Agency for Defense Development

Jeong Sook Chae

Yong Woon Park

Tok Son Choe

Jun Han Kim

Disclosed are a steering control device of an autonomous vehicle, an autonomous vehicle having the same, and a steering control method of an autonomous vehicle. The steering control method comprises receiving a position of an autonomous vehicle, and a first heading angle of the autonomous vehicle with respect to the north; calculating a second heading angle of the autonomous vehicle toward a tracking waypoint based on the position of the autonomous vehicle, and computing a rotation radius of the autonomous vehicle with respect to the tracking waypoint; calculating a yaw rate based on a speed of the autonomous vehicle and the computed rotation radius, and generating a steering command corresponding to the calculated yaw rate; and compensating for the steering command based on the first and second heading angles.

Steering control device of autonomous vehicle, autonomous vehicle having the same and steering control method of autonomous vehicle

Disclosed is apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle, comprising an upper 2D laser radar, a lower 2D laser radar, and a processing unit, the processing unitcomprising a distance data receiving part, an inclination calculating part, a ground and obstacle determining part, and a transmitting part. Also disclosed is a method for distinguishing between ground and an obstacle for autonomous mobile vehicle by using the apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle of claim, in which the detected object is determined as an obstacle when the actual inclination (g) of the detected object is larger than the reference inclination, and as ground when the actual inclination (g) of the detected object is smaller than the reference inclination.

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Daejeon, South Korea

Jeong Sook Chae