US 12,485,926 B2
Autonomous driving control apparatus and method for generating route thereof
Su Young Choi, 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 Jul. 20, 2023, as Appl. No. 18/355,661.
Claims priority of application No. 10-2022-0141586 (KR), filed on Oct. 28, 2022.
Prior Publication US 2024/0140488 A1, May 2, 2024
Int. Cl. G01C 22/00 (2006.01); B60W 40/12 (2012.01); B60W 60/00 (2020.01)
CPC B60W 60/0018 (2020.02) [B60W 40/12 (2013.01); B60W 2554/801 (2020.02); B60W 2556/35 (2020.02); B60W 2556/40 (2020.02)] 17 Claims
OG exemplary drawing
 
1. An autonomous driving control apparatus for a vehicle, the autonomous driving control apparatus comprising:
a memory configured to store high definition map information; and
a processor electrically connected to the memory,
wherein the processor is configured to:
determine whether a moving violation event occurs at an intersection based on signal information of traffic lights and location information of another vehicle in the intersection;
generate a grid map based on a first driving route in the intersection included in the high definition map information based on a detected moving object and on the first driving route of the vehicle;
determine a drivable area with regard to the moving object; and
generate a second driving route in the drivable area based on the grid map, and
wherein the grid map comprises a plurality of grid points by sampling an intersection driving path at predetermined intervals; and
wherein the processor is further configured to:
calculate a current lateral speed of the vehicle using a current speed of the vehicle and a current steering angle of the vehicle;
calculate a lateral distance movable per frame using the current lateral speed and a predetermined one-time calculation time;
calculate a route fusion rate using the lateral distance movable per frame and a maximum distance between lateral grid points for each route point;
generate a final driving route by fusing a driving route generated at a current frame with a driving route generated at a previous frame based on the route fusion rate;
cause the vehicle to autonomously travel along the final driving route.