Patent ID: 11884295
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. An apparatus for controlling autonomous driving of a vehicle, the apparatus comprising a processor configured to:
select a target object ahead of the vehicle based on driving information;
generate a velocity profile for maintaining a desired distance to the target object from the vehicle;
calculate a desired acceleration based on the velocity profile and a delay time of the vehicle;
set the desired acceleration to be less than an initial inclination of a longitudinal acceleration and deceleration profile based on the delay time of the vehicle;
control an actuator of the vehicle based on the desired acceleration;
calculate a target velocity of the vehicle based on a velocity limit of a road on which the vehicle travels, and a velocity and a heading direction of the target object; and
apply a predetermined weight to a time to collision (TTC) between the vehicle and the target object to calculate a target convergence time,
wherein the velocity profile is classified into an acceleration and deceleration section and a constant velocity section based on the target convergence time,
wherein the target convergence time is a time consumed to converge to the target velocity, and the predetermined weight is a tuning coefficient of a time to collision and variably adjusted in a range of zero (0) to 1 based on characteristics of the vehicle and a behavior of the target object in real time,
wherein the velocity profile generator processor is configured to set the desired distance in consideration of driver driving tendency as well as a minimum safety distance with the target object, and
wherein the desired distance is set by learning the driver driving tendency during autonomous driving or is determined by applying a degree of risk to the target object.