US 11,951,983 B2
Autonomous controller for lateral motion and control method therefor
Hyun Su Kim, Gyeonggi-do (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Sep. 21, 2021, as Appl. No. 17/480,561.
Claims priority of application No. 10-2020-0152118 (KR), filed on Nov. 13, 2020.
Prior Publication US 2022/0153265 A1, May 19, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 50/0098 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); B62D 15/025 (2013.01); B60W 2050/0011 (2013.01); B60W 2050/146 (2013.01); B60W 2710/20 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous controller for lateral motion, the autonomous controller comprising:
a vehicle positioning module configured to calculate a lateral departure degree from the center of a virtual line after a line is lost using position information of a vehicle, wherein the position information is derived by data obtained from the vehicle which is traveling;
a driving route determination module configured to determine the virtual line connecting waypoints previously generated on a map for a section where the line is lost to connect an old line with a new line as a driving route; and
a lateral control module configured to perform lateral autonomous control of the vehicle in a direction where the lateral departure degree is minimized to cause the vehicle to follow the driving route connecting waypoints set on the virtual line to travel,
wherein the vehicle positioning module includes an initial position setting device configured to set a position of the vehicle at a time before the line is lost to an initial position for estimating a subsequent position change.