Granted Patent B2

US 12,617,427 · App. 18/626,133 · Granted May 5, 2026

Inventors: Sung Woo Choi (Seoul, KR); Sung Kwan Kim (Incheon, KR)

Assignees: Hyundai Motor Company; Kia Corporation

B60W60/001B60W40/10B60W2520/06

Abstract

Claims (47)

1 . An autonomous driving control apparatus, comprising:

a processor configured to receive a driving path from a navigation device operatively connected to the processor,

wherein the processor is configured to:

identify a turn section included in the driving path;

obtain, based on information related to the turn section and an identification of the turn section, a start point of the turn section, an end point of the turn section and a target vehicle heading deflection;

generate, based on the end point of the turn section and the target vehicle heading deflection, a turn path, wherein a curvature of the turn path is continuously changed;

output the turn path; and

control a vehicle to drive along the turn path,

wherein the driving path includes the information related to the turn section.

2 . The autonomous driving control apparatus of claim 1 ,

wherein the processor is further configured for estimating a maximum curvature and a maximum steering angular speed based on the end point of the turn section and the target vehicle heading deflection, and

wherein the turn path is generated based on the maximum curvature and the maximum steering angular speed.

3 . The autonomous driving control apparatus of claim 2 , wherein the processor is further configured for estimating the maximum curvature and the maximum steering angular speed using a deep neural network (DNN).

4 . The autonomous driving control apparatus of claim 2 , wherein the processor is further configured to determine an end point of a first clothoid curve and a vehicle heading and a curvature at the end point of the first clothoid curve based on the maximum curvature and the maximum steering angular speed.

5 . The autonomous driving control apparatus of claim 4 , wherein the processor is further configured to determine a clothoid length based on the maximum curvature and the maximum steering angular speed.

6 . The autonomous driving control apparatus of claim 5 , wherein the processor is further configured to determine a vehicle heading deflection in a clothoid section based on the maximum curvature and the maximum steering angular speed.

7 . The autonomous driving control apparatus of claim 6 , wherein the processor is further configured to:

determine a rotational center point based on the end point of the first clothoid curve, the vehicle heading at the end point of the first clothoid curve, and the maximum curvature; and

determine a circle curve based on the end point of the first clothoid curve, the target vehicle heading deflection, the vehicle heading deflection in the clothoid section, and the rotational center point.

8 . The autonomous driving control apparatus of claim 7 , wherein the processor is further configured to determine a second clothoid curve based on the target vehicle heading deflection and the rotational center point.

9 . The autonomous driving control apparatus of claim 8 , wherein the processor is further configured to determine the turn path using the first clothoid curve, the circle curve, and the second clothoid curve.

10 . A method for generating a driving path of an autonomous driving control apparatus, the method comprising:

receiving, by a processor, a driving path from a navigation device;

identifying, by the processor, a turn section included in the driving path;

obtaining, based on information related to the turn section and an identification of the turn section, a start point of the turn section, an end point of the turn section and a target vehicle heading deflection;

generating, by the processor, based on the end point of the turn section and the target vehicle heading deflection, a turn path, wherein a curvature of the turn path is continuously changed;

outputting, by the processor, the turn path; and

controlling, by the processor, a vehicle to drive along the turn path,

wherein the driving path includes the information related to the turn section.

11 . The method of claim 10 , wherein the determining of the turn path further includes:

estimating a maximum curvature and a maximum steering angular speed based on the end point of the turn section and the target vehicle heading deflection, and

wherein the turn path is generated based on the maximum curvature and the maximum steering angular speed.

12 . The method of claim 11 , wherein the estimating of the maximum curvature and the maximum steering angular speed includes:

estimating the maximum curvature and the maximum steering angular speed using a deep neural network (DNN).

13 . The method of claim 11 , wherein the determining of the turn path further includes:

determining an end point of a first clothoid curve and a vehicle heading and a curvature at the end point of the first clothoid curve based on the maximum curvature and the maximum steering angular speed.

14 . The method of claim 13 , wherein the determining of the turn path further includes:

determining a clothoid length based on the maximum curvature and the maximum steering angular speed.

15 . The method of claim 14 , wherein the determining of the turn path further includes:

determining a vehicle heading deflection in a clothoid section based on the maximum curvature and the maximum steering angular speed.

16 . The method of claim 15 , wherein the determining of the turn path further includes:

determining a rotational center point based on the end point of the first clothoid curve, the vehicle heading at the end point of the first clothoid curve, and the maximum curvature; and

determining a circle curve based on the end point of the first clothoid curve, the target vehicle heading deflection, the vehicle heading deflection in the clothoid section, and the rotational center point.

17 . The method of claim 16 , wherein the determining of the turn path further includes:

determining a second clothoid curve based on the target vehicle heading deflection and the rotational center point.

18 . The method of claim 17 , wherein the determining of the turn path further includes:

determining the turn path using the first clothoid curve, the circle curve, and the second clothoid curve.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (14)