Apparatus for controlling competition of autonomous vehicle, system having the same and method thereof

1. An apparatus for controlling competition of an autonomous vehicle, the apparatus comprising:

an autonomous drive determination device configured to determine that the autonomous vehicle is configured for entering a competitive space in a situation where the autonomous vehicle is required to move into the competitive space during autonomous driving;

a vehicle control device configured to control the autonomous vehicle wherein the autonomous vehicle enters the competitive space when the vehicle is configured for entering the competitive space; and

when the autonomous vehicle fails to enter the competitive space after attempting to enter the competitive space, a vehicle competition control device is configured to determine a first competition waiting time based on a random variable, and determine the random variable using a number of entries in which the autonomous vehicle fails to enter into the competitive space and control, such that the attempt to enter the competitive space is held for the first competition waiting time.

2. The apparatus of claim 1 , wherein the vehicle competition control device comprises:

an entry success determination device configured to determine that the autonomous vehicle enters the competitive space; and

a waiting time determination device configured to determine the first competition waiting time based on an order of priority into the competitive space when the autonomous vehicle fails to enter the competitive space.

3. The apparatus of claim 2 , wherein the waiting time determination device

is configured to determine the first competition waiting time based on the order of priority or the number of entries into the competitive space when the vehicle first fails to enter the competitive space, and

is configured to determine a second competition waiting time based on the order of priority or the number of entries into the competitive space when the autonomous vehicle fails to enter the competitive space at least twice.

4. The apparatus of claim 3 , wherein the waiting time determination device increases the first competition waiting time or the second competition waiting time as the priority is lower or the number of entries into the competitive space is increased.

5. The apparatus of claim 3 , wherein the waiting time determination device gives a high priority to a vehicle that tries to change to an outermost lane for turning right on a path or a vehicle that tries to change to a first lane or a left pocket lane for turning left on the path.

6. The apparatus of claim 1 , wherein the vehicle control device is configured to control the autonomous vehicle wherein the autonomous vehicle re-enters the competitive space after waiting for the first competition waiting time or a second competition waiting time.

7. The apparatus of claim 1 , wherein, when the competition space entry fails, the vehicle control device is configured to control the autonomous vehicle wherein the autonomous vehicle holds the entry into the competitive space and returns to a previous traveling region or stops.

8. The apparatus of claim 1 , wherein the situation where the autonomous vehicle is required to move into the competitive space includes

one or more of a non-traffic-light intersection situation, an entry or exit lane existence situation, a lane dividing or merging situation, a situation in which vehicles change to a same lane, and a rotary intersection entry or exit situation.

9. The apparatus of claim 1 , wherein the autonomous drive determination device includes:

an autonomous path generation device configured to generate an autonomous traveling path for autonomous traveling to a destination;

an autonomous trajectory generation device configured to generate a movement route when entering the competitive space in the autonomous traveling path; and

an autonomous strategy generation device configured to determine that it is possible to enter the competitive space.

10. The apparatus of claim 9 , wherein the autonomous strategy generation device is configured to determine whether it is possible for the autonomous vehicle to collide with a competitor vehicle when the autonomous vehicle enters the competitive space.

11. The apparatus of claim 9 , wherein the vehicle control device is configured to control the autonomous vehicle such that the autonomous vehicle travels along the autonomous traveling path and such that the vehicle travels along a trajectory when the autonomous strategy generation device is configured to determine that it is possible to enter the competitive space.

12. A system for controlling competition of an autonomous vehicle, the system comprising:

an apparatus for recognizing a surrounding situation configured to photograph and detect a surrounding situation; and

an apparatus for controlling competition of the autonomous vehicle configured to determine that the autonomous vehicle is configured for entering a competitive space in a situation where the autonomous vehicle is required to move into the competitive space during autonomous driving, to control the autonomous vehicle such that the autonomous vehicle enters the competitive space when the autonomous vehicle is configured for entering the competitive space, and, when the autonomous vehicle fails to enter the competitive space after attempting to enter the competitive space, to determine a first competition waiting time based on a random variable, and determine the random variable using a number of entries in which the autonomous vehicle fails to enter into the competitive space and control such that the attempt to enter the competitive space is held for the first competition waiting time.

13. The system of claim 12 , wherein the apparatus for recognizing the surrounding situation includes:

a camera configured to photograph the surrounding situation; and

a sensor device configured to detect a surrounding vehicle.

14. A method for controlling competition of an autonomous vehicle, the method comprising:

determining that the autonomous vehicle is configured for entering a competitive space in a situation where the autonomous vehicle is required to move into the competitive space during autonomous driving;

when the autonomous vehicle fails to enter the competitive space after attempting to enter the competitive space, controlling the autonomous vehicle such that the autonomous vehicle holds the entry into the competitive space and returns to a previous traveling direction or stops;

determining a competition waiting time randomly based on an order of priority and a number of entries in which the autonomous vehicle fails to enter into the competitive space; and

attempting to re-enter the competitive space after waiting for the competition waiting time.

15. The method of claim 14 , further including:

determining a second competition waiting time based on the order of priority or a number of entries when the number of times of failure to enter the competitive space is at least twice or more.

16. The method of claim 15 , wherein the determining of the second competition waiting time includes:

increasing the second competition waiting time as the order of priority is low or the number of entries increases.

17. The method of claim 15 , further including:

controlling the autonomous vehicle such that the autonomous vehicle attempts to re-enter the competitive space after waiting for the second competition waiting time.

18. The method of claim 14 , wherein the situation where the autonomous vehicle is required to move into the competitive space includes one or more of a non-traffic-light intersection situation, an entry or exit lane existence situation, a lane dividing or merging situation, a situation in which vehicles change to a same lane, and a rotary intersection entry or exit situation.