KR102387610B1 - Vehicle and Control method thereof - Google Patents

Abstract

The present invention provides an input device and when a user command is received through the input device during autonomous driving of the vehicle, based on vehicle driving information obtained, determining whether to reflect the user command to driving of the vehicle, When it is determined that the user command is reflected, the vehicle is controlled based on the user command and the vehicle driving information. When it is determined that the user command is not reflected, the vehicle is controlled based on only the vehicle driving information. The present invention relates to an autonomous vehicle including a control unit for controlling the vehicle and a method for controlling the same.

Description

Vehicle and its control method {Vehicle and Control method thereof}

The present invention relates to a vehicle and a method for controlling the same.

A vehicle is a device that moves a user in a desired direction. A typical example is a car.

Meanwhile, for the convenience of a user using a vehicle, various sensors and electronic devices are being provided. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience. Furthermore, the development of autonomous vehicles (Autonomous Vehicle) is being actively made.

When the vehicle autonomously drives, if the user inputs a command for the vehicle through the steering wheel or the accelerator pedal, in principle, the vehicle may ignore the user's command and perform autonomous driving.

However, even when the vehicle is autonomously driving, there is a need to reflect the user's command to the driving of the vehicle. In addition, when a person does not recognize the danger recognized by the vehicle and inputs an incorrect command, it may be safe for the vehicle to autonomously drive while ignoring the user's command.

Accordingly, when a user's command is input during autonomous driving of the vehicle, a technology for reflecting the inputted user command to the driving of the vehicle only when the inputted user command matches the driving environment of the vehicle is being researched.

SUMMARY OF THE INVENTION An object of the present invention is to provide an autonomous driving vehicle capable of determining whether a user command input during autonomous driving of the vehicle may be reflected in driving of the vehicle in order to solve the above problem.

In addition, an embodiment of the present invention provides an autonomous driving vehicle that reflects the user command by notifying the user or moving to a location where the user command can be reflected when the user command cannot be reflected in the autonomous driving of the vehicle. There is a purpose.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, an autonomous driving vehicle according to an embodiment of the present invention includes an input device, and based on vehicle driving information obtained when a user command is received through the input device during autonomous driving of the vehicle, It is determined whether the user command is reflected in the driving of the vehicle, and when it is determined that the user command is reflected, the vehicle is controlled based on the user command and the vehicle driving information, and the user command is not reflected. and a controller configured to control the vehicle based on only the vehicle driving information when the determination is made.

The method for controlling an autonomous driving vehicle according to an embodiment of the present invention includes the steps of: acquiring vehicle driving information while the vehicle is autonomously driving; when a user command is received, the user command is transmitted to the vehicle based on the vehicle driving information determining whether to reflect the driving of the vehicle, and when it is determined that the user command is reflected, control the vehicle based on the user command and the vehicle driving information, and when it is determined that the user command is not reflected, and controlling the vehicle based only on the vehicle driving information.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there are one or more of the following effects.

First, there is an effect of determining whether a user command received during autonomous driving of the vehicle conforms to the driving environment of the vehicle.

Second, by reflecting only the user's command that matches the driving environment of the vehicle to the driving of the vehicle, there is an effect of preventing a risk that may occur due to the user's erroneous judgment.

Third, when the user command cannot be reflected, the vehicle moves to a location where the user command can be reflected and reflects the user command, thereby enabling autonomous driving reflecting the user's intention.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing the exterior of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention as viewed from various angles from the outside.
3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.
5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.
7 is a block diagram referenced for explaining a vehicle according to an embodiment of the present invention.
8 is a flowchart illustrating a vehicle control method according to the present invention.
9 is a flowchart illustrating that the autonomous driving vehicle according to the present invention does not reflect a user command not intended by a driver to the driving of the vehicle.
10A to 10F are diagrams for explaining a case where a user command and vehicle driving information conflict with each other.
11 is a diagram for explaining a user command not intended by a driver.
FIG. 12 is a diagram for explaining that the autonomous driving vehicle according to the present invention individually reflects at least one user command to the driving of the vehicle 100 .
13 is a diagram for explaining that the autonomous vehicle according to the present invention autonomously travels based on at least one user input.
14A and 14B are diagrams for explaining that the autonomous driving vehicle according to the present invention calculates a control limit value and reflects a user command.
15 is a diagram for explaining that the autonomous vehicle according to the present invention outputs a control limit value and a vehicle control result.
16 is a diagram for explaining that the autonomous vehicle according to the present invention determines a position to reflect a user command and moves to the corresponding position.
17A and 17B are diagrams for explaining that the autonomous vehicle according to the present invention moves to a position capable of reflecting a user command corresponding to acceleration or reduction.
18 is a diagram for explaining that the autonomous vehicle according to the present invention outputs a message for confirming a user's intention before moving to a location capable of reflecting a user's command.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

*23 In this application, terms such as "comprises" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more It is to be understood that this does not preclude the possibility of addition or presence of other features or numbers, steps, operations, components, parts, or combinations thereof.

The vehicle described in this specification may be a concept including an automobile and a motorcycle. Hereinafter, the vehicle will be mainly described with respect to the vehicle.

The vehicle described herein may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the driving direction of the vehicle, and the right side of the vehicle means the right side in the driving direction of the vehicle.

1 is a view showing the exterior of a vehicle according to an embodiment of the present invention.

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles from the outside.

3 to 4 are views illustrating the interior of a vehicle according to an embodiment of the present invention.

5 to 6 are diagrams referenced to describe an object according to an embodiment of the present invention.

7 is a block diagram referenced for explaining a vehicle according to an embodiment of the present invention.

1 to 7 , the vehicle 100 may include wheels rotated by a power source and a steering input device 510 for controlling the traveling direction of the vehicle 100 .

The vehicle 100 may be an autonomous driving vehicle. The vehicle 100 may autonomously drive under the control of the controller 170 .

The vehicle 100 may perform autonomous driving based on vehicle driving information.

The vehicle driving information may be information acquired through various units while the vehicle 100 is driving.

The vehicle driving information includes object information outside the vehicle 100 acquired by the object detection device 300 , information received through the communication device 400 while the vehicle 100 is driving, navigation information, and control of the vehicle 100 . It may include at least one of state information and location information of the vehicle 100 . For example, the vehicle driving information may include information on other vehicles transmitted from other vehicles, information on a driving route of the vehicle 100 , map information, and the like.

For example, the vehicle driving information includes the type, position, and movement of an object existing around the vehicle 100 , whether a lane exists around the vehicle 100 , and the vehicle 100 while the vehicle 100 is stopped around the vehicle 100 . Whether other vehicles of the vehicle are running, whether there is an area that can be stopped around the vehicle 100, the possibility of collision between the vehicle and an object, how pedestrians or bicycles are distributed around the vehicle 100, the vehicle 100 runs It may indicate the type of road to be used, the state of traffic lights around the vehicle 100 , the movement of the vehicle 100 , and the like.

The vehicle driving information is obtained through at least one of the object detection device 300 , the communication device 400 , the navigation system 770 , the sensing unit 120 , and the interface unit 130 , and is provided to the controller 170 . can be The controller 170 may control the vehicle 100 to autonomously drive based on the vehicle driving information.

The control mode of the vehicle 100 may be a mode indicating what a subject that controls the vehicle 100 is. For example, the control mode of the vehicle 100 is an autonomous driving mode in which the controller 170 or the driving system 700 included in the vehicle 100 controls the vehicle 100 , and a driver riding in the vehicle 100 . It may include a manual mode in which the vehicle 100 is controlled, and a remote control mode in which a device other than the vehicle 100 controls the vehicle 100 .

When the vehicle 100 is in the autonomous driving mode, the controller 170 or the driving system 700 may control the vehicle 100 based on vehicle driving information. Accordingly, the vehicle 100 may be driven without a user command through the driving manipulation device 500 . For example, the vehicle 100 in the autonomous driving mode may be driven based on information, data, or signals generated by the driving system 710 , the taking-out system 740 , and the parking system 750 .

When a user command is received through the driving manipulation device 500 during autonomous driving, the vehicle 100 may determine whether the acquired vehicle driving information conflicts with the user command.

The vehicle 100 may not reflect the user command to the driving of the vehicle 100 when the vehicle driving information and the user command conflict. When the vehicle driving information and the user command do not conflict, the vehicle 100 may reflect the user command to the driving of the vehicle 100 .

When the user command is reflected, the vehicle 100 may drive based on the user command and vehicle driving information. When the user command is not reflected, the vehicle 100 may drive based only on vehicle driving information. A detailed description thereof will be given later in the description below with reference to FIG. 8 .

When the vehicle 100 is in the manual mode, the vehicle 100 may be controlled according to a user command for at least one of steering, acceleration, and deceleration received through the driving manipulation device 500 . In this case, the driving manipulation device 500 may generate an input signal corresponding to a user command and provide it to the controller 170 . The controller 170 may control the vehicle 100 based on an input signal provided by the driving manipulation device 500 .

When the vehicle 100 is in the remote control mode, a device other than the vehicle 100 may control the vehicle 100 . When the vehicle 100 is operated in the remote control mode, the vehicle 100 may receive a remote control signal transmitted from another device through the communication device 400 . The vehicle 100 may be controlled based on the remote control signal.

The vehicle 100 may enter one of an autonomous driving mode, a manual mode, and a remote control mode based on a user input received through the user interface device 200 . The control mode of the vehicle 100 may be switched to one of an autonomous driving mode, a manual mode, and a remote control mode based on at least one of driver state information, vehicle driving information, and vehicle state information.

The driver state information may be generated based on an image or biometric information about the driver detected through the internal camera 220 or the biometric sensor 230 . For example, the driver state information may be information generated based on images of the driver's gaze, face, behavior, expression, and location obtained through the internal camera 220 . For example, the driver state information may be information generated based on the user's biometric information obtained through the biometric sensor 230 .

For example, the driver state information may indicate a direction in which the driver's gaze is directed, whether the driver is drowsy, the driver's health state, and the driver's emotional state.

The driver state information may be generated through the user interface device 200 and provided to the controller 170 .

The vehicle state information may be information related to states of various units included in the vehicle 100 . For example, the vehicle state information may include operations of the user interface device 200 , the object detection device 300 , the communication device 400 , the driving manipulation device 500 , the vehicle driving device 600 , and the driving system 700 . It may include information on the status and information on whether each unit is abnormal.

For example, the vehicle state information may include whether a GPS signal of the vehicle 100 is normally received, whether an abnormality occurs in at least one sensor provided in the vehicle 100 , and whether each device provided in the vehicle 100 operates normally. can indicate that

For example, the control mode of the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on object information generated by the object detection apparatus 300 .

For example, the control mode of the vehicle 100 may be switched from the manual mode to the autonomous driving mode or from the autonomous driving mode to the manual mode based on information received through the communication device 400 .

The overall length refers to the length from the front part to the rear part of the vehicle 100 , the width refers to the width of the vehicle 100 , and the height refers to the length from the lower part of the wheel to the roof. In the following description, the overall length direction (L) is the standard direction for measuring the overall length of the vehicle 100 , the overall width direction (W) is the standard direction for measuring the full width of the vehicle 100 , and the total height direction (H) is the vehicle (100) may mean a direction that is the standard for measuring the total height.

As illustrated in FIG. 7 , the vehicle 100 includes a user interface device 200 , an object detection device 300 , a communication device 400 , a driving manipulation device 500 , a vehicle driving device 600 , and a driving system. 700 , a navigation system 770 , a sensing unit 120 , an interface unit 130 , a memory 140 , a control unit 170 , and a power supply unit 190 may be included.

The user interface device 200 or the driving manipulation device 500 is a device capable of receiving a user command, and may be referred to as an input device.

Depending on the embodiment, the vehicle 100 may further include other components in addition to the components described herein, or may not include some of the components described herein.

The user interface device 200 is a device for communication between the vehicle 100 and a user. The user interface device 200 may receive a user input and provide information generated in the vehicle 100 to the user. The vehicle 100 may implement User Interfaces (UIs) or User Experiences (UXs) through the user interface device 200 .

The user interface device 200 may include an input unit 210 , an internal camera 220 , a biometric sensor 230 , an output unit 250 , and a processor 270 .

According to an embodiment, the user interface device 200 may further include other components in addition to the described components, or may not include some of the described components.

The input unit 210 is for receiving a user command from the user, and the data collected by the input unit 210 may be analyzed by the processor 270 and recognized as a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, the input unit 210 may include one region of a steering wheel, one region of an instrument panel, one region of a seat, one region of each pillar, and a door. One area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield or the window (window) It may be disposed in one area or the like.

The input unit 210 may include a voice input unit 211 , a gesture input unit 212 , a touch input unit 213 , and a mechanical input unit 214 .

The voice input unit 211 may convert the user's voice input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 may convert the user's gesture input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input unit 212 may detect a user's 3D gesture input. To this end, the gesture input unit 212 may include a light output unit that outputs a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 may sense the user's 3D gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170 .

The touch input unit 213 may include a touch sensor for sensing a user's touch input.

According to an embodiment, the touch input unit 213 may be integrally formed with the display unit 251 to implement a touch screen. Such a touch screen may provide both an input interface and an output interface between the vehicle 100 and the user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input unit 214 may be provided to the processor 270 or the control unit 170 .

The mechanical input unit 214 may be disposed on a steering wheel, a center fascia, a center console, a cockpick module, a door, and the like.

The occupant detection unit 240 may detect an occupant inside the vehicle 100 . The occupant detection unit 240 may include an internal camera 220 and a biometric detection unit 230 .

The internal camera 220 may acquire an image inside the vehicle. The processor 270 may detect the user's state based on the image inside the vehicle. For example, the sensed user's state may be about the driver's gaze, face, behavior, expression, and location.

The processor 270 may obtain information on the driver's gaze, face, behavior, expression, and location from the vehicle interior image. The processor 270 may obtain information about the user's gesture from the image inside the vehicle. The information obtained by the processor 270 from the image inside the vehicle may be referred to as driver state information. In this case, the driver state information may indicate the driver's gaze direction, the driver's actions, facial expressions, gestures, and the like. The processor 270 may provide the driver state information obtained from the image inside the vehicle to the controller 170 .

The biometric sensor 230 may obtain biometric information of the user. The biometric sensor 230 may include a sensor capable of obtaining the user's biometric information, and may obtain the user's fingerprint information, heartbeat information, brain wave information, and the like, using the sensor. The biometric information may be used for user authentication or user status determination.

The processor 270 may determine the driver's state through the driver's biometric information. Information obtained by the processor 270 determining the driver's state may be referred to as driver state information. In this case, the driver state information may indicate whether the driver is fainting, drowsy, excited, in an emergency state, or the like. The processor 270 may provide the driver state information obtained from the driver's biometric information to the controller 170 .

The output unit 250 is for generating an output related to sight, hearing, or touch.

The output unit 250 may include at least one of a display unit 251 , a sound output unit 252 , and a haptic output unit 253 .

The display unit 251 may display graphic objects corresponding to various pieces of information.

The display unit 251 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (Flexible Display). display), a three-dimensional display (3D display), and an electronic ink display (e-ink display) may include at least one.

The display unit 251 may form a layer structure with the touch input unit 213 or be integrally formed to implement a touch screen.

The display unit 251 may be implemented as a head-up display (HUD). When the display unit 251 is implemented as a HUD, the display unit 251 may include a projection module to output information through an image projected on the windshield or window.

The display unit 251 may include a transparent display. The transparent display may be attached to a windshield or window.

The transparent display may display a predetermined screen while having predetermined transparency. Transparent display, in order to have transparency, transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) display may include at least one of The transparency of the transparent display can be adjusted.

Meanwhile, the user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one area of the steering wheel, one area 521a, 251b, and 251e of the instrument panel, one area 251d of the seat, one area 251f of each pillar, and one area of the door ( 251g), one area of the center console, one area of the head lining, one area of the sun visor, or one area 251c of the windshield and one area 251h of the window.

The sound output unit 252 converts an electric signal provided from the processor 270 or the controller 170 into an audio signal and outputs the converted signal. To this end, the sound output unit 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output unit 253 may vibrate the steering wheel, seat belt, and seats 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200 .

According to an embodiment, the user interface apparatus 200 may include a plurality of processors 270 or may not include the processors 270 .

When the user interface device 200 does not include the processor 270 , the user interface device 200 may be operated under the control of a processor or the controller 170 of another device in the vehicle 100 .

Meanwhile, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the controller 170 .

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100 .

The object may be various objects related to the operation of the vehicle 100 .

5 to 6 , the object O includes a lane OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14, OB15, light, road, structure, This may include speed bumps, features, animals, and the like.

The lane OB10 may be a driving lane, a lane next to the driving lane, or a lane in which vehicles that are opposed to each other travel. The lane OB10 may be a concept including left and right lanes forming a lane.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100 . The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100 . For example, the other vehicle OB11 may be a vehicle preceding or following the vehicle 100 .

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100 . The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100 . For example, the pedestrian OB12 may be a person located on a sidewalk or a roadway.

The two-wheeled vehicle OB12 may refer to a vehicle positioned around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB12 may be a vehicle having two wheels positioned within a predetermined distance from the vehicle 100 . For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or roadway.

The traffic signal may include a traffic light OB15, a traffic sign OB14, and a pattern or text drawn on a road surface.

The light may be light generated from a lamp provided in another vehicle. The light, can be the light generated from the street lamp. The light may be sunlight.

The road may include a road surface, a curve, an uphill slope, a slope such as a downhill slope, and the like.

The structure may be an object located around a road and fixed to the ground. For example, structures may include street lights, street trees, buildings, power poles, traffic lights, bridges, curbs, and guard rails.

Features may include mountains, hills, and the like.

Meanwhile, the object may be classified into a moving object and a fixed object. For example, the moving object may be a concept including other vehicles and pedestrians. For example, the fixed object may be a concept including a traffic signal, a road, a structure, and a lane.

The object detecting apparatus 300 may include a camera 310 , a radar 320 , a lidar 330 , an ultrasonic sensor 340 , an infrared sensor 350 , and a processor 370 .

According to an embodiment, the object detecting apparatus 300 may further include other components in addition to the described components, or may not include some of the described components.

The camera 310 may be located at an appropriate place outside the vehicle in order to acquire an image outside the vehicle. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

For example, the camera 310 may be disposed adjacent to the front windshield in the interior of the vehicle to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around the front bumper or radiator grill.

For example, the camera 310 may be disposed adjacent to the rear glass in the interior of the vehicle to acquire an image of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, a trunk, or a tailgate.

For example, the camera 310 may be disposed adjacent to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, a fender, or a door.

The camera 310 may provide the acquired image to the processor 370 .

The radar 320 may include an electromagnetic wave transmitter and a receiver. The radar 320 may be implemented in a pulse radar method or a continuous wave radar method in view of a radio wave emission principle. The radar 320 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods.

The radar 320 detects an object based on a time of flight (TOF) method or a phase-shift method using an electromagnetic wave as a medium, and a position of the detected object, a distance from the detected object, and a relative speed can be detected.

The radar 320 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear or side of the vehicle.

The lidar 330 may include a laser transmitter and a receiver. The lidar 330 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 330 may be implemented as a driven or non-driven type.

When implemented as a driving type, the lidar 330 is rotated by a motor and may detect an object around the vehicle 100 .

When implemented as a non-driving type, the lidar 330 may detect an object located within a predetermined range with respect to the vehicle 100 by light steering. The vehicle 100 may include a plurality of non-driven lidars 330 .

The lidar 330 detects an object based on a time of flight (TOF) method or a phase-shift method as a laser light medium, and determines the position of the detected object, the distance to the detected object, and Relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasound sensor 340 may detect an object based on ultrasound, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared transmitter and a receiver. The infrared sensor 340 may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The infrared sensor 350 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear, or side of the vehicle.

The processor 370 may control the overall operation of each unit of the object detection apparatus 300 .

The processor 370 may detect and track the object based on the acquired image. The processor 370, through an image processing algorithm, calculates the distance to the object, calculates the relative speed with the object, determines the type, position, size, shape, color, movement path, and the like of the detected character. can be performed.

The processor 370 may detect and track the object based on the reflected electromagnetic wave that is reflected by the object and returns. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the electromagnetic wave.

The processor 370 may detect and track the object based on the reflected laser light reflected back by the transmitted laser light. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the laser light.

The processor 370 may detect and track the object based on the reflected ultrasound reflected back by the transmitted ultrasound. The processor 370 may perform operations, such as calculating a distance to an object and calculating a relative speed with respect to the object, based on the ultrasound.

The processor 370 may detect and track the object based on the reflected infrared light reflected back by the transmitted infrared light. The processor 370 may perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on the infrared light.

The processor 370, the image acquired through the camera 310, the reflected electromagnetic wave received through the radar 320, the reflected laser light received through the lidar 330, the reflection received through the ultrasonic sensor 340 Object information may be generated based on at least one of ultrasound and reflected infrared light received through the infrared sensor 350 .

The object information may be information on the type, location, size, shape, color, movement path, speed, content of detected text, etc. of an object existing around the vehicle 100 .

For example, the object information includes whether a lane exists around the vehicle 100 , whether other vehicles around the vehicle 100 are running while the vehicle 100 is stopped, and an area that can be stopped around the vehicle 100 . whether there is, the possibility of collision between the vehicle and the object, how pedestrians or bicycles are distributed around the vehicle 100, the type of road on which the vehicle 100 runs, the state of traffic lights around the vehicle 100, the vehicle 100 movement, etc. The object information may be included in vehicle driving information.

The processor 370 may provide the generated object information to the controller 170 .

According to an embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processors 370 . For example, each of the camera 310 , the radar 320 , the lidar 330 , the ultrasonic sensor 340 , and the infrared sensor 350 may individually include a processor.

The object detecting apparatus 300 may be operated under the control of the processor or the controller 170 of the apparatus in the vehicle 100 .

The communication apparatus 400 is an apparatus for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

The communication device 400 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication device 400 may include a short-range communication unit 410 , a location information unit 420 , a V2X communication unit 430 , an optical communication unit 440 , a broadcast transceiver 450 , and a processor 470 .

According to an embodiment, the communication device 400 may further include other components in addition to the described components, or may not include some of the described components.

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410, Bluetooth (Bluetooth™), RFID (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless) -Fidelity), Wi-Fi Direct, and at least one of Wireless USB (Wireless Universal Serial Bus) technologies may be used to support short-distance communication.

The short-distance communication unit 410 may form wireless area networks to perform short-range communication between the vehicle 100 and at least one external device.

The location information unit 420 is a unit for obtaining location information of the vehicle 100 . For example, the location information unit 420 may include at least one of a global positioning system (GPS) module, a differential global positioning system (DGPS) module, and a carrier phase differential GPS (CDGPS) module. .

The location information unit 420 may acquire GPS information through the GPS module. The location information unit 420 may transmit the acquired GPS information to the controller 170 or the processor 470 . The GPS information obtained by the location information unit 420 may be utilized during autonomous driving of the vehicle 100 . For example, the controller 170 may control the vehicle 100 to autonomously drive based on GPS information and navigation information obtained through the navigation system 770 .

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing protocols for communication with infrastructure (V2I), vehicle-to-vehicle communication (V2V), and communication with pedestrians (V2P).

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include an optical transmitter that converts an electrical signal into an optical signal to transmit to the outside, and an optical receiver that converts the received optical signal into an electrical signal.

According to an embodiment, the light transmitter may be formed to be integrated with a lamp included in the vehicle 100 .

The broadcast transceiver 450 is a unit for receiving a broadcast signal from an external broadcast management server or transmitting a broadcast signal to the broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The processor 470 may control the overall operation of each unit of the communication device 400 .

The vehicle driving information may include information received through at least one of the short-range communication unit 410 , the location information unit 420 , the V2X communication unit 430 , the optical communication unit 440 , and the broadcast transceiver 450 .

For example, the vehicle driving information may include information about the location of the other vehicle, the vehicle type, the driving route, the speed, and various sensing values received from the other vehicle. When information on various sensing values of other vehicles is received through the communication device 400 , even if there is no separate sensor in the vehicle 100 , the control unit 170 controls various objects existing around the vehicle 100 . information can be obtained.

For example, the vehicle driving information includes the type, position, and movement of an object existing around the vehicle 100 , whether a lane exists around the vehicle 100 , and the vehicle 100 while the vehicle 100 is stopped around the vehicle 100 . Whether other vehicles of the vehicle are running, whether there is an area that can be stopped around the vehicle 100, the possibility of collision between the vehicle and an object, how pedestrians or bicycles are distributed around the vehicle 100, the vehicle 100 runs It may indicate the type of road to be used, the state of traffic lights around the vehicle 100 , the movement of the vehicle 100 , and the like.

According to an embodiment, the communication device 400 may include a plurality of processors 470 or may not include the processors 470 .

When the communication device 400 does not include the processor 470 , the communication device 400 may be operated under the control of a processor or the controller 170 of another device in the vehicle 100 .

Meanwhile, the communication device 400 may implement a vehicle display device together with the user interface device 200 . In this case, the vehicle display device may be referred to as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the controller 170 .

The driving operation device 500 is a device that receives a user command for driving.

In the manual mode, the vehicle 100 may be driven based on a signal provided by the driving manipulation device 500 .

The driving manipulation device 500 may include a steering input device 510 , an acceleration input device 530 , and a brake input device 570 .

The steering input device 510 may receive a user command for steering of the vehicle 100 from the user. The user command for steering may be a command corresponding to a specific steering angle. For example, the user command for steering may correspond to 45 degrees to the right.

The steering input device 510 may be formed in a wheel shape to enable steering input by rotation. In this case, the steering input device 510 may be called a steering wheel or a steering wheel. A rotatable angle of the steering wheel may be limited by control by the controller 170 . For example, the steering wheel may be controlled to be rotatable within 30 degrees to the right and 45 degrees to the left by the controller 170 .

According to an embodiment, the steering input device may be formed in the form of a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive a user command for acceleration of the vehicle 100 from the user.

The brake input device 570 may receive a user command for deceleration of the vehicle 100 from the user. The acceleration input device 530 and the brake input device 570 may be formed in the form of pedals. In this case, the input depth of the accelerator pedal or the brake pedal may be limited by the control of the controller 170 . For example, the accelerator pedal or the brake pedal may be controlled to be input only to a depth of 50% of the maximum inputable depth by the controller 170 .

According to an embodiment, the acceleration input device or the brake input device may be formed in the form of a touch screen, a touch pad, or a button.

The driving operation device 500 may be operated under the control of the controller 170 .

The vehicle driving device 600 is a device that electrically controls driving of various devices in the vehicle 100 .

The vehicle driving unit 600 may include a power train driving unit 610 , a chassis driving unit 620 , a door/window driving unit 630 , a safety device driving unit 640 , a lamp driving unit 650 , and an air conditioning driving unit 660 . can

Depending on the embodiment, the vehicle driving apparatus 600 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the vehicle driving apparatus 600 may include a processor. Each unit of the vehicle driving apparatus 600 may include a processor, respectively.

The power train driver 610 may control the operation of the power train device.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612 .

The power source driving unit 611 may control the power source of the vehicle 100 .

For example, when a fossil fuel-based engine is a power source, the power source driving unit 610 may electronically control the engine. Thereby, the output torque of an engine, etc. can be controlled. The power source driving unit 611 may adjust the engine output torque according to the control of the control unit 170 .

For example, when the electric energy-based motor is the power source, the power source driving unit 610 may control the motor. The power source driving unit 610 may adjust the rotation speed, torque, etc. of the motor according to the control of the control unit 170 .

The transmission driving unit 612 may control the transmission.

The transmission driving unit 612 may adjust the state of the transmission. The transmission driving unit 612 may adjust the state of the transmission to forward (D), reverse (R), neutral (N), or park (P).

On the other hand, when the engine is the power source, the transmission driving unit 612 may adjust the engagement state of the gear in the forward (D) state.

The chassis driver 620 may control the operation of the chassis device.

The chassis driving unit 620 may include a steering driving unit 621 , a brake driving unit 622 , and a suspension driving unit 623 .

The steering driving unit 621 may perform electronic control of a steering apparatus in the vehicle 100 . The steering driving unit 621 may change the traveling direction of the vehicle.

The brake driving unit 622 may perform electronic control of a brake apparatus in the vehicle 100 . For example, the speed of the vehicle 100 may be reduced by controlling the operation of a brake disposed on the wheel.

Meanwhile, the brake driving unit 622 may individually control each of the plurality of brakes. The brake driving unit 622 may differently control the braking force applied to the plurality of wheels.

The suspension driving unit 623 may perform electronic control of a suspension apparatus in the vehicle 100 . For example, when there is a curve in the road surface, the suspension driving unit 623 may control the suspension device to reduce vibration of the vehicle 100 .

Meanwhile, the suspension driving unit 623 may individually control each of the plurality of suspensions.

The door/window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100 .

The door/window driving unit 630 may include a door driving unit 631 and a window driving unit 632 .

The door driving unit 631 may control the door device. The door driving unit 631 may control opening and closing of a plurality of doors included in the vehicle 100 . The door driving unit 631 may control opening or closing of a trunk or a tail gate. The door driving unit 631 may control opening or closing of a sunroof.

The window driving unit 632 may perform electronic control of a window apparatus. Opening or closing of a plurality of windows included in the vehicle 100 may be controlled.

*195 The safety device driving unit 640 may perform electronic control of various safety apparatuses in the vehicle 100 .

The safety device driving unit 640 may include an airbag driving unit 641 , a seat belt driving unit 642 , and a pedestrian protection device driving unit 643 .

The airbag driving unit 641 may perform electronic control of an airbag apparatus in the vehicle 100 . For example, the airbag driving unit 641 may control the airbag to be deployed when a danger is detected.

The seat belt driving unit 642 may perform electronic control of a seat belt appartus in the vehicle 100 . For example, the seat belt driving unit 642 may control the occupant to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is sensed.

The pedestrian protection device driving unit 643 may perform electronic control for the hood lift and the pedestrian airbag. For example, when detecting a collision with a pedestrian, the pedestrian protection device driving unit 643 may control to lift up the hood and deploy the pedestrian airbag.

The lamp driver 650 may electronically control various lamp apparatuses in the vehicle 100 .

The air conditioning driving unit 660 may perform electronic control of an air conditioner in the vehicle 100 . For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 may control the air conditioner to operate to supply cool air to the interior of the vehicle.

The vehicle driving apparatus 600 may include a processor. Each unit of the vehicle driving apparatus 600 may include a processor, respectively.

The vehicle driving apparatus 600 may be operated under the control of the controller 170 .

The operation system 700 is a system for controlling various operations of the vehicle 100 . The driving system 700 may be operated in an autonomous driving mode. The driving system 700 may perform autonomous driving of the vehicle 100 based on location information and navigation information of the vehicle 100 .

The driving system 700 may include a driving system 710 , an un-parking system 740 , and a parking system 750 .

Depending on the embodiment, the navigation system 700 may further include other components in addition to the described components, or may not include some of the described components.

Meanwhile, the driving system 700 may include a processor. Each unit of the navigation system 700 may each individually include a processor.

Meanwhile, according to an embodiment, when the operation system 700 is implemented in software, it may be a sub-concept of the control unit 170 .

Meanwhile, according to an embodiment, the driving system 700 may control at least one of the user interface device 200 , the object detection device 300 , the communication device 400 , the vehicle driving device 600 , and the control unit 170 . It may be a concept that includes

The driving system 710 may perform driving of the vehicle 100 .

The driving system 710 performs autonomous driving of the vehicle 100 by providing a control signal to the vehicle driving device 600 based on the location information of the vehicle 100 and the navigation information provided by the navigation system 770 . can be done

The driving system 710 may drive the vehicle 100 by providing a control signal to the vehicle driving device 600 based on object information provided by the object detecting apparatus 300 .

The driving system 710 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to drive the vehicle 100 .

The un-parking system 740 may perform un-parking of the vehicle 100 .

The un-parking system 740 provides a control signal to the vehicle driving device 600 based on the location information of the vehicle 100 and the navigation information provided by the navigation system 770 to automatically take out the vehicle 100 . can be done

The un-parking system 740 may perform un-parking of the vehicle 100 by providing a control signal to the vehicle driving apparatus 600 based on object information provided by the object detecting apparatus 300 .

The un-parking system 740 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to perform un-parking of the vehicle 100 .

The parking system 750 may perform parking of the vehicle 100 .

The parking system 750 performs automatic parking of the vehicle 100 by providing a control signal to the vehicle driving device 600 based on the location information of the vehicle 100 and the navigation information provided by the navigation system 770 . can be done

The parking system 750 may park the vehicle 100 by providing a control signal to the vehicle driving apparatus 600 based on object information provided by the object detection apparatus 300 .

The parking system 750 may receive a signal from an external device through the communication device 400 and provide a control signal to the vehicle driving apparatus 600 to park the vehicle 100 .

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information on various objects on a route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory and a processor. The memory may store navigation information. The processor may control the operation of the navigation system 770 .

According to an embodiment, the navigation system 770 may receive information from an external device through the communication device 400 and update pre-stored information.

According to an embodiment, the navigation system 770 may be classified into sub-components of the user interface device 200 .

The sensing unit 120 may sense the state of the vehicle. The sensing unit 120 may include a posture sensor (eg, a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, and an inclination. sensor, weight sensor, heading sensor, yaw sensor, gyro sensor, position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering wheel It may include a steering sensor by rotation, a vehicle internal temperature sensor, a vehicle internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 includes vehicle posture information, vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, and a battery. Acquire sensing signals for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, and pressure applied to the brake pedal can do. The information obtained by the sensing unit 120 may be included in vehicle driving information.

The sensing unit 120 is, in addition, an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake air temperature sensor (ATS), a water temperature sensor (WTS), and a throttle position sensor. (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The interface unit 130 may serve as a passage with various types of external devices connected to the vehicle 100 . For example, the interface unit 130 may have a port connectable to the mobile terminal, and may connect to the mobile terminal through the port. In this case, the interface unit 130 may exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a passage for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130 , under the control of the controller 170 , the interface unit 130 may provide the electric energy supplied from the power supply unit 190 to the mobile terminal.

The memory 140 is electrically connected to the control unit 170 . The memory 140 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 140 may be various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory 140 may store various data for the overall operation of the vehicle 100 , such as a program for processing or controlling the controller 170 .

According to an embodiment, the memory 140 may be formed integrally with the control unit 170 or may be implemented as a sub-component of the control unit 170 .

The power supply unit 190 may supply power required for the operation of each component under the control of the control unit 170 . In particular, the power supply unit 190 may receive power from a battery inside the vehicle.

The controller 170 may control the overall operation of each unit in the vehicle 100 . The control unit 170 may be referred to as an Electronic Control Unit (ECU).

When the vehicle 100 is in the autonomous driving mode, the controller 170 may perform autonomous driving of the vehicle 100 based on information obtained through a device provided in the vehicle 100 . For example, the controller 170 may control the vehicle 100 based on navigation information provided by the navigation system 770 and information provided by the object detection device 300 or the communication device 400 . there is.

When the vehicle 100 is in the manual mode, the controller 170 may control the vehicle 100 based on an input signal corresponding to a user command received by the driving manipulation device 500 .

When the vehicle 100 is in the remote control mode, the controller 170 may control the vehicle 100 based on a remote control signal received by the communication device 400 .

Included in the vehicle 100, one or more processors and control unit 170, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs ( field programmable gate arrays), processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

Hereinafter, the operation of the vehicle 100 and its control method and the controller 170 according to the present invention will be described in detail with reference to FIGS. 8 to 18 .

8 is a flowchart illustrating a vehicle control method according to the present invention.

Referring to FIG. 8 , the control method of the vehicle 100 includes acquiring vehicle driving information during autonomous driving of the vehicle 100 , when a user command is received, based on the vehicle driving information, the user command is transmitted to the vehicle Determining whether to reflect the driving of 100 , and when it is determined that the user command is reflected, control the vehicle 100 based on the user command and vehicle driving information, and when the user command is not reflected, the vehicle It may include controlling the vehicle 100 based on only the driving information. Hereinafter, each step will be described in detail.

When the vehicle 100 is in the autonomous driving mode, the controller 170 may control the vehicle 100 to autonomously drive based on vehicle driving information obtained from various units included in the vehicle 100 ( S100 ). ).

When the vehicle 100 is autonomously driving, the controller 170 may control the vehicle 100 based on vehicle driving information without a user's control command.

The controller 170 may determine whether a user command is received through an input device during autonomous driving of the vehicle 100 ( S200 ).

The input device may include at least one of the user interface device 200 and the driving manipulation device 500 .

When a user command is received through an input device during autonomous driving of the vehicle 100 , the controller 170 determines whether to reflect the user command to driving of the vehicle 100 based on the acquired vehicle driving information. It can be (S300).

When it is determined that the user command and the vehicle driving information conflict with each other, the controller 170 may determine that the user command is not reflected in the driving of the vehicle 100 .

When it is determined that the user command and the vehicle driving information do not conflict, the controller 170 may determine that the user command is reflected in the driving of the vehicle 100 .

When the vehicle 100 performs driving in response to a user command, the controller 170 may increase the likelihood of collision with an object, increase the amount of impact generated when the vehicle 100 collides with an object, violate laws, or cannot control the vehicle 100 . When it is determined that the state is in, it may be determined that the user command and the vehicle driving information conflict with each other. In other cases, the controller 170 may determine that the user command and vehicle driving information do not conflict.

For example, when it is determined that the vehicle 100 collides with an object when the vehicle 100 performs driving corresponding to the user command, the controller 170 may determine that the user command and vehicle driving information conflict with each other. The controller 170 may determine whether the vehicle 100 collides with an object when the vehicle 100 performs a driving corresponding to a user command based on the vehicle driving information. The object may include other vehicles, pedestrians, bicycles, structures, animals, and the like.

For example, when it is determined that the possibility of collision with an object is improved when the vehicle 100 performs driving corresponding to the user command, the control unit 170 may determine that the user command and vehicle driving information conflict with each other. can The controller 170 may determine a change in the possibility of collision with an object when the vehicle 100 performs a driving corresponding to a user command based on the vehicle driving information. For example, if the controller 170 determines that the probability of collision between the current vehicle 100 and the object is 10%, and the vehicle 100 drives according to the received user command, the collision probability is 80%, the user It may be determined that the command and vehicle driving information conflict with each other.

For example, when it is determined that the amount of impact generated when the vehicle 100 collides with an object increases when the vehicle 100 performs driving corresponding to the user command, the user command and vehicle driving information conflict with each other. can be judged as If it is determined based on the vehicle driving information that the vehicle 100 cannot avoid a collision with an object, the controller 170 may control the vehicle 100 to reduce the amount of impact generated when the vehicle 100 collides with the object. . For example, when a collision with an object approaching from the side of the vehicle 100 cannot be avoided, the control unit 170 controls the vehicle 100 so that the object collides with a portion of the front or rear of the vehicle 100 . can be controlled Accordingly, since the vehicle rotates after the collision, the amount of impact transmitted to the vehicle 100 may be reduced. Also, the controller 170 may control the vehicle 100 to move in a direction corresponding to the moving direction of the object at the moment of the collision, thereby reducing the amount of impact transmitted to the vehicle 100 . In a situation where the vehicle 100 and an object collide, when the vehicle 100 moves according to a user command, the vehicle 100 moves under the control of the controller 170 rather than the amount of shock transmitted to the vehicle 100 . In this case, the amount of impact may be relatively small.

For example, if the control unit 170 determines that, when the vehicle 100 performs driving corresponding to the user command, the amount of impact applied to the occupant when the vehicle 100 collides with the object increases, the user command and the vehicle It may be determined that the driving information conflicts. The controller 170 may determine the boarding position of the occupant based on the driver state information. The controller 170 may determine the amount of impact applied to the occupant when the vehicle 100 collides with the object in consideration of the occupant's boarding position and the collision direction between the vehicle 100 and the object.

For example, when it is determined that the vehicle 100 violates a law when the vehicle 100 performs driving corresponding to a user command, the controller 170 may determine that the user command and vehicle driving information conflict with each other. For example, violating the law includes crossing the center line, changing lanes in a section where lane changes are prohibited, entering an exclusive road that cannot be entered, leaving the road, driving against the contents of a traffic sign, breaking a signal and the like. The controller 170 may determine, based on the vehicle driving information, whether the vehicle 100 violates a law when the vehicle 100 performs a driving corresponding to a user command. For example, when it is determined that the speed limit of the driving road of the vehicle 100 is 80 km/h and the current speed of the vehicle 100 is 80 km/h based on the vehicle driving information, the controller 170 accelerates When a user command corresponding to is received, it may be determined that the user command conflicts with vehicle driving information.

For example, when it is determined that the vehicle 100 becomes in an uncontrollable state when the vehicle 100 performs driving corresponding to the user command, the controller 170 may determine that the user command and the vehicle driving information conflict with each other. For example, the vehicle 100 becoming uncontrollable may include sliding out of control of the vehicle 100, falling off a cliff, understeer or oversteer, and the like. there is. For example, the controller 170 may determine, based on the vehicle driving information, a road surface condition of a road on which the vehicle 100 travels, a speed of the vehicle 100 , and a maximum steering angle for preventing the vehicle 100 from slipping while driving. can judge When there is ice on the road and the speed of the vehicle 100 is 80 km/h, when the steering angle corresponding to the received user command is greater than the determined maximum steering angle, the user command and vehicle driving information are may be considered to be in conflict.

For example, when the vehicle 100 deviates from a set route when the vehicle 100 performs driving corresponding to a user command during automatic parking of the vehicle 100 , the control unit 170 may control the user command and vehicle driving information to conflict with each other. can be judged as When controlling the vehicle 100 to be automatically parked, the controller 170 may set a parking path for the vehicle 100 to be parked. When it is determined that the vehicle 100 does not deviate from the set parking path even after reflecting the received user command, the control unit 170 may perform automatic parking by reflecting the user command. For example, when a user command requesting acceleration is received during automatic parking of the vehicle 100 , the controller 170 may control the speed of the vehicle 100 within a range in which the vehicle 100 does not deviate from a set parking path. can increase

When it is determined that the user command is reflected in the driving of the vehicle 100 , the controller 170 may control the vehicle based on the user command and vehicle driving information ( S400 ).

In controlling the vehicle 100 , the controller 170 may reflect the user's command and the vehicle driving command together, so that the intention of the driver may be reflected in the autonomous driving of the vehicle 100 .

When it is determined that the user command is not reflected in the driving of the vehicle 100 , the controller 170 may control the vehicle 100 based only on the vehicle driving information ( S100 ).

9 is a flowchart illustrating that the autonomous driving vehicle according to the present invention does not reflect a user command not intended by a driver to driving of the vehicle.

When the vehicle 100 is in the autonomous driving mode, the controller 170 may control the vehicle 100 to autonomously drive based on vehicle driving information obtained from various units included in the vehicle 100 ( S100 ). ). The control unit 170 may obtain driver state information through the occupant detection unit during autonomous driving of the vehicle 100 ( S100 ).

The driver state information may include an image or biometric information about the driver detected through the internal camera 220 or the biometric sensor 230 . For example, the driver state information may be information generated based on images of the driver's gaze, face, behavior, expression, and location obtained through the internal camera 220 . For example, the driver state information may be information generated based on the user's biometric information obtained through the biometric sensor 230 . For example, the driver state information may indicate a direction in which the driver's gaze is directed, whether the driver is drowsy, the driver's health state, and the driver's emotional state.

The controller 170 may determine whether a user command is received through an input device during autonomous driving of the vehicle 100 ( S200 ).

When the user command is received, the controller 170 may determine whether the user command is intended by the driver based on driver state information (S310).

For example, when it is determined that the driver inputs a user command while looking ahead based on the driver state information, the controller 170 may determine that the user command is intended by the driver. For example, if it is determined that the driver is drowsy when the user command is received based on the driver state information, the controller 170 may determine that the user command is not intended by the driver.

When it is determined that the user command is not intended by the driver, the control unit 170 determines that the user command is not reflected in the driving of the vehicle 100 and controls the vehicle 100 based only on the vehicle driving information. There is (S100).

*268 When it is determined that the user command is intended by the driver, the control unit 170 may determine whether the user command conflicts with vehicle driving information (S320).

When it is determined that the user command does not conflict with the vehicle driving information, the controller 170 may control the vehicle based on the user command and the vehicle driving information ( S400 ).

When it is determined that the user command conflicts with the vehicle driving information, the controller 170 may control the vehicle 100 based only on the vehicle driving information ( S100 ).

10A to 10F are diagrams for explaining a case where a user command and vehicle driving information conflict with each other.

Referring to FIG. 10A , when it is determined that the vehicle 100 violates the center line when the vehicle 100 performs driving corresponding to the user command, the control unit 170 may determine that the user command and vehicle driving information conflict with each other.

The controller 170 may determine the position of the center line, the position of the vehicle 100 , the distance between the center line and the vehicle 100 , and the like, based on the vehicle driving information.

When a user command to change steering toward the center line is received while the vehicle 100 is driving in a lane next to the center line, the control unit 170 determines that the user command and vehicle driving information conflict with each other, and executes the user command. It may not be reflected in the driving of the vehicle 100 . The controller 170 may control the vehicle 100 based only on vehicle driving information. In this case, the steering of the driving vehicle 100 is not changed.

Referring to FIG. 10B , when it is determined that the vehicle 100 collides with another vehicle when the vehicle 100 performs driving corresponding to the user command, the control unit 170 may determine that the user command and vehicle driving information conflict with each other. there is.

When a user command corresponding to acceleration and a user command corresponding to a steering change are received through the driving manipulation device 500 , the control unit 170 may determine whether the two user commands conflict with vehicle driving information, respectively. .

When it is determined based on the vehicle driving information that the other vehicle 102a exists within a safe distance in front of the vehicle 100, the controller 170 may determine that the user command corresponding to acceleration conflicts with the vehicle driving information. there is. In this case, when the vehicle 100 is accelerated, the likelihood of colliding with the other vehicle 102a is increased, so the control unit 170 does not reflect the user command corresponding to the acceleration to the driving of the vehicle 100 , but vehicle driving information It is possible to control the vehicle 100 based on the

When it is determined that the other vehicle 102b exists in the side lane of the vehicle 100 based on the vehicle driving information, the controller 170 receives a user command to change the steering in the direction of the other vehicle 102b to drive the vehicle. It may be judged that the information is in conflict. In this case, if the steering of the vehicle 100 is changed according to a user command, the vehicle 100 may collide with the other vehicle 102b. ), it is possible to control the vehicle 100 based on the vehicle driving information without reflecting the driving.

Since the other vehicle 102c exists within the rear safety distance of the vehicle 100 , the control unit 170 may not reflect the user command corresponding to deceleration in driving of the vehicle 100 even if a user command corresponding to deceleration is received.

Referring to FIG. 10C , when it is determined that the vehicle 100 becomes in an uncontrollable state when the vehicle 100 performs driving corresponding to the user command, the control unit 170 may determine that the user command and vehicle driving information conflict with each other. there is.

The controller 170 may determine that the icy road 103 exists on the road in front of the vehicle 100 based on the front camera image included in the vehicle driving information.

When the vehicle 100 enters the icy road 103 and the steering of the vehicle 100 is changed according to a user command corresponding to the steering change, the control unit 170 causes the vehicle 100 to slide and cannot be controlled. can be judged to be

The control unit 170 determines that the user command for steering change received when the vehicle 100 enters the icy road 103 conflicts with the vehicle driving information, so that the user command may not be reflected in the driving of the vehicle 100 . .

The controller 170 may control the vehicle 100 based on vehicle driving information without reflecting a user command. Accordingly, when the vehicle 100 enters the icy road 103 , the vehicle 100 may travel without changing the steering.

Referring to FIG. 10D , if it is determined that the vehicle 100 violates the law when the vehicle 100 performs driving corresponding to the user command, it may be determined that the user command and vehicle driving information conflict with each other. there is.

The controller 170 may recognize that the speed limit of the driving road of the vehicle 100 is 60 km/h based on the traffic sign information included in the vehicle driving information.

In (a), when it is determined that the speed of the vehicle 100 is 60 km/h based on the vehicle driving information, the control unit 170 receives a user command corresponding to acceleration, the user command and the vehicle driving information conflict can be judged to be In this case, when the user command corresponding to acceleration is reflected in the driving of the vehicle 100 , the control unit 170 determines that the vehicle 100 violates the speed limit law, so that the user command and the vehicle driving information conflict with each other. can judge

The controller 170 may control the vehicle 100 based on vehicle driving information without reflecting a user command. In this case, the vehicle 100 may travel without accelerating.

In (b), when it is determined that the speed of the vehicle 100 is 40 km/h based on the vehicle driving information, the control unit 170 receives a user command corresponding to acceleration, the user command and the vehicle driving information conflict can be judged not to be. Since the vehicle 100 can accelerate up to the speed limit, the controller 170 may determine that the user command does not conflict with the vehicle driving information.

The controller 170 may reflect a user command corresponding to acceleration to the driving of the vehicle 100 . The controller 170 may control the vehicle 100 based on a user command and vehicle driving information. Accordingly, the controller 170 may control the vehicle 100 to be accelerated according to a user command within a speed limit or less.

Referring to FIG. 10E , when it is determined that the vehicle 100 collides with another vehicle 105b when the vehicle 100 performs driving corresponding to the user command, the control unit 170 determines that the user command and vehicle driving information conflict with each other. can judge

In a situation where the vehicle 100 may collide with another vehicle 105a, if the driver does not recognize the existence of the heavy truck 105b, the driver steers to the left to avoid a collision with the other vehicle 105a. You can enter a user command to change the . When the user input is reflected in the driving of the vehicle 100 , the vehicle 100 may collide with the heavy truck 105b.

The controller 170 may recognize the existence of the heavy truck 105b based on information provided by the communication device 400 or the object detection device 300 included in the vehicle driving information. The controller 170 may determine that the vehicle 100 needs to change the steering to the right, based on the vehicle driving information.

Since the steering direction corresponding to the user command and the steering direction determined based on the vehicle driving information are different from each other, the controller 170 may determine that the user command and the vehicle driving information conflict with each other. The controller 170 may control the vehicle 100 based on vehicle driving information without reflecting a user command. The controller 170 may control the vehicle 100 to change the steering to the right. Thereby, the vehicle 100 can avoid a collision with the other vehicle 105a or the heavy truck 105b.

Referring to FIG. 10F , when it is determined that the vehicle 100 performs a driving corresponding to the user command and it is determined that the signal is violated, the controller 170 may determine that the user command and vehicle driving information conflict with each other.

The control unit 170, based on the image of the traffic light 106b sensed through the object detection device 300 or the signal information of the traffic light 106b received through the communication device 400, It is possible to determine the signal of the traffic light 106b. The vehicle driving information may include an image of the traffic light 106b detected through the object detection device 300 or signal information of the traffic light 106b received through the communication device 400 .

In (a), when it is determined that the signal of the traffic light 106b is green, when a user command corresponding to acceleration is received, the control unit 170 determines that the vehicle 100 is driven according to the user command to violate the signal. Therefore, it may be determined that the user command and the vehicle driving information do not conflict.

The controller 170 may accelerate the vehicle 100 by reflecting the user input to the driving of the vehicle 100 .

In *299(b), when it is determined that the signal of the traffic light 106b is red, when a user command corresponding to acceleration is received, the control unit 170 violates the signal when the vehicle 100 drives according to the user command Therefore, it can be determined that the user command and the vehicle driving information conflict with each other.

The controller 170 may control the vehicle 100 based on the vehicle driving information without reflecting the user input to the driving of the vehicle 100 .

11 is a diagram for explaining a user command not intended by the driver.

Referring to FIG. 11A , the controller 170 may determine whether the driver is in a drowsy state based on the driver image acquired by the internal camera 220 .

The controller 170 may determine that the user command received when it is determined that the driver is drowsy is a user command not intended by the driver. In this case, even if the user command does not conflict with the vehicle driving information, the controller may not reflect the user command to the driving of the vehicle 100 . The controller 170 may control the vehicle 100 based on vehicle driving information.

Referring to FIG. 11B , the controller 170 may determine whether the driver is looking ahead, based on the driver image acquired by the internal camera 220 .

The controller 170 may determine that the user command received when it is determined that the driver does not look ahead is a user command not intended by the driver. In this case, even if the user command does not conflict with the vehicle driving information, the controller may not reflect the user command to the driving of the vehicle 100 . The controller 170 may control the vehicle 100 based on vehicle driving information.

12 is a diagram for explaining that the autonomous driving vehicle according to the present invention individually reflects at least one user command to the driving of the vehicle 100 .

When the vehicle 100 is in the autonomous driving mode, the controller 170 may control the vehicle 100 to autonomously drive based on vehicle driving information obtained from various units included in the vehicle 100 ( S100 ). ).

The controller 170 may determine whether at least one of a user command for steering, a user command for acceleration, and a user command for deceleration is received through the driving operation device 500 ( S200 ).

The user command for steering may be a user command received through the steering input device. The user command for steering may be a command to change steering of the vehicle 100 . The user command for acceleration may be a user command received through an acceleration input device. The user command for acceleration may be a command to increase the speed of the vehicle 100 . The user command for deceleration may be a user command received through the brake input device. The user command for deceleration may be a command to reduce the speed of the vehicle 100 .

The controller 170 may determine whether to individually reflect each of the at least one user command received through the driving manipulation device 500 to the driving of the vehicle 100 ( S300 ).

When a user command for steering is received through the driving manipulation device 500 ( S210 ), the controller 170 may determine whether to reflect the user command for steering to driving of the vehicle 100 ( S210 ). S310). When the steering of the vehicle 100 is changed according to a user command for steering based on the vehicle driving information, the control unit 170 may improve the possibility of collision with an object or increase the amount of impact generated when the vehicle collides with the object. , it may be determined that the user command for steering is not reflected in the driving of the vehicle 100 when it is determined that the regulation is violated or the control is impossible. In other cases, the controller 170 may determine that the user command for steering is reflected in the driving of the vehicle 100 .

When it is determined that the user command for steering is reflected in driving of the vehicle 100 , the controller 170 may control the vehicle 100 based on the user command and vehicle driving information ( S410 ). The controller 170 may change the steering of the vehicle 100 based on a user command and vehicle driving information.

When a user command for acceleration is received through the driving manipulation device 500 ( S220 ), the controller 170 may determine whether to reflect the user command for acceleration to the driving of the vehicle 100 ( S220 ). S320). When the speed of the vehicle 100 increases according to a user command for acceleration based on the vehicle driving information, the control unit 170 may increase the probability of collision with an object or increase the amount of impact generated upon collision with an object. , it may be determined that the user command for acceleration is not reflected in the driving of the vehicle 100 when it is determined that the regulation is violated or the control becomes impossible. In other cases, the controller 170 may determine that the user command for acceleration is reflected in the driving of the vehicle 100 .

When it is determined that the user command for acceleration is reflected in the driving of the vehicle 100 , the controller 170 may control the vehicle 100 based on the user command and vehicle driving information ( S420 ). The controller 170 may increase the speed of the vehicle 100 based on a user command and vehicle driving information.

When a user command for deceleration is received through the driving operation device 500 ( S230 ), the control unit 170 may determine whether to reflect the user command for deceleration to the driving of the vehicle 100 ( S230 ). S330). When the speed of the vehicle 100 decreases according to a user command for deceleration, based on the vehicle driving information, the control unit 170 may increase the probability of collision with an object or increase the amount of impact generated upon collision with an object. , it may be determined that the user's command for deceleration is not reflected in the driving of the vehicle 100 when it is determined that the regulation is violated or the control is impossible. In other cases, the controller 170 may determine that the user's command for deceleration is reflected in the driving of the vehicle 100 .

When it is determined that the user command for deceleration is reflected in the driving of the vehicle 100 , the controller 170 may control the vehicle 100 based on the user command and vehicle driving information ( S430 ). The controller 170 may reduce the speed of the vehicle 100 based on a user command and vehicle driving information.

13 is a diagram for explaining that the autonomous vehicle according to the present invention autonomously travels based on at least one user input.

The controller 170 may receive a user command for acceleration and a user command for steering during autonomous driving of the vehicle 100 .

When it is determined that the other vehicle 120a exists within a safe distance in front of the vehicle 100 based on the vehicle driving information, the controller 170 determines that the user command for acceleration and the vehicle driving information conflict with each other. can In this case, if the vehicle 100 accelerates according to the user command, the possibility of colliding with the other vehicle 120a increases, so that the control unit 170 does not reflect the user command for acceleration to the driving of the vehicle 100 . can be judged as The controller 170 may control the vehicle 100 based on vehicle driving information without reflecting a user input for acceleration.

The controller 170 may receive a user command to change the steering of the vehicle 100 to the right. When it is determined based on the vehicle driving information that there is no center line or a possible collision object on the right side of the vehicle 100 , the control unit 170 may determine that the user command for steering does not conflict with the vehicle driving information. In this case, even if the vehicle 100 changes steering to the right according to a user command, it does not collide with an object, violate laws, or become uncontrollable. ) can be judged to be reflected in the driving. The controller 170 may control the vehicle 100 based on a user command and vehicle driving information by reflecting a user input for steering. The vehicle 100 may move to the right according to a user command and vehicle driving information.

When the user command is reflected in the driving of the vehicle 100 , the controller 170 may reflect all or part of the control amount corresponding to the user command to the driving of the vehicle 100 .

The control amount corresponding to the user command may indicate a change amount of a specific steering angle or speed corresponding to the user command. For example, when the driver turns the steering wheel to the right by a predetermined angle, the control amount corresponding to the user command may be an angle at which the steering of the vehicle 100 is changed. For example, when the driver depresses the accelerator pedal by a predetermined depth, the control amount corresponding to the user command may be the speed increase amount of the vehicle 100 .

Also, when the user command is reflected in the driving of the vehicle 100 , the controller 170 may reflect a preset control amount corresponding to the user command to the driving of the vehicle 100 . For example, when a user command to adjust steering to the right is reflected in driving of the vehicle 100 , the control unit 170 causes the vehicle 100 to change the lane to the right regardless of the angle corresponding to the user command. can be controlled to do so. In this case, the preset control amount may be a steering angle required for the vehicle 100 to change into a vehicle.

When a user command for steering is received and it is determined that the user command is reflected, the control unit 170 causes the vehicle 100 to perform one of a lane change, a left turn, and a right turn in a direction corresponding to the user command. can be controlled

For example, when a user command to adjust the steering of the vehicle 100 in the right direction is reflected to the driving of the vehicle 100 , the controller 170 may control the vehicle 100 regardless of a steering angle corresponding to the user command. This can be controlled to change to the right lane or turn right. At this time, if there is a right lane of the vehicle 100 , the controller 170 may change the lane, and if the vehicle 100 is driving in the rightmost lane, the controller 170 may perform a right turn.

When a user command for acceleration is received and it is determined that the user command is reflected, the controller 170 may increase the speed of the vehicle 100 by a set acceleration amount. When a user command for deceleration is received and it is determined that the user command is reflected, the controller 170 may reduce the speed of the vehicle 100 by a set deceleration amount.

For example, when a user command corresponding to acceleration or deceleration is reflected in the driving of the vehicle 100 , the control unit 170 , regardless of the speed change corresponding to the user command, based on a preset speed change amount, You can change the speed of (100). Accordingly, when the driver presses the accelerator pedal, the controller 170 may increase the speed of the vehicle 100 to a preset level regardless of how deeply the accelerator pedal is depressed.

According to an embodiment of the present invention, when a user command is received, the controller 170 may calculate a control limit value corresponding to the user command based on vehicle driving information. In this case, the controller 170 may control the vehicle 100 based on vehicle driving information, a user command, and a control limit value.

The control threshold may indicate a degree to which the vehicle 100 can be controlled according to a user command. For example, the control threshold for steering of the vehicle 100 may be 45 degrees to the right. In this case, even if a user command to change the steering of the vehicle 100 to the right by 45 degrees or more is input, the controller 170 may control the steering of the vehicle 100 to be changed only by 45 degrees to the right.

14A and 14B are diagrams for explaining that the autonomous driving vehicle according to the present invention calculates a control limit value and reflects a user command.

Referring to FIG. 14A , when a user command for steering is received, the controller 170 may calculate a steering control limit value 141b of the vehicle 100 based on vehicle driving information. The steering control limit value 141b may indicate a maximum angle at which the steering of the vehicle 100 can be changed.

For example, when a user command for steering is received, the controller 170 may determine the speed of the vehicle 100 based on vehicle driving information. The controller 170 may calculate a maximum steering angle at which the vehicle 100 may not slip, based on speed information of the vehicle 100 and road surface condition information included in the vehicle driving information. In this case, the maximum steering angle may be referred to as a steering control limit value.

The controller 170 may reflect the user command for steering to the driving of the vehicle 100 based on the steering control limit value 141b.

For example, when it is determined that the speed of the vehicle 100 is 100 km/h, the vehicle 100 is highly likely to slip even with a small steering change, so the controller 170 controls the steering change 141a corresponding to the user command. can be reflected only within the steering control limit value 141b. Accordingly, when the steering angle 141a corresponding to the user command is equal to or greater than the steering control limit value 141b, the controller 170 may control the vehicle 100 to change the steering according to the steering control limit value 141b. Alternatively, when the steering angle corresponding to the user command is equal to or less than the steering control limit value 141b, the controller 170 may control the vehicle 100 to change the steering according to the steering angle corresponding to the user command. In this case, the steering angle of the vehicle 100 may be adjusted in proportion to the steering angle corresponding to the user command.

Referring to FIG. 14B , when a user command for acceleration is received, the controller 170 may calculate an acceleration control limit value of the vehicle 100 based on vehicle driving information.

For example, the controller 170 may calculate a safety distance 142c between the other vehicle 142d and the vehicle 100 existing in front of the vehicle 100 based on the vehicle driving information. When a user command for acceleration is received, the controller 170 may calculate an acceleration control limit value 142b based on the calculated safety distance 142c.

The controller 170 may reflect the user command for acceleration to the driving of the vehicle 100 based on the acceleration control threshold.

For example, when the control amount 142a corresponding to the user command is equal to or greater than the acceleration control threshold 142b, the controller 170 may control the speed of the vehicle 100 in response to the acceleration control threshold 142b. Alternatively, when the control amount corresponding to the user command is equal to or less than the acceleration control threshold 142b, the controller 170 may control the speed of the vehicle 100 in response to the control amount corresponding to the user command.

When a user command for deceleration is received, the controller 170 calculates a deceleration control limit value of the vehicle 100 based on the vehicle driving information, and sends a user command for deceleration based on the deceleration control threshold value to the vehicle ( 100) can be reflected in the driving.

According to another embodiment of the present invention, the controller 170 may limit the degree of manipulation of the driving manipulation device 500 according to the control limit value.

The driving manipulation device 500 may include a steering wheel that receives a user command for steering, an accelerator pedal that receives a user command for acceleration, and a brake pedal that receives a user command for deceleration.

When a user command for steering is received, the controller 170 may control the steering wheel to limit a rotatable angle of the steering wheel based on the steering control limit value.

For example, in the case of FIG. 14A , the controller 170 may control the steering wheel to be rotated only within the angle 141b corresponding to the calculated steering control limit value. In this case, the steering wheel does not turn more than the angle 141b corresponding to the steering control limit value.

When a user command for acceleration is received, the controller 170 may control the accelerator pedal to limit the input possible depth of the accelerator pedal based on the acceleration control limit value. When a user command for deceleration is received, the controller 170 may control the brake pedal to limit an inputable depth of the brake pedal based on the deceleration control limit value.

For example, in the case of FIG. 14B , the controller 170 may control the accelerator pedal to be input only to a depth corresponding to the accelerator control limit value 142b. In this case, the accelerator pedal does not go beyond the depth corresponding to the acceleration control limit 142b.

15 is a diagram for explaining that the autonomous vehicle according to the present invention outputs a control limit value and a vehicle control result.

Referring to FIG. 15A , when a user command for steering is received, the controller 170 may output a steering control limit value and a steering control result of the vehicle 100 .

When a user command for steering is received, the controller 170 may determine the speed of the vehicle 100 based on vehicle driving information. The controller 170 may calculate a maximum steering angle at which the vehicle 100 may not slip, based on speed information of the vehicle 100 and road surface condition information included in the vehicle driving information.

The controller 170 may output a driving path when the vehicle 100 travels based on a user command, and a driving path when the vehicle 100 travels based on a steering control limit value. When the windshield of the vehicle 100 is provided with a transparent display, the controller 170 may display the two paths on the windshield. The controller 170 may display the two paths in augmented reality. If the steering angle corresponding to the user command is greater than the steering control threshold, the steering angle of the vehicle 100 is controlled according to the steering control threshold, and thus the steering control threshold may be displayed identically to the steering control result of the vehicle.

The controller 170 may also display a route when the vehicle 100 is driven according to a user command on the windshield.

Referring to FIG. 15B , when a user command for acceleration is received, the controller 170 may output an acceleration control limit value and a speed control result of the vehicle 100 . When a user command for deceleration is received, the controller 170 may output a deceleration control limit value and a speed control result of the vehicle 100 .

The speed control result of the vehicle 100 according to the user command for acceleration or the speed control result of the vehicle 100 according to the user command for deceleration may be the current speed 150a of the vehicle 100 .

For example, the controller 170 may display the current speed 150a, the acceleration control limit value 150b, and the deceleration control limit value 150c on the separately provided display unit 251 .

FIG. 16 is a diagram for explaining that the autonomous driving vehicle according to the present invention determines a position to reflect a user command and moves to the corresponding position.

When it is determined that the user command and the vehicle driving information conflict with each other, the controller 170 may determine a location to reflect the user command based on the vehicle driving information and the user command.

The controller 170 may move the vehicle 100 to the determined position and control the vehicle 100 based on a user command and vehicle driving information.

Referring to FIG. 16 , when a user command corresponding to a lane change is received through the input device and it is determined that the vehicle 100 cannot change lanes based on vehicle driving information, the controller 170 determines that the vehicle 100 cannot change lanes. The vehicle 100 may be controlled to move to a lane changeable position, and the vehicle 100 may change lanes based on a user command and vehicle driving information.

When a user command to move the vehicle 100 to the right lane is received, the controller 170 may determine whether to change the lane by reflecting the user command based on vehicle driving information. When it is determined based on the vehicle driving information that another vehicle 160a exists in the corresponding lane, the controller 170 considers that the user command and the vehicle driving information conflict with each other, and transmits the user command to the driving of the vehicle 100 . may not be reflected in

When the vehicle 100 is located in front of the other vehicle 160a or is located behind the other vehicle 160b, the lane change may be performed to the right. The controller 170 may determine a position where the vehicle 100 can change to a vehicle based on the vehicle driving information.

In (a), the controller 170 moves the vehicle 100 to a position where it can move to the right lane by accelerating the vehicle 100 . The controller 170 may control the vehicle 100 so that the vehicle 100 is positioned ahead of the other vehicle 160a by a predetermined distance or more, and then control the vehicle 100 to move to the right.

In (b), the control unit 170 moves the vehicle 100 to a position where it can move to the right lane by decelerating the vehicle 100 . After controlling the vehicle 100 so that the vehicle 100 is located at a position more than a predetermined distance away from the other vehicle 160a, the controller 170 may control the vehicle 100 to move to the right.

17A and 17B are diagrams for explaining that the autonomous vehicle according to the present invention moves to a position capable of reflecting a user command corresponding to acceleration or reduction.

Referring to FIG. 17A , when a user command for acceleration is received through the input device and it is determined that acceleration of the vehicle 100 is impossible based on the vehicle driving information, the controller 170 controls the vehicle 100 to The vehicle 100 may be controlled to accelerate by moving it to an accelerated lane, and based on a user command for acceleration and vehicle driving information.

The controller 170 may determine that the vehicle 100 cannot accelerate when it is determined based on the vehicle driving information that the other vehicle exists at a safe distance in front of the vehicle 100 . In this case, when a user command corresponding to acceleration is received, the controller 170 may determine that the user command conflicts with vehicle driving information. The controller 170 may not reflect the user command for acceleration to the driving of the vehicle 100 .

When it is determined based on the vehicle driving information that there is no other vehicle in the right lane and the vehicle 100 can accelerate in the right lane, the controller 170 may reflect the user's command for the right lane. By determining the location, the vehicle 100 may be moved to the right lane. After moving the vehicle 100 to the right lane, the controller 170 may control the vehicle 100 by reflecting a user command for acceleration.

Referring to FIG. 17B , when a user command for deceleration is received through the input device and it is determined that deceleration of the vehicle 100 is impossible based on vehicle driving information, the controller 170 controls the vehicle 100 to The vehicle may be moved to a deceleration possible lane, and the vehicle 100 may be controlled to decelerate based on a user command for deceleration and vehicle driving information.

The controller 170 may determine that the vehicle 100 cannot decelerate when it is determined that the other vehicle is traveling at a safe distance behind the vehicle 100 based on the vehicle driving information. In this case, when a user command corresponding to deceleration is received, the controller 170 may determine that the user command conflicts with vehicle driving information. The controller 170 may not reflect the user command for deceleration to the driving of the vehicle 100 .

When it is determined based on the vehicle driving information that there is no other vehicle in the right lane and the vehicle 100 can decelerate in the right lane, the controller 170 may reflect the user's command for the right lane. By determining the location, the vehicle 100 may be moved to the right lane. After moving the vehicle 100 to the right lane, the controller 170 may control the vehicle 100 by reflecting a user command for deceleration.

In another embodiment of the present invention, the control unit 170 determines whether not only the user command received through the driving operation device 500 but also the use location command received through the input unit 210 corresponds to vehicle driving information, , may be reflected in the driving of the vehicle 100 .

For example, the control unit 170, through the input unit 210, a user command for requesting to switch the control mode of the vehicle 100, a user command to change a preset route, and various types of vehicles provided in the vehicle 100 It may receive a user command to activate the device, and the like. For example, the control unit 170 may receive a user command for requesting a manual mode through the input unit 210 during autonomous driving of the vehicle 100 .

For example, when it is determined that the vehicle 100 is driving on an autonomous driving road based on the vehicle driving information and a user command corresponding to the manual mode request of the vehicle 100 is received , it is possible to control the vehicle 100 to move on a road where manual driving is possible. When it is determined that the vehicle 100 travels on an autonomous driving road, when a user command requesting a manual mode is received, the control unit 170 may determine that the user command and vehicle driving information conflict with each other. In this case, the location where the vehicle 100 may reflect the user command may be a manual driving road where the driver of the vehicle 100 may drive. In this case, the controller 170 may determine the location of the manual driving road based on the map information included in the navigation information, and control the vehicle 100 to move on the determined manual driving road. After the vehicle 100 moves to the manual driving road, the controller 170 may switch the vehicle 100 to the manual mode based on a user command.

18 is a view for explaining that the autonomous driving vehicle according to the present invention outputs a message for confirming a user's intention before moving to a position where a user command can be reflected.

When it is determined that the user command and vehicle driving information conflict with the user command, the control unit 170 outputs an alarm indicating that the user command cannot be reflected, and a menu for confirming whether to move to a position where the user command can be reflected. It can output to the unit 250 .

The controller 170 may output the alarm and the menu through at least one of the display unit 251 and the sound output unit 252 . The alarm and the menu may be output as voice guidance through the sound output unit 252 . Hereinafter, a case in which the alarm and the menu are output through the display unit 251 will be mainly described.

In (a), when a user command corresponding to a lane change is received and it is determined that the lane cannot be changed based on the vehicle driving information, the controller 170 may determine that the user command conflicts with the vehicle driving information. In this case, the controller 170 may display, through the display unit 251 , an alarm message 180a informing that the lane cannot be changed according to a user command. The control unit 170 may display on the display unit 251 a menu 180b for confirming whether to move the vehicle 100 to a position where the vehicle 100 can be changed to a vehicle. The controller 170 may include a button for receiving a user's response corresponding to the menu 180b in the menu 180b.

In response to the menu 180b, the controller 170 moves the vehicle 100 to the determined position when a response indicating that the user will move to a position that can reflect the user's command is received or the user command lasts for a set time or longer, in response to the menu 180b can do it The set time is a value stored in the memory 140 and may be set by a user. For example, the set time may be 2 seconds.

In (a), when a user input for the Yes button included in the menu 180b is received, the control unit 170 receives a response indicating that the vehicle 100 is moved to a position where it can be changed to a car according to the user command. can be judged as In this case, the controller 170 may move the vehicle 100 to a position where the vehicle can be changed. When a user input for a No button included in the menu 180b is received or a user command for requesting a lane change continues for more than a set time, the control unit 170 moves the vehicle 100 to a position where the vehicle can be changed to a vehicle. It does not move, and can be controlled based only on vehicle driving information.

In (b), when a user command corresponding to acceleration of the vehicle 100 is received, the controller 170 determines that the vehicle 100 cannot be accelerated based on the vehicle driving information, the user command and vehicle driving information can be considered to be in conflict. In this case, the controller 170 may display, through the display unit 251 , an alarm message 180a informing that acceleration cannot be performed according to a user command. The controller 170 may display on the display unit 251 a menu 180b for confirming whether or not to move the vehicle 100 to a position capable of accelerating.

When a user input for the Yes button included in the menu 180b is received, the controller 170 may determine that a response to move the vehicle 100 to a position capable of acceleration according to the user command has been received. . In this case, the controller 170 may move the vehicle 100 to a position capable of accelerating. When a user input for the No button included in the menu 180b is received or a user command for requesting acceleration continues for more than a set time, the controller 170 moves the vehicle 100 to a position capable of accelerating. It can be controlled based only on vehicle driving information.

According to another embodiment of the present invention, the controller 170 controls the vehicle 100 to perform a preset operation in response to the user command when a user command that conflicts with the vehicle driving information continues for a set time or longer. can do. The set time is a value stored in the memory 140 and may be set by a user. For example, the set time may be 3 seconds. The preset operation may be an operation of the vehicle 100 corresponding to a specific user command. The preset operation may be changed by the user. A control command corresponding to a preset operation may be stored in the memory 140 .

For example, in a situation in which it is determined that the vehicle 100 cannot decelerate based on the vehicle driving information, the controller 170 may control the vehicle 100 to It can be controlled to perform an emergency stop. The emergency stop is to temporarily stop the vehicle 100 at the nearest stop position. In this case, the controller 170 may determine the closest possible stopping position from the vehicle 100 based on the vehicle driving information, and move the vehicle 100 to the determined position. The control unit 170, while making an emergency stop of the vehicle 100, indicates that the vehicle is in an emergency stop through a display device provided outside the vehicle 100, or through the communication device 400, the vehicle ( 100) can inform that an emergency stop is in progress.

For example, when it is determined based on the vehicle driving information that the vehicle 100 is traveling on a highway and another vehicle is traveling behind the vehicle 100 , the control unit 170 may decelerate the vehicle 100 . It can be concluded that it cannot be In this case, the controller 170 may control the vehicle 100 to perform an emergency stop when the driver presses the brake pedal for 3 seconds or longer.

For example, when it is determined based on the vehicle driving information that the vehicle 100 cannot accelerate, the controller 170 may accelerate the vehicle 100 if a user command corresponding to acceleration continues for a set time or longer. You can control it to enter the mode. The acceleration mode may be a mode in which the vehicle 100 runs at a set speed, overtaking another vehicle, or searching for a lane or route in which traffic is smooth.

According to another embodiment of the present invention, when a user command is received, the control unit 170 may output whether the user command is reflected to the output unit 250 . For example, when a user command is received while the vehicle 100 is autonomously driving, the control unit 170 displays the content of the received user command and whether the user command determined based on the vehicle driving information is reflected or not on the display unit (251) can be indicated. When the user command is not reflected, the controller 170 may further output vehicle driving information that conflicts with the user command. Accordingly, the driver of the vehicle 100 may recognize whether the user command input by the driver is reflected in the autonomous driving of the vehicle 100 and the reason why it is not reflected.

According to another embodiment of the present invention, the controller 170 determines whether each of the at least one user command received through the input device is individually reflected in the driving of the vehicle 100, and then based on the vehicle driving information. Accordingly, the reflection of at least one user command reflected in the driving of the vehicle 100 may be individually stopped.

For example, as it is determined that the at least one user command is reflected in driving of the vehicle 100 , the control unit 170 is controlling the vehicle 100 based on the at least one user command and vehicle driving information. , it may be determined whether at least one of at least one user command reflected in driving of the vehicle 100 conflicts with vehicle driving information. When the vehicle 100 autonomously drives, the surrounding environment of the vehicle 100 and information received through the communication device 400 may change. Accordingly, since the vehicle driving information may be changed, it may be determined that a user command that does not conflict with the vehicle driving information conflicts with the vehicle driving information.

When it is determined that at least one of the at least one user command reflected in the driving of the vehicle 100 conflicts with the vehicle driving information, the controller 170 stops reflecting the at least one user command that conflicts with the vehicle driving information can do. For example, the controller 170 determines that the user command corresponding to the change in steering of the vehicle does not conflict with the vehicle driving information, and while changing the steering of the vehicle 100 according to the user command, based on the vehicle driving information Accordingly, when it is determined that the vehicle 100 violates the center line, a user command corresponding to the steering change is not reflected, and the vehicle 100 may be controlled not to invade the center line. For example, while the speed of the vehicle 100 is increased by reflecting the user command, the control unit 170 reflects the user command when the possibility of collision with the front object increases by more than a set value based on the vehicle driving information. It is possible to control the vehicle 100 to decelerate without doing so. The set value may be a value determined by an experiment. For example, while controlling the vehicle 100 to change steering while accelerating by reflecting the user command for acceleration and the user command for steering change, the controller 170 controls the vehicle 100 to change steering based on vehicle driving information. You can stop changing the steering to avoid slipping and keep the acceleration.

The present invention described above can be implemented as computer-readable codes on a medium in which a program is recorded. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. In addition, the computer may include a processor or a control unit. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

100: vehicle

Claims (9)

Acquire information about objects around the vehicle,
In the autonomous driving state, a user command for accelerating the vehicle is received from the acceleration input device, and when it is determined that acceleration of the vehicle is impossible based on the information on the object, the vehicle is moved to an accelerating lane, and the vehicle generate a control signal to accelerate, or
Receives a user command for deceleration of the vehicle from the brake input device, and when it is determined that deceleration of the vehicle is impossible based on the information on the object, moves the vehicle to a deceleration possible lane, and provides a control signal to decelerate the vehicle An electronic control device mounted on a vehicle including a control unit for generating the control unit. The method of claim 1,
The control unit is
An electronic control device that determines that acceleration of the vehicle is impossible when it is determined that the other vehicle is located within a preset distance in front of the vehicle. 3. The method of claim 2,
The control unit is
When it is determined that acceleration of the vehicle is impossible, the electronic control device controls so that the user command is not reflected in the driving of the vehicle in a lane in which the vehicle is autonomously driving. 4. The method of claim 3,
The control unit is
When it is determined that acceleration of the vehicle is impossible, the electronic control device moves the vehicle to a lane in which no other vehicle exists in front, and generates a control signal to accelerate the vehicle based on the user command. delete The method of claim 1,
The control unit is
An electronic control device that determines that deceleration of the vehicle is impossible when it is determined that another vehicle is located at the rear of the vehicle within a preset distance. 7. The method of claim 6,
The control unit is
When it is determined that the deceleration of the vehicle is impossible, the electronic control device controls so that the user command is not reflected in the driving of the vehicle in a lane in which the vehicle is autonomously driving. 8. The method of claim 7,
The control unit is
When it is determined that deceleration of the vehicle is impossible, the electronic control device moves the vehicle to a lane in which no other vehicle exists in the rear and generates a control signal to decelerate the vehicle based on the user command. According to claim 1,
The control unit is
In the autonomous driving state, receiving a user command for steering the vehicle from the steering wheel,
When it is determined that it is impossible to change the vehicle lane based on the information on the object, the electronic control device is mounted on a vehicle to generate a control signal to change the vehicle into a lane after accelerating or decelerating.

Images