US 12,319,312 B2
Apparatus for generating U-turn path of vehicle and method thereof
Sung Woo Choi, Seoul (KR); Su Jin Han, Seoul (KR); and Su Young Choi, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Kia Corporation, Seoul (KR); and Hyundai Motor Company, Seoul (KR)
Filed on Nov. 3, 2022, as Appl. No. 18/052,564.
Claims priority of application No. 10-2022-0052176 (KR), filed on Apr. 27, 2022.
Prior Publication US 2023/0347930 A1, Nov. 2, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); B60W 40/10 (2012.01)
CPC B60W 60/001 (2020.02) [B60W 30/18009 (2013.01); B60W 40/10 (2013.01); B60W 2554/801 (2020.02)] 18 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a path generator provided in a vehicle, the path generator configured to:
generate, based on a minimum turning radius of the vehicle, a default U-turn path; and
generate a final U-turn path based on a path following control reference point of the vehicle which is based on the generated default U-turn path; and
a controller configured to control autonomous driving of the vehicle to follow the generated final U-turn path,
wherein the path generator is further configured to generate the default U-turn path by connecting a first clothoid path with a start point of the default U-turn path, connecting a second clothoid path with an end point of the default U-turn path, and connecting an arc path between the first clothoid path and the second clothoid path.