KR102401915B1 - System for predicting the automatic driving road section and method thereof - Google Patents

Abstract

The present invention relates to a system for predicting a possible autonomous driving section and an operating method thereof, and the system for predicting an autonomous driving section according to an embodiment of the present invention provides information about a road section to which an autonomous driving vehicle from among a plurality of autonomous driving vehicles intends to enter. A server that determines whether autonomous driving is possible and transmits the determination result of whether autonomous driving is possible to the arbitrary autonomous vehicle, and a server provided in the arbitrary autonomous vehicle, the driving mode of the arbitrary autonomous vehicle transmits information about the vehicle to the server, checks the autonomous driving possibility determination information received from the server, and considers the driving mode of the arbitrary autonomous vehicle and whether autonomous driving is possible for the desired road section and an autonomous driving device for selectively controlling the operation of the arbitrary autonomous driving vehicle.

Description

Autonomous driving possible section prediction system and its operation method {System for predicting the automatic driving road section and method thereof}

The present invention relates to autonomous vehicle technology, and more particularly, to a system for predicting whether autonomous driving is possible on a road ahead of an autonomous driving vehicle, and an operating method thereof.

Recently, among vehicle-related technologies, interest in self-driving vehicles having an unmanned driving function that automatically drives without a driver's manipulation is increasing. The autonomous vehicle analyzes the data obtained through various sensors such as satellite navigation system, inertial navigation system, radar, ultrasonic measuring instrument, laser scanner, and camera mounted on the vehicle to identify the shape of the road and obstacles. In addition, the autonomous vehicle drives while avoiding obstacles by controlling the steering and speed of the vehicle according to the identified road shape and obstacles.

However, depending on the shape of the road and the location of obstacles, autonomous driving is sometimes impossible, so there may be an environment that requires a driver's manipulation. For example, in an environment in which lanes are not drawn on the driving road due to external factors such as construction or other reasons even though it is a multi-lane road, or where the existing lanes are not properly erased due to changes in the lane paint, etc. In an environment where the road is congested due to accidental changes in the driving environment, such as an accident or temporary construction progress, etc.

In contrast, in the case of an existing map system such as a navigation system, it is possible to provide some information that can determine whether or not autonomous driving is possible, such as speed camera information on the current driving road, information on sections with frequent traffic accidents, etc. . However, such an existing map system is updated at regular intervals and does not guarantee real-time for accidents, construction, and road congestion that occur suddenly. In addition, in the case of the existing system, since autonomous driving can be detected only when the autonomous vehicle actually enters the area, the autonomous driving operation is stopped immediately after entering the area where autonomous driving is not possible, and the driver is notified at the same time. Accordingly, there is a possibility that an accident may occur because the driver does not have enough time to prepare for manual driving.

An object of the present invention is to provide an autonomous driving section prediction system including a server for predicting in advance whether autonomous driving is possible for a road section to which an autonomous driving vehicle intends to enter, and an autonomous driving device for controlling the autonomous driving vehicle according to the prediction result, and the An operation method is provided.

The autonomous driving possible section prediction system according to an aspect of the present invention for achieving the above-described problem determines whether autonomous driving is possible for a road section to which any autonomous driving vehicle among a plurality of autonomous driving vehicles intends to enter, and the determination A server that transmits resultant autonomous driving possibility determination information to the arbitrary autonomous vehicle, and a server provided in the arbitrary autonomous vehicle, and transmits information on a driving mode of the arbitrary autonomous vehicle to the server; Check the autonomous driving possibility determination information received from the server, and perform the operation of the arbitrary autonomous driving vehicle in consideration of the driving mode of the arbitrary autonomous driving vehicle and whether autonomous driving is possible for the desired road section It includes an autonomous driving device that selectively controls.

The driving mode may be a manual driving mode in which the vehicle is driven according to a manipulation of at least one of a steering wheel, an accelerator pedal, and a brake pedal of a driver of the autonomous driving vehicle, or an autonomous driving mode in which the vehicle is automatically driven according to surrounding environment information without the driver's manipulation. includes mod.

The server includes a transceiver configured to receive information on a driving mode of each of the plurality of autonomous vehicles in an arbitrary road section from an autonomous driving device provided in each of the plurality of autonomous vehicles, and in the arbitrary road section for a certain period of time. A storage unit in which driving status analysis information that analyzes driving modes of driving autonomous vehicles is constructed as a database, and a determination unit that determines whether autonomous driving is possible for the desired road section using the driving status analysis information include

In the driving status analysis information of the storage unit, the number of autonomous driving vehicles driving in the autonomous driving mode in the arbitrary road section, the number of autonomous driving vehicles driving in the manual driving mode, and changing from the autonomous driving mode to the manual driving mode At least one of the number of vehicles of the autonomous driving vehicle is included.

The determination unit considers the number of autonomous driving vehicles that change the driving mode from the autonomous driving mode to the manual driving mode among the autonomous driving vehicles driven in the desired road section, and autonomously drives the desired road section determine whether it is possible

The determination unit calculates the ratio of the number of autonomous vehicles driving by changing the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles driving while maintaining the autonomous driving mode among the autonomous driving vehicles driving in the desired road section And, if the calculated ratio is higher than the preset ratio, it is determined that autonomous driving is impossible, and when the calculated ratio is lower than or equal to the preset ratio, it is determined that autonomous driving is possible.

The determination unit determines whether autonomous driving is possible in consideration of the number of autonomous driving vehicles driving in the autonomous driving mode among the autonomous driving vehicles driving in the desired road section.

The determination unit determines that autonomous driving is possible when the ratio of the autonomous driving vehicle driving in the autonomous driving mode among the autonomous driving vehicles driven in the desired road section is higher than a preset ratio, and driving in the autonomous driving mode If the ratio of the autonomous driving vehicles is lower than or equal to the set ratio, it is determined that autonomous driving is impossible.

The autonomous driving device transmits information on the driving mode of the arbitrary autonomous vehicle to the server, and a communication unit that receives information on whether autonomous driving is possible for the road section to be entered from the server; In a state in which the current driving mode of the driving vehicle is the manual driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is possible, or in a state in which the current driving mode of the arbitrary autonomous driving vehicle is the autonomous driving mode, the and a controller configured to control the autonomous driving vehicle to notify the driver that the current driving mode can be switched when it is determined that the road section to be entered is a section in which autonomous driving is impossible.

In a state in which the current driving mode of the arbitrary autonomous driving vehicle is the autonomous driving mode, the controller determines that the road section to be entered is a section in which autonomous driving is impossible, and commands the driver to switch the autonomous driving mode to the manual driving mode. After notifying to, it is checked whether the driving mode of the arbitrary autonomous driving vehicle is switched to the manual driving mode for a predetermined time period, and when the driving mode of the arbitrary autonomous driving vehicle is not converted to the manual driving mode for the predetermined time period , control the steering and speed of the autonomous vehicle to stop in a preset safe area.

When the current driving mode of the autonomous driving vehicle is the manual driving mode, the controller determines that the road section to be entered is a section in which autonomous driving is impossible, or the current driving mode of the autonomous driving vehicle is the autonomous driving mode. In the driving mode, when it is confirmed that the road section to be entered is a section in which autonomous driving is possible, the driver is notified to maintain the current driving mode.

On the other hand, in the method of operating a server in the autonomous driving possible section prediction system according to another aspect of the present invention for achieving the above-described problem, the plurality of autonomous driving devices are used in an arbitrary road section from an autonomous driving device provided in each of a plurality of autonomous driving vehicles. Receiving information on the driving mode of each driving vehicle, constructing driving status analysis information by analyzing driving modes of autonomous driving vehicles driving in the arbitrary road section for a certain period of time, among the plurality of autonomous driving vehicles determining whether autonomous driving is possible for a road section to which an autonomous driving vehicle intends to enter; and transmitting autonomous driving possibility determination information, which is a result of the determination, to the arbitrary autonomous driving vehicle.

The building step includes the number of autonomous driving vehicles driving in the autonomous driving mode in the arbitrary road section, the number of autonomous driving vehicles driving in the manual driving mode, and the autonomous driving vehicle changing from the autonomous driving mode to the manual driving mode. Builds the driving status analysis information including at least one of the number of vehicles.

In the determining step, the ratio of the number of autonomous vehicles driving by changing the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles driving while maintaining the autonomous driving mode among the autonomous driving vehicles driving in the desired road section and determining that autonomous driving is impossible when the calculated ratio is higher than a preset ratio, and determining that autonomous driving is possible when the calculated ratio is lower than or equal to the preset ratio.

In the determining step, it is determined that autonomous driving is possible when the ratio of the autonomous driving vehicle driving in the autonomous driving mode among the autonomous driving vehicles driving in the desired road section is higher than a preset ratio, and the autonomous driving mode If the ratio of the autonomous driving vehicle driving with the . is lower than or equal to the set ratio, it is determined that the autonomous driving is impossible.

On the other hand, in the method of operating the autonomous driving device in the autonomous driving possible section prediction system according to another aspect of the present invention for achieving the above-mentioned problem, the determination of whether autonomous driving is possible in the road section to which the autonomous driving vehicle wants to enter is performed by the server. requesting, receiving information on whether autonomous driving is possible from the server in response to the request, checking the information on whether or not autonomous driving is possible, checking whether autonomous driving is possible for the desired road section and the autonomous driving and selectively controlling the operation of the autonomous vehicle in consideration of the current driving mode of the vehicle.

In the controlling step, in a state in which the driving mode of the autonomous vehicle is in the manual driving mode, when it is confirmed that the road section to be entered is a section in which autonomous driving is possible, the current manual driving mode is switched to the autonomous driving mode notifying the driver that it is possible; and when it is confirmed that the road section to be entered is a section in which autonomous driving is impossible while the driving mode of the autonomous vehicle is in the autonomous driving mode, the current autonomous driving mode is set to autonomous and notifying the driver to switch to the driving mode.

The controlling includes notifying the driver that the current autonomous driving mode is to be switched to the autonomous driving mode, and then checking whether the driving mode of the arbitrary autonomous driving vehicle is switched to the manual driving mode for a predetermined time period; and controlling the steering and speed of the autonomous driving vehicle to stop in a preset safe area when the driving mode of the autonomous driving vehicle is not switched from the autonomous driving mode to the manual driving mode for the predetermined time.

In the controlling step, in a state in which the current driving mode of the autonomous vehicle is a manual driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is impossible, or the current driving mode of the autonomous driving vehicle is the autonomous driving mode In the in state, when it is confirmed that the road section to be entered is a section in which autonomous driving is possible, the driver is notified to maintain the current driving mode.

According to an embodiment of the present invention, it is determined whether autonomous driving is possible for a road section in front of the autonomous driving vehicle by analyzing the driving mode of each of a plurality of autonomous driving vehicles, and accordingly, the autonomous driving mode or manual driving mode of the autonomous driving vehicle while driving in autonomous driving mode, by notifying the driver that switching to the autonomous driving mode is possible, or notifying the driver that switching to the performing driving mode is necessary If there is a section in front of which autonomous driving is impossible, the driver of the autonomous driving vehicle can be notified in advance, and when autonomous driving is continuously performed in an area where autonomous driving is not possible, the possibility of an accident can be reduced by moving the autonomous driving vehicle to a safe area.

1 is a diagram exemplifying the configuration of a system for predicting a possible autonomous driving section for a driving road of an autonomous driving vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the configuration of an autonomous driving apparatus of a system for predicting an autonomous driving possible section on a driving road of an autonomous driving vehicle according to an embodiment of the present invention; FIG.
3 is a flowchart of a method for predicting a possible autonomous driving section according to an embodiment of the present invention.
4 is a flowchart of an operation of an autonomous driving apparatus according to whether autonomous driving is possible according to an embodiment of the present invention;

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is defined by the description of the claims. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” or “comprising” refers to the presence or absence of one or more other components, steps, operations and/or elements other than the stated elements, steps, acts and/or elements. addition is not excluded.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, the same components are given the same reference numerals as much as possible even if they are shown in different drawings, and in explaining the present invention, related known components or functions are given. If the detailed description may obscure the gist of the present invention, the detailed description will be omitted.

1 is a block diagram of a system for predicting an autonomous driving section for a driving road of an autonomous driving vehicle according to an embodiment of the present invention.

As shown in FIG. 1 , the autonomous driving possible section prediction system for the driving road of the autonomous driving vehicle includes the server 100 and the autonomous driving device 210 of the autonomous driving vehicle 200 .

Here, the autonomous driving device 210 is a device that is implemented in the autonomous driving vehicle 200 to control the vehicle without a driver's manipulation to autonomously drive, and it is possible to communicate with the server 100 . As will be described in detail later, the server 100 may determine whether autonomous driving is possible or impossible for an arbitrary section of a road using information transmitted from an autonomous driving device installed in each of a plurality of autonomous driving vehicles. Hereinafter, for convenience of explanation, unless otherwise noted, the autonomous driving device 210 is an example of the autonomous driving device 210 of any one autonomous driving vehicle 200 among a plurality of autonomous driving vehicles. listen and explain

The server 100 receives driving mode information from the autonomous driving device 210 of any one autonomous driving vehicle among a plurality of autonomous driving vehicles, refers to the established database, and the autonomous driving vehicle 200 enters. It is determined whether the desired road section is a section capable of autonomous driving, and the determination result is transmitted to the autonomous driving device 210 that has transmitted the driving mode information.

To this end, the server 100 includes a transceiver 110 , a determination unit 120 , and a storage unit 130 as shown in FIG. 1 .

First, the transceiver 110 transmits and receives data through V2X communication (Vehicle to Everything, vehicle-to-thing communication) with an autonomous driving device provided in each of a plurality of autonomous driving vehicles. To this end, the transceiver 110 may be a communication module for V2X, and a communication module for V2X may also be mounted on an autonomous driving device provided in each of a plurality of autonomous driving vehicles. Here, V2X may be a wireless communication between a vehicle and an infrastructure (V2I, Vehicle to Infrastructure). Furthermore, V2X may include wireless communication between vehicle (V2V, Vehicle to Vehicle), in-vehicle wired/wireless networking (IVN, In-Vehicle Networking), and communication between vehicle and mobile terminal (V2P, Vehicle to Pedestrian), etc. .

The transceiver 110 receives driving mode information from the autonomous driving device 210 of any one autonomous driving vehicle 200 among a plurality of autonomous driving vehicles. Here, the driving mode may be a manual driving mode in which the vehicle is driven according to the driver's manipulation of the steering wheel, the accelerator pedal, and the brake pedal, or an autonomous driving mode in which the vehicle is driven according to surrounding environment information without the driver's manipulation.

In addition, when receiving information on the driving mode of the autonomous driving vehicle 200 , the transceiver 110 may also receive location information of the autonomous driving vehicle 200 . In this case, the location information may be a GPS coordinate value. In addition, the transceiver 110 may receive driving route information set for the autonomous vehicle 200 to reach from the starting point to the destination, and may further receive information on the current speed of the autonomous vehicle 200 .

The determining unit 120 determines whether the road section to which the autonomous driving vehicle 200 is headed (the road section to be entered) is an autonomous driving possible section using the information received from the autonomous driving device 210 of the autonomous driving vehicle 200 . do. To this end, the determination unit 120 may determine in consideration of the current location information of the autonomous vehicle 200 . For example, when the determining unit 120 receives driving mode information of the autonomous driving vehicle 200 from the autonomous driving device 210 through the transceiver 110 , the determination unit 120 is autonomous with respect to a road section to which the autonomous driving vehicle 200 is headed. Determining whether the driving range is possible. Alternatively, the determining unit 120 determines whether the autonomous driving possible section is available for the road section to which the autonomous driving vehicle 200 that has requested the autonomous driving possibility determination is to enter, even if it is not the autonomous driving vehicle 200 that has transmitted the driving mode information. can judge

Here, the road section to be entered may be a road section ahead of a predetermined distance (eg, 1 Km) based on the current location of the autonomous vehicle 200 . In addition, the determination unit 120 may further consider the driving route information of the autonomous driving vehicle 200 to identify a road section into which the autonomous driving vehicle 200 intends to enter.

Alternatively, the road section to be entered may be a road section reached after a predetermined time (eg, 5 minutes) that is set in consideration of the current speed of the autonomous vehicle 200 . In this case, the determination unit 120 may further consider the driving route information of the autonomous driving vehicle 200 and check the road section into which the autonomous driving vehicle 200 enters after a predetermined time.

Meanwhile, the determination unit 120 may determine whether autonomous driving is possible in a road section into which the autonomous driving vehicle 200 intends to enter, based on driving mode information received from the autonomous driving device of each of the plurality of autonomous driving vehicles. . To this end, the storage unit 130 of the server 100 uses the driving mode information received from the autonomous driving apparatuses of a plurality of autonomous driving vehicles traveling in all road sections for a certain period of time, Information analyzing the driving status of the autonomous vehicle may be accumulated and constructed as a database. In this case, the driving status of the autonomous driving vehicle may include the number of autonomous driving vehicles driving in the autonomous driving mode in all road sections for a certain period of time, the number of autonomous driving vehicles driving in the manual driving mode, and the like.

In addition, the storage unit 130 may analyze the driving status of a plurality of autonomous vehicles for each day and time zone. Furthermore, in the storage unit 130 , the location of each of the plurality of autonomous driving vehicles and the number of autonomous driving vehicles in which the autonomous driving mode is changed from the autonomous driving mode to the manual driving mode may be analyzed and stored.

The determination unit 120 determines whether autonomous driving is possible in a road section to which the autonomous driving vehicle 200 is intended to enter by using the driving status information of a plurality of autonomous driving vehicles stored in the storage unit 130 .

As an example, the determination unit 120 determines the number of vehicles of the autonomous driving vehicle that changes the driving mode from the autonomous driving mode to the manual driving mode in the road section to which the autonomous driving vehicle 200 wants to enter, and determines the autonomous driving vehicle 200 ), it is possible to determine whether the section of the road to be entered is a section in which autonomous driving is possible or a section in which autonomous driving is not possible. Specifically, the determination unit 120 sets the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles maintaining the autonomous driving mode and driving among the autonomous driving vehicles entering the road section to which the autonomous driving vehicle 200 wants to enter. The ratio of the number of autonomous driving vehicles that change and drive (the ratio of switching to manual driving mode) is calculated. The determination unit 120 may determine whether autonomous driving is possible by comparing the calculated manual driving mode conversion ratio with a preset ratio (first set ratio). In this case, the first setting ratio may be preset by an autonomous driving system administrator such as a system designer, and this value may be changed.

For example, the determination unit 120 determines that the autonomous driving vehicle 200 wants to enter when the manual driving mode conversion ratio of the autonomous driving vehicles entering the road section to which the autonomous driving vehicle 200 is to enter is higher than the first set ratio. It can be judged that autonomous driving is not possible on a road section. This is because the driver may have switched to the manual driving mode by determining that autonomous driving is not possible in the current section by the autonomous driving device or the driver of the autonomous driving vehicle running in the autonomous driving mode.

For example, in autonomous driving, lane keeping assist system (LKAS), such as lane keeping assist system (LKAS), it is possible to control the lateral direction only when the lane is recognized through a camera, so autonomous driving is impossible in an environment in which lanes are not drawn. In addition, if the lanes have been repainted, but the existing lanes are not properly erased and overlapping lanes are drawn, accurate lane recognition is impossible and autonomous driving is impossible. can do. In addition, if the branch lane to a branch road such as IC/JM is congested, it is difficult to cut into a branch lane that is congested by autonomous driving. Since it is safe to get out of an accident or construction site with the driver's active vehicle manipulation, it may be an environment in which autonomous driving is impossible. In addition, in the case of the GPS shadow area during autonomous driving based on the precision map, there is a possibility that it may change by time period, but it may be a section where autonomous driving is not possible in most cases.

In addition, the determination unit 120 determines the number of autonomous driving vehicles that change the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles that maintain the autonomous driving mode in the road section for a recent predetermined period (eg, the last one week) It is possible to calculate a statistical value of the ratio of , and compare the calculated statistical value with the first set ratio to determine whether the corresponding road section to which the autonomous driving vehicle 200 wants to enter is a section in which autonomous driving is possible or a section in which autonomous driving is not possible. In addition, the determination unit 120 may determine whether autonomous driving is possible in the corresponding road section by calculating the manual driving mode conversion ratio in the arbitrary section by dividing by day and time.

As another example, the determination unit 120 may determine whether autonomous driving is possible in the road section by checking the number of autonomous driving vehicles running in the autonomous driving mode in the road section to which the autonomous driving vehicle 200 wants to enter. . Specifically, the determination unit 120 determines a predetermined ratio (second set ratio) of the ratio of the autonomous driving vehicle driving in the autonomous driving mode among the autonomous driving vehicles driving in the road section to which the autonomous driving vehicle 200 wants to enter. If higher, it may be determined that the corresponding road section is capable of autonomous driving. Here, the second setting ratio is a value set in advance by a developer or the like, and may be the same as the first setting ratio or a different value.

Through this process, the determination unit 120 that determines whether autonomous driving is possible for the road section to which the autonomous vehicle 200 wants to enter drives the determination result (information on whether autonomous driving is possible) through the transceiver 110 . The mode information is transmitted to the autonomous driving device 210 that has transmitted it.

That is, the server 100 analyzes the driving modes of a plurality of autonomous driving vehicles that have driven the road section to which the autonomous driving vehicle 200 wants to enter, so that the road section the autonomous driving vehicle 200 wants to enter is the autonomous driving possible section. It may be determined whether the section is an unrecognizable section, and the determination result information may be transmitted to the autonomous driving device 210 of the autonomous driving vehicle 200 .

On the other hand, the autonomous driving device 210 of the autonomous driving vehicle 200 transmits information on the current driving mode of the autonomous driving vehicle 200 to the server 100, and a road section into which the autonomous driving vehicle 200 intends to enter. information on whether autonomous driving is possible is received from the server 100, and a message is output depending on whether autonomous driving is possible in the road section the autonomous driving vehicle 200 wants to enter, or the steering (progression) of the autonomous driving vehicle 200 is performed. direction) and speed (braking) control operations are selectively performed.

To this end, the autonomous driving device 210 of the autonomous driving vehicle 200 may include a communication unit 211 , a control unit 213 , and an output unit 215 as shown in FIG. 2 .

The communication unit 211 transmits information on the current driving mode (autonomous driving mode or manual driving mode) of the autonomous driving vehicle 200 to the server 100 every predetermined period. In this case, the communication unit 211 may be a communication module for V2X.

In addition, the communication unit 211 may also transmit current location information (GPS coordinate information) of the autonomous vehicle 200 . In addition, the communication unit 211 may transmit the driving route information set for the autonomous vehicle 200 to reach the destination from the starting point to the server 100, and the current speed information of the autonomous vehicle 200 may also be further transmitted. have.

Meanwhile, the communication unit 211 may receive information on whether autonomous driving is possible for an arbitrary road section (a road section into which the autonomous driving vehicle 200 intends to enter) from the server 100 .

The control unit 213 checks the information on whether autonomous driving is possible for the road section to be entered received from the server 100 through the communication unit 211, and outputs a message according to whether autonomous driving is possible, or the autonomous vehicle 200 ) to selectively perform steering and braking control operations.

In this case, the controller 213 may differently perform an operation depending on whether autonomous driving is possible according to the current driving mode of the autonomous driving vehicle 200 .

First, a case in which the current driving mode of the autonomous driving vehicle 200 is the manual driving mode will be described.

In the manual driving mode, as a result of checking whether autonomous driving is possible information received from the server 100 through the communication unit 211, it is confirmed that the road section to which the autonomous driving vehicle 200 wants to enter is a section in which autonomous driving is possible. Then, the control unit 213 may notify the driver of the autonomous driving vehicle 200 through the output unit 215 that it is possible to switch from the current driving mode (manual driving mode) to the autonomous driving mode.

Here, the output unit 215 may be at least one of a display device that visually provides information to the driver and a speaker device that provides information audibly to the driver.

As an example, the controller 213 outputs a notification message (autonomous driving transition notification message) informing the output unit 215 that the switch to the autonomous driving mode is possible, thereby notifying the driver that driving in the autonomous driving mode is possible. can As another example, the control unit 213 outputs a notification sound (eg, beep sound, voice guidance, etc.) notifying that the switch to the autonomous driving mode is possible through the output unit 215, so that the driver can drive in the autonomous driving mode. can indicate that it is possible. Preferably, the control unit 213 outputs a notification message indicating that the switch to the autonomous driving mode is possible and a notification sound through the output unit 215 at the same time to switch the driving mode of the autonomous driving vehicle 200 to the autonomous driving mode. can induce

On the other hand, if the driving mode of the autonomous vehicle 200 is the manual driving mode and it is confirmed that the road section to be entered is the autonomous driving impossible section, the controller 213 maintains the current driving mode (manual driving mode). A message informing of this may be output through the output unit 215 . Alternatively, the autonomous driving device 210 may induce the driver to continue manual driving by continuously maintaining the manual driving mode without performing any operation (eg outputting a message or a notification sound).

Hereinafter, a case in which the current driving mode of the autonomous driving vehicle 200 is the autonomous driving mode will be described.

In a state in which the driving mode of the autonomous vehicle 200 is the autonomous driving mode, as a result of checking the information on whether autonomous driving is possible received from the server 100 through the communication unit 211 , the road section to be entered is a section in which autonomous driving is possible If it is confirmed that , the control unit 213 may output a message or a sound for notifying that the current driving mode (autonomous driving mode) is maintained through the output unit 215 . Alternatively, the controller 213 may continuously maintain the autonomous driving mode without performing any operation.

If the driving mode of the autonomous vehicle 200 is the autonomous driving mode and it is confirmed that the road section to be entered is a section in which autonomous driving is not possible, the control unit 213 commands to switch the driving mode to the manual driving mode. A notification message (manual driving mode change notification message) can be output. At this time, the control unit 213 may induce the driver to change the driving mode of the autonomous driving vehicle 200 to the manual driving mode by outputting a notification message notifying that the manual driving mode change is required through the output unit 215 . have. Alternatively, the controller 213 may induce the driver to change the driving mode to the manual driving mode by outputting a notification sound indicating that the manual driving mode change is required through the output unit 215 .

On the other hand, the autonomous driving device 210 outputs a notification message (manual driving mode change notification message) notifying that manual driving mode switching is required, and then the driving mode of the autonomous driving vehicle 200 is changed to the manual driving mode by the driver's manipulation. Make sure it is converted to At this time, if the control unit 213 detects manipulation of the steering wheel, accelerator pedal, brake pedal, etc. by the driver while the autonomous driving vehicle 200 is driving in the autonomous driving mode, it is confirmed that the autonomous driving mode is switched to the manual driving mode. can Alternatively, the control unit 213 may confirm the change of the driving mode by checking whether a button (eg, a driving mode change switch) provided for switching the driving mode in the autonomous vehicle 200 is operated.

If, after outputting a manual driving mode change notification message or a notification sound through the output unit 215 , the driving mode of the autonomous driving vehicle 200 is switched to the manual driving mode within a first preset time (eg, 3 minutes) If not, the control unit 213 outputs a message prompting the transition to the manual driving mode (manual driving mode change warning message) or a warning sound through the output unit 215 . In this case, the manual driving mode switching warning message may provide a message or sound different from the notification message to the driver visually or audibly to warn the driver of danger when not switching to the manual driving mode.

In addition, after outputting the manual driving mode change warning message, the control unit 213 checks whether the driving mode of the autonomous driving vehicle 200 is switched to the manual driving mode within a second preset time (eg, 1 minute). In this case, the second set time may be the same value as the first set time.

If the driving mode of the autonomous driving vehicle 200 is not switched to the manual driving mode within the second set time after outputting the manual driving mode switching warning message, the control unit 213 controls the steering of the autonomous driving vehicle 200 and You can control the speed (braking). For example, if the manual driving mode is not switched to the manual driving mode within the second set time after outputting the warning message, the control unit 213 is located in a safe area around the front (eg, shoulder, shelter, rest area, parking lot, etc.) based on the current location. Steering and speed of the autonomous vehicle 200 may be controlled to stop. At this time, the safety zone may be a preset location, and the control unit 213 controls the provisions and speed of the autonomous vehicle 200 to move the autonomous vehicle 200 to the safe zone closest to the front based on the current location. can be stopped.

On the other hand, when the driving mode of the vehicle is not converted to the manual driving mode within the first set time after outputting a notification message or a notification sound informing that the control unit 213 to switch to the manual driving mode, a warning message or a warning sound is output. The steering and speed of the autonomous driving vehicle 200 may be controlled so that the operation is omitted and the vehicle stops immediately in a safe area.

As described above, according to an embodiment of the present invention, it is determined whether autonomous driving is possible for a road section in front of the autonomous driving vehicle by analyzing the driving mode of each of a plurality of autonomous driving vehicles, and accordingly, the autonomous driving mode of the autonomous driving vehicle or Autonomous driving mode by maintaining the manual driving mode, notifying the driver that it is possible to switch to the autonomous driving mode, or notifying the driver of the need to switch to the performing driving mode, and in some cases controlling the steering and speed of the autonomous driving vehicle If there is a section in front of which autonomous driving is not possible during driving, the driver of the autonomous driving vehicle can be notified in advance. have.

3 is a flowchart of a method for predicting a possible autonomous driving section according to an embodiment of the present invention.

First, the autonomous driving device 210 provided in the autonomous driving vehicle 200 checks the driving mode of the autonomous driving vehicle 200 ( S301 ). Here, the driving mode may be a manual driving mode in which the vehicle is driven according to the driver's manipulation of the steering wheel, the accelerator pedal, and the brake pedal, or an autonomous driving mode in which the vehicle is driven according to surrounding environment information without the driver's manipulation.

The autonomous driving device 210 requests the server 100 to determine whether autonomous driving is possible for a road section to which the autonomous driving vehicle 200 wants to enter ( S302 ). In this case, the autonomous driving device 210 may request to determine whether autonomous driving is possible for a road section to be entered by transmitting information on the driving mode confirmed in step S301 . Alternatively, the autonomous driving device 210 may transmit a separate autonomous driving possibility determination request signal to the server 100 . In this case, when transmitting information on the driving mode of the autonomous driving vehicle 200 , the autonomous driving device 210 may also transmit location information of the autonomous driving vehicle 200 . In this case, the location information may be a GPS coordinate value. In addition, the autonomous driving device 210 may transmit the driving route information set for the autonomous driving vehicle 200 to reach the destination from the starting point, and may further transmit the current speed information of the autonomous driving vehicle 200 .

The server 100 determines whether the road section to which the autonomous driving vehicle 200 wants to enter (the road section to which it is headed) is a section in which autonomous driving is possible using the information transmitted from the autonomous driving device 210 (S303). In this case, the server 100 may make a determination in consideration of the current location information of the autonomous vehicle 200 .

Here, the road section to be entered may be a road section ahead of a predetermined distance (eg, 1 Km) based on the current location of the autonomous vehicle 200 . In addition, the server 100 may further consider the driving route information of the autonomous driving vehicle 200 to identify a road section into which the autonomous driving vehicle 200 intends to enter.

Alternatively, the road section to be entered may be a road section reached after a predetermined time (eg, 5 minutes) that is set in consideration of the current speed of the autonomous vehicle 200 . In this case, the server 100 may further consider the driving route information of the autonomous driving vehicle 200 and check the road section into which the autonomous driving vehicle 200 enters after a predetermined time.

On the other hand, the server 100 may determine whether or not autonomous driving is possible in a road section to which the autonomous driving vehicle 200 intends to enter, based on driving mode information received from the autonomous driving device of each of the plurality of autonomous driving vehicles. . To this end, the server 100 uses the driving mode information received from the autonomous driving devices of a plurality of autonomous driving vehicles driving in all road sections for a certain period of time, and the driving status of the autonomous driving vehicles in all road sections for a certain period of time. Information analyzed may be accumulated and built into a database. In this case, the driving status of the autonomous driving vehicle may include the number of autonomous driving vehicles driving in the autonomous driving mode in all road sections for a certain period of time, the number of autonomous driving vehicles driving in the manual driving mode, and the like.

In addition, the server 100 may analyze the driving status of a plurality of autonomous vehicles for each day and time zone. Further, the server 100 may analyze and store the location of the road section and the number of autonomous driving vehicles in which each of the plurality of autonomous driving vehicles is changed from the autonomous driving mode to the manual driving mode.

The server 100 determines whether autonomous driving is possible in a road section to which the autonomous driving vehicle 200 intends to enter by using the driving status information of a plurality of autonomous driving vehicles constructed in this way.

As an example, the server 100 determines the number of vehicles of the autonomous driving vehicle that changes the driving mode from the autonomous driving mode to the manual driving mode in the road section to which the autonomous driving vehicle 200 intends to enter the autonomous driving vehicle 200 . It can be determined whether the road section to be entered is a section in which autonomous driving is possible or a section in which autonomous driving is not possible. Specifically, the server 100 changes the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles driving while maintaining the autonomous driving mode among the autonomous driving vehicles entering the road section to which the autonomous driving vehicle 200 wants to enter. to calculate the ratio of the number of autonomous driving vehicles (the ratio of switching to manual driving mode). The server 100 may determine whether autonomous driving is possible by comparing the calculated manual driving mode conversion ratio and a preset ratio (first preset ratio). In this case, the first setting ratio may be preset by an autonomous driving system administrator such as a system designer, and this value may be changed.

For example, the server 100 determines that the autonomous driving vehicle 200 wants to enter when the manual driving mode conversion ratio of the autonomous driving vehicles entering the road section to which the autonomous driving vehicle 200 wants to enter is higher than the first set ratio. It can be judged that autonomous driving is impossible on road sections. This is because the driver may have switched to the manual driving mode by determining that autonomous driving is not possible in the current section by the autonomous driving device or the driver of the autonomous driving vehicle running in the autonomous driving mode.

In addition, the server 100 determines the number of autonomous driving vehicles that change the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles that maintain the autonomous driving mode in the road section for a recent predetermined period (eg, the last one week). A statistical value of the ratio is calculated, and by comparing the calculated statistical value with the first set ratio, it is possible to determine whether the corresponding road section to which the autonomous driving vehicle 200 wants to enter is a section in which autonomous driving is possible or a section in which autonomous driving is not possible. In addition, the server 100 may determine whether autonomous driving is possible in the corresponding road section by calculating the manual driving mode conversion ratio in the arbitrary section by dividing by day and time.

As another example, the server 100 may determine whether autonomous driving is possible in the road section by checking the number of autonomous driving vehicles running in the autonomous driving mode in the road section to which the autonomous driving vehicle 200 wants to enter. Specifically, the server 100 determines that the ratio of the autonomous driving vehicle driving in the autonomous driving mode among the autonomous driving vehicles driving in the road section to which the autonomous driving vehicle 200 wants to enter is higher than the preset ratio (the second setting ratio). If it is high, it may be determined that the corresponding road section is capable of autonomous driving. Here, the second setting ratio is a value set in advance by a developer or the like, and may be the same as the first setting ratio or a different value.

Through this process, the server 100, which has determined whether autonomous driving is possible for the road section to which the autonomous driving vehicle 200 wants to enter, transmits the determination result (autonomous driving possibility information) to the autonomous driving device that transmits the driving mode information It transmits to (210) (S304).

The autonomous driving device 210 checks the information on whether autonomous driving is possible for the road section to be entered received from the server 100, outputs a message according to whether autonomous driving is possible, or controls the autonomous driving vehicle 200 ( direction) and speed (braking) control operations are selectively performed (S305).

In this case, the autonomous driving device 210 may perform an operation differently depending on whether autonomous driving is possible according to the current driving mode of the autonomous driving vehicle 200 .

This will be described in detail with reference to the flowchart of FIG. 4 .

4 is a flowchart of an operation of an autonomous driving apparatus according to whether autonomous driving is possible according to an embodiment of the present invention.

First, the autonomous driving device 210 checks whether autonomous driving is possible information received from the server 100, and confirms whether the road section to which the autonomous driving vehicle 200 wants to enter is a section in which autonomous driving is possible (S401).

As a result of checking in step S401, if the road section to which the autonomous driving vehicle 200 wants to enter is a section capable of autonomous driving, the autonomous driving device 210 checks whether the current driving mode of the autonomous driving vehicle 200 is the manual driving mode. (S402).

As a result of the confirmation of step S402, if it is confirmed that the driving mode of the autonomous driving vehicle 200 is the manual driving mode, the autonomous driving device 210 can switch from the current driving mode (manual driving mode) to the autonomous driving mode. The driver of the autonomous vehicle 200 may be notified ( S403 ). That is, when it is confirmed that the road section to which the autonomous driving vehicle 200 wants to enter is a section capable of autonomous driving in the manual driving mode, the autonomous driving vehicle 200 includes a display device that visually provides information to the driver and the driver. It is possible to inform the driver that it is possible to switch to the autonomous driving mode through at least one device among the speaker devices that audibly provide information to the driver.

As an example, the autonomous driving device 210 outputs a notification message indicating that switching to the autonomous driving mode is possible (autonomous driving conversion notification message) through the display device to notify the driver that driving in the autonomous driving mode is possible. can As another example, the autonomous driving device 210 outputs a notification sound (eg, beep sound, voice guidance, etc.) notifying that the switch to the autonomous driving mode is possible through the speaker device, so that driving in the autonomous driving mode is recommended to the driver. can indicate that it is possible. Preferably, the autonomous driving device 210 may induce the switching of the driving mode of the autonomous driving vehicle 200 to the autonomous driving mode by simultaneously outputting a notification message indicating that switching to the autonomous driving mode is possible and a notification sound. .

If it is confirmed that the driving mode of the autonomous driving vehicle 200 is the autonomous driving mode as a result of the confirmation in step S402, the autonomous driving device 210 may notify the driver to maintain the current driving mode (autonomous driving mode) ( S404). That is, if the driving mode of the autonomous driving vehicle 200 is the autonomous driving mode and it is confirmed that the road section to be entered is a section in which autonomous driving is possible, the autonomous driving device 210 sets the current driving mode (autonomous driving mode). ) can be outputted with a message or a notification sound indicating that the Alternatively, the autonomous driving device 210 may continuously maintain the autonomous driving mode without performing any operation.

If it is determined in step S401 that the road section to which the autonomous driving vehicle 200 wants to enter is a section in which autonomous driving is not possible, the autonomous driving device 210 determines whether the current driving mode of the autonomous driving vehicle 200 is the manual driving mode. Confirm (S405).

If it is confirmed that the driving mode of the autonomous driving vehicle 200 is the manual driving mode as a result of checking in step S405, the autonomous driving device 210 may notify the driver to maintain the current driving mode (manual driving mode) (S406) . That is, when the driving mode of the autonomous vehicle 200 is the manual driving mode, and it is confirmed that the road section to be entered is the autonomous driving impossible section, the autonomous driving device 210 sets the current driving mode (manual driving mode). You can output a message or a sound to inform you to keep the . Alternatively, the autonomous driving device 210 may continuously maintain the manual driving mode without performing any operation.

If it is confirmed in step S405 that the driving mode of the autonomous driving vehicle 200 is the autonomous driving mode, the autonomous driving device 210 sends a message indicating that the driving mode is changed to the manual driving mode (manual driving mode change notification) message) can be output (S407). At this time, the autonomous driving device 210 may induce the driver to change the driving mode of the autonomous driving vehicle 200 to the manual driving mode by outputting a notification message indicating that the manual driving mode change is required through the display device. . Alternatively, the autonomous driving device 210 may induce the driver to change the driving mode to the manual driving mode by outputting a notification sound indicating that manual driving mode change is required through the speaker device.

After that, the autonomous driving device 210 outputs a notification message (manual driving mode change notification message) notifying that manual driving mode switching is required, and then the driving mode of the autonomous driving vehicle 200 is changed to the manual driving mode within a preset time. Check whether it is converted to (S408). At this time, when the autonomous driving device 210 detects manipulation of the steering wheel, accelerator pedal, and brake pedal by the driver while the autonomous driving vehicle 200 is driving in the autonomous driving mode, the autonomous driving mode is switched to the manual driving mode. can confirm. Alternatively, the autonomous driving device 210 may confirm the change of the driving mode by checking whether a button (eg, a driving mode change switch) provided for switching the driving mode in the autonomous driving vehicle 200 is operated.

If, after notifying the manual driving mode change, the driving mode of the autonomous driving vehicle 200 is not switched to the manual driving mode within a set time, the autonomous driving device 210 stops the autonomous driving vehicle 200 in a safe area. make it (S409). For example, if the manual driving mode is not switched to the manual driving mode within a set time after outputting the warning message, the autonomous driving device 210 sets a safe area around the front (eg, shoulder, shelter) based on the current location of the autonomous driving vehicle 200 . , a rest area, a parking lot, etc.) can control the autonomous driving vehicle 200 to stop. At this time, the safety zone may be a preset location, and the autonomous driving device 210 controls the provisions and speed of the autonomous driving vehicle 200 to place the autonomous driving vehicle ( 200) can be stopped.

As described above, according to an embodiment of the present invention, it is determined whether autonomous driving is possible for a road section in front of the autonomous driving vehicle by analyzing the driving mode of each of a plurality of autonomous driving vehicles, and accordingly, the autonomous driving mode of the autonomous driving vehicle or Autonomous driving mode by maintaining the manual driving mode, notifying the driver that it is possible to switch to the autonomous driving mode, or notifying the driver of the need to switch to the performing driving mode, and in some cases controlling the steering and speed of the autonomous driving vehicle If there is a section in front of which autonomous driving is not possible during driving, the driver of the autonomous driving vehicle can be notified in advance. have.

As mentioned above, although the configuration of the present invention has been described in detail through preferred embodiments of the present invention, those of ordinary skill in the art to which the present invention pertains will appreciate the content disclosed in the present specification without changing the technical spirit or essential features of the present invention It will be understood that the present invention may be implemented in a specific form other than the above. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of protection of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

100: server 110: transceiver
120: judgment unit 130: storage unit
200: autonomous vehicle 210: autonomous driving device
211: communication unit 213: control unit
215: output unit

Claims (19)

a server that determines whether autonomous driving is possible for a road section to which an autonomous driving vehicle is to enter among a plurality of autonomous driving vehicles, and transmits information on whether autonomous driving is possible as a result of the determination to the arbitrary autonomous driving vehicle; and
It is provided in the arbitrary autonomous vehicle, transmits information on the driving mode of the arbitrary autonomous vehicle to the server, checks the autonomous driving possibility determination information received from the server, and the arbitrary autonomous driving An autonomous driving device for selectively controlling the operation of the arbitrary autonomous driving vehicle in consideration of the driving mode of the vehicle and whether autonomous driving is possible for the desired road section;
The server includes a storage unit in which driving status analysis information that analyzes driving modes of autonomous vehicles driving in an arbitrary road section for a certain period of time is built as a database,
In the driving status analysis information of the storage unit,
At least among the number of autonomous driving vehicles driving in the autonomous driving mode, the number of autonomous driving vehicles driving in the manual driving mode, and the number of autonomous driving vehicles changing from the autonomous driving mode to the manual driving mode in the arbitrary road section one is included
Autonomous driving possible section prediction system.
According to claim 1,
The manual driving mode includes a driving mode in which the vehicle is driven according to a manipulation of at least one of a steering wheel, an accelerator pedal, and a brake pedal of a driver of the arbitrary autonomous driving vehicle, and the autonomous driving mode is based on information about the surrounding environment without the driver's manipulation. Including driving modes that automatically drive according to
Autonomous driving possible section prediction system.
According to claim 1, wherein the server,
a transceiver configured to receive information on a driving mode of each of the plurality of autonomous vehicles in the arbitrary road section from an autonomous driving device provided in each of the plurality of autonomous vehicles; and
a determination unit that determines whether autonomous driving is possible for the desired road section by using the driving status analysis information;
The autonomous driving possible section prediction system further comprising a.
delete The method of claim 3, wherein the determination unit,
Considering the number of autonomous driving vehicles that change the driving mode from the autonomous driving mode to the manual driving mode among the autonomous driving vehicles driven in the desired road section, it is determined whether autonomous driving is possible for the desired road section. to judge
Autonomous driving possible section prediction system.
The method of claim 5, wherein the determination unit,
Calculating and calculating the ratio of the number of autonomous vehicles driving by changing the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles driving while maintaining the autonomous driving mode among the autonomous driving vehicles driving in the desired road section If the calculated ratio is higher than the preset ratio, it is determined that autonomous driving is impossible, and when the calculated ratio is lower than or equal to the preset ratio, it is determined that autonomous driving is possible.
Autonomous driving possible section prediction system.
The method of claim 3, wherein the determination unit,
Determining whether autonomous driving is possible in consideration of the number of autonomous driving vehicles driving in autonomous driving mode among autonomous driving vehicles traveling in the desired road section
Autonomous driving possible section prediction system.
The method of claim 7, wherein the determination unit,
If the ratio of the autonomous driving vehicle driving in the autonomous driving mode is higher than the preset ratio among the autonomous driving vehicles driven in the road section to be entered, it is determined that autonomous driving is possible, and the autonomous driving driving in the autonomous driving mode is determined. Determining that autonomous driving is impossible when the ratio of vehicles is lower than or equal to the set ratio
Autonomous driving possible section prediction system.
According to claim 2, wherein the autonomous driving device,
a communication unit that transmits information on the driving mode of the arbitrary autonomous vehicle to the server and receives information on whether autonomous driving is possible for the road section to be entered from the server; and
In a state in which the current driving mode of the arbitrary autonomous vehicle is the manual driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is possible, or the current driving mode of the arbitrary autonomous driving vehicle is the autonomous driving mode. In the state, when it is determined that the road section to be entered is a section in which autonomous driving is impossible, the autonomous driving vehicle is controlled to notify the driver of the autonomous driving vehicle that it is possible to switch the current driving mode. a control unit;
An autonomous driving possible section prediction system that includes a.
10. The method of claim 9, wherein the control unit,
In a state in which the current driving mode of the arbitrary autonomous driving vehicle is the autonomous driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is impossible, and after notifying the driver to switch the autonomous driving mode to the manual driving mode , check whether the driving mode of the arbitrary autonomous driving vehicle is switched to the manual driving mode for a predetermined time period, and when the driving mode of the arbitrary autonomous driving vehicle does not change to the manual driving mode for the predetermined time period, Controlling the steering and speed of the driving vehicle to stop it in a preset safe area
Autonomous driving possible section prediction system.
10. The method of claim 9, wherein the control unit,
In a state in which the current driving mode of the arbitrary autonomous vehicle is the manual driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is not possible, or the current driving mode of the arbitrary autonomous driving vehicle is the autonomous driving mode. In the state, when it is confirmed that the road section to be entered is a section capable of autonomous driving, informing the driver to maintain the current driving mode
Autonomous driving possible section prediction system.
receiving information on driving modes of each of the plurality of autonomous vehicles in an arbitrary road section from an autonomous driving device provided in each of the plurality of autonomous vehicles;
constructing driving status analysis information by analyzing driving modes of autonomous vehicles driving in the arbitrary road section for a certain period of time;
determining whether autonomous driving is possible for a road section to which an autonomous driving vehicle from among the plurality of autonomous driving vehicles intends to enter; and
transmitting self-driving possibility determination information, which is a result of the determination, to the arbitrary autonomous vehicle;
including,
The building step is
At least among the number of autonomous driving vehicles driving in the autonomous driving mode, the number of autonomous driving vehicles driving in the manual driving mode, and the number of autonomous driving vehicles changing from the autonomous driving mode to the manual driving mode in the arbitrary road section Building the driving status analysis information including one
A method of operation of a server in an autonomous driving possible section prediction system.
delete The method of claim 12, wherein the determining comprises:
calculating a ratio of the number of autonomous vehicles driving by changing the autonomous driving mode to the manual driving mode compared to the number of autonomous driving vehicles driving while maintaining the autonomous driving mode among the autonomous driving vehicles traveling in the desired road section; and
determining that autonomous driving is impossible if the calculated ratio is higher than a preset ratio, and determining that autonomous driving is possible if the calculated ratio is lower than or equal to the preset ratio
Method of operation of the server in the autonomous driving possible section prediction system comprising a.
The method of claim 12, wherein the determining comprises:
If the ratio of the autonomous driving vehicle driving in the autonomous driving mode is higher than the preset ratio among the autonomous driving vehicles driven in the road section to be entered, it is determined that autonomous driving is possible, and the autonomous driving driving in the autonomous driving mode is determined. Determining that autonomous driving is impossible when the ratio of vehicles is lower than or equal to the set ratio
A method of operation of a server in an autonomous driving possible section prediction system.
requesting a server to determine whether autonomous driving is possible in a road section to which the autonomous vehicle intends to enter;
receiving, from the server, information on whether autonomous driving is possible based on driving status analysis information in response to the request; and
checking the autonomous driving possibility determination information, and selectively controlling the operation of the autonomous driving vehicle in consideration of whether autonomous driving is possible for the desired road section and a current driving mode of the autonomous driving vehicle;
including,
The driving status analysis information includes the number of autonomous driving vehicles driving in the autonomous driving mode in a certain road section, the number of autonomous driving vehicles driving in the manual driving mode, and autonomous driving changing from the autonomous driving mode to the manual driving mode. At least one of the number of vehicles is included
Operation method of autonomous driving device in autonomous driving possible section prediction system.
The method of claim 16, wherein the controlling comprises:
In a state in which the driving mode of the autonomous vehicle is the manual driving mode, when it is confirmed that the road section to be entered is a section capable of autonomous driving, it is possible to convert the current manual driving mode to the autonomous driving mode. informing the driver of the driving vehicle; and
When the driving mode of the autonomous vehicle is in the autonomous driving mode and it is confirmed that the road section to be entered is a section in which autonomous driving is impossible, notifying the driver to switch the current autonomous driving mode to the manual driving mode step;
A method of operating an autonomous driving device in an autonomous driving possible section prediction system comprising a.
The method of claim 17, wherein the controlling comprises:
checking whether the driving mode of the autonomous driving vehicle is switched to the manual driving mode for a predetermined time after notifying the driver that the current autonomous driving mode is to be switched to the manual driving mode; and
when the driving mode of the autonomous vehicle does not change from the autonomous driving mode to the manual driving mode for the predetermined time, controlling the steering and speed of the autonomous driving vehicle to stop it in a preset safe area;
A method of operating an autonomous driving device in an autonomous driving possible section prediction system comprising a.

Operation method of autonomous driving device in autonomous driving possible section prediction system.
The method of claim 16, wherein the controlling comprises:
In a state in which the current driving mode of the autonomous driving vehicle is the manual driving mode, it is confirmed that the road section to be entered is a section in which autonomous driving is impossible, or in a state in which the current driving mode of the autonomous driving vehicle is the autonomous driving mode, the Informing the driver of the autonomous vehicle to maintain the current driving mode when it is confirmed that the road section to be entered is a section capable of autonomous driving;
An operation method of an autonomous driving device in an autonomous driving possible section prediction system.

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