KR101650791B1 - Vehicle, and method for controlling thereof - Google Patents

Abstract

The present invention relates to a vehicle which is able to hand over control authority, and a controlling method thereof. The vehicle in accordance with an embodiment of the present invention, comprises: a determination part which determines whether the handover of control authority is required based on environment information around the vehicle; an acquisition part which acquires status information about whether a driver of the present invention can take over the control authority if determined that the handover of the control authority is required; a derivation part which derives circumstantial information predicted on a drive path of the vehicle from the environment information around the vehicle; and a control part which controls an instrument in the vehicle in accordance with a preset guide based on the environment information around the vehicle and the acquired status information to transfer the derived circumstantial information.

Description

VEHICLE, AND METHOD FOR CONTROLLING THEREOF "

A vehicle capable of transferring control, and a control method of the vehicle.

Recent vehicles introduced ADAS (Advanced Driver Assistance Systems). A vehicle driving assistance system is a system that assists a driver in driving a vehicle. It is a system that warns the driver of a collision warning with a vehicle ahead of the driver, a lane departure warning due to drowsiness, System. In addition, various systems have been introduced to assist the driver in driving the vehicle.

The vehicle according to claim 1, further comprising: a determination unit for determining whether transfer of control is required based on environmental information of the surroundings of the vehicle; An acquiring unit for acquiring status information on whether or not the driver of the vehicle is in a state capable of transferring control, if it is determined that the transfer of the control right is required; And a control unit for controlling the in-vehicle apparatus according to a preset guide by combining environment information of the surroundings of the vehicle and state information of the driver of the vehicle.

In addition, the determination unit may collect environment information about a vehicle including at least one of traffic flow, weather, road conditions, and at least one other vehicle state information about the vehicle around the vehicle, It is possible to judge whether or not the transfer of the control right is necessary from the environmental information around the vehicle.

The acquisition unit may be configured to transfer the control right to the driver of the vehicle when it is determined that the transfer of the control right is required, to reject the transfer request of the transferred control right, The driver can determine whether or not the driver can transfer the control right from the driver's state information obtained from at least one of the camera and the camera.

In addition, the control unit may calculate the risk expected at the time of running by combining the environmental information around the vehicle and the obtained state information, and control the device in the vehicle according to a preset guide corresponding to the calculated risk, Of the environment information.

In response to the environment information of the environment around the vehicle and the status information of the driver to the external system, the control unit receives a risk level expected at the time of running from the external system, and transmits a predetermined guide corresponding to the received risk level The environment information of the surroundings of the vehicle can be transmitted by controlling the devices in the vehicle.

The control unit may control at least one of a speaker and a display according to a predetermined guide corresponding to the calculated risk to transmit environment information about the vehicle or a steering wheel, an accelerator, a brake, a direction indicator, Emergency parking can be induced by controlling at least one of the emergency lights.

The vehicle according to claim 1, further comprising: a determination unit for determining whether transfer of control is required based on environmental information of the surroundings of the vehicle; An acquiring unit for acquiring status information on whether or not the driver of the vehicle is in a state capable of transferring control, if it is determined that the transfer of the control right is required; A derivation unit for deriving context information predicted on a traveling path of the vehicle from environmental information around the vehicle; And a control unit for controlling the in-vehicle apparatus according to a preset guide by combining the environment information of the surroundings of the vehicle and the status information of the driver of the vehicle, and transmitting the derived context information.

In addition, the determination unit may collect environment information about a vehicle including at least one of traffic flow, weather, road conditions, and at least one other vehicle state information about the vehicle around the vehicle, It is possible to judge whether or not the transfer of the control right is necessary from the environmental information around the vehicle.

The acquisition unit may be configured to transmit a transfer request of the control right to the driver of the vehicle when it is determined that the transfer of the control right is required, to reject the transfer request of the transferred control right, And determine whether the driver is able to transfer control from the driver's state information obtained from at least one of the camera and the camera.

The deriving unit may derive context information including at least one of an estimated collision time with an obstacle located on a traveling route identified from the environment information of the surroundings of the vehicle and a cognitive impairment estimated time of the object located on the traveling route .

The derivation unit may determine whether or not a target located in an invisible area from environmental information around the vehicle enters the traveling path of the vehicle and may cause a collision, , It is possible to derive the context information including the expected collision time with the object.

Also, the control unit may calculate an expected risk by combining environmental information around the vehicle and the obtained state information.

Also, the control unit may control the devices in the vehicle according to a guide set in advance based on the calculated risk, and periodically transmit the context information according to time or position.

A method of controlling a vehicle according to one side includes the steps of: determining whether transfer of control is required based on environmental information of the surroundings of the vehicle; Obtaining status information on whether the driver of the vehicle is in a state where control can be handed over if it is determined that the transfer of the control right is required; And controlling the in-vehicle apparatus according to a preset guide by combining the environment information of the surroundings of the vehicle and the state information of the driver of the vehicle.

The determining may include collecting environment information about the vehicle including at least one of traffic flow around the vehicle, weather, road conditions, and status information of at least one other vehicle located in the vicinity of the vehicle, It is possible to judge whether or not the transfer of the control right is necessary from the environmental information around the collected vehicle.

The acquiring step may further include the steps of: transferring the control right to the driver of the vehicle when it is determined that the transfer of the control right is necessary; rejecting the transfer request of the transferred control right; The driver, the driver, the driver, the driver, the driver, the sensor, and the camera.

The controlling may further include calculating an expected risk at the time of running by combining environment information of the environment around the vehicle and the driver's state information and controlling the device in the vehicle according to a preset guide corresponding to the calculated risk, It is possible to transmit environmental information around the vehicle.

In addition, the control step may include: receiving, from the external system, a risk level predicted when the vehicle is traveling, corresponding to the environmental information of the environment around the vehicle and the status information of the driver to the external system, The environment information about the vehicle can be transmitted by controlling the device in the vehicle according to the guide.

A method of controlling a vehicle according to one side includes the steps of: determining whether transfer of control is required based on environmental information of the surroundings of the vehicle; Obtaining status information on whether the driver of the vehicle is in a state where control can be handed over if it is determined that the transfer of the control right is required; Deriving context information predicted on a traveling path of the vehicle from environmental information around the vehicle; And controlling the in-vehicle apparatus according to a guide set in advance based on the environment information of the surroundings of the vehicle and the obtained status information, and transmitting the derived context information.

The determining may include collecting environment information about the vehicle including at least one of traffic flow around the vehicle, weather, road conditions, and status information of at least one other vehicle located in the vicinity of the vehicle, It is possible to judge whether or not the transfer of the control right is necessary from the environmental information around the collected vehicle.

The acquiring step may include a step of transferring the transfer request of the control right to the driver of the vehicle when it is determined that transfer of the control right is necessary and rejecting the transfer request of the transferred control right or if there is no response, The driver, the driver, the driver, the driver, the driver, the driver, the sensor, and the camera.

The step of deriving may further comprise the step of obtaining context information including at least one of an estimated collision time with the obstacle located on the traveling route identified from the environment information of the surroundings of the vehicle and a cognitive impairment estimated time of the object located on the traveling route .

The step of deriving may further include determining whether or not a collision is likely to occur when a target object positioned in an invisible area is entered into a traveling path of the vehicle based on the environment information of the surroundings of the vehicle, , It is possible to derive the context information including the expected collision time with the target object.

In addition, the controlling step may calculate an expected risk by combining environment information of the surroundings of the vehicle and state information of the driver of the vehicle.

In addition, the controlling step may control the devices in the vehicle according to a guide set in advance based on the calculated risk, and periodically transmit the context information according to time or position.

1 is a view schematically showing an external configuration of a vehicle according to an embodiment.
1 is a diagram showing an internal configuration of a vehicle according to an embodiment.
3 is a block diagram of a vehicle according to an embodiment.
4 is a diagram illustrating a large-scale antenna system of a base station according to an embodiment.
5A to 5C are diagrams showing a communication method in a 5G network.
6 is a view showing a case where the vehicle meets an obstacle while the vehicle is running or a case where the object becomes unrecognizable.
7 is a view showing a touch sensor attached to a steering wheel according to an embodiment.
8 is a view of a camera attached to a vehicle interior according to an embodiment
9 is a flowchart illustrating an operation of a vehicle for transmitting environmental information when transfer of control is required during traveling in a partial autonomic navigation system according to an exemplary embodiment.
10 is a view illustrating a pop-up message requesting handover of control through a display according to an exemplary embodiment of the present invention.
FIG. 11 is a view showing an operation flow chart of a vehicle for conveying a situation expected in the course of running in a partial autonomous navigation system according to an embodiment.
FIG. 12 is a view illustrating a screen in which peripheral environment information is displayed through a display according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view schematically showing an external configuration of a vehicle according to an embodiment.

1, a vehicle 200 includes a vehicle body 80 that forms an appearance of the vehicle 200, and wheels 93 and 94 that move the vehicle 200. As shown in Fig. The vehicle body 80 includes a hood 81, a front fender 82, a door 84, a luggage compartment lid 85, a quarter panel 86, and the like.

A front window 87 provided on the front side of the vehicle body 80 to provide a view of the front of the vehicle 200, a side window 88 providing a side view, a door 84 Side mirrors 91 and 92 provided on the rear side of the vehicle 200 to provide the rear and side view of the vehicle 200 and a rear window 90 provided on the rear side of the vehicle body 80 to provide a view of the rear of the vehicle 200. [ May be provided. Hereinafter, the internal configuration of the vehicle 200 will be described in detail.

FIG. 2 is a block diagram of a vehicle according to an embodiment. FIG. 4 is a block diagram of a vehicle according to a 5G communication method according to an embodiment. 5A to 5C are diagrams showing a communication method in a 5G network. 6 is a view showing a case where the vehicle meets an obstacle while the vehicle is running or the object becomes unrecognizable. FIG. 7 is a view showing a touch sensor attached to the steering wheel according to an embodiment And FIG. 8 is a view showing a camera attached to a vehicle interior according to an embodiment. Explanations should be given together to avoid redundancy.

The vehicle 200 is provided with an air conditioner to perform both heating and cooling. The heated or cooled air can be discharged through the vent 153 to control the temperature inside the vehicle 200. The air conditioner described below automatically controls the air conditioning environment including indoor / outdoor environmental conditions of the vehicle 200, air intake / exhaustion, circulation, cooling / heating state, or the like, Device.

According to one embodiment, the air conditioner may correspond to a dual-zone automatic temperature controller (DATC). The DATC refers to a fully automatic temperature control device that automatically sets temperature or the like for the driver's seat 21 and the front passenger's seat 22 or sets it according to a user's control command. The vehicle 200 can provide comfort to the passengers by individually controlling the air conditioning environment for the driver's seat 21 and the passenger seat 22 for the occupant sits using the DATC. On the other hand, the air conditioner 196 has a built-in sensor, so that it is possible not only to measure the concentration of carbon dioxide in the vehicle 200, but also to detect ethanol.

On the other hand, an AVN terminal (Audio Video Navigation) 100 may be provided inside the vehicle 200. The AVN terminal 100 refers to a terminal that can provide a navigation function for providing a path to a destination to a user and can integrally provide audio and video functions. The AVN terminal 100 can selectively display at least one of an audio screen, a video screen and a navigation screen through the display 101 as well as various control screens related to the control of the vehicle 200, A screen related to an additional function that can be executed by the user can be displayed.

According to one embodiment, the AVN terminal 100 can display various control screens related to the control of the air conditioner through the display 101 in cooperation with the above-described air conditioner. In addition, the AVN terminal 100 can control the operation state of the air conditioner 196 to adjust the air conditioning environment in the vehicle.

On the other hand, the display 101 may be located in the center fascia 11, which is the central area of the dashboard 10. According to one embodiment, the display 101 may be implemented with a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), a cathode ray tube However, this is not the case.

A speaker 143 capable of outputting sound may be provided inside the vehicle 200. Accordingly, the vehicle 200 can output the sound necessary for performing the audio function, the video function, the navigation function, and other additional functions through the speaker 143. [

The navigation input unit 102 may be located in the center fascia 11, which is a central area of the dashboard 10. [ The driver can input various control commands by operating the navigation input unit 102. [ In addition, the navigation input unit 102 may be provided in a hard key type in an area adjacent to the display 101. [ When the display 101 is implemented as a touch screen type, the display 101 may also perform the functions of the navigation input unit 102. [

Meanwhile, the center console 40 may be provided with a center input unit 43 of a jog shuttle type or a hard key type. The center console 40 refers to the portion where the gear operating lever 41 and the tray 42 are formed between the driver's seat 21 and the front passenger's seat 22. The center input unit 43 may perform all or some of the functions of the navigation input unit 102. [

Referring to FIG. 3, a communication unit 110 may be provided in the vehicle 200.

The communication unit 110 can transmit and receive wireless signals between devices via a base station through a communication method such as 3G (3G) or 4G (4Generation). In addition, the communication unit 110 may be a wireless LAN, (Bluetooth), Zigbee, Wi-Fi Direct, UWB, Infrared Data Association (BDA), Bluetooth Low Energy (BLE), and Near Field Communication The mobile station can transmit and receive a wireless signal including data with a terminal within a predetermined distance.

Also, the communication unit 110 can transmit and receive a radio signal through a 5G (5 Generation) communication method. The 4G communication method uses the frequency band of 2 GHz or less, but the 5G communication method uses the frequency band of about 28 GHz band. However, the frequency band used by the 5G communication system is not limited thereto.

A large-scale antenna system may be employed for the 5G communication system. A large-scale antenna system refers to a system that can cover up to ultra-high frequency by using dozens or more antennas, and can transmit / receive a large amount of data simultaneously through multiple connections. Specifically, the large-scale antenna system can adjust the arrangement of the antenna elements to transmit and receive radio waves farther in a specific direction, thereby enabling a large-capacity transmission and expanding the usable area of the 5G communication network.

Referring to FIG. 4, the base station 400 can simultaneously transmit and receive data with many devices through a large-scale antenna system. In addition, the large-scale antenna system minimizes radio waves radiated in a direction outside the direction of propagation of radio waves to reduce noise, thereby improving transmission quality and reducing the amount of electric power.

In addition, the 5G communication method uses a non-orthogonal multiplexing access (NOMA) method to modulate a radio signal, unlike a conventional method of modulating a transmission signal through an Orthogonal Frequency Division Multiplexing By this transmission, more devices can be connected to multiple devices, and large capacity transmission / reception is possible at the same time.

For example, the 5G communication method can provide a transmission rate of up to 1Gbps. 5G communication method can support immersive communication that requires high-capacity transmission such as UHD (Ultra-HD), 3D, hologram, etc. through large capacity transmission. As a result, users can send and receive more sophisticated and immersive ultra-high-capacity data faster through the 5G communication method.

In addition, the 5G communication method enables real-time processing with a maximum response speed of 1ms or less. Accordingly, in the 5G communication method, it is possible to support a real-time service that responds before the user recognizes it. For example, a vehicle receives sensor information from various devices while driving, and can provide an autonomous driving system through real-time processing, as well as provide various remote controls. In addition, the vehicle can process the sensor information with other vehicles existing around the vehicle through the 5G communication system in real time to provide the possibility of occurrence of collision to the user in real time, Can be provided in real time.

In addition, through the real-time processing and large-capacity transmission provided by the 5G communication, the vehicle can provide the big data service to the passengers in the vehicle. For example, the vehicle can analyze various web information, SNS information, and the like, and provide customized information suitable for the situation of the passengers in the vehicle. In one embodiment, the vehicle collects various kinds of tourist information and tourist information existing in the vicinity of the traveling route through the big data mining and provides it in real time so that the passengers can directly check various information existing around the traveling area.

On the other hand, the 5G network can further subdivide the cell and support high density and large capacity transmission of the network. Here, the cell means a region divided into a small area and a large area in order to efficiently use the in. At this time. A small power base station is installed in each cell to support communication between terminals. For example, the 5G network can be formed in a two-stage structure of a macro cell base station-distributed small base station-communication terminal by further reducing the size of the cell and reducing the size of the cell.

In the 5G network, relay transmission of a radio signal through a multihop method can be performed. For example, as shown in FIG. 5A, the first terminal 401 may relay a radio signal to be transmitted by the third terminal 403 located outside the network of the base station 400 to the base station 400 have. The first terminal 401 may relay the radio signal to be transmitted by the second terminal 402 located in the network of the base station 400 to the base station 400. As described above, at least one of the devices capable of using the 5G network may perform relay transmission through the multi-hop method, but the present invention is not limited thereto. As a result, it is possible to expand the area where the 5G network is supported and to solve the buffering problem caused by a large number of users in the cell.

Meanwhile, the 5G communication system is capable of device-to-device (D2D) communication applied to vehicles, wearable devices, and the like. Device-to-device communication refers to communication between devices, and refers to communication in which a device transmits not only data sensed through a sensor but also wireless signals containing various data stored in the device. According to the inter-device communication method, it is not necessary to exchange wireless signals via the base station, and radio signals are transmitted between the devices, so unnecessary energy can be saved. At this time, in order to use a 5G communication system such as a vehicle or a wearable device, an antenna must be built in the device.

The vehicle 200 can transmit and receive wireless signals with other vehicles existing around the vehicle through inter-device communication. For example, as shown in FIG. 5B, the vehicle 200 can communicate with other vehicles 201, 202, and 203 existing in the vicinity of the vehicle. In addition, the vehicle 200 can communicate with a traffic information device (not shown) provided at an intersection or the like as well as the device.

As another example, the vehicle 200 may transmit and receive wireless signals to and from the first vehicle 201 and the third vehicle 203 via inter-device communication as shown in FIG. 5C, Can communicate data with the vehicle 200 and the second vehicle 202 through inter-device communication. That is, a virtual network is formed between a plurality of vehicles 200, 201, 202, and 203 located within a distance capable of device-to-device communication, and wireless signals can be transmitted and received.

On the other hand, the 5G communication network extends the area where device-to-device communication is supported, enabling communication between devices located farther away. In addition, since it supports real-time processing with response speed of 1ms or less and high-capacity communication of 1Gbps or more, signals including desired data can be exchanged between vehicles running.

For example, a vehicle can communicate with other vehicles, servers, systems, and the like existing in the vicinity of the vehicle in real time through the 5G communication system, and can transmit and receive data, and provides a route guidance service through the augmented reality And can provide various kinds of services.

In addition, the vehicle can transmit and receive wireless signals including data through a base station or inter-device communication using a band outside the above-mentioned frequency band, and is not limited to the communication method using the above-mentioned frequency band.

The communication unit 110 may perform wireless communication with another device via the base station through the 5G communication method, or may transmit and receive a wireless signal directly with the device through inter-device communication. Here, a radio signal means a signal including various types of data.

For example, the communication unit 110 may receive environmental information around the vehicle 200 from the base station or another vehicle located around the vehicle 200. [ The environment information around the vehicle 200, which will be described below, is information capable of grasping the environment on the traveling route of the vehicle 200. According to one embodiment, the environmental information includes information on traffic flow, weather, road conditions, and status information of at least one other vehicle located in the vicinity of the vehicle 200, The present invention is not limited to the embodiment but includes all of the information on the external environment that may affect the running of the vehicle 200. [

At this time, the environment information includes not only the area located on the traveling route, but also information capable of grasping the environment within a certain radius from the position of the vehicle 200. At this time, the predetermined radius may be set in advance. For example, the environment information may include information capable of grasping the environment of a radius N km (1? N? 20) from the position of the vehicle 200, but is not limited thereto.

The determination unit 120 can determine whether or not the driver needs to transfer the control right from the environmental information around the vehicle 200. [ The vehicle in the fully autonomous driving system collects environmental information, processes it, recognizes the surrounding environment, and can determine the driving route to self-drive. However, when a complicated situation occurs in the external environment, it is difficult for the vehicle 200 to autonomously travel. Therefore, the vehicle 200 according to the disclosed embodiment can be applied to the partial autonomous driving system, and transfer of control between the driver and the vehicle 200 is possible.

In the case where the vehicle 200 has the control right in the partial autonomous vehicle traveling system, it is difficult for the vehicle 200 to control the traveling by itself considering the sudden change of the external environment. Thus, if the transfer point of control is advanced before encountering a complicated situation, the driver can transfer the control right when it is safer. Further, when information on the expected situation is transmitted according to the change of the environment, the driver can recognize this in advance and can travel more safely.

For example, the vehicle 200 according to the disclosed embodiment may be autonomously traveling with the second vehicle 201 on a two-lane road in accordance with the partial autonomous navigation system as shown in Fig. At this time, if the vehicle 200 is expected to enter the local rainy region, which is raining intensively, the vehicle 200 must inform the driver in advance of the arrival at the local rainy region and request that the control be transferred, . Further, if the second vehicle 201 is not judged as a normal driving due to a sudden braking or frequent lane change, the vehicle 200 is informed in advance of the driver, and by requesting to transfer control, Can be prevented early. Hereinafter, the components of the vehicle 200 performing such a process will be described.

The determination unit 120 can grasp the external environment from the environment information received from the base station or another vehicle. For example, when it is desirable for the driver to travel with control, such as when the vehicle is entering a congested area, or when the vehicle is approaching a place where it is difficult to secure a field of view with a large amount of mist, 200) is difficult to self-drive, and it can be judged that it is necessary to transfer control.

As another example, if it is determined from the environmental information that the traffic congestion level of the intersection located at the front exceeds the preset level or the local weather such as a shower is expected in the area where the vehicle is located, It can be judged that transfer is necessary. That is, the vehicle 200 according to the disclosed embodiment continuously monitors the environment information around the vehicle 200 and grasps a dangerous situation at an early stage, thereby preventing the driver from facing a dangerous situation. On the other hand, data serving as a criterion for judging whether transfer of control right is necessary from the surrounding environment information is stored in the database 160 and can be used when necessary. A detailed description of the database 160 will be given later.

If it is determined that the handover of the control right is necessary, the judging unit 120 transfers the control right to the driver through the speaker 143 or the display 101, which is located in the vehicle 200 and can transmit various information to the driver You can ask to receive it. For example, the determination unit 120 may display a pop-up message including contents requesting transfer of control to the display 101, and may output contents requesting transfer of control through the speaker 143 have. In addition, a vibration sensor may be provided at a position where the body of the driver touches the driver's seat 21, the steering wheel 12, or the like. Accordingly, the determination unit 120 may request the driver to transfer the control right through the vibration sensor, but there is no limitation.

At this time, in response to the transfer request of the control right, the acquisition unit 130 can acquire the driver's state information when rejecting the transfer request of the control right or when there is no response for a preset time.

The status information described below means information obtained from various devices capable of detecting the driver's condition. For example, the steering wheel 12 may be provided with a touch sensor 132, as shown in FIG. Accordingly, the acquiring unit 130 can acquire whether or not the driver's hand is sensed by the steering wheel 12 through the touch sensor 132. The acquiring unit 130 can determine whether the driver is currently sleeping or whether the driver is in an emergency according to whether the driver's hand is detected from the touch sensor 132. [

As another example, the vehicle 200 may be provided with a camera 131, as shown in Fig. The acquiring unit 130 can photograph the image of the driver's face through the camera 131 and can identify the driver's eyes in the photographed image. The acquiring unit 130 may determine the driver's state, such as whether the driver is drowsy, through the size of the driver's eyes. The acquiring unit 130 also combines the states of the driver acquired from the touch sensor 132 and the camera 131 to determine whether or not the driver is in a state capable of transferring the control right, .

On the other hand, the control unit 140 can control the overall operation of the vehicle 200. Specifically, the control unit 140 can control not only the various modules built in the AVN terminal 100, but also the operations of devices mounted on the vehicle 200 and the like. According to an embodiment, the control unit 140 can be operated by a processor built in the vehicle 200, and can control various modules built in the AVN terminal 100, devices installed in the vehicle 200, A control signal can be generated to control the operation of each of the above-described components.

Meanwhile, the control unit 140 can calculate the expected risk at the time of driving by combining the driver's state information and the surrounding environment information. The risk described below means a degree of danger to the driver due to a change in the external environment when driving along the driving route. For example, the risk of a high probability of collision with an obstacle is higher than the risk of a low possibility of collision with an obstacle. As another example, the probability of collision with an obstacle is the same, but the risk when the driver is sleeping is higher than the risk when the driver is not sleeping. The data, which is a basis for calculating the risk by combining the state information and the surrounding information, is stored in the database 160 and can be used when necessary.

The control unit 140 can transmit environment information about the vehicle to the driver based on the degree of risk calculated by combining the driver's state information and the surrounding environment information according to a predetermined guide. In addition, the control unit 140 may transmit a warning message to the driver, thereby preventing the driver from facing a dangerous situation.

For example, the control unit 140 can control the operation of the speaker 143 and the display 101 according to the degree of risk, and can transmit environment information about the surroundings of the vehicle to the driver. In one embodiment, the higher the degree of risk is, the shorter the output period of the beep sound through the speaker 143 and the display of the environment information and the warning message through the display 101 The period can be controlled to be short.

The control unit 140 controls the steering wheel 12, the accelerator 144, the brake 145, the direction indicator 146, and the direction indicator 146, The emergency light 147, and the like to guide the emergency parking. At this time, the predetermined time or distance may be set shorter as the risk is higher, but the present invention is not limited thereto.

On the other hand, the process of calculating the risk may be performed by an external system. For example, the control unit 140 can transmit environmental information of the surroundings of the vehicle and status information of the driver through the communication unit 110 to the external system. Accordingly, the control unit 140 can receive the risk information expected from the external system while driving, and can transmit environmental information around the vehicle by controlling the device in the vehicle according to a predetermined guide corresponding thereto.

Meanwhile, the control unit 140 transmits the context information derived through the derivation unit 150 as described below, thereby enabling the driver to grasp the situation more accurately. The context information described below means information on the context that is predicted from the environment information. For example, the context information includes not only the environmental information of the surroundings of the vehicle, but also the estimated collision time with the obstacle predicted based on the traveling speed of the vehicle according to the traffic congestion, the unrecognizable estimated time of the specific object, and the like.

The obstacles described below are obstructive to the running of the vehicle 200 so that not only various objects placed on the road but also other vehicles that are at risk of hitting the vehicle 200, Weather and the like. In addition, the obstacles include various kinds of objects installed on the road due to construction work and the like.

At this time, the object can be grasped from the environment information, and not only is located on the traveling route, but also includes all objects located within a certain radius from the vehicle 200.

For example, the derivation unit 150 is not located on the traveling route from the environment information, but can recognize the moving object on the traveling route. The derivation unit 150 can determine whether there is a possibility of collision with a target object based on the detected moving speed of the target object, the distance between the vehicles 200, and the like. If it is determined that a collision with the object is possible, the derivation unit 150 can derive the expected collision time with the object. At this time, if the probability of occurrence of collision exceeds a predetermined level, the derivation unit 150 determines that a collision with the object is possible, and can derive the collision expected time with the object. For example, when an object enters from an area where the driver can not obtain a field of view, the driver is hard to avoid an accident. Therefore, the vehicle 200 according to the disclosed embodiment can provide the driver with an estimated collision time with the object, in order to prevent an accident in advance.

As another example, the derivation unit 150 can estimate the collision expected time with the obstacle when the possibility of collision is expected by determining the position of the nearby vehicle. According to one embodiment, the derivation unit 150 can estimate the collision expected time by measuring the distance between both vehicles and the relative speed of both vehicles. The distances between the vehicles can be determined by means of various devices mounted on the vehicle such as Differential Global Positioning System (DGPS), radar, camera, and LIDAR.

In addition, the derivation unit 150 can identify the area where the obstacle is located from the surrounding environment information, and can estimate the collision prediction time in consideration of the traffic situation to the present location and the identified area. For example, the derivation unit 150 can identify the snow and rain regions from the surrounding environment information and derive the expected collision time from the traffic conditions up to the identified area.

The control unit 140 can control the operation of various devices in the vehicle 200 to not only transmit the derived context information to the driver but also control the running of the vehicle 200.

According to an exemplary embodiment, the control unit 140 may adjust the delivery period of the context information according to the risk. That is, the control unit 140 can determine the delivery period of the context information according to the risk. At this time, the control unit 140 can shorten the delivery period of the context information as the risk becomes higher.

For example, when the degree of risk is high, the control unit 140 may transmit the context information every 10 seconds after the expected collision time with the obstacle. The control unit 140 has 1 minute of 'collision time with the obstacle' every 10 seconds through the speaker 143. Please transfer control ',' You have 50 seconds to reach the obstacle. Please transfer the control right '. Alternatively, the control unit 140 may transmit the context information whenever the expected collision distance with the obstacle exceeds 20 meters.

When the degree of risk exceeds a preset level and the imminent situation is expected, the control unit 140 controls the steering wheel 12, the accelerator 144, the brake 145, the direction indicator 146, It is possible to induce the emergency parking.

Referring to FIG. 3, a database 160 may be provided in the vehicle 200. The guide may include information on how to control the operation of the vehicle 200 according to the degree of risk. Accordingly, the control unit 140 controls the operation of the devices in the vehicle 200 according to the guidance based on the result of the calculation of the risk, so as to take measures to transfer the control right before the driver faces a dangerous situation, So that the driver can receive the driving more safely.

The database 160 may update the data relating to the guide through the communication unit 110 according to a driver's request or a predetermined period. The preset period can be set by the driver or the designer of the vehicle 200. [ In addition, when there is no data related to the guide corresponding to the surrounding environment information and the driver's state, the control unit 140 can provide the driver with the corresponding data by requesting the corresponding data to the external system in real time .

Meanwhile, the determination unit 120, the acquisition unit 130, the control unit 140, and the derivation unit 150 shown in FIG. 3 may be operated by a processor and may be integrated into a system on chip .

FIG. 9 is a flowchart illustrating an operation of a vehicle for transferring environment information when transfer of control is required during traveling in a partial autonomic navigation system according to an exemplary embodiment. FIG. Up message requesting the handover of the mobile terminal.

The vehicle can collect environmental information around the vehicle (700). The environmental information of the surroundings of the vehicle means information on the external environment on the traveling path of the vehicle. The vehicle can collect environmental information from the base station via the communication network or collect environment information from other vehicles or external devices. The external device includes a server located outside, or various traffic information devices installed around the road.

The vehicle may determine whether it is necessary to transfer the control right to the driver from the collected environment information (710). If autonomous driving is difficult due to changes in the external environment, the vehicle needs to transfer control to the driver. Accordingly, if it is determined that the autonomous driving is difficult due to a change in the external environment as a result of the judgment from the environment information, the vehicle may determine that the transfer of the control right to the driver is necessary.

If it is determined that the transfer of the control right is necessary, the vehicle can request transfer of the control right through various devices in the vehicle. For example, the vehicle may be expected to collide with an obstacle on the display 101, as shown in FIG. Would you like to transfer control? ' A pop-up message 801 may be displayed. At this time, the vehicle may request a response regarding the transfer request of the control right through the response type guide.

In response to the transfer request of control, when the driver clicks "Yes" shown in FIG. 10, the vehicle delivers the control right to the driver and at the same time transmits the surrounding information so that the driver can prepare for the dangerous situation early (730).

However, if the driver clicks 'No' in FIG. 10 or if there is no response for a preset time period, the vehicle can determine the driver's state (740). The vehicle can determine the driver's state, calculate the risk based on the driver's state and environment information, and adjust the delivery period for the warning and environmental information.

For example, the vehicle can acquire driver's status information through various sensors built in the vehicle and the camera. The status information means information that can be used as an indicator for grasping the driver's condition. The database in the vehicle stores the average body information of the driver, which is generated by monitoring through various sensors and cameras, so that the driver's condition can be determined more accurately.

In one embodiment, the vehicle identifies the size of the driver's eye through the camera, compares the size of the identification result with the size of the driver's eyes, and determines that the driver is asleep if the size is smaller than a predetermined size. In another embodiment, the vehicle may detect whether or not the driver is sleeping by sensing whether the driver is holding the steering wheel through the touch sensor mounted on the steering wheel. In addition, the vehicle can detect the amount of carbon dioxide through the carbon dioxide sensor incorporated in the air conditioner, and judge the driver's condition through various methods, such as judging that the driver is sleeping when the predetermined level is exceeded.

The vehicle can calculate the risk by combining the result of the determination as to the driver ' s condition and the result as identified from the environment information. The more dangerous the driver's condition is, the higher the risk is, and the higher the likelihood of the change from the environmental information to the dangerous situation becomes, the higher the risk becomes.

Accordingly, the vehicle can deliver the environmental information according to a predetermined guide corresponding to the calculated risk, and can transmit the warning to the driver (750). For example, the vehicle can adjust the display period of the pop-up message through the display, the output period of the warning message through the speaker, and the operation period of the vibration sensor depending on the degree of risk, thereby prompting the driver to ventilate .

FIG. 11 is a flowchart illustrating an operation of a vehicle for transmitting context information expected during a running in a partial autonomic navigation system according to an exemplary embodiment of the present invention. Fig.

Steps 900 to 940 are the same as the operation steps 700 to 740 of the vehicle described above, so that they are omitted.

The vehicle can derive the context information from the environment information (950). The contextual information includes predictive information about the expected hazardous situation. For example, if there is a lot of fog on the driving route and there are areas where it is difficult to identify various objects on the road, or where there is a lot of snow and where it is difficult to identify the lane, , The expected distance, and so on. Alternatively, if it is anticipated to enter a traffic congested intersection according to the driving route, the vehicle can derive the estimated time remaining and the expected distance to the area.

Also, as described above, the vehicle can calculate the risk from the state information and the environment information. Accordingly, the vehicle can control the in-vehicle device according to a predetermined guide in response to the risk, and can transmit the context information and the warning (960). For example, as shown in FIG. 12, the vehicle has a display time of '1 minute of collision with an obstacle'. Up message 1001 including the message 'Please transfer the control right'. At this time, the higher the risk of the vehicle, the shorter the display period of the pop-up message, but the present invention is not limited thereto.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

10: Dashboard, 11: Center Fesia
12: steering wheel, 13: head lining
21: driver's seat, 22: passenger seat
40: center console, 41: gear operating lever
42: Tray, 43: Center input
80: body, 81: hood, 82: front fender
84: Door, 85: Trunk lid, 86: Quarter panel
87: front window, 88: side window
90: rear window, 91, 92: side mirror
100: AVN terminal, 101: display, 102: navigation input unit
143: speaker, 153: ventilation hole, 190: audio input section

Claims (16)

A judging unit for judging whether or not transfer of the control right is necessary based on environmental information around the vehicle;
An acquiring unit for acquiring status information on whether or not the driver of the vehicle is in a state capable of transferring control, if it is determined that the transfer of the control right is required;
A derivation unit for deriving context information predicted on a traveling path of the vehicle from environmental information around the vehicle; And
Vehicle device according to a guide set in advance on the basis of the environment information of the surroundings of the vehicle and the obtained status information and transmits the derived context information,
≪ / RTI > The method according to claim 1,
Wherein,
The control unit collects environmental information of the surroundings of the vehicle including at least one of traffic flow, weather, road conditions, and at least one other vehicle located in the vicinity of the vehicle, from environmental information around the collected vehicle A vehicle that determines whether a transfer of control is required. The method according to claim 1,
Wherein the obtaining unit comprises:
If the control authority is determined to be required to be handed over to the driver of the vehicle, transferring the transfer request of the control right to the driver of the vehicle, rejecting the transfer request of the transferred control right or if there is no response, And determines whether or not the driver is allowed to transfer control from the obtained driver's state information. The method according to claim 1,
The derivation unit,
An estimated time of collision with an obstacle located on a traveling route identified from the environment information of the vicinity of the vehicle, and an estimated time of uncertainty of an object located on the traveling route. The method according to claim 1,
The derivation unit,
It is possible to determine whether or not a collision is likely to occur due to the entry of a target object located in an unobtainable field of view from the environmental information around the vehicle into the traveling path of the vehicle and to allow the collision to occur when the target object enters the running path of the vehicle And if it is judged, derives context information including a predicted collision time with the object. The method according to claim 1,
Wherein,
Vehicle environment information and the acquired state information to calculate an expected risk. The method according to claim 1,
Wherein,
In response to the environmental information of the environment around the vehicle and the status information of the driver to the external system, the device in the vehicle is controlled according to a guide set in advance based on a risk level expected at the time of running, Vehicle that carries information. The method according to claim 6,
Wherein,
According to a predetermined guide based on the calculated risk, at least one of an output period of a speaker and a display period of a display is controlled to transmit at least one of environmental information around the vehicle and the derived context information, , An accelerator, a brake, a direction indicator, and an emergency light to guide emergency parking. Determining whether transfer of the control right is necessary based on environment information of the surroundings of the vehicle;
Obtaining status information on whether the driver of the vehicle is in a state where control can be handed over if it is determined that the transfer of the control right is required;
Deriving context information predicted on a traveling path of the vehicle from environmental information around the vehicle; And
Controlling the in-vehicle apparatus according to a guide set in advance on the basis of the environment information around the vehicle and the obtained status information, and transmitting the derived context information
And controlling the vehicle. 10. The method of claim 9,
Wherein the determining step comprises:
The control unit collects environmental information of the surroundings of the vehicle including at least one of traffic flow, weather, road conditions, and at least one other vehicle located in the vicinity of the vehicle, from environmental information around the collected vehicle A control method of a vehicle that determines whether or not transfer of control rights is necessary. 10. The method of claim 9,
Wherein the acquiring comprises:
If the control authority is determined to be required to be handed over to the driver of the vehicle, transferring the transfer request of the control right to the driver of the vehicle, rejecting the transfer request of the transferred control right or if there is no response, And determining whether or not the driver is able to transfer the control right from the obtained driver's state information. 10. The method of claim 9,
Wherein said deriving comprises:
A predicted time of collision with an obstacle located on a traveling route identified from the environment information of the vicinity of the vehicle, and a predicted time of non-cognition of the object located on the traveling route. 10. The method of claim 9,
Wherein said deriving comprises:
It is possible to determine whether or not a collision is likely to occur due to the entry of a target object located in an unobtainable field of view from the environmental information around the vehicle into the traveling path of the vehicle and to allow the collision to occur when the target object enters the running path of the vehicle And when it is judged, derives the context information including the expected collision time with the object. 10. The method of claim 9,
Wherein the controlling comprises:
And environmental information of the surroundings of the vehicle and state information of the driver of the vehicle. 10. The method of claim 9,
Wherein the controlling comprises:
In response to the environmental information of the environment around the vehicle and the status information of the driver to the external system, the device in the vehicle is controlled according to a guide set in advance based on a risk level expected at the time of running, A method of controlling a vehicle that carries information. 15. The method of claim 14,
Wherein the controlling comprises:
According to a predetermined guide based on the calculated risk, at least one of an output period of a speaker and a display period of a display is controlled to transmit at least one of environmental information around the vehicle and the derived context information, , An accelerator, a brake, a direction indicator, and an emergency light to guide emergency parking.

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