US 12,384,413 B2
Vehicle determining a driving route based on pass priority and a method for operating the vehicle
Tae Dong Oh, Seoul (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 May 10, 2022, as Appl. No. 17/740,605.
Claims priority of application No. 10-2021-0083393 (KR), filed on Jun. 25, 2021.
Prior Publication US 2022/0410934 A1, Dec. 29, 2022
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0015 (2020.02) [B60W 2552/05 (2020.02); B60W 2552/10 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a position recognition module configured to create position information using map information, and detected information collected by at least one sensor, wherein the detected information includes information about the vehicle, and surrounding information around the vehicle;
a road information combining module configured to create first precise map information including a driving route of the vehicle based on the position information and the map information;
an object combining module configured to create second precise map information including a driving route of a surrounding vehicle around the vehicle based on the detected information and the first precise map information;
a lane link determination module configured to select, from the second precise map information, a lane link at which a first lane belonging to the driving route of the vehicle and a second lane belonging to the driving route of the surrounding vehicle intersect or join each other;
a target determination module configured to determine, as a target vehicle, the surrounding vehicle that is likely to collide with the vehicle among surrounding vehicles passing through the lane link based on the second precise map information;
a pass priority determination module configured to determine a pass priority at which each of the vehicle and the target vehicle passes through the lane link based on the second precise map information;
an object route creation module configured to create a driving route of the target vehicle, based on the second precise map information, the pass priority of the vehicle, and the pass priority of the target vehicle;
an adaptive route determination module configured to determine an adaptive driving route of the vehicle corresponding to the driving route of the target vehicle based on the second precise map information, the pass priority of the vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle; and
a controller module configured to control driving of the vehicle based on the adaptive driving route of the vehicle,
wherein the driving route of the surrounding vehicle includes a route along which the surrounding vehicle drives for a preset time duration from a current position of the surrounding vehicle, and
wherein the preset time duration corresponds to a driving route update period of the vehicle,
wherein the adaptive route determination module is configured to determine the adaptive driving route of the vehicle based on the pass priority of the vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle when a difference between a first time-point at which the vehicle passes through the lane link and a second time-point at which the surrounding vehicle passes through the lane link is smaller than or equal to a first time duration and greater than a second time duration, and
wherein the first time duration is a maximum time duration for which the vehicle is expected to be likely to collide with the surrounding vehicle.