KR102508512B1 - System for automatic driving - Google Patents

Abstract

The present invention relates to an autonomous driving system, and more particularly, to an autonomous driving system that secures driving stability by detecting occupant information and hands-on intervention.
An autonomous driving system according to the present invention includes an occupant state recognition unit that obtains the occupant's status information, a function recommendation unit that receives the occupant's status information and selects a recommended function among available functions, It is characterized in that it includes a driving setting unit for setting a driving mode and a driving route, and a hands-on detecting unit for detecting whether or not the driver's hands are on.

Description

Autonomous driving system {SYSTEM FOR AUTOMATIC DRIVING}

The present invention relates to an autonomous driving system, and more particularly, to an autonomous driving system that secures driving stability by detecting occupant information and hands-on intervention.

The Society of Automotive Engineers (SAE) divides the autonomous driving technology of automobiles into five levels according to the level of technology.

According to the classification, currently released vehicles are at level 3, where the vehicle detects obstacles on its own and can drive autonomously within a certain section, or a level where the vehicle analyzes/monitors the moving section on its own and drives proactively when the driver sets only the destination. corresponds to 4.

The prior art identifies the driver's condition and determines the driver's stimulation level (Japanese Patent Laid-Open Publication No. 2015-185245), or uses the driver's emotion recognition result to output a sound source (Korean Patent Publication No. 10-2014-0166785). ), which is only focused on the driver's condition, and has limitations in not considering the provision of vehicle functions according to the different states of a plurality of occupants in the vehicle. There is a problem in that it cannot adaptively cope with various driving environments generated in an autonomous driving environment because it cannot propose a route setting update.

The present invention has been proposed to solve the above-described problems, and provides a service that selects and recommends vehicle functions by recognizing state information of a driver as well as a passenger, determines a driving mode, and determines a driving route according to hands-on intervention. Its purpose is to provide an autonomous driving system that increases the satisfaction of the occupants and driving stability by determining

An autonomous driving system according to the present invention includes an occupant state recognition unit that obtains the occupant's status information, a function recommendation unit that receives the occupant's status information and selects a recommended function among available functions, It is characterized in that it includes a driving setting unit for setting a driving mode and a driving route, and a hands-on detecting unit for detecting whether or not the driver's hands are on.

According to the autonomous driving system according to an embodiment of the present invention, it is possible to increase satisfaction of occupants in a vehicle by selecting and recommending vehicle functions using state information of a passenger as well as a driver.

According to an embodiment of the present invention, it is to increase the reliability of driving stability and collision avoidance of an autonomous vehicle by determining a driving mode using information of a vehicle occupant and determining a driving route according to hands-on intervention. There are possible effects.

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

1 is a diagram showing the structure of an autonomous driving system according to an embodiment of the present invention.
2A to 2D are views illustrating exemplary driving using an autonomous driving system according to an embodiment of the present invention.

The foregoing and other objects, advantages and characteristics of the present invention, and a method of achieving them will become clear with reference to the detailed embodiments described below in conjunction with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, and only the following embodiments provide the purpose of the invention, As only provided to easily inform the configuration and effect, the scope of the present invention is defined by the description of the claims.

Meanwhile, terms used in this specification are for describing the embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, “comprises” and/or “comprising” means the presence of a stated element, step, operation and/or element in one or more other elements, steps, operation and/or element. or added.

Hereinafter, in order to help the understanding of those skilled in the art, the background in which the present invention is proposed will be described first, and then the embodiments of the present invention will be described.

In relation to autonomous driving technology, the conventional technology considering hands-on is in autonomous driving mode (hands-off mode) when an accident risk is recognized. There is a problem of causing a situation in which a driver who is not prepared to prepare for the situation receives the control right and avoids an accident by transferring the driving control right by switching to .

The present invention has been proposed to improve these problems, and proposes an autonomous driving system capable of reducing the possibility of a collision accident by exchanging driving mode information, hands-on detection information, and driving setting information according to a driving environment between vehicles. .

Referring to FIG. 1 , an autonomous driving system according to an embodiment of the present invention includes an occupant state recognition unit 100 that acquires state information of the occupant, recommends vehicle functions, detects whether hands-on is involved, drives a driving mode, and It is configured to include a control unit 200 that determines a travel route.

Specifically, the control unit 200 includes a function recommendation unit 210 that receives the passenger's condition information and selects a recommended function from among available functions, sets a driving mode in consideration of the passenger's condition information, and drives the vehicle according to the driving environment. It includes a driving setting unit 220 that sets a route and a hands-on detection unit 230 that detects whether hands-on is involved.

The occupant state recognition unit 100 includes a driver state recognition unit 110 and a passenger state recognition unit 120, and includes at least one of an image acquisition unit, a voice acquisition unit, and a device interlocking unit, get status information

The occupant state recognition unit 100 analyzes the image information obtained through the image acquisition unit and recognizes the occupant's body shape information and drowsiness.

The function recommendation unit 210 selects a recommended function to lower the temperature setting of the air conditioner as a result of image information analysis, for example, when the occupant wipes sweat, and recommends a function to ventilate when the occupant is a driver and is suspected of being drowsy, or recommends a rest. Select message expression function.

If the passenger suspected of drowsiness is a passenger, not the driver, and the passenger performs an action to wake up (massaging his/her neck, turning his/her neck, rubbing his eyes, etc.), a ventilation recommendation function is provided. On the other hand, if the passenger intentionally tries to sleep without these actions, recommended functions such as seat recline and in-vehicle audio volume reduction are provided.

In addition, the function recommendation unit 210 provides a lock setting for the window and car door of the corresponding seat as a recommended function when the passenger is a child.

The function recommendation unit 210 analyzes the voice information acquired through the voice acquisition unit to determine the gender and age of the occupant or analyzes speech information.

The function recommendation unit 210 selects the seat heating function as a recommended function as a result of voice information analysis, for example, when the occupant is an elderly person, and sets the air conditioner in the vehicle according to the analysis result of ignition information such as “hot, cold” Select changes as recommended features.

The device linking unit acquires the occupant's pulse, sleep information, schedule information, etc. by interworking with the wearable device worn by the occupant or the smartphone possessed by the occupant.

The function recommendation unit 210 predicts drowsy driving and selects functions such as ventilation setting and audio setting to prevent drowsy driving as recommended functions when it is confirmed through the driver's wearable device that he did not get enough sleep the previous day.

The driving setting unit 220 sets the driving mode to a first driving mode (a comfortable driving mode, a driving mode that minimizes acceleration and lane change) or The second driving mode (shortest time driving mode, a mode for driving in the shortest time even with frequent acceleration and lane change) is determined.

For example, when the passenger is an elderly person or a child, the driving setting unit 220 sets the first driving mode for driving stability and the passenger's satisfaction, and when the passenger is in their 20s or in consideration of schedule information, fast travel is performed. If necessary, the second driving mode is set.

The control unit 200 controls so that different recommended functions are provided to passengers without mutual interference in relation to the recommended function selected through the function recommendation unit 210 .

For example, assuming that the driver is sweating despite wearing a short-sleeved shirt and the air conditioner needs to be turned on, and the passenger is a young child and is wearing a mask, the air conditioner will direct cool air only to the driver's seat. Overheating is automatically controlled, and the heating function is activated for the passenger's seat.

The function recommendation unit 210 according to an embodiment of the present invention displays the recommended function in a widget format on the cluster to provide the driver with the right to control the function.

The driver may select on/off of the recommended function using a function control right through gesture recognition, voice recognition, and the like.

According to an embodiment of the present invention, driving mode information determined through the driving setting unit 220 is mutually exchanged with surrounding vehicles through the communication unit 300 .

A driving embodiment using an autonomous driving system according to an embodiment of the present invention will be described with reference to FIGS. 2A to 2D .

2A shows a current situation for explaining a driving example according to an embodiment of the present invention.

On a road where lanes 1, 2, and 3 are driving lanes, it is assumed that lane 1 is a dedicated bus lane, lane 2 is congested with vehicles in front, and lane 3 is a smooth flow of traffic ahead.

The first vehicle A is driving in the first driving mode (comfortable driving mode, driving mode minimizing acceleration and lane change) according to the recognition result of the occupant state recognition unit and the driving setting result described above, and the subsequent driving mode 2 It is assumed that the vehicle B is driving in the second driving mode (shortest time driving mode, a mode allowing the vehicle to drive in the shortest time even when accelerating and changing lanes frequently) according to the occupant condition information and driving setting results.

Referring to FIG. 2B , since lane change should be minimized according to the first driving mode, the first vehicle A decelerates while maintaining a safe distance from the preceding vehicle C to maintain the second lane as a driving lane.

On the other hand, the second vehicle B needs to arrive at its destination within a faster time even if a lane change occurs according to the second driving mode, so it changes its driving lane to a third lane and drives.

When the hands-on of the driver's steering wheel is detected through the hands-on sensor 230 of the first vehicle A, the first vehicle A recognizes that the transfer of control right from the autonomous driving mode to the driver control mode is requested. At the same time, according to the driving mode (second driving mode) of the second vehicle B following from behind, whether the second vehicle B is scheduled to change to a third lane or whether the lane change is completed is recognized.

Therefore, in a situation in which the driver of the first vehicle A is expected to change lanes to a third lane following a control transfer request, the driver of the first vehicle A does not properly check the side mirror, or the second vehicle When (B) exists in the blind spot of the first vehicle (A), there is a risk of accident.

When a lane change is attempted according to the transfer of the driving control right, the control unit 200 of the first vehicle A warns the driver of the first vehicle about the possibility of collision with the second vehicle B by giving an alarm (message, through sound, etc.). In addition, as the possibility of collision is expected, the control right is regained, the first vehicle A returns to the autonomous driving mode, and the secondary driving is maintained according to the preset driving mode.

The foregoing embodiment provides information on the driving situation, the first vehicle A's hands-on detection time, the second vehicle B's lane change attempt time, and the separation distance information between the first vehicle A and the second vehicle B. When considered collectively, the description is assuming a situation in which priority is given to the second vehicle B.

Referring to FIG. 2C , it is assumed that the first vehicle A changes a driving lane according to hands-on intervention.

This is a case where the driver's hands-on intervention occurs according to a sudden stop situation of the preceding vehicle C, for example, even though the first vehicle A is driving according to the first driving mode.

At this time, the lane change of the first vehicle A will not occur according to the existing driving mode (first driving mode), but the lane change is made according to the hands-on intervention.

The second vehicle (B) receives driving information according to the hands-on intervention of the first vehicle (A), and accordingly, when changing the lane according to the driving mode (second driving mode) of the second vehicle (B), the first A lane change is performed while adjusting the speed of the second vehicle so that a collision with the vehicle A does not occur.

The foregoing embodiment provides information on the driving situation, the first vehicle A's hands-on detection time, the second vehicle B's lane change attempt time, and the separation distance information between the first vehicle A and the second vehicle B. When considered collectively, it is described assuming a situation in which priority is given to the first vehicle A.

That is, the driving situation, the time of detecting hands-on of the first vehicle (A), the time of attempting to change lanes of the second vehicle (B), and the separation distance information of the first vehicle (A) and the second vehicle (B) are combined and considered. At this time, if the second vehicle B has already completed the lane change to the third lane and is driving next to the first vehicle, even when hands-on of the first vehicle A is detected, the first vehicle ( Transfer of control over A) does not occur.

Accordingly, the first vehicle A maintains the secondary driving according to the preset first driving mode, and deceleration operation control is performed so that a collision with the preceding vehicle C and the second vehicle B does not occur.

Unlike the foregoing, FIG. 2D illustrates a case where both the first vehicle A and the second vehicle B are driving in the first driving mode.

In this case, it is assumed that lane 1 is a dedicated bus lane, lane 2 is congested with vehicles in front, and lane 3 is a smooth flow of traffic ahead. is the same

While the first vehicle A is driving according to the first driving mode, hands-on intervention is detected, and the driving lane is changed to the third lane by the driver's manipulation.

The second vehicle (B) recognizes a lane change of the first vehicle (A) in consideration of driving setting update information (hands-on intervention information) received from the first vehicle (A).

As long as the third vehicle does not cut in front of the second vehicle B, the braking target distance of the second vehicle B relative to the preceding vehicle C is increased, so that the first vehicle A By decelerating relatively more slowly than when it exists, it is possible to drive more in line with the purpose of the first driving mode.

So far, we have looked mainly at the embodiments of the present invention. Those skilled in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present invention.

100: occupant state recognition unit 110: driver state recognition unit
120: passenger condition recognition unit 200: control unit
210: function recommendation unit 220: driving setting unit
230: hands-on detection unit 400: communication unit
C: preceding vehicle A: first vehicle
B: Second vehicle

Claims (6)

an occupant status recognition unit that obtains status information of the occupant;
a function recommendation unit that receives the passenger's status information and selects a recommended function among available functions;
a driving setting unit that sets a driving mode and a driving route in consideration of the passenger's condition information;
a hands-on detector that detects whether the driver's hands-on; and
When attempting to change lanes by transferring control from the autonomous driving mode to the driver control mode according to the driver's hands-on, recognizing whether the lane change of surrounding vehicles is scheduled or completed, and warning if there is a possibility of collision with the surrounding vehicles Provides an alarm, and includes a control unit that returns to the autonomous driving mode by returning the control right as the possibility of collision is expected,
The driving setting unit determines the first driving mode that minimizes acceleration and lane change according to the recognition result of the occupant state recognition unit and schedule information, pulse information acquired through the driver's wearable device, and sleep information, or even if acceleration and lane change are frequent. Determining a second driving mode for driving in the shortest time, exchanging information on the driving mode with surrounding vehicles through a communication unit, driving modes of the own vehicle and surrounding vehicles, hands-on intervention of the own vehicle, and the surrounding vehicles Renewing and setting a driving route in consideration of the timing of the lane change attempt, the separation distance information of the own vehicle and surrounding vehicles, and driving setting change information according to hands-on intervention of surrounding vehicles
human autonomous driving system.
According to claim 1,
The occupant state recognition unit includes at least one of an image acquisition unit, a voice acquisition unit, and a device interlocking unit to obtain state information of a driver and a passenger.
human autonomous driving system.
According to claim 2,
The function recommendation unit selects a recommended function to be provided to each passenger according to the state information of the driver and the passenger, and controls the recommended function so that there is no mutual interference.
human autonomous driving system.
According to claim 1,
The function recommendation unit displays the recommended function in the form of a widget in the cluster to provide function control rights.
human autonomous driving system.
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