Patent ID: 11951983
Assignee: KIA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 15:
16. An autonomous control method for lateral motion, the autonomous control method comprising:
calculating, by a controller, a lateral departure degree from the center of a virtual line after a line is lost using position information of a vehicle, wherein the position information is derived by data obtained from the vehicle which is traveling;
determining, by the controller, the virtual line connecting waypoints previously generated on a map for a section where the line is lost to connect an old line with a new line as a driving route;
performing, by the controller, lateral autonomous control of the vehicle in a direction where the lateral departure degree is minimized to cause the vehicle to follow the driving route connecting waypoints set on the virtual line to travel; and
setting, by the controller, a position of the vehicle at a time before the line is lost to an initial position for estimating a subsequent position change.