US 12,134,380 B2
Apparatus and method for controlling driving of 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 Sep. 7, 2021, as Appl. No. 17/467,937.
Claims priority of application No. 10-2021-0042623 (KR), filed on Apr. 1, 2021.
Prior Publication US 2022/0314979 A1, Oct. 6, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/12 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/12 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2530/201 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for controlling driving of a vehicle, the method comprising:
collecting driving environment information including drive lanes and positions of a host vehicle and an object on a periphery of the host vehicle;
generating virtual integrated lines based on a lane link, a lane side or a control path included in the driving environment information;
extracting a target candidate group by determining a position of the object based on the virtual integrated lines;
selecting a control target based on position relations between the virtual integrated lines and contour points of the target candidate group;
calculating a control point to be tracked; and
controlling driving of the host vehicle based on the control point,
wherein, when the lane side has an irregular shape, and the lane link and the control path do not coincide with each other, generating the virtual integrated lines comprises:
generating the virtual integrated lines based on the control path, wherein the control path is corrected in a current frame (frame N) so as to conform to a current change in a position of the host vehicle.