Granted Patent B2

US 12,497,069 · App. 18/509,875 · Granted Dec 16, 2025

Inventors: Ga Hee Kim (Seoul, KR); Yun Sub Kim (Suwon-Si, KR); Hwan Hee Lee (Gunpo-Si, KR); Seung Yong Lee (Uiwang-Si, KR)

B60W60/001B60W2420/403B60W2420/408B60W2530/201B60W2720/10

Abstract

Claims (69)

1 . A first autonomous driving device comprising:

at least one sensor;

a processor; and

storage comprising a database, wherein the database stores information about a plurality of autonomous driving devices,

wherein the processor is configured to:

detect, using the at least one sensor, an obstacle that is present on a passage in a first driving path, of the first autonomous driving device, to a destination;

determine whether there is a need for the first autonomous driving device to cross paths with the obstacle to pass through the passage;

determine, based on the need, a time to collision by the first autonomous driving device with the obstacle;

determine, based on a determination that the time to collision is less than a threshold time, whether the obstacle is a second autonomous driving device associated with the information stored in the database;

identify, based on the obstacle being the second autonomous driving device associated with the information, a driving rule corresponding to the second autonomous driving device, the driving rule being stored in the storage;

determine, based on the driving rule, a second driving path for passing through the passage; and

control the first autonomous driving device to drive on the passage along the second driving path.

2 . The first autonomous driving device of claim 1 , wherein the at least one sensor comprises at least one of: an image sensor or a light detection and ranging (LiDAR) sensor.

3 . The first autonomous driving device of claim 1 , wherein the plurality of autonomous driving devices comprises the first autonomous driving device and the second autonomous driving device, and wherein the driving rule comprises one or more criteria for determining an autonomous driving device of the plurality of autonomous driving devices to drive along the passage and an autonomous driving device of the plurality of autonomous driving devices to move to an edge of the passage, based on at least one of: a width of the passage, a size of each of the first autonomous driving device and the second autonomous driving device, a sensor configuration, or a measurement range of a sensor.

4 . The first autonomous driving device of claim 1 , wherein the information about the plurality of autonomous driving devices comprises at least one of: identification information about each of the plurality of autonomous driving devices, manufacturer information about each of the plurality of autonomous driving devices, size information about each of the plurality of autonomous driving devices, information about a configuration of a sensor included in each of the plurality of autonomous driving devices, or information about a measurement range of a predetermined sensor.

5 . The first autonomous driving device of claim 1 , wherein the processor is configured to determine whether the obstacle is the second autonomous driving device by:

analyzing an image corresponding to the obstacle, the image being obtained using the at least one sensor; and

determining, based on the analyzed image, whether the obstacle is the second autonomous driving device.

6 . The first autonomous driving device of claim 1 , wherein the processor is further configured to:

determine, using the at least one sensor, whether there is a person around the obstacle, based on the obstacle not being the second autonomous driving device associated with the information stored in the database;

output, based on the person being around the obstacle, an alert to notify that the obstacle is present;

determine a third driving path following one edge of the passage; and

control the first autonomous driving device to drive on the passage along the third driving path.

7 . The first autonomous driving device of claim 6 , wherein the processor is further configured to, based on a determination that no person is around the obstacle, determine a fourth driving path which does not include the passage and control the first autonomous driving device to drive along the fourth driving path.

8 . The first autonomous driving device of claim 1 , wherein the processor is further configured to:

determine, based on a size and a position of the obstacle, a width of an unobstructed space on the passage at a location where the first autonomous driving device is expected to cross paths with the obstacle;

maintain a driving speed of the first autonomous driving device at a predetermined first speed, based on the width of the unobstructed space being greater than a first reference value;

decrease the driving speed of the first autonomous driving device to a second predetermined speed lower than the predetermined first speed, based on the width of the unobstructed space being less than or equal to the first reference value and being greater than a second reference value; and

determine another driving path that does not pass through the passage, based on the width of the unobstructed space being less than or equal to the second reference value.

9 . The first autonomous driving device of claim 8 , wherein the processor is further configured to determine the first reference value and the second reference value based on information about a size of the first autonomous driving device and a measurement range of the at least one sensor.

10 . The first autonomous driving device of claim 1 , further comprising:

a communication circuit,

wherein the processor is further configured to:

receive, from an external device associated with the first autonomous driving device and through the communication circuit, the information about the plurality of autonomous driving devices or information about an additional autonomous driving device; and

update the database and the driving rule based on the information about the plurality of autonomous driving devices or the information about the additional autonomous driving device.

11 . The first autonomous driving device of claim 10 , wherein the processor is further configured to transmit, through the communication circuit, a message indicating that it is impossible to pass through the passage due to the obstacle or that it is unable to find a path for reaching the destination.

12 . A driving control method comprising:

detecting, using at least one sensor of a first autonomous driving device, an obstacle that is present on a passage in a first driving path, of the first autonomous driving device, to a destination;

determine whether there is a need for the first autonomous driving device to cross paths with the obstacle to pass through the passage;

determining, based on the need, a time to collision by the first autonomous driving device with the obstacle;

determining, based on a determination that the time to collision is less than a threshold time, whether the obstacle is a second autonomous driving device associated with information, about a plurality of autonomous driving devices, stored in a database;

identifying, based on the obstacle being the second autonomous driving device associated with the information, a driving rule corresponding to the second autonomous driving device, the driving rule being stored in storage of the first autonomous driving device;

determining, based on the driving rule, a second driving path for passing through the passage; and

controlling the first autonomous driving device to drive on the passage along the second driving path.

13 . The driving control method of claim 12 , wherein the plurality of autonomous driving devices comprises the first autonomous driving device and the second autonomous driving device, and wherein the driving rule comprises one or more criteria for determining an autonomous driving device of the plurality of autonomous driving devices to drive along the passage and an autonomous driving device of the plurality of autonomous driving devices to move to an edge of the passage, based on at least one of: a width of the passage, a size of each of the first autonomous driving device and the second autonomous driving device, a sensor configuration, or a measurement range of a sensor.

14 . The driving control method of claim 12 , wherein the information about the plurality of autonomous driving devices comprises at least one of: identification information about each of the plurality of autonomous driving devices, manufacturer information about each of the plurality of autonomous driving devices, size information about each of the plurality of autonomous driving devices, information about a configuration of a sensor included in each of the plurality of autonomous driving devices, or information about a measurement range of a predetermined sensor.

15 . The driving control method of claim 12 , wherein the determining of whether the obstacle is the second autonomous driving device comprises:

analyzing an image corresponding to the obstacle, the image being obtained using the at least one sensor; and

determining, based on the analyzed image, whether the obstacle is the second autonomous driving device.

16 . The driving control method of claim 12 , further comprising:

determining, using the at least one sensor, whether there is a person around the obstacle, based on the obstacle being not being the second autonomous driving device associated with the information stored in the database;

outputting, based on the person being around the obstacle, an alert to notify that the obstacle is present;

determining a third driving path following one edge of the passage; and

controlling the first autonomous driving device to drive on the passage along the third driving path.

17 . The driving control method of claim 12 , further comprising:

determining, using the at least one sensor, whether there is a person around the obstacle, based on the obstacle not being the second autonomous driving device associated with the information stored in the database;

based on a determination that no person is around the obstacle, determining a fourth driving path which does not include the passage; and

controlling the first autonomous driving device to drive along the fourth driving path.

18 . The driving control method of claim 12 , further comprising:

determining, based on a size and a position of the obstacle, a width of an unobstructed space on the passage at a location where the first autonomous driving device is expected to cross paths with the obstacle; and

performing one of:

maintaining a driving speed of the first autonomous driving device at a predetermined first speed, based on the width of the unobstructed space being greater than a first reference value;

decreasing the driving speed of the first autonomous driving device to a second predetermined speed lower than the first predetermined speed, based on the width of the unobstructed space being less than or equal to the first reference value and being greater than a second reference value; or

determining another driving path that does not pass through the passage, based on the width of the unobstructed space being less than or equal to the second reference value.

19 . The driving control method of claim 18 , further comprising:

determining the first reference value and the second reference value based on information about a size of the first autonomous driving device and a measurement range of the at least one sensor.

20 . The driving control method of claim 12 , further comprising:

receiving, from an external device associated with the first autonomous driving device, the information about the plurality of autonomous driving devices or information about an additional autonomous driving device; and

updating the database and the driving rule based on the information about the plurality of autonomous driving devices or the information about the additional autonomous driving device.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (14)