Patent ID: 11932244
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method for controlling autonomous driving of a host vehicle, the method comprising:
calculating first height information allocating a first gradient that descends in a proceeding direction of objects, comprising a vehicle and a pedestrian, from respective positions of the objects based on dynamic information of the objects;
calculating second height information allocating a second gradient based on a probability that the pedestrian will occupy infrastructure other than the objects;
calculating final height information by fusing the first height information and the second height information;
generating a grid map by mapping the final height information;
generating a predicted path of the pedestrian based on the grid map with the final height information mapped and modeling information of a crossing path and speed of the pedestrian;
determining a driving strategy of the host vehicle based on a predicted path of the host vehicle and the predicted path of the pedestrian; and
controlling the host vehicle with the determined driving strategy,
wherein the generating a grid map comprises:
dividing a road on a map into respective areas of the grid map; and
mapping the final height information acquired by fusing the first height information and the second height information onto the respective areas of the grid map.