VIRTUAL LANE GENERATION APPARATUS AND METHOD BASED ON TRAFFIC FLOW INFORMATION PERCEPTION FOR AUTONOMOUS DRIVING IN ADVERSE WEATHER CONDITIONS

摘要

Disclosed is a method for generating a virtual lane for assisting autonomous driving, the method comprising the steps of: deriving a driving history by accumulating driving data of at least one surrounding vehicle measured by a composite sensor according to the passage of time; classifying the driving history into at least one driving section according to a driving pattern on the basis of self-attention implemented by a convolutional neural network (CNN); deriving a weighted driving history of the at least one surrounding vehicle by assigning a weight to the at least one driving section on the basis of the self-attention; determining a driving trajectory of the at least one surrounding vehicle by performing curve fitting on the weighted driving history through the CNN; and generating a virtual lane on an HD map for assisting autonomous driving on the basis of the driving trajectory.