US 12,304,526 B2
Method and apparatus for controlling steering of an autonomous vehicle for driving between floors
Yeong Ho Lee, Pohang-si (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 Jul. 14, 2023, as Appl. No. 18/222,234.
Claims priority of application No. 10-2022-0182987 (KR), filed on Dec. 23, 2022.
Prior Publication US 2024/0217543 A1, Jul. 4, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/10 (2012.01); B62D 6/00 (2006.01); B62D 15/02 (2006.01)
CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); B62D 6/001 (2013.01); B62D 15/021 (2013.01); B60W 2420/403 (2013.01); B60W 2520/00 (2013.01); B60W 2554/00 (2020.02)] 11 Claims
OG exemplary drawing
 
1. An apparatus for calculating a steering angle for inter-floor travel of an autonomous vehicle, the apparatus comprising:
an obstacle-information acquisition unit configured to extract obstacle information related to obstacles of an inter-floor connection ramp from an image captured of an area of interest in front of the vehicle and to obtain an obstacle vector;
a safe-area-direction acquisition unit configured to obtain a plurality of safe areas based on information of the vehicle and the obstacle information, and to obtain a safe area direction vector based on a center point of a front end of the vehicle and the plurality of safe areas;
a movement-direction acquisition unit configured to determine a movement direction of the vehicle based on the safe area direction vector, the obstacle vector, and driving direction information according to a current steering angle of the vehicle; and
a steering angle calculation unit configured to calculate a target steering angle of the vehicle based on the movement direction and the current steering angle.