KR20170087335A - Apparatus and method for switching control of autonomous vehicle - Google Patents

Apparatus and method for switching control of autonomous vehicle Download PDF

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Publication number
KR20170087335A
KR20170087335A KR1020160007198A KR20160007198A KR20170087335A KR 20170087335 A KR20170087335 A KR 20170087335A KR 1020160007198 A KR1020160007198 A KR 1020160007198A KR 20160007198 A KR20160007198 A KR 20160007198A KR 20170087335 A KR20170087335 A KR 20170087335A
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South Korea
Prior art keywords
steering wheel
degree
connection
autonomous
driver
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KR1020160007198A
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Korean (ko)
Inventor
나기인
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한국전자통신연구원
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Priority to KR1020160007198A priority Critical patent/KR20170087335A/en
Publication of KR20170087335A publication Critical patent/KR20170087335A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60K2350/1024—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/205—Steering speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Abstract

Disclosed is an apparatus for switching the operation control of an autonomous vehicle and a method thereof. A method of switching a driving control right of an autonomous vehicle according to the present invention includes the steps of setting a degree of connection between a steering wheel and a steering wheel in an autonomous driving mode and, when receiving a first transition request from the driver in the autonomous driving mode, Setting a connection degree so as to allow the driver to input a second transition request; releasing the lock of the handle when receiving a second transition request from the driver; and when receiving the third transition request from the driver, And causing the steering of the driver to be controlled by the steering operation of the driver.

Description

[0001] APPARATUS AND METHOD FOR SWITCHING CONTROL OF AUTOMOTIVE VEHICLE [0002]

The present invention relates to a technology for switching the operation control right between an autonomous drive vehicle and a driver, and more particularly, to a technology for switching a drive control right safely when an operation mode of an autonomous drive mode and a manual drive mode is changed, Gt; to < / RTI >

BACKGROUND ART [0002] In recent years, autonomous driving technology has been greatly developed to allow a vehicle to run on the road by itself without a driver driving the vehicle directly. Current autonomous navigation techniques can be applied to simple and stereotyped environments based mainly on accurate location information.

However, reception of location information is still unstable, and there is a great risk of autonomous traveling in a complicated environment. With current technology, it is difficult for self-propelled vehicles to travel completely in all environments without the help of the driver. And it is expected that it will take a long time to apply perfect autonomous driving in all environments.

Therefore, the autonomous driving and the control of the driving control between the drivers should be able to be changed at all times depending on the situation or environment.

In addition, the driver often enjoys the fun of driving itself as well as driving simply to the destination. Therefore, even if autonomous driving is possible in all environments through the advancement of autonomous driving technology in the future, it is necessary for the driver who wants to drive the driving to have the skill of switching the driving control right safely and smoothly. And it is expected that the necessity of the switchover of the driving control right will increase as the autonomous driving technology becomes popular.

Recently, steering control of a vehicle is controlled not by a conventional mechanical control but by an electronic signal via an MDPS (Motor Driven Power Steering). Based on these techniques, the current autonomous driving system is able to reflect the current steering to the steering wheel so that the driver can check the autonomous driving control status. In addition, in the recently announced autonomous driving concept car, a technique of entering the steering wheel into the vehicle during autonomous driving has also appeared.

When the steering wheel is directly reflected on the steering wheel and the steering wheel is moved in a manner corresponding to the steering, the driver can check the driving state immediately, and can shift the steering wheel at the time when steering and steering are synchronized. However, the steering wheel, which is directly connected to the steering wheel in a state in which the driver is not operating, and which moves dynamically can make the driver feel uneasy. When the handle is exposed to the outside and the handle is connected with a strong force, the driver can feel the pain when the handle is in contact with the driver.

In addition, it is very inefficient if the steering wheel is hidden during autonomous driving. In autonomous driving, which is not yet advanced, switching of the driving control between the driver and the autonomous driving can occur frequently. However, it is inefficient in terms of time and cost to repeatedly perform the operation of hiding the steering wheel when the operation control shift occurs and changing the mode to the autonomous running mode again.

In this way, the transition of the driving control right in the autonomous driving vehicle is essential. In the conventional operation control transition transition, a method of recognizing the force applied to the steering wheel of the autonomous vehicle or determining the intention of the driver to control by using the button provided in the vehicle, and then transferring the control of the operation is mainly used. However, the method of recognizing the operation control right transition signal by the haptic reaction that the driver applies to the steering wheel in the state where the steering wheel and the steering are synchronized with each other in an autonomous manner may cause unintentional transition when the driver mistakenly applies a force to the steering wheel This can lead to major accidents.

It is difficult to define the force of the haptic reaction, and when the driving control right shifts immediately after the driver applies a great deal of force to receive the control right, excessive manipulation of the steering wheel can lead to an accident and an accident.

Also, when the control is transferred by the button, since the driver suddenly receives the control right at the same time of pressing the button, the transition of the operation control right may occur unnaturally.

Therefore, there is a need for a technology capable of safely transferring the operation control right from the autonomous vehicle.

Korean Patent Laid-Open No. 10-2013-0091907, published on Aug. 20, 2013 (name: autonomous vehicle driving device and method thereof)

An object of the present invention is to make it possible to safely change from an autonomous travel mode to a manual travel mode when switching the operation control right of an autonomous vehicle.

It is also an object of the present invention to make it possible to easily confirm the degree of operation of an accelerator pedal required for the driver to maintain the speed in the autonomous mode when the mode is switched from the autonomous mode to the manual mode.

It is also an object of the present invention to set the degree of connection of the steering wheel and steering in the autonomous mode, and to set the degree of dynamic motion of the steering wheel in the autonomous mode.

According to another aspect of the present invention, there is provided a method for switching the operation control right of an autonomous vehicle, the method comprising: setting a degree of connection between a steering wheel and a steering wheel in an autonomous mode; Setting the degree of connection so that the steering wheel is separated from the steering wheel when receiving a first transition request from a driver in a driving mode; releasing the lock of the steering wheel when receiving a second transition request from the driver; And changing the autonomous running mode to the manual driving mode when the third transition request is input from the driver, so that the steering is controlled by the steering operation of the driver.

At this time, in the manual driving mode, the step of displaying the degree of the accelerator pedal operation required by the vehicle in order to maintain the speed in the autonomous driving mode may be further included.

In this case, the step of displaying the degree of acceleration pedal operation may include calculating a running speed of the vehicle in the autonomous running mode, calculating a current speed of the vehicle after changing to the manual running mode, Calculating the degree of the accelerator pedal operation that the vehicle should be operated to maintain the traveling speed by comparing the traveling speed, and displaying the degree of manipulation of the accelerator pedal.

In this case, when the degree of connection is 0, the steering wheel is separated from the steering wheel so that the steering wheel is not moved, and when the degree of connection is 1, the steering wheel is directly connected to the steering wheel, To move to the next step.

At this time, when the degree of connection is a value between 0 and 1, the steering wheel can be moved to correspond to the steering controlled by the steering coefficient corresponding to the degree of connection.

At this time, the adjustment coefficient may adjust at least one of the angle, the speed and the torque of the steering in the autonomous driving.

If the connection degree is a value between 0 and 1, setting the connection degree to 0 if an external force is detected, setting the connection degree before the external force is sensed when the external force is removed And moving the steering wheel to correspond to the current steering.

At this time, the first transition request can be input by voice or button operation.

At this time, the second transfer request may be input by touching the handle or by manipulating a physical button provided on the handle.

At this time, the third transition request may mean an external force applied to the handle, with the handle unlocked.

In addition, an apparatus for switching the operation control right of an autonomous vehicle according to an embodiment of the present invention includes a connection degree setting unit that sets a degree of connection between a steering wheel and a steering wheel in an autonomous mode, a transition request input unit that receives a transition request from a driver, Wherein the control unit sets the degree of connection so that the steering wheel is separated from the steering wheel when receiving a first transition request from the driver in the autonomous driving mode and releases the lock of the steering wheel when receiving a second transition request from the driver, And a steering control switching unit for changing the autonomous driving mode to the manual driving mode and controlling the steering by operating the steering wheel of the driver.

According to the present invention, it is possible to safely change from the autonomous travel mode to the manual travel mode when switching the operation control right of the autonomous vehicle.

Also, according to the present invention, when switching from the autonomous mode to the manual mode, it is possible to easily confirm the extent of the accelerator pedal operation required by the driver in order to maintain the speed in the autonomous mode.

Further, according to the present invention, the degree of dynamic movement of the steering wheel can be set in the autonomous mode by setting the degree of connection between the steering wheel and the steering wheel in the autonomous mode.

1 is a block diagram showing a configuration of an operation control right switching apparatus for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method of switching the right of operation control of an autonomous vehicle according to an embodiment of the present invention.
3 is a view for explaining the connection relationship between the steering wheel and the steering wheel when the degree of connection between the steering wheel and the steering wheel is zero.
4 is a view for explaining the connection relationship between the steering wheel and the steering wheel when the degree of connection between the steering wheel and the steering wheel is a value between 0 and 1;
5 is a diagram for explaining a method of establishing a connection when an external force is detected when the degree of connection between the steering wheel and the steering wheel is a value between 0 and 1;
6 is a view for explaining the connection relationship between the steering wheel and the steering wheel in step S510 of FIG.
7 is a diagram for explaining a process of restoring the degree of connection and the position of the handle in step S530 of FIG.
8 is a diagram for explaining a transition request input according to an embodiment of the present invention.
FIG. 9 is a flowchart for explaining a method of displaying the degree of acceleration pedal operation of an apparatus for switching operation control right of an autonomous vehicle according to an embodiment of the present invention.
10 is a diagram for explaining a method of displaying the degree of operation of the accelerator pedal in step S940 of FIG.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of an operation control right switching apparatus for an autonomous vehicle according to an embodiment of the present invention.

1, the operation control right switching apparatus 100 of an autonomous vehicle includes a connection degree setting unit 110, a handle driving unit 120, a transition request input unit 130, an operation control unit 140, And a display unit 150.

First, the connection degree setting unit 110 sets the degree of connection between the steering wheel and the steering wheel in the autonomous mode.

In this case, the degree of connection between the steering wheel and the steering wheel may be a value between 0 and 1. If the degree of coupling is 0, the steering wheel is separated from the steering wheel. If the degree of coupling is 1, It means a directly connected state. On the other hand, when the degree of connection is between 0 and 1, it means that the steering wheel and the steering are connected so as to be adjusted by the adjustment factor corresponding to the value of the degree of connection.

If the connection degree is a value between 0 and 1, if an external force is detected, the connection degree setting unit 110 sets the connection degree to 0, and when the external force is removed, the connection degree is restored to the connection level before the external force is sensed .

Next, when the degree of connection is 0, the handle driver 120 separates the steering wheel from the steering wheel and does not move the steering wheel. When the degree of connection is 1, the steering wheel drive unit 120 directly connects the steering wheel to the steering wheel.

In addition, the handle driver 120 moves the handle so that it corresponds to the steering adjusted by the adjustment coefficient corresponding to the degree of connection, when the degree of connection is a value between 0 and 1. Here, the adjustment coefficient adjusts at least one of the angle, the speed and the torque of the steering in the autonomous driving. When the external force is removed and the connection degree is restored to the connection state before the external force is sensed, the handle driver 120 moves the handle to correspond to the current steering.

Also, the transition request input unit 130 receives a transition request from the driver.

The first transition request can be entered by voice or button operation. The second transfer request can be input by touching the handle or by manipulating the physical button provided on the handle. Further, the third transition request can be input as an external force applied to the handle, with the handle unlocked.

For convenience of explanation, although the first transition request is inputted by voice or button operation, the second transition request is inputted by touching the handle or by the operation of the physical button, and the third transition request is inputted by the external force applied to the handle, Without being limited thereto, the first transition request, the second transition request, and the third transition request may be input from the driver in various manners.

In addition, when the driver control unit 140 receives the first transition request from the driver in the autonomous driving mode, the driver control unit 140 sets the degree of connection such that the steering wheel and the steering wheel are separated from each other. And when receiving the third transition request from the driver, changes the autonomous running mode to the manual running mode so that the steering is controlled by the driver's steering wheel operation.

Finally, the acceleration information display unit 150 displays the degree of the accelerator pedal operation required in order to maintain the speed of the vehicle in the self-running mode in the manual travel mode.

Here, the acceleration information display unit 150 calculates the running speed of the vehicle in the autonomous running mode, changes the current running speed to the manual running mode, calculates the current speed of the vehicle, compares the current speed with the running speed, Calculates the degree of operation of the accelerator pedal to be operated in order to maintain it, and displays the degree of operation of the accelerator pedal thus calculated to the driver.

Hereinafter, a method of switching the operation control right of the autonomous vehicle by the operation control right switching device of the autonomous vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 2 through FIG.

FIG. 2 is a flowchart illustrating a method of switching the right of operation control of an autonomous vehicle according to an embodiment of the present invention.

First, the operation control right switching device 100 of the autonomous driving vehicle sets a connection degree between the steering wheel and the steering wheel (S210).

The operation control right switching device 100 of the autonomous driving vehicle sets the degree of connection between the steering wheel and the steering wheel, which means the degree to which the steering wheel is reflected in the steering wheel. When the steering is directly connected to the steering wheel, the steering wheel moves dynamically frequently during autonomous driving. Such frequent movement of the handle can cause anxiety to the driver and may lead to a decrease in reliability of autonomous driving. Therefore, the operation control right switching apparatus 100 of the present invention allows the driver to adjust the connection mode or degree of connection between the steering wheel and the steering wheel in a customized manner.

The degree of connection between steering wheel and steering wheel is divided into 0, 1, 0 and 1. If the degree of connection is zero, the handle and steering are completely separated, and the handle is stationary and does not move.

3 is a view for explaining the connection relationship between the steering wheel and the steering wheel when the degree of connection between the steering wheel and the steering wheel is zero.

As shown in Fig. 3, the handle is fixed to zero, so that the handle does not move even if the steering direction changes. Also, in the autonomous mode, steering is not affected by the manipulation of the steering wheel, so the steering wheel does not affect steering either. That is, when the degree of connection is zero, the steering wheel and the steering wheel are separated, and the steering wheel is fixed independently of the steering motion.

On the other hand, when the degree of coupling between the steering wheel and the steering wheel is 1, the steering wheel and the steering wheel are directly connected, and the steering wheel is frequently moved to correspond to the steering wheel. When the degree of connection is 0 or 1, the steering wheel is fixed or the steering wheel is reflected in the steering wheel as in the conventional technique.

When the degree of connection is set to a value between 0 and 1, the operation control right switching apparatus 100 of the autonomous traveling vehicle adjusts the degree to which the steering based on the autonomous driving command is reflected on the steering wheel through the adjustment coefficient, To move the handle. At this time, the adjustment coefficient can adjust at least one of an angle, a speed, and a torque to such an extent that the steering is reflected on the steering wheel.

The steering wheel can show the driver to the steering through the visual effect, and the driver can set the control factor to a degree that does not have a sense of resistance.

4 is a view for explaining the connection relationship between the steering wheel and the steering wheel when the degree of connection between the steering wheel and the steering wheel is a value between 0 and 1;

As shown in Fig. 4, when the degree of coupling between the steering wheel and the steering wheel is a value between 0 and 1, the steering wheel moves to correspond to the steering. At this time, the handle moves so that at least one of the angle, the speed and the torque corresponds to the value adjusted by the adjustment coefficient as compared with the case where the coupling degree is 1.

That is, the operation control right switching apparatus 100 of the present invention moves the handle corresponding to the steering that is adjusted by using the adjustment coefficient, thereby eliminating the anxiety due to the conventional dynamic handle movement, Through the steering wheel, it is possible to provide the driver with information related to the steering.

In order to solve the problem in which the driver is hit by the moving handle, the operation control right switching device 100 of the autonomous driving vehicle releases the connection between the steering wheel and the steering wheel when an external force is applied to the steering wheel.

5 is a diagram for explaining a method of establishing a connection when an external force is detected when the degree of connection between the steering wheel and the steering wheel is a value between 0 and 1;

As shown in FIG. 5, the operation control right switching device 100 of the autonomous vehicle sets the degree of connection to 0 when an external force is sensed (S510).

When the degree of connection is between 0 and 1, the operation control right switching apparatus 100 of the autonomous driving vehicle sets the degree of connection to 0 when an external force is detected in order to minimize the amount of the impact of the driver, And disconnects the steering.

6 is a view for explaining the connection relationship between the steering wheel and the steering wheel in step S510 of FIG.

As shown in FIG. 6, the operation control right switching apparatus 100 of the autonomous traveling vehicle removes the connection between the steering wheel and the steering wheel when an external force is detected on the steering wheel. Thus, the handle does not move to correspond to the steering, and since it is in the autonomous mode, manipulation of the steering wheel does not affect steering either.

At this time, even if an external force of greater intensity is applied, since the connection between the steering wheel and the steering wheel is removed, the steering wheel does not move to correspond to the steering and does not affect the steering.

Next, the operation control right switching apparatus 100 of the autonomous driving vehicle restores the connection diagram to the existing connection road when the external force is removed (S520).

When the external force is removed, the operation control right switching apparatus 100 of the autonomous driving vehicle restores the connection diagram to the existing connection road.

Then, the operation control right switching device 100 of the autonomous traveling vehicle moves the steering wheel so as to correspond to the steering (S530).

7 is a diagram for explaining a process of restoring the degree of connection and the position of the handle in step S530 of FIG.

As shown in FIG. 7, when the external force is removed, the connection degree of the operation control right switching device 100 of the autonomous driving vehicle is restored to the connection road before the external force acts. When the degree of connection is restored, the operation control right switching device 100 of the autonomous driving vehicle moves the handle so as to correspond to the restored connection degree based on the current steering of the autonomous driving vehicle. At this time, when the restored connection degree is 0, the handle is fixed, so the handle is not released due to the detected external force.

Next, referring to FIG. 2 again, the operation control right switching apparatus 100 of the autonomous traveling vehicle resets the connection degree when the first transition request is input (S220).

The first transition request expresses the intention that the driver requests the transition of the operation control right, and the operation control right switching apparatus 100 of the autonomous driving vehicle performs the switch unlocking upon receiving the first transition request.

Here, the switching unlocking means releasing both the connection between the steering wheel and the steering wheel and the connection method with respect to the external force of the steering wheel. When the switching lock is released, the movement of the steering wheel is directly expressed on the handle, and the handle is not disconnected even if an external force is applied to the handle.

At this time, the first transition request can be input by recognizing the driver's voice and inputting it, or by a simple operation such as a button operation.

When the operation control right switching device 100 of the autonomous driving vehicle receives the second transition request, it releases the lock of the handle (S230).

The second transition request means that the driver is ready to adjust the handle, and the operation control right switching device 100 of the autonomous driving vehicle performs the handle unlocking upon receiving the second transition request.

Here, unlocking the handle releases the handle, whereby the operation control right switching device 100 of the autonomous vehicle determines that the driver intends to operate the handle, and releases the lock of the handle. At this time, when the steering wheel lock is released, the steering wheel can be moved corresponding to the operation of the driver, but the steering wheel motion does not affect steering.

As in the prior art, in the state where the steering wheel is connected to the steering wheel, when the operation of the steering wheel is directly reflected in the steering, an accident may be caused by an unintended external force. Therefore, in order to grasp the intention of the driver to operate the steering wheel, the apparatus 100 for switching the operation control right of the autonomous vehicle according to the embodiment of the present invention performs step S230 without switching from the state in which the switching lock is released to the manual driving mode Unlock the handle.

At this time, the second transition request can be input by pressing or touching a button provided on the handle.

Next, the operation control right switching device 100 of the autonomous driving vehicle switches to the manual driving mode when receiving the third transition request (S240).

The third transition request means that the final preparation for receiving the driving control right is completed by the driver. When the driving control right switching apparatus 100 of the autonomous driving vehicle receives the third transition request, it transfers the driving control right to the driver.

Here, transition of the operation control right means that the running mode is switched from the autonomous running mode to the manual running mode. That is, when the transition of the operation control right occurs, the autonomous running is terminated and the steering can be controlled by the steering of the driver.

At this time, the third transition request can be received through the sensor provided in the handle, and if the sensor is judged that the handle is applied with the force, it is determined that the third transition request is inputted.

8 is a diagram for explaining a transition request input according to an embodiment of the present invention.

As shown in FIG. 8, the first transition request input unit 810 may be implemented in the form of a button, and the driver may input the first transition request by pressing the first transition request input unit 810. At this time, when the first transition request is inputted, the operation control right switching apparatus 100 of the autonomous traveling vehicle performs the switching unlocking.

Next, the second transition request input unit 820 may be provided with a touch or a button on the handle, and the driver may touch or press the second transition request input unit 820 to input a second transition request. Here, the second transfer request requests the unlocking of the handle, and the operation control right switching device 100 of the autonomous driving vehicle performs the handle unlocking when the second transfer request is inputted.

The third transition request input unit may be provided in the form of a sensor on the handle, and the driver may input a third transition request by applying an external force to the handle. When the third transition request is input, the operation control right switching device 100 of the autonomous driving vehicle changes the autonomous driving mode to the manual driving mode and transfers the driving control right to the driver.

However, the present invention is not limited to this. For example, when the driver inputs an external force to push or pull the steering wheel, the operation control right switching device 100 of the autonomous driving vehicle, It can be determined that the third transition request has been input.

As described above, the operation control right switching apparatus 100 of the present invention performs the transition of the operation control right after receiving the three transition requests through steps S220 to S240.

In this case, if the waiting time until the next transition request is received after inputting the transition request is equal to or longer than the threshold time, the operation control right switching apparatus 100 of the autonomous driving vehicle does not perform the step of receiving the next transition request , The first transition request may be input again by performing step S220.

When the next transition request is not input for a time equal to or longer than the threshold time, the operation control right switching apparatus 100 of the autonomous driving vehicle judges that the immediately preceding transfer request is a transfer request mistakenly input by the driver, It is possible to secure the safety of transition of the operation control right.

Finally, the operation control right switching device 100 of the autonomous driving vehicle displays the degree of the accelerator pedal operation (S250).

If the driver does not operate the accelerator pedal after the operation control transition is performed in step S240, the vehicle speed is slowed down. Therefore, in order to provide convenience to the driver who wants to maintain the speed at the time of autonomous driving, the operation control right switching device 100 of the autonomous driving vehicle can provide the driver with the accelerator pedal operation information in a visual form.

FIG. 9 is a flowchart for explaining a method of displaying the degree of acceleration pedal operation of an apparatus for switching operation control right of an autonomous vehicle according to an embodiment of the present invention.

As shown in Fig. 9, the operation control right switching device 100 of the autonomous traveling vehicle calculates the traveling speed of the vehicle in the autonomous traveling mode (S910).

Then, the transition of the operation control right is performed to switch to the manual driving mode, and then the current speed of the vehicle is calculated in the manual driving mode (S920).

At this time, the running speed of the vehicle and the current speed of the vehicle may be calculated in real time while the vehicle is operated by the operation control right switching apparatus 100 of the autonomous driving vehicle.

Next, the operation control right switching apparatus 100 of the autonomous driving vehicle calculates the degree of operation of the accelerator pedal which the driver has to operate in order to maintain the speed before the transition of the driving control right is performed (S930).

At this time, the operation range of the accelerator pedal that the driver must operate in order to maintain the speed is calculated using the traveling speed of the vehicle calculated in step S910 and the current speed of the vehicle calculated in step S920.

Finally, the operation control right switching apparatus 100 of the autonomous driving vehicle displays the degree of operation of the calculated accelerator pedal to the driver (S940).

At this time, the operation control right switching device 100 of the autonomous driving vehicle may display the operation degree of the accelerator pedal in the form of a graph, a number, and the like, and provide it to the driver.

10 is a diagram for explaining a method of displaying the degree of operation of the accelerator pedal in step S940 of FIG.

The operation control right switching device 100 of the autonomous driving vehicle displays the range 1010 of the degree of acceleration pedal operation for maintaining the speed and the degree of the current accelerator pedal operation 1020. [ Here, the range 1010 of the accelerator pedal operation degree for maintaining the speed is calculated in the step S930, and the current degree of the accelerator pedal operation 1020 is calculated in the step S920.

When the driver operates the accelerator pedal, the operation control right switching device 100 of the autonomous driving vehicle calculates the current speed of the vehicle according to the accelerator pedal operation and calculates the degree of the accelerator pedal operation 1030 corresponding to the calculated current speed of the vehicle. In real time and provides it to the driver.

As described above, the configuration and the method of the embodiments described above can be applied to the apparatus and method for switching the operation control right of the autonomous vehicle according to the present invention, All or some of the embodiments may be selectively combined.

100: Operation control right switching device of autonomous driving vehicle
110: connection degree setting section
120:
130: transition request input unit
140:
150: Acceleration information display part
810: first transition request input section
820: second transition request input section
1010: Range of degree of acceleration pedal operation for maintaining speed
1020, 1030: degree of current accelerator pedal operation

Claims (20)

Setting a degree of connection between the steering wheel and the steering wheel in an autonomous mode,
Setting the degree of connection so that steering and steering are separated when a first transition request is input from the driver in the autonomous mode,
Unlocking the handle when receiving a second transfer request from the driver, and
Changing a mode of the autonomous mode to a manual driving mode when receiving a third transition request from the driver and controlling the steering by operating a steering wheel of the driver. The method according to claim 1,
Further comprising the step of displaying, in the manual driving mode, an acceleration pedal operation degree required for the vehicle to maintain the speed in the autonomous driving mode. 3. The method of claim 2,
Wherein the step of displaying the degree of the accelerator pedal operation comprises:
Calculating a running speed of the vehicle in the autonomous running mode,
Calculating a current speed of the vehicle after changing to the manual driving mode,
Comparing the current speed with the running speed to calculate an acceleration pedal operation degree to which the vehicle should be operated to maintain the running speed, and
And displaying the degree of operation of the accelerator pedal. The method according to claim 1,
Separating the steering wheel from the steering wheel so as to move the steering wheel so that the steering wheel is not moved and the steering wheel is directly connected to the steering wheel when the degree of connection is 1, Wherein the autonomous traveling vehicle further includes a control unit for controlling the operation of the autonomous traveling vehicle. 5. The method of claim 4,
When the degree of connection is a value between 0 and 1, moves the steering wheel so as to correspond to the steering controlled by an adjustment coefficient corresponding to the degree of connection. 6. The method of claim 5,
The modulation factor
And controlling at least one of an angle, a speed and a torque of the steering in the autonomous running. The method according to claim 1,
Setting the degree of connection to zero if an external force is detected when the degree of connection is a value between 0 and 1,
Setting the connection degree before the external force is sensed when the external force is removed,
Further comprising the step of moving the steering wheel so as to correspond to the current steering. The method according to claim 1,
Wherein the first transfer request comprises:
Wherein the input of the operation control right of the autonomous traveling vehicle is performed by voice or button operation. The method according to claim 1,
The second transition request comprising:
Wherein the input is inputted by touching the handle or by operating a physical button provided on the handle. The method according to claim 1,
Wherein the third transition request comprises:
Wherein the control means is an external force applied to the handle in a state in which the handle is unlocked. In the autonomous driving mode, a connection diagram setting section for setting the connection diagram of the steering wheel and the steering wheel,
A transition request input for receiving a transition request from the driver, and
Wherein the control unit sets the degree of connection so that the steering wheel is separated from the steering wheel when receiving a first transition request from the driver in the autonomous driving mode and releases the lock of the steering wheel when receiving a second transition request from the driver, When the third transition request is received from the driver, the control unit changes the autonomous running mode to the manual driving mode and controls the steering by operating the steering wheel of the driver.
And a control unit for controlling the operation of the autonomous vehicle. 12. The method of claim 11,
Further comprising an acceleration information display unit for displaying an acceleration pedal operation degree required for the vehicle to maintain the speed in the autonomous mode in the manual driving mode. 13. The method of claim 12,
The acceleration information display unit displays,
Calculating a current running speed of the vehicle in the autonomous running mode, calculating a current speed of the vehicle after changing to the manual running mode, comparing the current running speed with the current running speed, Wherein the control unit calculates the degree of the operation of the accelerator pedal to be operated in response to the operation of the driver. 12. The method of claim 11,
Wherein when the degree of connection is 0, the steering wheel is separated from the steering wheel to move the steering wheel, and when the degree of connection is 1, the steering wheel is directly connected to the steering wheel, And a driving unit for driving the autonomous traveling vehicle. 15. The method of claim 14,
The handle-
Wherein the steering wheel is moved to correspond to the steering controlled by an adjustment coefficient corresponding to the degree of connection when the degree of connection is a value between 0 and 1. 16. The method of claim 15,
The modulation factor
Wherein at least one of the angle, the speed and the torque of the steering is controlled in the autonomous traveling. 16. The method of claim 15,
When the degree of connection is a value between 0 and 1, if an external force is detected,
The connection-
The connection degree is set to 0, and when the external force is removed, the connection degree is set as a connection degree before the external force is sensed,
The handle-
And the steering wheel is moved so as to correspond to the current steering. 12. The method of claim 11,
Wherein the first transfer request comprises:
Wherein the input of the operation control right of the autonomous traveling vehicle is input by voice or button operation. 12. The method of claim 11,
The second transition request comprising:
Wherein the input is inputted by touching the handle or by operating a physical button provided on the handle. 12. The method of claim 11,
Wherein the third transition request comprises:
And means for indicating an external force applied to the handle when the handle is unlocked.
KR1020160007198A 2016-01-20 2016-01-20 Apparatus and method for switching control of autonomous vehicle KR20170087335A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019136245A1 (en) * 2018-01-04 2019-07-11 Joyson Safety Systems Acquisition Llc Systems and methods for autonomous front wheel steering
KR20190098783A (en) * 2018-01-29 2019-08-23 현대모비스 주식회사 Apparatus for controlling handle of vehicls
WO2020222332A1 (en) * 2019-04-30 2020-11-05 엘지전자 주식회사 Electronic device for vehicle, and operation method of electronic device for vehicle

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019136245A1 (en) * 2018-01-04 2019-07-11 Joyson Safety Systems Acquisition Llc Systems and methods for autonomous front wheel steering
CN111801268A (en) * 2018-01-04 2020-10-20 乔伊森安全系统收购有限责任公司 System and method for autonomous front wheel steering
KR20190098783A (en) * 2018-01-29 2019-08-23 현대모비스 주식회사 Apparatus for controlling handle of vehicls
WO2020222332A1 (en) * 2019-04-30 2020-11-05 엘지전자 주식회사 Electronic device for vehicle, and operation method of electronic device for vehicle

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