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

Claim 0:
1. An autonomous driving apparatus comprising:
a sensor unit configured to detect a surrounding object including a surrounding vehicle around an autonomously-traveling ego vehicle;
a memory configured to store map information; and
a processor configured to control autonomous driving of the ego vehicle based on an expected driving trajectory generated based on the map information stored in the memory,
wherein:
the processor is configured to:
correct the expected driving trajectory of the ego vehicle, based on results of detection of a surrounding vehicle around the ego vehicle by the sensor unit, and perform trajectory-based control over the autonomous driving of the ego vehicle; and
perform group following control over the autonomous driving of the ego vehicle such that the ego vehicle follows a driving of a platooning group configured with a plurality of group vehicles, when a first driving path of the ego vehicle up to a destination overlaps a second driving path of the platooning group;

when performing the group following control, the processor is configured to control a sensing parameter of the sensor unit of the ego vehicle to have a value mutually dependent on a sensing parameter of a sensor unit mounted on each of the group vehicles;
the sensing parameter of the sensor unit of the ego vehicle and the sensing parameter of the sensor unit mounted on each of the group vehicles comprise a field of view (FOV); and
the mutually dependent relation between the FOVs of the sensor unit of the ego vehicle and the sensor units of the group vehicles is optimized to:
minimize an overlap range of the FOVs of the sensor unit of the ego vehicle and the sensor units of the group vehicles; and
when a blind spot occurs in which a surrounding object is not able to be detected by the sensor unit of the ego vehicle and the sensor unit of another vehicle of the group vehicles, extend one or more of the FOVs of the sensor unit of the ego vehicle and the sensor unit of the another vehicle of the group vehicles to remove the blind spot.