Apparatus and method for controlling autonomous vehicle
Disclosed is an autonomous vehicle control apparatus including a sensor that obtains sensing information associated with an entity around a vehicle, a camera that obtains an image of the entity, and one or more processor that determine whether the entity is estimated to reach the vehicle at least a predetermined time after a door of the vehicle opens, and control a position of the door.
1 . An autonomous vehicle control apparatus comprising:
a sensor configured to obtain sensing information associated with a first entity and a second entity around a vehicle;
a camera configured to obtain an image of the first entity and an image of the second entity;
one or more processors; and
memory storing instructions that, when executed by the one or more processors, cause the autonomous vehicle control apparatus to:
determine, after the vehicle stops and based on the sensing information associated with the first entity and the image of the first entity, whether the first entity is estimated to reach the vehicle at a first point in time, wherein the first point in time is identified as a point in time occurring after a predetermined time duration from a second point in time at which a door is to be opened,
based on the determination, control a position of the door, and
determine whether the second entity approaching the vehicle is estimated to board the vehicle, based on the sensing information of the second entity and the image of the second entity after causing the door open.
2 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to control the position of the door by causing the door to be closed based on a determination that the first entity is estimated to reach the vehicle at the first point in time.
3 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to control the position of the door by causing the door to be opened based on a determination that the first entity is estimated to not reach the vehicle at the first point in time.
4 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, further cause the autonomous vehicle control apparatus to, after causing the door to open, determine whether a passenger of the vehicle gets on or off the vehicle.
5 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, further cause the autonomous vehicle control apparatus to determine whether the second entity is present around the vehicle at a point in time when a passenger completely gets off or on the vehicle when it is determined that the passenger gets off or on after causing the door to open.
6 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, further cause the autonomous vehicle control apparatus to, based on determining that the second entity is not present around the vehicle at a point in time when a passenger completely gets off or on the vehicle, output a notification that the door is scheduled to be closed.
7 . The autonomous vehicle control apparatus of claim 6 , wherein the instructions, when executed by the one or more processors, further cause the autonomous vehicle control apparatus to, after outputting the notification that the door is scheduled to be closed, determine whether the second entity is approaching the vehicle.
8 . The autonomous vehicle control apparatus of claim 7 , wherein the instructions, when executed by the one or more processors, further cause the autonomous vehicle control apparatus to, based on determining that the second entity is approaching the vehicle, determine whether the second entity is estimated to board the vehicle.
9 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine whether the second entity is estimated to board the vehicle based on a time required for the second entity to reach the vehicle.
10 . The autonomous vehicle control apparatus of claim 9 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine whether the second entity is estimated to board the vehicle based on at least one of: a boarding probability that the second entity will board the vehicle or an expected route of the second entity.
11 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine whether the second entity is estimated to board the vehicle based on at least one of: a moving direction of the second entity, a moving velocity of the second entity, or tracking data of the second entity.
12 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine whether the second entity is estimated to board the vehicle based on an average moving velocity of the second entity.
13 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine whether the second entity is estimated to board the vehicle based on at least one of: a face direction of the second entity or a gaze direction of the second entity, wherein the face direction of the gaze direction is determined based on an image of the second entity.
14 . The autonomous vehicle control apparatus of claim 10 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to calculate the time required for the second entity to reach the vehicle, the boarding probability that the second entity will board the vehicle or the expected route of the second entity based on an artificial intelligence model to which the sensing information is input.
15 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to perform learning through a second artificial intelligence model by inputting an image of the second entity and pre-stored sensing information associated with the second entity and determine whether the second entity is estimated to board the vehicle, based on the learning result.
16 . The autonomous vehicle control apparatus of claim 9 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine that the second entity is estimated to board the vehicle based on the time required for the second entity to reach the vehicle is being less than or equal to a threshold time.
17 . The autonomous vehicle control apparatus of claim 10 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to determine that the second entity is estimated to board the vehicle based on the boarding probability of the entity being greater than a threshold value.
18 . The autonomous vehicle control apparatus of claim 8 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to allow the door to be opened based on determining that the second entity is estimated to board the vehicle.
19 . An autonomous vehicle control method comprising:
obtaining sensing information associated with a first entity around a vehicle;
obtaining an image of the first entity;
determining, after the vehicle stops and based on the sensing information associated with the first entity and the image of the first entity, whether the first entity is estimated to reach the vehicle at a first point in time, wherein the first point in time is identified as a point in time occurring after a predetermined time duration from a second point in time at which a door of the vehicle is to be opened;
based on the determining whether the first entity is estimated to reach the vehicle, controlling a position of the door;
after causing the door to open, determining whether a second entity approaching the vehicle is estimated to board the vehicle; and
based on the determining whether the second entity is estimated to board the vehicle, controlling the position of the door.
20 . The autonomous vehicle control apparatus of claim 1 , wherein the instructions, when executed by the one or more processors, cause the autonomous vehicle control apparatus to:
based on the determination of whether the second entity is estimated to board the vehicle, adjust a point in time at which the position of the door is to be controlled.