US 12,491,909 B2
Traverse direction control apparatus and method for autonomous driving
Tae Won Kang, Seoul (KR); Chang Hyeon Park, Seoul (KR); Sung Woo Cho, Seoul (KR); Jeong Yeon Seo, Seoul (KR); and Kee Hyuk Kang, Seoul (KR)
Assigned to NEUBILITY INC., Seoul (KR)
Appl. No. 18/872,624
Filed by NEUBILITY INC., Seoul (KR)
PCT Filed Sep. 6, 2022, PCT No. PCT/KR2022/013377
§ 371(c)(1), (2) Date Dec. 6, 2024,
PCT Pub. No. WO2023/249163, PCT Pub. Date Dec. 28, 2023.
Claims priority of application No. 10-2022-0075516 (KR), filed on Jun. 21, 2022.
Prior Publication US 2025/0263091 A1, Aug. 21, 2025
Int. Cl. B60W 60/00 (2020.01); B60W 40/101 (2012.01); B60W 40/114 (2012.01); G06T 7/246 (2017.01); G06T 7/50 (2017.01)
CPC B60W 60/001 (2020.02) [B60W 40/101 (2013.01); B60W 40/114 (2013.01); G06T 7/246 (2017.01); G06T 7/50 (2017.01); B60W 2420/403 (2013.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2520/26 (2013.01); B60W 2552/45 (2020.02); B60W 2552/53 (2020.02); B60W 2720/14 (2013.01); B60W 2720/26 (2013.01); B60W 2754/20 (2020.02); G06T 2207/30256 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A traverse direction control apparatus for autonomous driving, the traverse direction control apparatus comprising:
an information collection processor configured to collect data from one or more cameras mounted on an autonomous moving object;
a target point information calculation processor configured to calculate target point information based on the data collected from the one or more cameras; and
a traverse direction control parameter calculation processor configured to continuously generate a traverse direction control parameter by:
obtaining a traverse direction distance from the autonomous moving object at time t to a target point, an angle between a head of the autonomous moving object and the target point, and a yaw rate of the autonomous moving object based on the target point information, and
calculating the traverse direction control parameter of time t+1 based on a pre-stored kinematic model; and
a memory configured to transmit the continuously generated traverse direction control parameter to a controller of the autonomous moving object until the autonomous moving object arrives at a target destination,
wherein the controller controls a traverse direction motion of the autonomous moving object by outputting a control signal using the traverse direction control parameter until the autonomous moving object arrives at the target destination, and
wherein the pre-stored kinematic model is a dynamic model, and modeled as in Mathematical Equation 2:

OG Complex Work Unit Math
where ey is a traverse direction interval from current position coordinates of the autonomous moving object to target point position coordinates thereof, eψ is the angle between the head of the autonomous moving object and the target point, ψ is the yaw rate of the autonomous moving object, L is a forward viewing distance, Cα is a cornering stiffness, and Iz is a moment of inertia.