US 12,449,804 B2
Autonomous vehicle, control method for remotely controlling thereof
Dong Gyu Kim, Suwon-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. 27, 2022, as Appl. No. 17/875,014.
Claims priority of application No. 10-2022-0015025 (KR), filed on Feb. 4, 2022.
Prior Publication US 2023/0251647 A1, Aug. 10, 2023
Int. Cl. G05D 1/00 (2024.01); B60W 60/00 (2020.01)
CPC G05D 1/0011 (2013.01) [B60W 60/001 (2020.02); B60W 2520/04 (2013.01); B60W 2556/40 (2020.02); B60W 2556/45 (2020.02)] 17 Claims
OG exemplary drawing
 
1. An autonomous vehicle comprising
a processor configured to transmit a vehicle path to a control system and to request remote control when the remote control of the autonomous vehicle is required, to receive a corrected path obtained by correcting the vehicle path from the control system, to determine errors in reference point coordinates and path data of the corrected path, and to control the autonomous vehicle to follow the corrected path,
wherein the processor compares reference data, which is a previous path, with reference data of the vehicle path at the current position of the corrected path, and determines whether at least one of the route points of the reference data of the corrected path is lost,
wherein the processor compares the reference point coordinates of the corrected path received from the control system with reference point coordinates of a precision map of a current position of the autonomous vehicle transmitted to the control system from the autonomous vehicle.