Vehicle for Controlling Steering in Stopping on Shoulder of Minimum Risk Maneuver During Autonomous Driving and Method of Operating the Vehicle
Vehicle for Controlling Steering in Stopping on Shoulder of Minimum Risk Maneuver During Autonomous Driving and Method of Operating the Vehicle
An apparatus for controlling autonomous driving of a vehicle may comprise at least one sensor configured to detect the surrounding environment of the vehicle and generate surrounding environment information. A processor monitors the state of the vehicle to generate vehicle state information and determines, based on either the surrounding environment information or the vehicle state information, whether to perform a risk maneuver during autonomous driving. If a risk maneuver is determined, the processor identifies the risk maneuver type. If the risk maneuver type is a shoulder stop, the processor determines a shoulder stop allowance space and, based on this space, calculates a shoulder driving trajectory. The processor outputs a signal indicating the shoulder driving trajectory and controls the vehicle's autonomous driving based on the signal.