Autonomous vehicle and method for controlling stop thereof

1 . An autonomous vehicle comprising:

a processor configured to classify stop zones depending on predetermined requirement, to select one of the classified stop zones as a stop point by determining a degree of suitability of the classified stop zones based on the predetermined requirement, and to control the autonomous vehicle to stop at the selected stop point when the autonomous vehicle is commanded to stop; and

a storage configured to store data and algorithms driven by the processor,

wherein the predetermined requirement includes at least one of a stop zone designated when the vehicle is stopped, a distance from a station, posture information of the vehicle, a path to arrive at the stop point, a path leaving a station from the stop point, or any combination thereof,

wherein the processor is configured to add up the degree of suitability in a boarding zone of the autonomous vehicle into the degree of suitability assigned to the stop zone, and classify a stop zone in which boarding and alighting of an occupant is to be obstructed by an obstacle or an already stopped vehicle as a stop dangerous zone,

wherein the processor is configured to assign a priority or a degree of stop suitability which is lower than a predetermined reference value to the stop dangerous zone.

2 . The autonomous vehicle of claim 1 , wherein the predetermined requirement further includes obstacles around the station, vehicles parked near to the station, a position and a number of occupants around the station.

3 . The autonomous vehicle of claim 1 ,

wherein the degree of suitability is a numerical value of a degree of suitability for the autonomous vehicle to stop, and

wherein the processor is configured to determine a magnitude of the degree of suitability to be provided to the stop zone and whether to increase or decrease the magnitude depending on priority of the predetermined requirement.

4 . The autonomous vehicle of claim 3 , wherein the processor

is configured to partition the classified stop zones in accordance with boundaries or

is configured to generate the stop zone in a grid structure including a unit area, and

is configured to partition the classified stop zones along a grid that includes the classified stop zones.

5 . The autonomous vehicle of claim 3 ,

wherein the boarding zone is a zone for the occupant to board the autonomous vehicle, and includes smaller than a predetermined radius based on a boarding entrance of the autonomous vehicle.

6 . The autonomous vehicle of claim 1 , wherein the processor is configured to give a stop zone designated by laws a higher priority or a higher degree of stop suitability than a stop zone not designated by laws.

7 . The autonomous vehicle of claim 1 , wherein the processor is configured to give a priority or the degree of suitability which is lowered as a distance from a station is increased.

8 . The autonomous vehicle of claim 1 , wherein the processor is configured to classify a stop zone in which an obstacle or an already stopped vehicle exists as an impossible stop zone.

9 . The autonomous vehicle of claim 8 , wherein the processor is configured to give a lowest priority or a lowest degree of stop suitability to a zone where the vehicle is unable to stop, or to not include a zone in a vehicle body area drawn when the vehicle stops.

10 . The autonomous vehicle of claim 1 , wherein the processor is configured to assign a priority or a degree of stop suitability which is higher than a predetermined reference value to the stop zone adjacent to the occupant when the occupant is positioned around a station.

11 . The autonomous vehicle of claim 10 , wherein the processor is configured to assign and add a high priority or a high degree of stop suitability depending on a predetermined number of occupants in the stop zone, or in a case of an occupant group positioned around the station, to give a priority or a degree of stop suitability to a unit area which is equal to a width of the occupant group, but to assign the priority or the degree of stop suitability which is decreased as a distance from a center portion of the occupant group increases.

12 . The autonomous vehicle of claim 1 , wherein the processor is configured to give a higher priority or a higher degree of stop suitability when a posture of the autonomous vehicle is parallel to a station, and to give a lower priority or a lower degree of stop suitability as a magnitude of a twisted angle between the autonomous vehicle and the station is greater.

13 . The autonomous vehicle of claim 1 , wherein the processor is configured to determine a path arriving at one of predetermined stop points or a path leaving the station from the stop point.

14 . The autonomous vehicle of claim 13 , wherein the processor is configured:

to assign and add a higher priority or a higher degree of stop suitability to a zone where a path is able to be determined than a zone where the path is not able be determined, or

to exclude a corresponding position and posture when selecting one stop point when the path is not able to be determined based on a stopped position and a posture of the autonomous vehicle when stopped.

15 . The autonomous vehicle of claim 1 , further including

a detecting device configured to detect the autonomous vehicle and a vicinity of the station,

wherein the processor is configured to classify objects around the station or to assign a priority or a degree of stop suitability to the stop zone based on station surrounding data detected through the detecting device.

16 . The autonomous vehicle of claim 15 , further including:

a position obtaining device configured to obtain a position of the autonomous vehicle or surrounding map information of the autonomous vehicle,

wherein the processor is configured to classify a stop zone including map information obtained from the position obtaining device, or to assign and add the priority or the degree of stop suitability.

17 . A stop control method for an autonomous vehicle, the stop control method comprising:

classifying, by a processor, a vicinity of a station into at least one stop zone based on a predetermined requirement when the autonomous vehicle is stopped;

assigning, by the processor, a degree of stop suitability to the classified stop zone;

selecting, by the processor, one stop point based on the degree of stop suitability of the classified stop zone; and

controlling, by the processor, the autonomous vehicle to stop at the selected stop point,

wherein the predetermined requirement includes at least one of a stop zone designated when the vehicle is stopped, a distance from a station, posture information of the vehicle, a path to arrive at the stop point, a path leaving a station from the stop point, or any combination thereof, and

wherein the assigning, by the processor, a degree of stop suitability to the classified stop zone include adding up the degree of suitability in a boarding zone of the autonomous vehicle into the degree of suitability assigned to the stop zone; and

classifying, by the processor, a stop zone in which boarding and alighting of an occupant is to be obstructed by an obstacle or an already stopped vehicle as a stop dangerous zone,

wherein the processor is configured to assign a priority or a degree of stop suitability which is lower than a predetermined reference value to the stop dangerous zone.

18 . The stop method of controlling claim 17 ,

wherein the predetermined requirement further includes obstacles around the station, vehicles parked near to the station, a position and a number of occupants around the station.