KR20190093738A - Control method automatic switching device and method for using that device - Google Patents

Control method automatic switching device and method for using that device Download PDF

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Publication number
KR20190093738A
KR20190093738A KR1020180003210A KR20180003210A KR20190093738A KR 20190093738 A KR20190093738 A KR 20190093738A KR 1020180003210 A KR1020180003210 A KR 1020180003210A KR 20180003210 A KR20180003210 A KR 20180003210A KR 20190093738 A KR20190093738 A KR 20190093738A
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South Korea
Prior art keywords
vehicle
driver
state
information
driving
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KR1020180003210A
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Korean (ko)
Inventor
김흥수
김우일
계슬아
임애린
배승환
정해승
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순천향대학교 산학협력단
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Priority to KR1020180003210A priority Critical patent/KR20190093738A/en
Publication of KR20190093738A publication Critical patent/KR20190093738A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18163Lane change; Overtaking manoeuvres
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/02Estimation 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 ambient conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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 drivers or passengers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/10Estimation 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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 drivers or passengers
    • B60W2040/0818Inactivity or incapacity of driver
    • B60W2040/0827Inactivity or incapacity of driver due to sleepiness
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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 drivers or passengers
    • B60W2040/0872Driver physiology
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed

Abstract

The present invention relates to a device for automatically switching a control method of a vehicle, which detects the state of a driver, who manually controls a driving vehicle, in real-time to automatically switch control modes to allow the vehicle to be autonomously driven when the detected state of the driver is not suitable for manual control, to prevent an accident and immediately move the driver to a hospital in an emergency situation, and a method thereof. According to the present invention, the device for automatically switching the control method of a vehicle comprises: a driving state detection unit detecting the driving state of a vehicle in real-time to generate vehicle driving information; a driver state detection unit detecting the driver′s state in real-time to generate driver state information; an analysis unit analyzing the driver state information to generate analysis information including one or more among a normal state, an attention-reduced state, a drowsy driving state, and an emergency state; a switching unit maintaining or switching the control mode of the vehicle based on the analysis information; a GPS device checking the current location of the vehicle; a database storing map information including road and building information; a control unit controlling the vehicle to perform autonomous driving by using the map information and the vehicle driving information; and a route setting unit setting a route to a hospital to the vehicle autonomously driven by an automatic control mode based on adjacent hospital information which is searched based on preset destination information and the current location of the vehicle or based on the map information and the current location of the vehicle.

Description

Control method automatic switching device and method for using that device

The present invention relates to an apparatus for automatically switching a control scheme to allow a driving car to autonomously drive and a method of using the apparatus. More specifically, the present invention relates to a state of a driver for manually controlling a driving car in real time. If the detected driver's condition is not suitable for manual control, the vehicle automatically switches the control method to prevent autonomous accidents, and in case of an emergency, the device that can immediately move the driver to the hospital and the method using the device It is about.

Recently, parking assistance system and lane keeping assistance system for driver's convenience and safety have been applied to vehicles, and autonomous driving system, which is the ultimate technology for driver's convenience and safety, has been developed, but it has not reached the commercialization stage yet. .

However, even if the autonomous driving system is developed to a level that is commercially available, the manual control method by the direct control of the driver does not disappear, so future vehicles are equipped with both the manual control function and the autonomous driving function by the driver. It is preferable to apply selectively to this vehicle.

Conventional inventions relating to autonomous driving of vehicles include "entrance to autonomous driving and release from autonomous driving" of Korean Patent Publication No. 10-1580949 and "driving mode switching device of vehicle" of Korean Patent Publication No. 10-1659034. And a method thereof, “cooperative autonomous driving device and method between a vehicle and a driver” in Korean Patent Publication No. 10-1736306, and a steering control device including a determination of the driver's will and its object in Korean Patent Publication No. 10-1779962. The method of operation ”has been proposed and disclosed.

In the Korean Patent Application Publication No. 10-1580949, “Entering and Exiting Autonomous Driving”, a driver performs a series of environment, system and driver checks so that a computer mounted on the vehicle identifies specific conditions. An invention relating to a method capable of switching from the manual driving mode to the autonomous driving mode and switching back to the manual driving mode has been proposed, and the “driving mode switching device of a vehicle” of the Korean Patent Publication No. 10-1659034 The present invention has been proposed an apparatus and method for determining whether to switch the driving mode by detecting a driver's intention to switch to the manual driving mode and determining whether the driver can safely drive when switching to the manual driving mode.

In addition, the Korean Patent Application Publication No. 10-1736306, "Cooperative vehicle and driver cooperative autonomous driving apparatus and method", can consider the driver's state and the performance of the autonomous driving apparatus and assign driving control to a high driving performance target. And an apparatus and method for allowing a vehicle and a driver to cooperatively perform driving have been proposed, and the Korean Patent Publication No. 10-1779962 discloses "a steering control apparatus including a driver's determination of the will and an operation method thereof". In the present invention, an apparatus and a method for providing convenience to a driver by coordinating a control right by determining a driver's operation intention and coping with an emergency situation have been proposed.

However, the prior art as described above relates to an apparatus and a method for switching the control method of the vehicle so that the vehicle being driven by the driver autonomously travels, and proposes various methods of switching the control method of the vehicle on its own or automatically. However, when an emergency occurs in the driver, only the control method of the vehicle is switched, and a method for taking the necessary measures for the driver cannot be provided.

Therefore, when the vehicle being driven by the manual control method by the driver is required, the control method of the vehicle can be automatically switched to autonomously run, and when the emergency situation caused by the driver in the vehicle is detected, the destination of the autonomous vehicle is changed. By doing so, there is a need for an invention regarding an apparatus, a method, and the like that can immediately move a driver to a hospital.

Republic of Korea Patent Publication No. 10-1580949 (Dec. 22, 2015) Republic of Korea Patent Publication No. 10-1659034 (2016. 09. 13) Republic of Korea Patent Publication No. 10-1736306 (2017. 05. 10) Republic of Korea Patent Publication No. 10-1779962 (2017. 09. 13)

An apparatus for automatically switching a control method of a vehicle according to the present invention and a method of using the apparatus are proposed techniques for solving the problems of the above-described conventional inventions. However, if there is an emergency situation for the driver in the vehicle, there is a problem that cannot switch to the control method of the vehicle but suggests a way to take necessary measures. To present the purpose is to.

In order to achieve the above object, an apparatus for automatically switching a control method of a vehicle according to the present invention includes: a driving detection unit configured to generate driving information by detecting a driving state of a vehicle in real time; A driver state detection unit for detecting driver state in real time and generating driver state information; An analysis unit configured to analyze the driver state information and generate analysis information including at least one of a normal state, a reduced attention state, a drowsy driving state, and an emergency state; Switching unit for maintaining or switching the control method of the vehicle based on the analysis information; A GPS device for detecting the current location of the vehicle; A database storing map information including road information and building information; A controller configured to control the vehicle to autonomously travel using the map information and the vehicle driving information; A route setting unit configured to set a path of an autonomous vehicle to a hospital by an automatic control method based on preset destination information and current location of the vehicle or near-field hospital information searched based on the map information and the current location of the vehicle. ; It proposes a control method automatic switching device of a vehicle, characterized in that it comprises a.

In addition, the method using the automatic switching method of the vehicle control method according to the present invention includes a driving information generating step of generating the vehicle driving information by detecting the driving state of the vehicle in real time; Generating state information by detecting a state of a driver in real time; An analysis information generation step of analyzing the driver state information to generate analysis information; A switching step of switching a control method of the vehicle based on the analysis information; A path setting step of setting a path of the autonomous vehicle; A control step of controlling the vehicle to drive autonomously; Characterized in that comprises a.

According to an embodiment of the present invention, an apparatus for automatically switching a control method of a vehicle and a method of using the apparatus have an effect of detecting an emergency situation occurring in a driver in a vehicle through a driver state detecting unit and an analyzing unit. By automatically changing the destination of the autonomous vehicle through a base, a control unit, and a route setting unit to a short distance hospital, an effect of immediately moving a driver to a hospital has been generated.

1 is a block diagram of a control method automatic switching device for a vehicle according to the present invention.
2 is a block diagram of a driving detection unit that is a component of a control method automatic switching device for a vehicle according to the present invention.
3 is a configuration diagram of a driver state detection unit that is a component of a control method automatic switching device for a vehicle according to the present invention.
Figure 4 is a block diagram showing an automatic voice call device of the vehicle control mode automatic switching device according to the present invention.
5 is a block diagram showing a state transmission unit of the control method automatic switching device for a vehicle according to the present invention.
Figure 6 is a flow chart of a method of using a vehicle control mode automatic switching device according to the present invention.
7 is a flowchart illustrating a driving information generating step, which is one step of a method of using an apparatus for automatically switching a control method of a vehicle according to the present invention;
8 is a flowchart illustrating a state information generating step, which is one step of a method of using an apparatus for automatically switching a control method of a vehicle according to the present invention;

The present invention relates to a control method automatic switching device for a vehicle, comprising: a driving detection unit (100) for generating vehicle driving information by detecting a driving state of a vehicle in real time; A driver state detection unit 110 for detecting driver state in real time and generating driver state information; An analysis unit 120 analyzing the driver state information to generate analysis information including at least one of a normal state, a reduced attention state, a drowsy driving state, and an emergency state; Switching unit 130 for maintaining or switching the control method of the vehicle based on the analysis information; GPS device 140 for determining the current location of the vehicle; A database 150 in which map information including road information and building information is stored; A controller 160 for controlling the vehicle to autonomously travel using the map information and the vehicle driving information; A route setting unit configured to set a path of an autonomous vehicle to a hospital by an automatic control method based on preset destination information and a current location of the vehicle or near hospital information searched based on the map information and the current location of the vehicle. 170; It relates to a control method automatic switching device of a vehicle comprising a.

Hereinafter, with reference to the accompanying drawings will be described embodiments of the present invention;

First, as shown in FIG. 1, the apparatus for automatically switching the control method of the autonomous vehicle according to the present invention includes a vehicle driving detection unit 100 for generating vehicle driving information by detecting a driving state of the vehicle in real time. It is characterized by.

The vehicle driving detection unit 100 detects in real time the driving state of the vehicle being driven, ie, the driving speed of the vehicle being driven, lane departure, distance between vehicles, etc. in a manual control method by a driver. As a component of the present invention for generating vehicle driving information including all the information, as shown in Figure 2, the speed measurement unit 101 for measuring the driving speed of the vehicle and lane departure detection for detecting whether the lane departure of the vehicle It is characterized in that it comprises a distance measuring unit 103 for measuring the distance between the unit 102 and other vehicles running around the vehicle.

In this case, the speed measuring unit 101 may be configured to include a speedometer so as to directly measure the traveling speed of the vehicle, and the lane departure detecting unit 102 analyzes an image captured by a camera provided in the vehicle. It may be configured to detect whether the vehicle is out of the lane, the distance measuring unit 103 is configured to include an acceleration sensor and the like to determine the distance with other vehicles running in the vicinity of the vehicle, such as front and rear, left and right It can be configured to measure.

Accordingly, the vehicle driving information may include a driving speed of the vehicle, whether the vehicle is out of the lane, a distance from another vehicle driving around the vehicle, and the like. It is generated in all cases controlled by the control method, and when the vehicle is controlled by the manual control method, it is used to provide the driver with information about the driving of the vehicle and to recognize a dangerous situation. If controlled by the control unit 160 described below is used as a material for safely controlling the vehicle.

In addition, as shown in Figure 1, the control method automatic switching device of the autonomous vehicle according to the present invention is configured to include a driver state detection unit 110 for detecting the state of the driver in real time to generate driver state information It is characterized by.

The driver state detecting unit 110 detects the current state of the driver controlling the driving of the vehicle by the manual control method, that is, the driver's attention reduction, drowsy driving, emergency occurrence, etc., in real time. As a component of the present invention for generating driver status information including all the information related to, as shown in FIG. 3, the steering wheel detection unit 111 for detecting the rotation of the steering wheel provided in the vehicle and the eyes and eyes of the driver Eye detection unit 112 for detecting the and biometric signal measuring unit 113 for measuring the biosignal of the driver is characterized in that it comprises a.

At this time, the steering wheel detection unit 111 may be configured to detect the rotation of the steering wheel provided in the vehicle to the left or right, the eye detection unit 112 is desired by the driver seated on the seat of the vehicle By dividing the viewable direction into the front, left and right sides, and subdividing each direction into the upper, middle and lower directions, the driver's gaze direction is accurately detected and the number of times the driver looks at the unnecessary direction when driving the vehicle. It may be configured to measure the time, and may be configured to measure the size of the driver's pupil or the time when the driver's pupil is not detected, the bio-signal measuring unit 113 is the driver's blood pressure, body temperature, respiratory state and heart rate It may be configured to measure a biosignal such as a number.

Accordingly, the driver state information may include information about whether the vehicle steering wheel is controlled by the driver, the number and time of the driver looking at an unnecessary direction when driving the vehicle, the size of the driver's pupil or the time when the driver's pupil is not detected, and the driver's blood pressure. , Body temperature, respiratory state and heart rate, and the like, and the driver's state information is utilized as an analysis data for automatically switching the vehicle's control method from the manual control method to the automatic control method.

In addition, the driver state detecting unit 110 may further include an EEG measuring unit for detecting the EEG of the driver, the EEG measuring unit is analyzed by the analysis unit 120 described below to analyze the EEG of the driver By reducing the attention, drowsy driving, emergencies can be detected in real time, the control method of the vehicle can be automatically switched from the manual control method to the automatic control method.

However, unlike the driving detection unit 100, the driver state detecting unit 110 does not generate driver state information in all cases in which the vehicle is controlled by a manual control method or an automatic control method. It is configured to generate the driver status information only when driving by, the bio-signal measuring unit 113 may be configured to measure the bio-signal of the driver even when the vehicle is traveling by the automatic control method.

In addition, as shown in FIG. 1, the control method automatic switching device of the autonomous vehicle according to the present invention analyzes the driver state information and includes one or more of a normal state, a reduced attention state, a drowsy driving state, and an emergency state. Characterized in that it comprises the analysis unit 120 for generating the analysis information is configured.

The analysis unit 120 controls whether the vehicle steering wheel is controlled by the driver, the number and time of the driver looking at an unnecessary direction when driving the vehicle, the size of the driver's pupil or the time at which the driver's pupil is not detected, and the driver's blood pressure. The driver's state information, including body temperature, respiratory state and heart rate, and the like, and are configured to further analyze the driver's brain waves, thereby generating analysis information. The information may include at least one of a normal state, a reduced attention state, a drowsy driving state, and an emergency state of the driver.

Therefore, when the time when the vehicle steering wheel is uncontrolled passes a predetermined time, the analyzer 120 may analyze the driver's state as any one of an attention reduction state, drowsy driving state, and emergency state. When the number and time of the driver looking at an unnecessary direction when driving the vehicle exceed the preset number and time, the driver's condition can be analyzed as a reduced attention state, and the size of the driver's pupils is determined by the driver's state. The driver's state may be analyzed as a drowsy driving state when the time for detecting the size difference over the preset range exceeds the preset time.

In addition, the analysis unit 120 may analyze the driver's state as either a drowsy driving state or an emergency state when the time at which the pupil of the driver is undetected exceeds a preset time, and the blood pressure of the driver , The driver's condition can be analyzed as an emergency state when the body temperature, respiratory state and heart rate are below the preset range or when the time exceeding the preset range exceeds the preset time. The driver's condition can be analyzed in various ways without limitation.

In this case, among the information constituting the driver state information, whether the vehicle steering wheel is controlled by the driver, the time during which the driver's pupils are not detected, the driver's state is determined by any one of the attention reduction state, drowsy driving state, and emergency state. Since it is not specified as the state, the driver's state is preferably analyzed by analyzing all the information constituting the driver state information.

In addition, as shown in Figure 1, the control method automatic switching device of the autonomous vehicle according to the present invention is configured to include a switching unit 130 for maintaining or switching the control method of the vehicle based on the analysis information It is characterized by.

The switching unit 130 switches the control method of the vehicle manually controlled by the driver to the automatic control method when the state of the driver constituting the analysis information is any one or more states of reduced attention, drowsy driving state or emergency state. By allowing the vehicle to run autonomously, it is a component of the present invention to prevent the occurrence of a vehicle accident.

When the control method of the vehicle is switched to the automatic control method by the switching unit 130, immediately control of the vehicle steering wheel has no effect on the control of the vehicle, any of the attention reduction state, drowsy driving state or emergency state Accidents due to unintended manual control of the driver in one or more states can be prevented.

Therefore, the control method automatic switching device of the vehicle according to the present invention should be configured to allow the vehicle to autonomously run when the control unit of the vehicle is switched by the switching unit 130, as shown in FIG. In addition, the control method of the vehicle automatic switching device is a GPS device for identifying the current location of the vehicle 140, a database 150 that stores the map information including the road information and building information and the map information and the vehicle It characterized in that it comprises a control unit 160 for controlling the vehicle to drive autonomously by utilizing the driving information.

The GPS device 140 and the database 150 are provided for providing road information and building information around the vehicle based on the current position of the vehicle when the vehicle is controlled by a driver. When the vehicle is controlled by an automatic control method and autonomously runs, the controller 160 to provide the current location of the vehicle and road information and building information around the vehicle to control the vehicle may be provided. The components of the present invention are provided for the purpose, and the controller 160 is a component of the present invention for controlling the vehicle which is switched by the switching unit 130 in the automatic control method to autonomously travel.

Accordingly, the GPS device 140 may be configured with a known satellite navigation device that receives a signal transmitted from a satellite and calculates a current location. The database 150 may include externally manufactured road information and building information. The device is configured to receive a wireless or wired communication method or to receive and store road information and building information stored in a known storage device, and may be configured as a known navigation device. The control unit 160 is a steering wheel provided in a vehicle. The controller may be configured to control an accelerator, a brake, and the like, using the map information to control the vehicle to autonomously travel along the road, and utilizing the vehicle driving information to control the driving speed of the vehicle. Control to maintain or increase driving speed according to the situation, keep lane or change lane according to the situation The vehicle may be controlled to maintain a distance between the vehicle and the vehicle located in front of the vehicle.

In addition, the switching unit 130 is configured to switch the control method of the vehicle from the automatic control method to the manual control method by the driver's selection in the autonomous vehicle, the driver to control the vehicle The method of switching from the automatic control method to the manual control method may be configured in various ways such as a driver pressing a separate switch provided in the vehicle, but the driver's state detected by the driver state detecting unit 110 may be When the analysis unit 120 is analyzed by attention reduction, drowsy driving, etc., the switching unit 130 may not switch the control method of the vehicle from the automatic control method to the manual control method.

In addition, as shown in FIG. 1, the apparatus for automatically switching the control method of the vehicle according to the present invention may provide hospital information of a short distance searched based on preset destination information, the current location of the vehicle, the map information and the current location of the vehicle. On the basis, it characterized in that it comprises a path setting unit 170 for setting the path of the autonomous vehicle to the hospital by an automatic control method.

The route setting unit 170 is a component of the present invention that determines the destination of the autonomous vehicle according to the state of the driver sensed by the driver state detection unit 110 and sets the optimum route toward the destination. According to the state of the driver, the vehicle may autonomously drive toward a hospital located at a predetermined destination or a short distance by the user.

According to an embodiment of the present disclosure, when the driver's attention reduction or drowsy driving is detected by the driver state detecting unit 110, the route setting unit 170 continues to travel along the road on which the vehicle is driven. When the destination information is set by the driver or the destination information is set by the driver, the driving path is set so that the vehicle travels toward the destination, and when the driver's emergency situation is detected by the driver state detecting unit 110, the vehicle is located at a short distance. The driving route may be set to drive toward the vehicle.

At this time, the emergency situation that may occur to the user may vary due to cardiac arrest, stroke, shortness of breath, pain due to angina pectoris, but due to the type, size, etc. of the hospital to which the vehicle moves by setting the path of the path setting unit 170. Since it may be difficult for the driver to treat the situation, the analyzer 120 analyzes the driver's blood pressure, temperature, respiratory state and heart rate, brain wave, and the like to detect an emergency situation in the driver, such as cardiac arrest, stroke, and dyspnea. And, it can be configured to be divided into categories, such as pain due to angina, the database 150 may be configured to store information such as the type, size of the hospital in addition to the location of the hospital, the path setting unit 170 ) Is classified by the analysis unit 120 and classified into the emergency situation of the user and the location, type and hospital of the hospital stored in the database 150 Hospital for treatment as soon as possible about what happened to the driver by matching the parent, etc. can be configured to set the path of the vehicle.

In addition, as shown in Figures 4 and 5, the control method of the vehicle automatic switching device according to the present invention is the path setting unit 170 when the driver's state is analyzed as an emergency state by the analysis unit 120 It is configured to include any one or more of the automatic voice call device 180 for connecting the phone call to the hospital path of the vehicle and the state transmitter 190 for transmitting the driver status information to the hospital path of the vehicle It is characterized by.

The automatic voice call device 180 connects a phone call to a hospital, the destination of which the vehicle is headed, so that the driver or passengers in the vehicle can notify the hospital of the current state of the driver when the driver has an emergency condition. The state transmitter 190 transmits driver state information so that the hospital may recognize in advance the current state of the driver in an emergency state.

In addition, the automatic voice call device 180 may be configured to include a redial function for redialing when a telephone call to a hospital, the destination of which the vehicle is headed, is not connected, and the telephone call to the hospital is terminated after the connection. It may be configured to include a continuous call function for connecting the phone call to a predetermined phone number so that the user can talk to family or acquaintances.

In addition, the control method of the vehicle automatic switching device according to the present invention, when the state of the driver is analyzed as an emergency state by the analysis unit 120, the guardian of the driver, etc. of the hospital to move the emergency state of the driver and the vehicle immediately The path setting unit 170 may be configured to include a hospital information transmission unit for transmitting the information of the hospital in which the path of the vehicle is set to a predetermined smartphone so as to recognize the location.

In addition, as shown in Figure 6, the present invention relates to a method of using the automatic switching method of the control method of the vehicle, driving information generation step of generating the vehicle driving information by detecting the driving state of the vehicle in real time (S100) ; State information generation step (S110) of detecting the state of the driver in real time to generate driver state information; An analysis information generation step (S120) of analyzing the driver state information to generate analysis information; Switching step of switching the control method of the vehicle based on the analysis information (S130); A path setting step of setting a path of an autonomous vehicle (S140); A control step (S150) of controlling the vehicle to drive autonomously; Characterized in that comprises a.

First, the driving information generation step (S100) is a manual control method by the driver to detect the driving state of the vehicle being driven, that is, the driving speed of the driving vehicle, whether lane departure, the distance between the vehicles in real time and each item Generating vehicle driving information including all information related to the speed measurement step of measuring the driving speed of the vehicle by the speed measuring unit 101 including a speedometer as shown in FIG. ), The vehicle around the vehicle by the distance measuring unit 103 including a lane departure detection step (S102) and an acceleration sensor for detecting the lane departure of the vehicle by analyzing the image taken by the camera provided in the vehicle Characterized in that it comprises a distance measuring step (S103) for measuring the distance with the other vehicle running in.

In addition, the state information generating step (S110) is to detect the current state of the driver controlling the driving of the vehicle in a manual control method, that is, the attention reduction, drowsy driving, emergencies of the driver controlling the vehicle in real time, respectively, Step of generating driver status information including all information on the item of, steering wheel detection step (S111), the driver to detect the rotation of the steering wheel provided in the vehicle to the left or right as shown in FIG. The driver can see the driver's eyes and eyes by dividing the direction that can be viewed while seated on the vehicle's seat into the front, left and right rooms, and subdividing each direction into upper, middle and lower directions, Eye detection step (S112) for measuring the number and time of looking at the unnecessary direction at the time and the biosignal measuring unit 113 for measuring the biosignal of the driver It is configured to include features that comprise the bio-signal measuring step for measuring a physiological signal, such as the driver's blood pressure, body temperature, breathing and heart rate (S113).

The driving information generating step S100 and the state information generating step S110 are performed simultaneously when the vehicle is traveling, and then the analyzing information generating step S120 is performed.

The analyzing information generating step (S120) may include controlling whether the vehicle steering wheel is controlled by the driver, the number and time of the driver looking at an unnecessary direction when driving the vehicle, the size of the driver's pupil or the time at which the driver's pupil is undetected, and the driver. Analyzing the driver's state information including blood pressure, body temperature, respiratory state and heart rate of the patient, and generating analysis information configured to further analyze the driver's brain waves. At least one of a normal state, a reduced attention state, a drowsy driving state, and an emergency state of the driver may be configured.

Subsequently, when the analysis information generated in the analysis information generation step S120 includes any one or more states of the attention reduction state, the drowsy driving state, and the emergency state, the switching step S130 is performed.

The switching step (S130) is to switch the control method of the vehicle manually controlled by the driver to the automatic control method when the state of the driver constituting the analysis information is any one or more states of reduced attention, drowsy driving state or emergency state. Thus, the vehicle is autonomously driven, thereby preventing the occurrence of a vehicle accident.

After the switching step S130 or at the same time as the switching of the control method of the vehicle by the switching step S130, the path setting step S140 is performed.

The path setting step (S140) is based on preset destination information, the current location of the vehicle, the map information, and the hospital information of the near distance searched based on the current location of the vehicle. It is a step to set.

Thereafter, when the path of the vehicle is set by the path setting step S140, the control step S150 is performed.

The control step (S150) is a GPS device 140 for identifying the current location of the vehicle, a database 150 that stores map information including road information and building information is stored and the map information and the vehicle driving information Controlling the vehicle to autonomously travel.

The above-described embodiments are provided by way of example so that the technical spirit of the present invention can be sufficiently delivered to those skilled in the art to which the present invention pertains. It is not limited and may be embodied in other forms.

Also, like reference numerals denote like elements throughout the specification.

100: driving detection unit 101: speed measurement unit
102 lane departure detection unit 103 distance measurement unit
110: driver status detection unit 111: handle detection unit
112: eye detection unit 113: bio-signal measuring unit
120: analysis unit 130: switching unit
140: GPS device 150: database
160: control unit 170: path setting unit
S100: driving information generation step S101: speed measurement step
S102: Lane departure detection step S103: Distance measurement step
S110: state information generation step S111: handle detection step
S112: Eye detection step S113: Bio signal measuring step
S120: step of generating analysis information S130: conversion step
S140: Path setting step S150: Control step

Claims (8)

  1. A driving sensor unit 100 configured to detect driving conditions of the vehicle in real time and generate vehicle driving information;
    A driver state detection unit 110 for detecting driver state in real time and generating driver state information;
    An analysis unit 120 analyzing the driver state information to generate analysis information including at least one of a normal state, a reduced attention state, a drowsy driving state, and an emergency state;
    Switching unit 130 for maintaining or switching the control method of the vehicle based on the analysis information;
    GPS device 140 for determining the current location of the vehicle;
    A database 150 in which map information including road information and building information is stored;
    A controller 160 for controlling the vehicle to autonomously travel using the map information and the vehicle driving information;
    A route setting unit configured to set a path of an autonomous vehicle to a hospital by an automatic control method based on predetermined destination information, a current location of the vehicle, and near-field hospital information searched based on the map information and the current location of the vehicle. 170; Control method automatic switching device of a vehicle, characterized in that comprises a.
  2. The method of claim 1,
    The driving detection unit 100,
    A speed measuring unit 101 measuring a driving speed of the vehicle;
    Lane departure detection unit 102 for detecting whether the vehicle lane departure;
    A distance measuring unit 103 for measuring a distance from another vehicle running around the vehicle; Control method automatic switching device of a vehicle, characterized in that comprises a.
  3. The method of claim 1,
    The driver state detection unit 110,
    A steering wheel sensing unit 111 sensing rotation of a steering wheel provided in the vehicle;
    Eye detection unit 112 for detecting the eyes and eyes of the driver;
    A biosignal measuring unit 113 measuring a biosignal of a driver; Control method automatic switching device of a vehicle, characterized in that comprises a.
  4. The method of claim 1,
    The control method automatic switching device of the vehicle,
    When the driver's state is analyzed as an emergency state by the analysis unit 120 is configured to include an automatic voice call device 180 for connecting a telephone call to the hospital path of the vehicle set by the route setting unit 170 Method of using a control method automatic switching device of a vehicle, characterized in that.
  5. The method of claim 1,
    The control method automatic switching device of the vehicle,
    When the driver's state is analyzed by the analysis unit 120 as an emergency state, the path setting unit 170 includes a state transmitter 190 for transmitting the driver state information to the hospital path is set Method of using a control method automatic switching device of a vehicle, characterized in that.
  6. A driving information generation step of detecting vehicle driving state in real time and generating vehicle driving information (S100);
    State information generation step (S110) of detecting the state of the driver in real time to generate driver state information;
    An analysis information generation step (S120) of analyzing the driver state information to generate analysis information;
    Switching step of switching the control method of the vehicle based on the analysis information (S130);
    A path setting step of setting a path of an autonomous vehicle (S140);
    A control step (S150) of controlling the vehicle to drive autonomously; Method of using a control method automatic switching device of a vehicle comprising a.
  7. The method of claim 6,
    The driving information generation step (S100),
    A speed measuring step (S101) of measuring a traveling speed of the vehicle;
    Lane departure detection step of detecting whether the vehicle lane departure (S102);
    A distance measuring step (S103) of measuring a distance from another vehicle running around the vehicle; Method of using a control method automatic switching device of a vehicle comprising a.
  8. The method of claim 6,
    Status information generation step (S110),
    A steering wheel sensing step S111 for sensing rotation of a steering wheel provided in the vehicle;
    Eye detection step (S112) for detecting the eyes and eyes of the driver;
    A biosignal measuring step of measuring a biosignal of a driver (S113); Method of using a control method automatic switching device of a vehicle comprising a.
KR1020180003210A 2018-01-10 2018-01-10 Control method automatic switching device and method for using that device KR20190093738A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101580949B1 (en) 2012-11-30 2015-12-30 구글 인코포레이티드 Engaging and disengaging for autonomous driving
KR101659034B1 (en) 2015-01-20 2016-09-23 엘지전자 주식회사 Apparatus for switching driving mode of vehicle and method thereof
KR101736306B1 (en) 2013-02-27 2017-05-29 한국전자통신연구원 Apparatus and method for copiloting between vehicle and driver
KR101779962B1 (en) 2013-10-31 2017-09-20 한국전자통신연구원 Steering control apparatus for comprising will decision of drivers and method for operating the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101580949B1 (en) 2012-11-30 2015-12-30 구글 인코포레이티드 Engaging and disengaging for autonomous driving
KR101736306B1 (en) 2013-02-27 2017-05-29 한국전자통신연구원 Apparatus and method for copiloting between vehicle and driver
KR101779962B1 (en) 2013-10-31 2017-09-20 한국전자통신연구원 Steering control apparatus for comprising will decision of drivers and method for operating the same
KR101659034B1 (en) 2015-01-20 2016-09-23 엘지전자 주식회사 Apparatus for switching driving mode of vehicle and method thereof

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