US 12,214,788 B2
Apparatus and method for controlling autonomous vehicle
Ki Hong Park, Seoul (KR); Tae Young Oh, Daejeon (KR); and Weon Il Son, Daegu (KR)
Assigned to Kookmin University Industry Academy Cooperation Foundation, Seoul (KR)
Filed by Kookmin University Industry Academy Cooperation Foundation, Seoul (KR)
Filed on Dec. 1, 2021, as Appl. No. 17/540,078.
Claims priority of application No. 10-2021-0097125 (KR), filed on Jul. 23, 2021; and application No. 10-2021-0122337 (KR), filed on Sep. 14, 2021.
Prior Publication US 2023/0031030 A1, Feb. 2, 2023
Int. Cl. B60W 30/16 (2020.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/16 (2013.01) [B60W 30/18163 (2013.01); B60W 50/0098 (2013.01); B60W 60/0015 (2020.02); B60W 2050/0022 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/10 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An apparatus for controlling an autonomous vehicle,
the apparatus comprising:
a processor; and
a memory configured to be operatively connected to the processor and to store at least one code performed at the processor,
wherein the memory stores a code that, when executed by the processor, causes the processor to
control the autonomous vehicle to travel on a basis of a distance from a preceding vehicle in a travel lane in which the autonomous vehicle travels or a preset speed,
determine a risk level of a lane change on a basis of a speed (equation here)) of the autonomous vehicle, a speed of a side vehicle traveling in a target lane of a lane change, and a distance between the autonomous vehicle and the side vehicle upon occurrence of a lane change request, wherein the side vehicle comprises a side-front vehicle and a side-rear vehicle that travel in the target lane of the lane change,
perform longitudinal or lateral control for the lane change on a basis of the risk level, and
the memory stores a code that causes the processor to determine a first safety distance based on the side-front vehicle in proportion to the speed of the autonomous vehicle, determine a second safety distance based on the side-rear vehicle in proportion to a speed of the side-rear vehicle, and determine the risk level on a basis of the first safety distance and the second safety distance,
wherein the determining of the second safety distance comprises
determining the first safety distance and the second safety distance on the basis of a first weight assigned to each of the speed of the autonomous vehicle and the speed of the side-rear vehicle and a second weight assigned to each of the first result value and the second result value, and
the first weight and the second weight are preset on the basis of a change in the speed of the side-rear vehicle due to the lane change of the autonomous vehicle and a change in the speed of the autonomous vehicle due to deceleration of the side-front vehicle during the lane change of the autonomous vehicle; and
wherein the setting of the preceding vehicle or the side vehicle as the target vehicle comprises
setting a virtual vehicle between the preceding vehicle and the side vehicle on the basis of a degree of approach to the target lane and
setting the virtual vehicle as the target vehicle in an LC mode in which the autonomous vehicle performs the lane change to the target lane.