Vehicle for Controlling Steering in Stopping on Shoulder of Minimum Risk Maneuver During Autonomous Driving and Method of Operating the Vehicle

原文（中国語）

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.