| CPC G08G 1/16 (2013.01) [G01C 21/3807 (2020.08)] | 7 Claims |
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1. An electronic control device mounted on a vehicle, the electronic control device comprising:
a map processing device;
an external sensor, coupled to the map processing device, the external sensor configured to recognize an obstacle around the vehicle; and
a position sensor, coupled to the map processing device, the position sensor configured to acquire position information of the vehicle in a manner capable of information communication, wherein
the map processing device comprises:
a storage device, the storage device configured to store map information including travel route information of the vehicle; and
a central processor, the central processor configured to:
select a road from a plurality of roads stored in the storage device;
acquire a travel route from the travel route information based on the selected road, the travel route comprising at least one lane link comprising a plurality of coordinate point sequences;
determine that the travel route is a target road by determining that the travel route is along a bidirectional road and that the travel route in a first direction and a second direction overlap;
determine perpendicular lines extending from each lane link of overlapping travel routes in the first direction and the second direction to boundary lines at both ends in a width direction of a road, responsive to determining that the travel route is the target road;
set virtual lane links at midpoints of the perpendicular lines;
calculate, based on the map information including travel route information, a virtual travel route formed by the virtual lane links;
determine, based on the position information, that the vehicle is traveling on the virtual travel route, responsive to determining that the vehicle is in manual driving;
record, based on the position information received from the position sensor, travel information of the vehicle, responsive to determining that the vehicle is traveling on the virtual travel route;
identify, based on information received from the external sensor, the obstacle around the vehicle;
determine that the vehicle has deviated from the virtual travel route by comparing the position information of the vehicle with the virtual travel route;
classify the obstacle into a permanent obstacle or a transient obstacle;
record a travel route along which the vehicle avoids the permanent obstacle in the storage device;
update the travel route information and the virtual travel route with an avoiding route based on the travel route along which the vehicle has avoided the permanent obstacle;
generate a travel route including the avoiding route, responsive to determining that the vehicle is in autonomous driving; and
control the vehicle to travel along the generated travel route.
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