Hyundai Motor Company

Kia Motors Corporation

Tae Seok Lee

Seok Youl Yang

Seong Su Im

A method of determining a driving lane of an autonomous vehicle is provided. The method includes classifying, by an autonomous driving logic of an electronic control unit (ECU), at least one object sensed in front of the autonomous vehicle as a stationary object or a moving object. A clustering group is generated by clustering the stationary object and a boundary of an entire driving road is determined based on a position of a moving object approaching the subject vehicle among the moving objects and the clustering group. Additionally, the method includes comparing positions of a plurality of lanes based on lane widths of the lanes for travel of the subject vehicle with the boundary of the entire driving road and determining a driving lane of the subject vehicle.

ECU, autonomous vehicle including ECU, and method of determining driving lane for the same

Disclosed herein is a method of recognizing a vehicle near an autonomous vehicle. The method includes, using an autonomous driving logic of an electronic control unit (ECU) extracting nearby vehicle information by sensing at least one nearby vehicle from a distance sensed at each angle within a certain angular range. The method further includes calculating an misrecognition index indicating a degree of closeness of a shape of the nearby vehicle to a shape of an exhaust gas based on the nearby vehicle information, executing an exhaust gas removal algorithm for correcting the nearby vehicle information when the misrecognition index is greater than a threshold misrecognition index, and estimating movement of the nearby vehicle after a current frame using the nearby vehicle information or the corrected nearby vehicle information obtained through the exhaust gas removal algorithm.

ECU, autonomous vehicle including ECU, and method of recognizing nearby vehicle for the same

A method of controlling lane change of an autonomous vehicle is provided. The method includes determining a type of a command for lane change by an autonomous driving logic of an electronic control unit (ECU) in response to the command for lane change being generated. When the command for lane change is not a specific command for lane change, attributes of each of at least one region included in a change target region is determined using information regarding the change target region. The attributes of each of the at least one region are corrected using information regarding a lane in which the autonomous vehicle is driven and a lane change region is determined from the at least one region based on the corrected attributes of each of the at least one region.

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Seoul, South Korea

Tae Seok Lee