Patent Publication Number: US-2023150533-A1

Title: Vehicle control system and vehicle driving method using the vehicle control system

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of priority to Korean Patent Application No. 10-2021-0158006, filed in the Korean Intellectual Property Office on Nov. 16, 2021 and Korean Patent Application No. 10-2021-0158007, filed in the Korean Intellectual Property Office on Nov. 16, 2021, the entire contents of which are incorporated herein by reference. 
     TECHNICAL FIELD 
     The present disclosure relates to a vehicle control system and a vehicle driving method using the vehicle control system, and more particularly, to an autonomous driving technology that improves accuracy of a target travel route. 
     BACKGROUND 
     Autonomous driving technology in which a travel route of a vehicle is set and the vehicle travels according to the set travel route while the driver does not drive the vehicle directly is emerging. Autonomous driving technology may be implemented in a scheme of acquiring route information on the travel route, setting the travel route based on the obtained route information, and driving the vehicle according to the set route. 
     SUMMARY 
     According to the existing autonomous driving technology, it may not be easy to set an accurate travel route for various situations. 
     The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while advantages achieved by the prior art are maintained intact. 
     An aspect of the present disclosure provides a technique for setting an accurate travel route for various situations. 
     The technical problems to be solved by the present disclosure are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains. 
     According to an aspect of the present disclosure, a vehicle control system includes a processor that processes data related to driving of a vehicle, an input device for receiving a user input for controlling a driving function of the vehicle, a sensing device for acquiring data related to the driving of the vehicle from the vehicle and an external environment, and an output device for providing information related to the driving of the vehicle, wherein the processor initiates an autonomous driving mode, measures a difference value between a route of a sparse map and a route of a sensed data acquired using the sensing device, controls the output device to output a first warning based on the difference value, and controls the output device to output a second warning having a higher level than a level of the first warning, and end the autonomous driving mode based on the user input. 
     According to an aspect of the present disclosure, a vehicle control system includes a processor that process data related to driving of a vehicle, and a vehicle controller that control the driving of the vehicle. The processor sets a trajectory along which the vehicle travels as a target trajectory when the vehicle is positioned at a reference position, detects a current position of the vehicle, corrects a position of the vehicle such that the vehicle is positioned at a median of a lane, and generates a plurality of routes based on the corrected position of the vehicle and the target trajectory. 
     According to an aspect of the present disclosure, a method for driving a vehicle using a vehicle control system includes initiating an autonomous driving mode, measuring a difference value between a route of a sparse map and a route of sensed data acquired using a sensing device of the vehicle control system, controlling an output device of the vehicle control system to output a first warning based on the difference value, and controlling the output device to output a second warning having a higher level than a level of the first warning, and ending the autonomous driving mode. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other objects, features and advantages of the present disclosure will be more apparent from the following detailed description taken in conjunction with the accompanying drawings: 
         FIG.  1    is a block diagram showing a vehicle control system according to one embodiment of the present disclosure; 
         FIG.  2    is a view showing a position at which a camera of a vehicle control system according to one embodiment of the present disclosure is disposed on a vehicle; 
         FIG.  3    is a view showing a position at which a camera of a vehicle control system according to one embodiment of the present disclosure is disposed on a vehicle; 
         FIG.  4    is a view showing a position at which a camera of a vehicle control system according to one embodiment of the present disclosure is disposed on a vehicle; 
         FIG.  5    is a view showing a position in which a camera of a vehicle control system according to one embodiment of the present disclosure is disposed on a vehicle; 
         FIG.  6    is a view showing a plurality of camera devices of a vehicle control system according to one embodiment of the present disclosure; 
         FIG.  7    is a view showing a plurality of camera devices of a vehicle control system according to one embodiment of the present disclosure; 
         FIG.  8    is a block diagram showing a sparse map of a processor according to one embodiment of the present disclosure; 
         FIG.  9    is a diagram showing a polynomial expression of a trajectory according to one embodiment of the present disclosure; 
         FIG.  10    is a diagram showing a landmark according to one embodiment of the present disclosure; 
         FIG.  11    is a flowchart showing a method in which a vehicle control system according to one embodiment of the present disclosure generates a sparse map; 
         FIG.  12    is a flowchart showing a method for anonymizing navigation information by a vehicle control system according to one embodiment of the present disclosure; 
         FIG.  13    is a flowchart showing a method in which a vehicle control system according to one embodiment of the present disclosure compares a trajectory generated using a road navigation model with sensed data and controlling an autonomous driving mode based on the comparing result; 
         FIG.  14    is a flowchart showing a method in which a vehicle control system according to one embodiment of the present disclosure compares a route recognized using a sparse map with a route recognized using sensed data and controlling an autonomous driving mode based on the comparing result; 
         FIG.  15    is a diagram showing that a vehicle control system according to one embodiment of the present disclosure corrects a route generated based on a target trajectory, based on a vehicle position; 
     
    
    
     DETAILED DESCRIPTION 
       FIG.  1    is a block diagram showing a vehicle control system according to one embodiment of the present disclosure. 
     The vehicle control system according to one embodiment may include a processor  110 , an input device  120 , a sensing device  130 , an imaging device  140 , an output device  150 , and a vehicle controller  160 . 
     The processor  110  and the vehicle controller  160  of the vehicle control system according to an exemplary embodiment of the present disclosure may be a hardware device implemented by various electronic circuits (e.g., computer, microprocessor, CPU, ASIC, circuitry, logic circuits, etc.). The processor and the vehicle controller  160  may be implemented by a non-transitory memory storing, e.g., a program(s), software instructions reproducing algorithms, etc., which, when executed, performs various functions described hereinafter, and a processor configured to execute the program(s), software instructions reproducing algorithms, etc. Herein, the memory, the processor  110  and the vehicle controller  160  may be implemented as separate semiconductor circuits. Alternatively, the memory, the processor  110  and the vehicle controller  160  may be implemented as a single integrated semiconductor circuit. The processor  110  may embody one or more processor(s). The vehicle controller  160  may embody one or more processor(s). 
     The processor  110  may realize autonomous driving by processing data related to driving of a vehicle. The processor  110  may include a monocular image analysis module  111 , a three-dimensional image analysis module  112 , a speed and acceleration module  113 , and a navigation response module  114 . 
     The monocular image analysis module  111  may analyze a monocular image of an image set acquired by the imaging device  140 . The monocular image analysis module  111  may merge data included in the image set with other types of data acquired by the imaging device  140  to perform monocular image analysis. The monocular image analysis module  111  may detect, within the image set, features such as a lane marking, a vehicle, a pedestrian, a road sign, a highway interchange, a traffic light, a risk object, and other feature related to the vehicle&#39;s surroundings. The processor  110  of the vehicle control system may cause at least one navigation response such as rotation, lane change, or acceleration change of the vehicle, based on the analysis result of the monocular image analysis module  111 . 
     The three-dimensional image analysis module  112  may combine data acquired from the imaging device  140  and data acquired from the sensing device  130  with each other and perform analysis thereon. The three-dimensional image analysis module  112  may perform three-dimensional image analysis. The three-dimensional image analysis module  112  may implement a method related to a neural network learning system, a deep neural network learning system, or a non-learning system that utilizes a computer vision algorithm to detect and/or label an object in a context of capturing and processing sensed information. The three-dimensional image analysis module  112  may employ a combination of a learning system and a non-learning system. 
     The speed and acceleration module  113  may control change in a speed and/or an acceleration of the vehicle. The speed and acceleration module  113  may calculate a target speed of the vehicle based on data obtained from the monocular image analysis module  111  and/or the three-dimensional image analysis module  112 . The data obtained from the monocular image analysis module  111  and/or the three-dimensional image analysis module  112  may include a target position, a speed, an acceleration, the vehicle&#39;s position and/or speed with respect to a surrounding vehicle, a pedestrian or an object on a road, and position information of the vehicle for lane indication of the road. The speed and acceleration module  113  may transmit a speed control signal to the vehicle controller  160  based on the calculated target speed. 
     The navigation response module  114  may determine a necessary navigation response based on the data obtained from the monocular image analysis module  111 , the three-dimensional image analysis module  112 , and the input device  120 . The data obtained from the monocular image analysis module  111 , the three-dimensional image analysis module  112 , and the input device  120  may include a position and a speed of the vehicle with respect to a surrounding vehicle, a pedestrian, and an object on a road, and target position information of the vehicle. The navigation response may be determined based on map data, preset vehicle position, a relative speed or a relative acceleration between the vehicle and at least one object. The navigation response module  114  may transmit a navigation control signal to the vehicle controller  160  based on a navigation response determined as being necessary. For example, the navigation response module  114  may generate the necessary navigation response by rotating the vehicle&#39;s steering handle to induce rotation by a preset angle. The navigation response determined to be necessary by the navigation response module  114  may be used as data input to the speed and acceleration module  113  to calculate a speed change of the vehicle. 
     The input device  120  may receive a user input for controlling a driving function. The input device  120  may include a driving mode switch  121 , a navigation  122 , a steering wheel  123 , an accelerator pedal  124 , and a brake pedal  125 . The input device  120  may transmit the user input to the processor  110  through a driving information input interface  126 . 
     The sensing device  130  may acquire data related to driving of the vehicle from the vehicle and an external environment. The sensing device  130  may include a wheel speed sensor  131 , a yaw rate sensor  132 , a steering angle sensor  144 , and a G sensor  134 . The sensing device  130  may transmit the acquired data to the processor  110  through a vehicle information input interface  135 . 
     The imaging device  140  may detect and image an external environment. The imaging device  140  may include a radar  141 , a lidar  142 , an ultrasound device  143 , a camera  144 , and a vehicle internal camera  145 . The imaging device  140  may transmit the sensed and imaged external environment to the processor  110 . 
     The output device  150  may provide information related to driving of the vehicle to an occupant including the driver. The output device  150  may include a speaker  151  and a display  152 . The output device  150  may provide information related to driving of the vehicle output from the processor  110  through a driver output interface  153  to the occupant. 
     The vehicle controller  160  may control driving of the vehicle. The vehicle controller  160  may include an engine control system  161 , a brake control system  162 , and a steering control system  163 . The vehicle controller  160  may receive driving control information output from the processor  110  through a vehicle control output interface  164  to control driving of the vehicle. 
       FIG.  2    is a view showing the position in which a camera of the vehicle control system according to one embodiment of the present disclosure is disposed on the vehicle. 
     A camera  144  may include a first camera device  144 _ 1 , a second camera device  144 _ 2 , and a third camera device  144 _ 3 . The first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may be arranged side by side in a width direction of the vehicle. The first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may be disposed around a rear view mirror of the vehicle and/or adjacent to a driver seat. At least portions of field of views (FOV) of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may overlap each other. 
     The camera  144  may image an external environment. The camera  144  may fuse image information imaged by the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  with each other. The camera  144  may acquire a three-dimensional image using differences between field of views (FOV) thereof based on differences between positions of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . The camera  144  may transmit image data of the external environment as captured to the processor  110 . 
       FIG.  3    is a view showing a position in which a camera of the vehicle control system according to one embodiment of the present disclosure is disposed on the vehicle. 
     The camera  144  may include the first camera device  144 _ 1  and the second camera device  144 _ 2 . The first camera device  144 _ 1  and the second camera device  144 _ 2  may be arranged side by side in the width direction of the vehicle. The first camera device  144 _ 1  and the second camera device  144 _ 2  may be arranged around the rear view mirror of the vehicle and/or adjacent to the driver seat. At least portions of field of views (FOV) of the first camera device  144 _ 1  and the second camera device  144 _ 2  may overlap each other. The first camera device  144 _ 1  and the second camera device  144 _ 2  may be spaced apart from each other by a first distance D 1  in the width direction of the vehicle. 
     The camera  144  may image an external environment. The camera  144  may fuse image information imaged by the first camera device  144 _ 1  and the second camera device  144 _ 2  with each other. The camera  144  may acquire a three-dimensional image using a difference between the field of views (FOV) thereof based on a difference between positions of the first camera device  144 _ 1  and the second camera device  144 _ 2 . The camera  144  may transmit the image data of the external environment as captured to the processor  110 . 
       FIG.  4    is a view showing a position in which a camera of the vehicle control system according to one embodiment of the present disclosure is disposed on the vehicle. 
     The camera  144  may include the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . The first camera device  144 _ 1  may be disposed above a bumper area of the vehicle or inside the bumper area. The first camera device  144 _ 1  may be disposed adjacent to any one of corners of the bumper area. The second camera device  144 _ 2  may be disposed around the rear view mirror of the vehicle and/or adjacent to the driver seat. At least portions of field of views (FOV) of the first camera device  144 _ 1  and the second camera device  144 _ 2  may overlap each other. The first camera device  144 _ 1  and the second camera device  144 _ 2  may be spaced apart from each other by a second distance D 2  in the width direction of the vehicle. 
     The camera  144  may image an external environment. The camera  144  may fuse image information imaged by the first camera device  144 _ 1  and the second camera device  144 _ 2  with each other. The camera  144  may acquire a three-dimensional image using a difference between the field of views (FOV) thereof based on a difference between positions of the first camera device  144 _ 1  and the second camera device  144 _ 2 . The camera  144  may transmit the image data of the external environment as captured to the processor  110 . 
       FIG.  5    is a view showing a position in which a camera of the vehicle control system according to one embodiment of the present disclosure is disposed on the vehicle. 
     The camera  144  may include the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . The first camera device  144 _ 1  and the third camera device  144 _ 3  may be disposed above or inside the bumper area of the vehicle. The first camera device  144 _ 1  may be disposed adjacent to any one of the corners of the bumper area. The third camera device  144 _ 3  may be disposed adjacent to a corner of the bumper area except for the corner where the first camera device  144 _ 1  is disposed. The second camera device  144 _ 2  may be disposed around the rear view mirror of the vehicle and/or adjacent to the driver seat. At least portions of field of views (FOV) of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may overlap each other. 
     The camera  144  may image an external environment. The camera  144  may fuse image information imaged by the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  with each other. The camera  144  may acquire a three-dimensional image using differences between field of views (FOV) based on differences between positions of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . The camera  144  may transmit the image data of the external environment as captured to the processor  110 . 
       FIG.  6    is a view showing a plurality of camera devices of the vehicle control system according to one embodiment of the present disclosure. 
     The plurality of camera devices may include the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 .  FIG.  7    is a view showing a plurality of camera devices of a vehicle control system according to one embodiment of the present disclosure. The plurality of camera devices may include the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . 
     Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may include an image capture device of an appropriate type. The image capture device may include an optical axis. The image capture device may include an Aptina M9V024 WVGA sensor of a global shutter scheme. The image capture device may provide a resolution of 1280×960 pixels and may include a rolling shutter scheme. The image capture device may include a variety of optical elements. The image capture device may include at least one lens to provide a focal length and a field of view (FOV) required by the image capture device. The image capture device may be combined with a 6 mm lens or a 12 mm lens. 
     Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may have a designated field of view (FOV) angular range. Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may have a general field of view (FOV) angular range of 40 degrees or greater and 56 degrees or smaller. Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may have a narrow field of view (FOV) angular range of 23 degrees or greater and 40 degrees or smaller. Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may have a wide FOV (field of view) angular range of 100 degrees or greater and 180 degrees or smaller. Each of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  may include a wide-angle bumper camera or a camera capable of securing up to a 180-degree field of view (FOV). The field of view (FOV) of the first camera device  144 _ 1  may be wider, narrower, or partially overlapping than the field of view (FOV) of the second camera device  144 _ 2 . 
     A 7.2 megapixel image capture device with an aspect ratio of about 2:1 (e.g., H×V=3800×1900 pixels) and a horizontal field of view (FOV) of about 100 degrees may replace a configuration of a plurality of camera device composed of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3 . A vertical field of view (FOV) of a megapixel image capture device using a radially symmetrical lens may be realized to be 50 degrees or smaller due to lens distortion. A radially asymmetric lens may be used to achieve a vertical field of view (FOV) of 50 degrees or greater for a horizontal field of view (FOV) of 100 degrees. 
     A driving support function may be provided using a multi-camera system including a plurality of camera devices. The multi-camera system may use at least one camera facing in a front direction of the vehicle. In the multi-camera system, at least one camera may face in a side direction or a rear direction of the vehicle. The multi-camera system may be configured so that the first camera device  144 _ 1  and the second camera device  144 _ 2  face in the front direction and/or the side direction of the vehicle using a dual-camera imaging system. 
     The multi-camera systems including the plurality of camera devices may employ a triple camera imaging system in which FOVs (field of view) of the first camera device  144 _ 1 , the second camera device  144 _ 2 , and the third camera device  144 _ 3  are different from each other. The triple-camera imaging system may perform determinations based on information obtained from objects positioned at various distances in the front and side directions of the vehicle. 
     The first camera device  144 _ 1  may be connected to a first image processor to perform monocular image analysis of an image provided by the first camera device  144 _ 1 . The second camera device  144 _ 2  may be connected to a second image processor to perform monocular image analysis of an image provided by the second camera device  144 _ 2 . Information processed and output by the first and the second image processors may be combined with each other. The second image processor may receive images from both the first camera device  144 _ 1  and the second camera device  144 _ 2  and perform three-dimensional analysis thereon. Monocular image analysis may mean image analysis performed based on an image captured from a single field of view (e.g., an image captured by a single camera). The three-dimensional image analysis may mean image analysis performed based on two or more images captured with at least one image capture parameter (e.g., images captured respectively by at least two cameras). Captured images suitable for three-dimensional image analysis may include images captured from at least two positions, images captured from different fields of views (FOV), images captured using different focal lengths, and images captured based on parallax information. 
       FIG.  8    is a block diagram showing a sparse map of a processor according to one embodiment of the present disclosure. 
     The processor  110  may include a sparse map  200 . The sparse map  200  may be used for autonomous driving. The sparse map  200  may provide information for navigation of autonomous driving vehicles. The sparse map  200  and the data processed by the sparse map  200  may be stored in a memory of the vehicle control system or may be transmitted/received to/from a remote server. The sparse map  200  may store therein and use a polynomial expression of at least one trajectory along which the vehicle travels on a road. In the sparse map  200 , a feature of a road section may be simplified and may be recognized as an object. The sparse map  200  may reduce an amount of data stored and transmitted/received for autonomous driving vehicle navigation. The sparse map  200  may include a polynomial expression 210 of a trajectory and a landmark  220 . 
     The polynomial expression 210 of the trajectory may be a polynomial expression of a target trajectory for guiding autonomous driving along a road section. The target trajectory may represent an ideal route for a vehicle to travel in a road section. The road section may be expressed with at least one target trajectory. The number of target trajectories may be smaller than the number of a plurality of lines included in the road section. A vehicle operating on a road may determine navigation in consideration of a line corresponding to the target trajectory and a line offset using one of the target trajectories. 
     The landmark  220  may be a place or a mark associated with a specific road section or a local map. The landmark  220  may be identified and stored in the sparse map  200 . A spacing between landmarks  220  may be adjusted. The landmark  220  may be used for autonomous driving navigation. The landmark  220  may be used to determine the vehicle&#39;s current position with respect to the stored target trajectory. An autonomous driving vehicle may adjust a travel direction at a current position so as to coincide with a direction of the target trajectory using the vehicle&#39;s current position information. 
     The landmark  220  may be used as a reference point for determining a position of the vehicle with respect to the target trajectory. While the vehicle drives based on dead reckoning in which the vehicle determine its itself-movement and estimates its position with respect to the target trajectory, the vehicle may eliminate an error in a position determination due to the dead reckoning, using a position of the landmark  220  that appears in the sparse map  200 . The landmark  220  identified in the sparse map  200  may act as an anchor to allow the vehicle to accurately determine the vehicle&#39;s position with respect to the target trajectory. 
       FIG.  9    is a diagram showing the polynomial expression of the trajectory according to one embodiment of the present disclosure. 
     The sparse map may include information about a feature of a road. The sparse map may store therein a curved shape in sections  212  included in a road  211 . Each of the sections  212  may have a curved shape that may be expressed as a polynomial. The road  211  may be modeled as a three-dimensional polynomial expression as a combination of the curved shapes of the lines, each line including left and right sides. A plurality of polynomials may be used to express a position and a shape of the road  211  and each of the sections  212  included in the road  211 . A polynomial expressing each of the sections  212  may define a position and a shape of the section  212  within a specified distance. 
       FIG.  10    is a diagram showing a landmark according to one embodiment of the present disclosure. 
     The landmarks may include a traffic sign plate, a direction indication sign plate, roadside facilities, and a general sign plate. The traffic sign plate may be a sign plate that guides traffic conditions and regulations to be observed during driving. The traffic sign plate may include a speed limit sign plate  221 , a yield sign plate  222 , a road number sign plate  223 , a traffic signal sign plate  224 , and a stop sign plate  225 . The direction indication sign plate may be a sign plate with at least one arrow indicating at least one direction to another location. The direction indication sign plate may include a highway sign plate  226  with an arrow guiding the vehicle to another road or location and an exit sign plate  227  with an arrow guiding the vehicle out of the road. The general sign plate may be a sign plate that provides information related to a place. The general sign plate may include a signboard  228  of a famous restaurant in an area. 
     The sparse map may include a plurality of landmarks related to the road section. A simplified image of an actual image of each landmark may be stored in the sparse map. The simplified image may be composed of data depicting a feature of the landmark. The image stored in the sparse map may be expressed and recognized using a smaller amount of data than an amount of data required by the actual image. Data representing the landmark may include information to depicting or identify the landmark formed along the road. 
       FIG.  11    is a flowchart showing a method of generating a sparse map according to one embodiment of the present disclosure. 
     The vehicle control system may receive a plurality of images from a plurality of vehicles in operation  310 . Each of the plurality of cameras disposed on the vehicle may image a vehicle surrounding situation which the vehicle faces while driving along the road section and thus may capture a plurality of images showing the vehicle surrounding situation. The plurality of images showing the vehicle surrounding situation may show a shape and a situation of the vehicle&#39;s travel route. The vehicle control system may receive the plurality of images captured by the plurality of cameras. 
     The vehicle control system may identify at least one feature on a road surface in operation  320 . The vehicle control system may simplify a feature of the road surface running along the road section as a representation of at least one line, based on the plurality of images. The simplified line representation of the feature of the road surface may represent a route along the road section substantially corresponding to the road surface feature. The vehicle control system may analyze the plurality of images received from the plurality of cameras to identify an edge or a lane mark of a road. The vehicle control system may determine a driving trajectory following a road section associated with the edge of the road or the lane mark thereof. A trajectory or line representation may include a spline, a polynomial expression, or a curve. The vehicle control system may determine the vehicle&#39;s driving trajectory based on the camera&#39;s itself-movement, such as 3D translation and/or 3D rotational movement. 
     The vehicle control system may identify a plurality of landmarks related to the road in operation  330 . The vehicle control system may analyze the plurality of images received from the camera to identify at least one landmark on the road section. The landmarks may include the traffic sign plate, the direction indication sign plate, the roadside facilities, and the general sign plate. The analysis may include a rule for admitting and rejecting a determination that the landmark may be a landmark related to a road section. The analysis may include a rule in which when a ratio of images in which the landmark appears to images in which no landmark appears exceeds a threshold value, the determination that the landmark may be a landmark related to a road section is admitted, and a rule in which when a ratio of images in which no landmark appears to images in which the landmark appears exceeds a threshold value, the determination that the landmark may be a landmark related to a road section is rejected. 
       FIG.  12    is a flowchart showing a method in which the vehicle control system according to one embodiment of the present disclosure anonymize navigation information. 
     The vehicle control system may determine at least one movement depiction of the vehicle in operation  410 . The vehicle control system may determine at least one movement depiction based on an output value of the sensor. At least one movement description may include any indicator of the vehicle&#39;s movement. For example, at least one movement depiction may include an acceleration of the vehicle, a speed of the vehicle, longitudinal and transversal positions of the vehicle at a specific time, a three-dimensional position of the vehicle, and a determined trajectory of the vehicle. 
     At least one movement depiction may include the vehicle&#39;s itself-movement depiction in a predetermined coordinate system. The itself-movement may include rotation, translation, or movement in a transverse direction, longitudinal direction, or other directions of the vehicle. The vehicle&#39;s itself-movement may be expressed using a speed, a yaw rate, a tilt or a roll of the vehicle. A self-movement depiction of the vehicle may be determined on a given level of freedom. 
     The vehicle control system may receive at least one image showing the surrounding situation of the vehicle in operation  420 . The vehicle control system may receive, from the camera, an image of the road on which the vehicle is driving and an image of a surrounding around the vehicle. 
     The vehicle control system may analyze the image to determine a road feature in operation  430 . The vehicle control system may analyze at least one image according to a command stored in the image analysis module, or utilize a learning system such as a neural network to determine at least one road feature. At least one road feature may include a road feature such as a median line of the road, an edge of the road, a landmark along the road, a pothole on the road, a turn of the road, or the like. At least one road feature may include a lane feature including an indicator indicating at least one of lane separation, lane merging, dashed-line lane indication, solid-line lane indication, a road surface color in a lane, a line color, a lane direction, or a lane type regarding a lane as detected. The lane feature may include a determination that the lane is a HOV (High-Occupancy Vehicles) lane and a determination that the lane is separated from another lane by a solid line. At least one road feature may include an indicator of a road edge. The road edge may be determined based on a detected barrier along the road edge, a detected sidewalk, a line indicating an edge, a road boundary stone along the road edge, or based on detection of an object along the road. 
     The vehicle control system may collect section information about each of a plurality of sections included in the road in operation  440 . The vehicle control system may divide the road into the plurality of sections. The vehicle control system may combine each of the plurality of sections with the road feature to collect the section information about each of the plurality of sections. The section information may include at least one movement depiction of the vehicle and/or at least one road feature relative to the section of the road. The vehicle control system may collect the section information including the movement depiction calculated in operation  410  and the road feature determined in operation  430 . 
       FIG.  13    is a flowchart showing a method in which a vehicle control system according to one embodiment of the present disclosure compares a trajectory generated using a road navigation model with sensed data and controlling an autonomous driving mode based on the comparing result. 
     The vehicle control system may apply the sparse map to an autonomous vehicle road navigation model. When using a previously stored sparse map, additional determination is required when a road environment has varied. For example, when a sparse map is created on a straight road, a drive route may change to a bypass road due to an event on the road such as construction In this way, when driving an actual road, the trajectory may be changed, and a notification about the change of the trajectory and/or a notification about whether autonomous driving is terminated may be provided. 
     The vehicle control system may initiate an autonomous driving mode in operation  510 . When the vehicle drives in the autonomous driving mode, the vehicle control system may drive the vehicle based on navigation set based on the sparse map. The vehicle control system may drive the vehicle with referring to a line-related signal actually sensed by a front camera of the vehicle. 
     The vehicle control system may measure a difference value between routes of the sparse map and the sensed data in operation  520 . The vehicle control system may measure each of a curvature of a route recognized using the sparse map and a curvature of a route recognized using the sensed data. The curvature may be expressed in a unit of R which is a reciprocal of m. The vehicle control system may measure a difference value between the curvature value of the route recognized by the sparse map and the curvature value of the route recognized using sensed data. For example, when the curvature value of the route recognized using the sparse map is 2000R and the curvature value of the route recognized using the sensed data is 1900R, the vehicle control system may calculate the difference value between the routes of the sparse map and the sensed data as 100R. 
     The vehicle control system may recognize the recognized route as a curved road when the curvature of the recognized route is smaller than or equal to a specified value. The vehicle control system may recognize the recognized route as a straight road when the curvature of the recognized route is greater than the specified value. For example, the vehicle control system may recognize the recognized route as a curved road when the recognized route has a curvature of 3000R or smaller. 
     The vehicle control system may output a first warning based on the difference value in operation  530 . The vehicle control system may output the first warning when the difference value is greater than or equal to a first threshold value. The first threshold value may be 500R. For example, when the curvature value of the route recognized using the sparse map is 1000R and the curvature value of the route recognized using the sensed data is 500R, the vehicle control system may output the first warning because the difference value between the routes of the sparse map and the sensed data is 500R. 
     The vehicle control system may output the first warning when a type of the route recognized using the sparse map and a type of the route recognized using sensed data are different from each other. The first threshold value may be 500R. For example, when the route recognized using the sparse map is a straight road with a curvature of 3100R and the route recognized using the sensed data is a curved road with a curvature of 2900R, the vehicle control system may output the first warning because the type of the route recognized using the sparse map and the type of the route recognized using sensed data are different from each other. 
     The vehicle control system may output the first warning in a pop-up form to an output device such as a cluster of the vehicle to provide a visual warning notification to the driver. The first warning may include content that it is difficult to maintain current autonomous driving due to change in the surrounding road environment. For example, the vehicle control system may output a pop-up to the cluster saying, “Switch to a manual driving mode is required due to change in a surrounding road environment”. 
     The vehicle control system may output a second warning and end the autonomous driving mode in operation  540 . The vehicle control system may output the second warning when the user input does not exist after outputting the first warning. The vehicle control system may output the second warning when the current autonomous driving mode is maintained after outputting the first warning. The second warning may be warning having a higher level than that of the first warning. For example, in order to output the second warning, the vehicle control system may output pop-up warning “switch to a manual driving mode” to the cluster and output an audible warning sound at the same time. After outputting the second warning, the vehicle control system may exit the autonomous driving mode and switch to a manual driving mode based on the user input. The vehicle control system may detect that the autonomous driving mode cannot be maintained due to change in the surrounding environment, may inform the driver that the autonomous driving mode should be terminated, and may terminate the autonomous driving mode based on the user input. 
       FIG.  14    is a flowchart showing a method in which a vehicle control system according to one embodiment of the present disclosure compares a route recognized using a sparse map with a route recognized using sensed data and controlling an autonomous driving mode based on the comparing result. 
     The vehicle control system may initiate the autonomous driving mode in operation  610 . 
     The vehicle control system may identify whether or not both the sparse map and the sensed data are recognized as curves in operation  620 . The vehicle control system may identify whether both a route recognized using the sparse map and a route recognized using the sensed data are curves. When the vehicle control system identifies that both the sparse map and the sensed data are recognized as curves in operation  620  (operation  620 —YES), the vehicle control system may proceed to operation  630 . When the vehicle control system identifies that at least one of the sparse map and the sensed data is recognized as a straight line in operation  620  (operation  620 —NO), the vehicle control system may proceed to operation  640 . 
     The vehicle control system may identify whether a difference between a first curvature based on the sparse map and a second curvature based on sensed data is greater than or equal to a first threshold value in operation  630 . The first curvature may be a forward road curvature of the sparse map. The second curvature may be a forward road curvature based on forward camera sensing data. The first threshold value may be 500R. When the difference between the first curvature based on the sparse map and the second curvature based on the sensed data is greater than the first threshold value in operation  630  (operation  630 —YES), the vehicle control system may proceed to operation  660 . When the difference between the first curvature based on the sparse map and the second curvature based on the sensed data is smaller than the first threshold value in operation  630  (operation  630 —NO), the vehicle control system may proceed to operation  650 . 
     The vehicle control system may identify whether the sparse map and the sensed data recognize the road in different forms in operation  640 . The vehicle control system may identify whether the sparse map and the sensed data recognize the same road in different forms such as a straight road and a curved road. The vehicle control system may proceed to operation  660  when the sparse map and the sensed data recognize the road in the different forms in operation  640  (operation  640 —YES). When the vehicle control system identifies that the sparse map and the sensed data recognize the road in the same form in operation  640  (operation  640 —NO), the vehicle control system may proceed to operation  650 . 
     The vehicle control system may continue to drive in the autonomous driving mode in operation  650 . The vehicle control system may determine that the route according to the sparse map matches the route according to the sensed data and thus may maintain a current autonomous driving mode. 
     The vehicle control system may determine that a navigation model of the sparse map and an actual road environment are different from each other in operation  660 . The vehicle control system may determine that the actual road environment is different from information stored in the sparse map due to change in the external environment such as road construction. 
     The vehicle control system may output a first warning in operation  670 . The vehicle control system may display a warning visually on the vehicle&#39;s output device. 
     The vehicle control system may output a second warning in operation  680 . The vehicle control system may output a warning with a higher level than the first warning visually and audibly on the vehicle&#39;s output device. The vehicle control system may output the second warning when the user input does not exist after outputting the first warning. 
     The vehicle control system may switch to a manual driving mode in operation  690 . The vehicle control system may exit the autonomous driving mode and initiate the manual driving based on the user input. 
       FIG.  15    is a diagram showing that the vehicle control system according to one embodiment of the present disclosure corrects a route generated based on a target trajectory, based on a vehicle position. 
     The vehicle control system may set, as a target trajectory, a trajectory along which the vehicle travels when the vehicle is positioned at a reference position  710 . The vehicle control system may generate a route along which the vehicle wants to drive based on the target trajectory. 
     The vehicle control system may detect a current position  720  of the vehicle. The vehicle control system may correct the route created based on the target trajectory according to the current position  720  of the vehicle. The vehicle control system may control the vehicle to drive along the corrected route. 
     In particular, in an existing autonomous driving technology, when generating a plurality of routes using some target trajectories in a road having a plurality of lines, only an offset amount of a line is taken into consideration to generate the plurality of routes. Thus, the plurality of routes may have an error that a line offset of a previous target trajectory had in a non-corrected manner and there is a possibility that the error value becomes larger in a process of generating the plurality of routes. 
     When generating a plurality of routes using some target trajectories in a road having a plurality of lines, the vehicle control system generates the plurality of routes in a corrected state such that the vehicle is positioned in a median of a lane, thereby reducing an error occurring when generating the plurality of routes. 
     The vehicle control system may calculate the target trajectory, a width of the lane, and a current position of the vehicle on the lane. The vehicle control system may calculate the current position of the vehicle based on vehicle specifications. The vehicle control system may calculate a distance from a center of the vehicle to a left line, a distance from the center of the vehicle to a right line, and a width of the lane using the sensor. 
     The vehicle control system may perform a correction operation to correct a calculated current position of the vehicle to the median of the lane. The vehicle control system may perform the correction operation such that the corrected position of the vehicle is spaced from both side lines by the same spacing. The vehicle control system may correct the position of the vehicle so that the vehicle is spaced from each of both side lines by a value obtaining by adding the distance from the center of the vehicle to the left line and the distance from the center of the vehicle to the right line to each other and then dividing the adding result by 2. 
     The vehicle control system may generate the target trajectory based on an exact median in the lane as the corrected position of the vehicle. The vehicle control system may generate the plurality of routes based on the vehicle&#39;s position and the target trajectory. The vehicle control system may generate the plurality of routes with a reduced error by following the median of the lane rather than generating the plurality of routes based on the target trajectory generated to be biased toward one side line. The vehicle control system may generate each of the plurality of routes for each of lines included in the lane. 
     The vehicle control system according to the present disclosure may improve accuracy of a travel route on which the vehicle is to drive. 
     In addition, various effects directly or indirectly identified via the present disclosure may be provided. 
     Hereinabove, although the present disclosure has been described with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but may be variously modified and altered by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure claimed in the following claims.