| CPC B60W 60/0027 (2020.02) [B60W 2520/12 (2013.01); B60W 2540/22 (2013.01); B60W 2540/30 (2013.01); B60W 2552/10 (2020.02); B60W 2552/20 (2020.02); B60W 2552/30 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01)] | 21 Claims |
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1. A biased driving system comprising:
a control parameter creation unit configured to extract an object causing biasing of a host vehicle using converged object information, which is map information comprising location and speed of a vehicle around the host vehicle, to create an imaginary line of the extracted object by reflecting a location recognition accuracy and optionally reflecting at least one of risk of a nearby vehicle, driving style of a driver of the host vehicle, road curvature, or road shape, and to create a control parameter using the imaginary line; and
a controller configured to create a control value of a vehicle corresponding to the control parameter received from the control parameter creation unit in order to control biasing of the host vehicle,
wherein the control parameter creation unit groups a plurality of objects, from each of which the imaginary line has been extracted, based on at least one of a distance between vehicles, whether another vehicle zigzags, or expected lateral speed of the host vehicle and creates the control parameter using the plurality of grouped objects,
wherein the control parameter creation unit calculates an offset of each group, creates a biased route by reflecting the calculated offset, creates a speed profile corresponding to the biased route, and creates the control parameter by reflecting the biased route and the speed profile,
wherein the control parameter creation unit comprises:
a biased target object extraction module configured to extract a biased target object causing biasing of the host vehicle, among the plurality of objects included in the converged object information;
an object imaginary line extraction module configured to extract an imaginary line of the biased target object causing biasing of the host vehicle and to extract a central line of the host vehicle using the extracted imaginary line of the biased target object;
a biased object clustering module configured to create biased cluster information grouping biased target objects based on the imaginary line of the biased target object and based on at least one of the distance between vehicles, whether the other vehicle zigzags, or the expected lateral speed of the host vehicle;
a biased route creation module configured to create a biased route, which is a set of final biased values, using the biased cluster information;
a speed profile creation module configured to create speed profile information comprising the biased route and host vehicle speed information matched with road traffic situation;
a driving route information creation module configured to create driving route information comprising the biased route and the speed profile information; and
a control parameter creation unit configured to create the control parameter corresponding to the driving route information,
wherein the imaginary line of the biased target object is an imaginary straight line or curved line parallel to the host vehicle lane based on a closest point between an outermost point of a target object and the host vehicle, and
wherein the location recognition accuracy comprises at least one of location recognition accuracy of the host vehicle or location recognition accuracy of the nearby vehicle.
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