes from a current location to a destination using a global route plan;
generating a local route plan for whether to change a lane by using the node set data and vehicle location data corresponding to the current location; and
A computer-readable recording medium containing a computer program for performing a vehicle control method comprising; controlling a vehicle according to a local route plan.
a communication unit for receiving current location information and destination information; and
A global route plan is generated according to the current location information and the destination information, and node set data that is a set of nodes from the current location to the destination is generated using the global route plan, and the node set data and vehicle location data corresponding to the current location A vehicle control apparatus comprising a; a controller for generating a local route plan for whether to change a lane using the , and controlling the vehicle according to the local route plan.
GPS (Global Positioning System) for detecting current location information;
an input unit for receiving destination information; and
A global route plan is generated according to the current location information and the destination information, and node set data that is a set of nodes from the current location to the destination is generated using the global route plan, and the node set data and vehicle location data corresponding to the current location A vehicle control device comprising: a vehicle control device that generates a local route plan for whether to change lanes by using the , and controls the vehicle according to the local route plan.

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