Patent ID: 11934204
Assignee: HYUNDAI MOBIS CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 1:
2. The autonomous driving apparatus of claim 1, wherein:
when performing the trajectory-based control, the processor is configured to:
generate an actual driving trajectory of the surrounding vehicle based on driving information of the surrounding vehicle detected by the sensor unit;
generate an expected driving trajectory of the surrounding vehicle based on the map information stored in the memory; and
correct the expected driving trajectory of the ego vehicle, when a trajectory error between the actual driving trajectory and expected driving trajectory of the surrounding vehicle is a preset threshold value or more; and
when performing the group following control, the processor is configured to perform the group following control from a joining point, at which an overlap between the first and second driving paths is initiated, to a breakaway point, at which the overlap between the first and second driving paths is terminated, in a direction in which the ego vehicle travels up to the destination.