| CPC B60W 60/0053 (2020.02) [B60W 60/001 (2020.02); B60K 35/00 (2013.01); B60K 35/23 (2024.01); B60K 35/28 (2024.01); B60K 2360/166 (2024.01); B60W 2420/403 (2013.01); B60W 2552/10 (2020.02); B60W 2552/30 (2020.02); B60W 2555/20 (2020.02); B60W 2556/45 (2020.02); H04W 4/40 (2018.02)] | 15 Claims |
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1. A method of operating an autonomous vehicle configured to travel autonomously along a virtual lane, the method comprising:
acquiring environment information from a camera and a sensing module of the autonomous vehicle;
receiving weather information corresponding to a location coordinate of the autonomous vehicle from a server;
based on the acquired environment information and the received weather information, determining whether a real lane of a road on which the autonomous vehicle is driving is identifiable;
based on determining whether the real lane is identifiable, transmitting a request signal through a wireless network;
receiving a location parameter of a road facility adjacent to the autonomous vehicle from the road facility in response to the request signal;
generating a virtual lane based on the received location parameter; and
traveling autonomously along the generated virtual lane,
wherein the location parameter of the road facility comprises a three-dimensional location coordinate of the road facility, a three-dimensional displacement between the road facility and a plurality of adjacent lanes, a distance to another adjacent road facility, a bending degree to another adjacent road facility, and a distance between adjacent lanes.
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