KR20190068048A - Method and apparatus for detecting and avoiding obstacles on driving path - Google Patents

Abstract

A method for controlling vehicle autonomous driving comprises the following steps of: collecting surrounding information through a sensor or a scanner mounted on a vehicle; gathering data in a danger zone from the surrounding information; extracting a shape of an object and an outline based on the gathered data; determining whether the shape and the outline are located on a driving path; and setting an avoidance path in response to the determination result.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method and an apparatus for searching and avoiding obstacles on a traveling route,

Field of the Invention [0002] The present invention relates to a method and apparatus for searching and avoiding an obstacle on a traveling route, and more particularly, And determines whether there is a dangerous object in the running for the detected objects along the generated path. And more particularly, to an apparatus and a method capable of generating an avoidance path and traveling along an avoidance path by determining whether avoidance is necessary when an object with a risk of collision exists.

An autonomous vehicle includes a vehicle that recognizes its own environment, judges the risk, and can travel to its destination. Autonomous driving technology used in autonomous driving vehicles can be categorized into 5 levels according to NHTSA standards and 6 levels according to SAE standards. Lane Departure Warning, Lane Departure Warning, (Forward Collision Warning, FCW), and Highway Driving Assist system are already in use. From the third stage of NHTSA standards, the driver may need to intervene if the car changes lanes, overtakes, lanes are not visible, or weather conditions deteriorate without the driver intervention.

As the level of autonomous driving technology increases, obstacles must be searched through various sensors or sensing systems installed in the vehicle, and the detected obstacles should be avoided. For example, obstacle detection through various sensors or sensing systems mounted on a vehicle can be implemented based on object recognition technology. The object recognition technique is clustered using the point data obtained from the laser scanner and detected in a square box form. The rectangle box of the detected object may be used to judge whether or not the risk object is affected by judging whether it affects the traveling path of the vehicle, thereby judging whether or not to avoid the risk object.

In the case of determining a dangerous object by judging whether it affects the traveling path of the vehicle by using the rectangular box of the object detected from the data, there may occur a situation where the traveling path exists without affecting the actual traveling. In such a case, there may occur a situation in which the vehicle unnecessarily changes the lane or the road is stopped on the road where the road is the one-way road, and the vehicle can not be stopped to travel.

KR 10-1133037 B1

The present invention proposes an accurate avoidance path when an avoidance path is generated by accurately estimating the degree of involvement in a path in the case of a dangerous object by extracting outline information from an object other than a box type in the collected data A method and an apparatus that can be provided.

In addition, the present invention determines the traveling path of the vehicle through the lane information among the data collected from the sensors mounted on the vehicle, and then sets the running in-risk check area extending the width of the vehicle around the traveling path, It is possible to provide a method and apparatus for estimating an object by clustering information detected in a confirmation area and determining whether the object may be a risk to the progress of the vehicle.

In addition, according to the present invention, when it is determined that there is a dangerous object on the path of the vehicle, a shape of the object is estimated, and an avoidance path corresponding to the type of the object estimated at predetermined intervals on the path is generated A method and an apparatus that can be provided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

A method of controlling an autonomous vehicle according to an embodiment of the present invention includes collecting peripheral information through a sensor or a scanner mounted on a vehicle; Clustering data in the dangerous area in the peripheral information; Extracting a shape and an outline of the object based on the collected data; Determining whether the shape and the outline are located on the traveling path; And setting a avoidance path corresponding to the determination result.

Further, a method for controlling an autonomous vehicle running includes detecting a lane in the peripheral information; And determining a traveling route of the vehicle based on the lane.

The lane may include a first lane and a second lane located on the left and right sides of the vehicle, and the traveling path may be a center line between the first lane and the second lane.

In addition, the object may have priority over determining the progress of the vehicle over the lane.

In addition, the method for controlling autonomous vehicle running may further include setting the dangerous area by adding the width of the vehicle to the traveling route.

In addition, the dangerous area may be a rectangular area having a contact with the traveling path.

In addition, the step of setting the avoidance path corresponding to the determination result may include: setting an avoidance path corresponding to the outline at predetermined intervals if the shape and the outline are located on the traveling path; And maintaining the traveling path if the shape and the outline are not on the traveling path.

Also, the predetermined interval may be 1 m.

In addition, the predetermined interval may vary in proportion to the speed of the vehicle.

In addition, the avoidance path may be one in which the traveling path is moved in correspondence with the width of the vehicle based on a point closest to the predetermined distance between the outline and the traveling path.

The peripheral information may include an image of a periphery of the vehicle; And a plurality of pointers indicating the presence or absence of the object at predetermined intervals in the periphery of the vehicle.

According to another aspect of the present invention, there is provided an apparatus for controlling an autonomous vehicle, comprising: an information collecting device for collecting peripheral information through a sensor or a scanner mounted on a vehicle; An object detection unit for collecting data in the dangerous area from the peripheral information and extracting a shape and an outline of the object based on the collected data; And a avoidance determination unit for determining whether the shape and the outline are located on the traveling path and setting a avoidance path corresponding to the determination result.

The apparatus for controlling autonomous vehicle running may further include a route generation unit for detecting a lane in the peripheral information and determining a travel route of the vehicle based on the lane.

The lane may include a first lane and a second lane located on the left and right sides of the vehicle, and the traveling path may be a center line between the first lane and the second lane.

In addition, the object may have priority over determining the progress of the vehicle over the lane.

Further, the route generating unit may set the dangerous area by adding the width of the vehicle to the traveling route.

In addition, the dangerous area may be a rectangular area having a contact with the traveling path.

The avoidance determination unit may set an avoidance path corresponding to the outline at predetermined intervals if the shape and the outline are located on the traveling path, and if the shape and the outline are not on the traveling path, The path can be maintained.

Also, the predetermined interval may be 1 m.

In addition, the predetermined interval may vary in proportion to the speed of the vehicle.

In addition, the avoidance path may be one in which the traveling path is moved in correspondence with the width of the vehicle based on a point closest to the predetermined distance between the outline and the traveling path.

The peripheral information may include an image of a periphery of the vehicle; And a plurality of pointers indicating the presence or absence of the object at predetermined intervals in the periphery of the vehicle.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And can be understood and understood.

The effect of the device according to the present invention will be described as follows.

The present invention extracts the outline of an object, which is not a predetermined block (area) unit, from information collected from a sensor mounted on a vehicle, and judges a risk based on an outline, thereby increasing the width of a choice You can spread it.

In addition, the present invention can determine and generate an avoidance route in units of a predetermined distance corresponding to the outline of an object located on the travel route, and can perform self-traveling rapidly in a narrow area.

The effects obtainable by the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
Fig. 1 illustrates a first example of a method for controlling autonomous vehicle running.
Fig. 2 illustrates peripheral information that the vehicle collects while driving.
3A to 3F illustrate a process of recognizing an object in a dangerous area and setting an avoidance path through peripheral information.
Fig. 4 illustrates a second example of a method for controlling autonomous vehicle running.
5 illustrates an apparatus for controlling autonomous vehicle running.
Fig. 6 illustrates the judgment of an apparatus for controlling autonomous vehicle running.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the description of the embodiments, when it is described as being formed on the "upper" or "lower" of each element, the upper or lower (lower) And that at least one further component is formed and arranged between the two components. Also, the expression "upward" or "downward" may include not only an upward direction but also a downward direction on the basis of one component.

In order to avoid obstacles in which the autonomous vehicle travels or obstacles existing at fixed positions, it is necessary to check whether an obstacle is located on the driving route ahead of the vehicle in operation and determine whether the obstacle exists within the minimum braking distance If the obstacle is suddenly braked or if the obstacle exceeds the minimum braking distance, it is possible to determine whether or not the steering angle is calculated by calculating the angle of collision with the obstacle. In addition, when the autonomous vehicle does not satisfy the collision angle and does not change the running direction, the running vehicle may be decelerated or normally run by calculating the collision point between the running vehicle and the obstacle.

Fig. 1 illustrates a first example of a method for controlling autonomous vehicle running.

As shown in the figure, the method for controlling the autonomous vehicle driving includes a step (2) of collecting peripheral information through a sensor or a scanner mounted on a vehicle, a step (8) of collecting data in a dangerous area in peripheral information, A step (12) of determining the shape and an outline on the traveling path, and a step (14) of setting an avoidance path in accordance with the determination result, .

The autonomous vehicle can collect peripheral information from a variety of devices mounted on the vehicle, such as a camera device, a sensor such as a lidar device, or a scanner. Here, the peripheral information during driving includes information on roads and ground conditions, information on lanes, information on obstacles located on the roads, information on obstacles (vehicles, etc.) moving on roads, structures And the like can be included. The peripheral information that may vary depending on the characteristics of the information may include an image of the periphery of the vehicle and a plurality of pointers indicating the presence or absence of the object at predetermined intervals in the vicinity of the vehicle. Here, the pointer may be data capable of displaying an area where an object may exist through a scanner or the like in a predetermined manner. The autonomous vehicle recognizes the existence of obstacles in the dangerous area based on the collected surrounding information, and can set the avoidance path in accordance with whether the obstacle is obstructed.

According to an embodiment, as shown, the method of controlling autonomous vehicle traveling further comprises the step of detecting a lane (4) in the peripheral information and the step of determining the travel path of the vehicle on the basis of the lane . Here, the lane may include a first lane and a second lane located on the left and right sides of the vehicle, and the traveling path may be a center line between the first lane and the second lane.

It is possible to determine the traveling path of the vehicle by collecting information on objects such as lanes and obstacles based on the surrounding information that the autonomous vehicle can collect while driving. The traveling path of the vehicle can be determined as an intermediate point of the lane by using the lane recognized during driving. In this case, when an autonomous vehicle is driven in the middle of a lane set by two lanes, it is not a threat to the vehicle in the vicinity, and it can keep the safety from the surrounding vehicle.

On the other hand, depending on whether the object that the autonomous driving vehicle can detect in the dangerous area is located on the driving route of the vehicle, the influence of the influence on the driving of the vehicle can be determined. Depending on the embodiment, or depending on the surrounding circumstances of the road, the object may have priority over determining the course of the vehicle over the lane. For example, when the road on which the autonomous vehicle is traveling includes a plurality of lanes, the lane may be changed to avoid an object.

Although not shown, the method for controlling autonomous vehicle running may further include setting a danger zone by adding the width of the vehicle to the running route. For example, the hazardous area may be a rectangular area having a contact with the driving path. The dangerous area may include a traveling path of the vehicle according to the embodiment, and may be a range of the width of the vehicle in the traveling path to predict the risk that may occur during traveling of the vehicle. Here, the width of the vehicle may be the width of the autonomous vehicle. If an object is not found in the danger zone corresponding to the width of the autonomous vehicle, the risk of collision accidents during the running of the vehicle may be lowered.

The step (14) of setting the avoidance path in response to the determination result includes the steps of setting a avoidance path corresponding to the outline at predetermined intervals when the shape and the outline are located on the traveling path, And if not, maintaining the traveling route. Here, the preset interval may be about 1 m. Depending on the embodiment, the predetermined interval may vary in proportion to the speed of the vehicle.

If the shape and the outline of the object exist in the dangerous area, and the vehicle is located on the driving route, the autonomous driving vehicle can set the avoidance route. Here, the avoidance path may be one in which the traveling path is moved in correspondence with the width of the vehicle based on the closest point between the outline and the traveling path at each predetermined interval.

Fig. 2 illustrates peripheral information that the vehicle collects while driving. Specifically, (a) describes an image that the autonomous vehicle can collect, and (b) illustrates a pointer that the autonomous vehicle can collect.

The autonomous vehicle travels along the generated path. When the driving route of the vehicle is generated by using the lane detected through the camera sensor, it affects the detection result of the sensor. In order to generate the traveling route of the vehicle, the autonomous driving vehicle can use the precision map through the navigation device or the telematics device.

As shown in FIG. 2 (b), it is possible to recognize the precise position of the vehicle based on the input data and the precise map that are input from devices such as sensors or scanners mounted on the vehicle. The lane information of the lane of travel of the lane information among the map information around the estimated position of the self-volume can be obtained to create the running route of the vehicle and set the danger area 30 accordingly. Thereafter, the vehicle can be autonomously driven through object detection, avoidance determination, and control.

And determines whether or not the dangerous object is affected by determining whether it affects the traveling path of the vehicle by using the rectangular box 30 of the detected object. As shown in FIG. 2 (b), there may be a situation in which an object does not affect the traveling, but the traveling path exists. In this case, in the case of the prior art, there may occur a situation where the lane is changed or the vehicle can not be stopped due to the stopping of the vehicle on the one way lane. In order to solve such a problem, the method of controlling the autonomous vehicle driving described in FIG. 1 is not to determine whether the object type is included in the dangerous area of the box form, but rather extracts the outline information from the object to judge the dangerous object, It is possible to precisely estimate the degree of involvement of the travel route, thereby generating an avoidance route, thereby preventing unnecessary start-up of the vehicle and generating a precise avoidance route.

According to the embodiment, it is possible to accurately grasp the existence of a dangerous object on the traveling route in the autonomous driving, to create a avoidance route in the traveling route in the presence of the self traveling, and to follow the new route.

3A to 3F illustrate a process of recognizing an object in a dangerous area and setting an avoidance path through peripheral information.

3A shows lane detected by the camera sensor and scan data obtained from the laser scanner sensor.

The autonomous vehicle can find the lateral position of the lane on which the vehicle travels by using the lane detection result and calculate the route based on the lateral position as shown in Figure 3B so that the two lanes can travel at the center of the lane set by the two lanes Can be generated.

Referring to FIG. 3C, it is possible to extend the area of the vehicle along the generated path to set the dangerous area 30 when traveling. The object detection result through clustering and shape extraction using the scan data in the dangerous area 30 of the rectangular box will be described. It is possible to determine whether the detected objects exist in the dangerous area 30 by using the rectangular box.

FIG. 3D can estimate an outline 32 that makes up an object using points that can form an object in the hazardous area 30. FIG. The outline can be used to determine if an object is included in the real hazard area.

The shape 34 is again estimated using only the portion included in the dangerous area on the outline of the object 34 selected as the dangerous object as shown in the rectangle shown in FIG. 3E.

FIG. 3F shows control points at intervals of 1m using the existing traveling route. The object 34 can move the control points of the affected area in the escape direction by the invaded distance. The avoidance path can be created using the final control points. For example, to create an avoidance path, you can use the B-spline function, which is the most commonly used basis function to express geometry in computer-aided design (CAD). It is possible to control the starting of the vehicle through follow-up control along the route.

Fig. 4 illustrates a second example of a method for controlling autonomous vehicle running. More specifically, FIG. 4 is a flowchart showing avoidance path generation and control according to presence or absence of an accurate determination of a dangerous object in an autonomous driving route. Such an autonomous drive control can be started by receiving information collected from a sensor or a scanner or the like.

As shown in the figure, the lane detection result is obtained based on the collected information (40), the lateral position is estimated and the traveling route is generated (42). And creates a dangerous area in the route based on the generated driving route (44).

In addition, after the scan data is obtained from the laser scanner (46), the obtained scan data may be clustered and the shape may be extracted to recognize objects around the vehicle (48).

The risk of the object is determined through the dangerous area generated from the sensor and the detected objects (50). If there is no dangerous object, the movement of the vehicle can be controlled by following the existing route (58).

If a dangerous object exists (50), the outline of the object is extracted and the outline is used to determine whether it is an object requiring actual avoidance or suspension on the path (52).

 If avoidance is not needed (54), follow-up control is performed along the existing route or the vehicle is stopped (58).

If it is necessary to avoid the obstacle (54), first, a control point of 1 m intervals is generated (56) according to the forward traveling route based on the vehicle to generate the avoidance route. To create the avoidance path, the shape of the object is estimated using only the outline included in the dangerous area among the outline of the object. Move the control points in the escape direction by the object box included in each generated control point section. The existing control points and the moved control points are created by using the B-spline function.

The vehicle can be controlled through the control following the path along the generated avoiding path (58).

5 illustrates an apparatus for controlling autonomous vehicle running.

As shown in the figure, the apparatus 20 for controlling autonomous driving of a vehicle finds the inward lateral position of the vehicle using the lane detection result, generates a traveling route using the detected lane, And a route generating unit 24 that can generate a dangerous area when traveling.

The object detecting unit 22 in the apparatus 20 for controlling autonomous vehicle running can detect an object through clustering and shape extraction using the scan data of the sensor.

The avoidance determining unit 26 can detect whether an object exists in the path established by the path generating unit 24 and in the dangerous area generated along the path. The avoidance determiner 26 can determine whether an object is actually present on the area, determine whether to avoid it, and generate an avoidance path.

The control unit 28 may perform the follow-up control along the final determined path or may stop the vehicle by braking if there is an obstacle.

According to the embodiment, the device 20 for controlling the autonomous driving of the vehicle can be interlocked with the information collecting device 18 for collecting the surrounding information through a sensor or a scanner mounted on the vehicle. The peripheral information may include an image of the periphery of the vehicle and a plurality of pointers indicating the presence or absence of the object at predetermined intervals in the periphery of the vehicle.

The apparatus 20 for controlling autonomous vehicle movement includes an object detection unit 22 for collecting data in the dangerous area from the peripheral information transmitted from the government collection device 18 and extracting the shape and outline of the object based on the collected data, And an avoidance determination unit 26 for determining whether the shape and the outline are located on the traveling route and setting the avoidance route in accordance with the determination result.

The apparatus 20 for controlling autonomous vehicle running may further include a path generating unit 24 for detecting a lane in the peripheral information and determining a traveling path of the vehicle on the basis of the lane. The lane recognized by the route generating section 24 may include a first lane and a second lane located on the left and right sides of the vehicle, and the traveling route may be a center line between the first lane and the second lane.

On the other hand, according to the embodiment, the object recognized by the object detection unit 22 may have a priority to determine the progress of the vehicle than the lane.

The route generating unit 24 can add a vehicle width to the travel route to set a dangerous area. For example, the hazardous area may be a rectangular area having a contact with the driving path.

On the other hand, if the shape and the outline are located on the travel route, the avoidance determination unit 26 sets the avoidance route corresponding to the outline at predetermined intervals, and if the shape and the outline are not on the travel route, the travel route can be maintained .

For example, the predetermined interval for setting the avoidance path may be 1m. Depending on the embodiment, the predetermined interval may vary in proportion to the speed of the vehicle.

The avoidance route determined by the avoidance judging unit 26 may be a travel route that corresponds to the width of the vehicle on the basis of the closest point between the outline and the travel route at predetermined intervals.

Fig. 6 illustrates the judgment of an apparatus for controlling autonomous vehicle running. 6 (a) and 6 (b) illustrate a dangerous area 62 on the outside of the traveling path of the vehicle making a left turn, and Fig. 6 (64) will be described.

As shown in the figure, the risk object can be determined by using the detection result of the dangerous area and the object generated according to the traveling route. When the dangerous object exists in the form of (a) or (b), in the case of the prior art, since the rectangular box estimated from the object does not actually affect the running, It may affect the behavior of the vehicle. However, in order to solve the problem occurring in such a case, the autonomous vehicle according to the embodiment of the present invention extracts the outline of the object and precisely determines whether or not the object exists in the actual dangerous area by using the outline information ), and (b).

It is decided whether or not to avoid it, and it is avoided in the lane or the car is changed. In the case where the vehicle avoidance is required as shown in (a) of FIG. 6, in the case of the conventional method, it is determined that the vehicle is changed by the vehicle instead of avoiding the vehicle, It is possible to judge the avoidance of the lane under the situation as shown in Fig. 6 (a). Accordingly, unnecessary maneuvering of the autonomous vehicle according to the embodiment of the present invention can be reduced.

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , Floppy disks, optical data storage devices, and the like.

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

20: Vehicle autonomous drive control device 18: Information collecting device
22: Object detection unit 24: Path generation unit
26: Avoidance judging unit 28:

Claims (22)

Collecting peripheral information through a sensor or a scanner mounted on the vehicle;
Clustering data in the dangerous area in the peripheral information;
Extracting a shape and an outline of the object based on the collected data;
Determining whether the shape and the outline are located on the traveling path; And
Setting a avoidance path in response to the determination result
Wherein the control means is operable to control the autonomous vehicle. The method according to claim 1,
Detecting a lane in the peripheral information; And
Determining a traveling route of the vehicle based on the lane;
Further comprising the steps of: 3. The method of claim 2,
Wherein the lane includes a first lane and a second lane located at left and right sides of the vehicle, and the traveling path is a center line between the first lane and the second lane. 3. The method of claim 2,
Wherein the object has a priority in determining the progress of the vehicle over the lane. 3. The method of claim 2,
Further comprising setting the danger zone by adding the width of the vehicle to the travel route. 6. The method of claim 5,
Wherein the danger zone is a rectangular area having a contact that abuts the travel route. The method according to claim 1,
The step of setting the avoidance path in response to the determination result
Setting an avoidance path corresponding to the outline at predetermined intervals if the shape and the outline are located on the traveling path; And
If the shape and the outline are not on the traveling path, maintaining the traveling path
Wherein the control means is operable to control the autonomous vehicle. 8. The method of claim 7,
Wherein the predetermined interval is 1m. 8. The method of claim 7,
Wherein the predetermined interval is varied in proportion to the speed of the vehicle. 8. The method of claim 7,
Wherein the avoidance path is one in which the traveling path is moved in correspondence with a width of the vehicle based on a point nearest to the predetermined interval between the outline and the traveling path. The method according to claim 1,
The peripheral information includes
An image of a periphery of the vehicle; And
And a plurality of pointers indicating the presence or absence of an object at a predetermined interval in the vicinity of the vehicle. An information collecting device for collecting peripheral information through a sensor or a scanner mounted on the vehicle;
An object detection unit for collecting data in the dangerous area from the peripheral information and extracting a shape and an outline of the object based on the collected data; And
Determining whether the shape and the outline are on the traveling path, and setting a avoidance path in accordance with the determination result,
And a control device for controlling the autonomous vehicle. 13. The method of claim 12,
A route generating unit for detecting a lane in the peripheral information and determining a traveling route of the vehicle on the basis of the lane,
Further comprising: means for controlling the autonomous vehicle. 14. The method of claim 13,
Wherein the lane includes a first lane and a second lane located at left and right sides of the vehicle, and the traveling path is a center line between the first lane and the second lane. 14. The method of claim 13,
Wherein the object has a priority in determining the progress of the vehicle than the lane. 14. The method of claim 13,
Wherein the route generating unit sets the dangerous area by adding the width of the vehicle to the traveling route. 17. The method of claim 16,
Wherein the dangerous area is a rectangular area having a contact that abuts against the traveling path. 13. The method of claim 12,
The avoidance determination unit
Setting the avoidance path corresponding to the outline at predetermined intervals if the shape and the outline are located on the traveling path,
And maintains the traveling path when the shape and the outline are not on the traveling path. 19. The method of claim 18,
And the predetermined interval is 1 m. 19. The method of claim 18,
And the predetermined interval is changed in proportion to the speed of the vehicle. 19. The method of claim 18,
Wherein the avoidance path moves the traveling path in correspondence with the width of the vehicle based on a point nearest to the predetermined distance between the outline and the traveling path. 13. The method of claim 12,
The peripheral information includes
An image of a periphery of the vehicle; And
And a plurality of pointers indicating the presence or absence of the object at predetermined intervals in the periphery of the vehicle.

Images