Vehicle determining a driving route based on pass priority and a method for operating the vehicle
View Patent ↗A vehicle includes a position recognition module that creates position information, a road information combining module configured to create first precise map information including a driving route of the vehicle, an object combining module that creates second precise map information including a driving route of a surrounding vehicle around the present vehicle, a lane link determination module that selects, from the second precise map information, a lane link at which a first lane and a second lane intersect or join each other, a target determination module configured to determine a target vehicle, a pass priority determination module that determines a pass priority at which each of the present vehicle and the target vehicle passes through the lane link, an object route creation module that creates a driving route of the target vehicle, and an adaptive route determination module that determines an adaptive driving route of the present vehicle.
1. A vehicle comprising:
a position recognition module configured to create position information using map information, and detected information collected by at least one sensor, wherein the detected information includes information about the vehicle, and surrounding information around the vehicle;
a road information combining module configured to create first precise map information including a driving route of the vehicle based on the position information and the map information;
an object combining module configured to create second precise map information including a driving route of a surrounding vehicle around the vehicle based on the detected information and the first precise map information;
a lane link determination module configured to select, from the second precise map information, a lane link at which a first lane belonging to the driving route of the vehicle and a second lane belonging to the driving route of the surrounding vehicle intersect or join each other;
a target determination module configured to determine, as a target vehicle, the surrounding vehicle that is likely to collide with the vehicle among surrounding vehicles passing through the lane link based on the second precise map information;
a pass priority determination module configured to determine a pass priority at which each of the vehicle and the target vehicle passes through the lane link based on the second precise map information;
an object route creation module configured to create a driving route of the target vehicle, based on the second precise map information, the pass priority of the vehicle, and the pass priority of the target vehicle;
an adaptive route determination module configured to determine an adaptive driving route of the vehicle corresponding to the driving route of the target vehicle based on the second precise map information, the pass priority of the vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle; and
a controller module configured to control driving of the vehicle based on the adaptive driving route of the vehicle,
wherein the driving route of the surrounding vehicle includes a route along which the surrounding vehicle drives for a preset time duration from a current position of the surrounding vehicle, and
wherein the preset time duration corresponds to a driving route update period of the vehicle,
wherein the adaptive route determination module is configured to determine the adaptive driving route of the vehicle based on the pass priority of the vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle when a difference between a first time-point at which the vehicle passes through the lane link and a second time-point at which the surrounding vehicle passes through the lane link is smaller than or equal to a first time duration and greater than a second time duration, and
wherein the first time duration is a maximum time duration for which the vehicle is expected to be likely to collide with the surrounding vehicle.
2. The vehicle of claim 1 , wherein the target determination module is configured to determine the surrounding vehicle as the target vehicle when the difference between the first time-point at which the vehicle passes through the lane link and the second time-point at which the surrounding vehicle passes through the lane link is smaller than the first time duration.
3. The vehicle of claim 2 , wherein the adaptive route determination module is configured to determine a driving route in which the vehicle and the target vehicle do not collide each other as an adaptive driving route of the vehicle when the difference between the first time-point and the second time-point is smaller than the second time duration.
4. The vehicle of claim 3 , wherein the pass priority determination module is configured to determine the pass priority of the vehicle and the pass priority of the surrounding vehicle when the difference between the first time-point and the second time-point is greater than or equal to the second time duration, and the difference between the first time-point and the second time-point is smaller than or equal to the first time duration.
5. The vehicle of claim 2 , wherein the adaptive route determination module is configured to determine a driving route that minimizes a collision impact of the vehicle as the adaptive driving route of the vehicle when the difference between the first time-point and the second time-point is smaller than a third time duration,
wherein the third time duration is a minimum time duration for which the vehicle does not collide with the target vehicle.
6. The vehicle of claim 2 , wherein the second precise map information includes at least one of type information about the lane link, entry state information of the vehicle entering into the lane link, driving road information about the vehicle, or traffic signal information about the lane link.
7. The vehicle of claim 6 , wherein when the lane link is a U-turn section, the pass priority determination module is configured to:
determine that the pass priority of the vehicle that performs a U-turn according to a U-turn signal is higher than a pass priority of each of other vehicles; and
determine that the pass priority of the vehicle that U-turns without the U-turn signal is lower than the pass priority of each of other vehicles.
8. The vehicle of claim 6 , wherein when the lane link is a join section, the pass priority determination module is configured to determine that a pass priority of a vehicle joining the join section from a road without a yield sign is higher than a pass priority of another vehicle joining the join section from a road with a yield sign.
9. The vehicle of claim 8 , wherein when the yield sign is absent, the pass priority determination module is configured to determine that a pass priority of a vehicle joining the join section from a main road is higher than a pass priority of a vehicle joining the join section from a join road.
10. The vehicle of claim 6 , wherein when the lane link is an intersection having a traffic signal, the pass priority determination module is configured to determine that a pass priority of a vehicle driving under the traffic signal is higher than a pass priority of another vehicle driving not under the traffic signal.
11. The vehicle of claim 6 , wherein when the lane link is an intersection free of a traffic signal, the pass priority determination module is configured to determine that a pass priority of a vehicle which has first entered the intersection is higher than a pass priority of a vehicle which has later entered the intersection.
12. The vehicle of claim 11 , wherein when vehicles enter the intersection at the same time, or any vehicle does not enter the intersection,
the pass priority determination module is configured to determine that a pass priority of a vehicle driving on a road having a larger number of lanes is higher than a pass priority of a vehicle driving on a road having a smaller number of lanes.
13. The vehicle of claim 12 , wherein when the vehicles respectively drive on roads having the same number of the lanes,
the pass priority determination module is configured to determine that a pass priority of a vehicle turning right or going straight is higher than a pass priority of a vehicle turning left.
14. The vehicle of claim 12 , wherein when a first lane on which a present vehicle drives and a second lane on which the target vehicle drives are perpendicular, and a driving position of the target vehicle is located at right side of driving direction of the present vehicle,
the pass priority determination module is configured to determine that a pass priority of the target vehicle is higher than a pass priority of the present vehicle.
15. The vehicle of claim 6 , wherein when the lane link is a roundabout,
the pass priority determination module is configured to determine that a pass priority of a vehicle rotating in the roundabout is higher than a pass priority of another vehicle entering the roundabout.
16. The vehicle of claim 2 , wherein when the pass priority of the vehicle is higher than the pass priority of the target vehicle, the object route creation module is configured to apply deceleration of the target vehicle to the second precise map information to create the driving route of the target vehicle.
17. The vehicle of claim 16 , wherein the adaptive route determination module is configured to determine the driving route of the vehicle as the adaptive driving route of the vehicle.
18. The vehicle of claim 17 , wherein when the target vehicle drives not under the driving route of the target vehicle,
the adaptive route determination module is configured to determine the adaptive driving route of the vehicle, based on a first time-point at which the vehicle passes through the lane link, and a third time-point at which a target vehicle that does not follow the driving route of the target vehicle passes through the lane link.
19. The vehicle of claim 2 , wherein when the pass priority of the vehicle is lower than the pass priority of the target vehicle, the object route creation module is configured to create the driving route of the surrounding vehicle contained in the second precise map information as the driving route of the target vehicle.
20. The vehicle of claim 19 , wherein the adaptive route determination module is configured to apply deceleration of the vehicle to the second precise map information to determine the adaptive driving route of the vehicle.
21. A method for operating a vehicle, the method comprising:
creating, by a position recognition module, position information using map information, and detected information collected by at least one sensor, wherein the detected information includes information about a present vehicle, and surrounding information around the present vehicle;
creating, by a road information combining module, first precise map information including a driving route of the present vehicle based on the position information and the map information;
creating, by an object combining module, second precise map information including a driving route of a surrounding vehicle around the present vehicle based on the detected information and the first precise map information;
selecting, by a lane link determination module, from the second precise map information, a lane link at which a first lane belonging to the driving route of the present vehicle and a second lane belonging to the driving route of the surrounding vehicle intersect or join each other;
determining, by a target determination module, as a target vehicle, the surrounding vehicle that is likely to collide with the present vehicle among the surrounding vehicles passing through the lane link, based on the second precise map information;
determining, by a pass priority determination module, a pass priority at which each of the present vehicle and the target vehicle passes through the lane link, based on the second precise map information;
creating, by an object route creation module, a driving route of the target vehicle, based on the second precise map information, the pass priority of the present vehicle, and the pass priority of the target vehicle;
determining, by an adaptive route determination module, an adaptive driving route of the present vehicle corresponding to the driving route of the target vehicle, based on the second precise map information, the pass priority of the present vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle;
determining, by the adaptive route determination module, the adaptive driving route of the vehicle based on the pass priority of the vehicle, the pass priority of the target vehicle, and the driving route of the target vehicle when a difference between a first time-point at which the vehicle passes through the lane link and a second time-point at which the surrounding vehicle passes through the lane link is smaller than or equal to a first time duration and greater than a second time duration; and
controlling, by a controller module, driving of the vehicle based on the adaptive driving route of the vehicle,
wherein the driving route of the surrounding vehicle includes a route along which the surrounding vehicle drives for a preset time duration from a current position of the surrounding vehicle,
wherein the preset time duration corresponds to a driving route update period of the vehicle, and
wherein the first time duration is a maximum time duration for which the vehicle is expected to be likely to collide with the surrounding vehicle.