Patent ID: 9731724
Date: 2017-08-15
CPC Classifications: B60W

Claim:
1. An autonomous driving control method of a vehicle, comprising: generating, by a controller, a path plan from a current position of the vehicle toward a destination with reference to a map database while driving the vehicle; determining, by the controller, a farthest segment among a plurality of segments for each lane of a road from the current position of the vehicle to a predetermined target segment on the path plan as a local goal point; determining, by the controller, whether  a lane change is required to arrive at the local goal point and determining a direction of the lane change when the lane change is required; and determining, by the controller, a lane change completion segment among the segments for each lane up to the target segment and determining a segment position before a distance for the lane change from an end of the lane change completion segment as a timing position for the lane change, wherein the target segment includes,