KR20190124120A - Apparatus for controlling driving of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a vehicle driving control apparatus, a system including the same, and a method thereof. According to an embodiment of the present invention, the vehicle driving control apparatus comprises: a processor configured to apply a different warning level depending on at least one of a driving situation or a user state during autonomous driving and to provide a notification of a control authority transition demand to a user; and a storage unit configured to store information associated with the driving situation and the user state and information associated with the warning level determined by the processor.

Description

Apparatus for controlling driving of vehicle, system having the same and method

The present invention relates to a vehicle driving control apparatus, a system including the same, and a method thereof, and more particularly, to a technology for requesting control right according to a driving environment and / or a user state during automatic driving.

There is a driver assistance system for automatically driving by assisting a driver currently driving. For example, driver assistance systems include Adaptive Cruise Control (ACC), Lane Departure Warning System (LDWS), Lane Keeping System (LKS), and the like.

Such driver assistance systems automatically control some of the longitudinal or lateral control of the driver, thereby increasing the convenience of driving. On the other hand, there is a constraint that such driver assistance systems (autonomous driving systems) must be prepared for the driver to intervene. Therefore, the conventional driver assistance system has a disadvantage in that the driver cannot assist the driver in a situation in which the driver can not drive drowsy driving or health problems.

In such a situation where the driver assistance system is difficult to respond, it is important to notify the user according to the driving situation or the user's condition and to safely transfer control. However, conventionally, the user warning and control right transfer technology according to the driving situation and the user's situation has not been presented.

An embodiment of the present invention provides a vehicle driving control apparatus, a system including the same, and a method thereof, by which a user can safely respond to a dangerous situation by differently applying a control transfer request method according to a driving environment and / or a user state in an automatic driving environment. I would like to.

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

According to an aspect of the present invention, there is provided a vehicle driving control apparatus including a processor configured to perform notification of a transfer of control right to a user by differently applying a warning level according to at least one of a driving condition and a user state during automatic driving; And a storage unit which stores information about the driving situation and the user state and warning level information determined by the processor.

According to an embodiment of the present disclosure, the driving situation may include whether a collision risk occurs within a predetermined time or whether a system operation area out of a system operation area outside the automatic driving is possible.

In one embodiment, the processor may include tracking a static object and a dynamic object, generating a static grid map and a dynamic object list, and extracting map information.

In an embodiment, the processor may generate a host vehicle trajectory and collide by determining whether the host vehicle trajectory trajectory crosses the static grid map and whether the host vehicle trajectory trajectory crosses the dynamic object trajectory of the dynamic object list. It may include determining whether.

According to an embodiment of the present disclosure, the processor may include determining a system operation area out time and a system operation area out type based on the map information.

According to an embodiment of the present disclosure, the system operation out type may include a case in which a certain amount of time can be driven after the system operation out and a case in which the system cannot be driven after the system operation out.

In an embodiment, the processor may include determining whether the user state is a hands off state, an eyes off state, or a mind off state. can do.

According to an embodiment of the present disclosure, the processor may include changing and applying a notification reference time that is a notification point according to the user state.

In an embodiment, the processor may include setting the notification reference time to be shortened in the order of the hands off state, the eyes off state, and the mind off state.

In an embodiment, the processor may include determining the warning level in the order of the hands off state, the eyes off state, and the mind off state.

In one embodiment, when there is no risk of driving in the driving situation, the processor determines whether the eyes off or the mind off determines a warning level, and performs a control transfer request notification according to the determined warning level, It may include increasing the warning level after a predetermined time elapses.

According to an embodiment of the present disclosure, the processor may include applying a warning level differently according to an anticipated time of occurrence of the collision risk or an anticipated time of occurrence of the system operation area out.

In one embodiment, the warning level comprises: a first step of performing a visual alert;

A second step of performing a visual alert and an audio alert, a visual alert and an audio alert, performing a warning in a color different from the color of the visual alert of the first and second stages, and hearing in the second stage A third step of outputting a sound larger than the sound level at the time of a warning, a visual warning different in color from the first to third steps, an auditory warning having the largest sound level, and a fourth call performing an emergency call mode operation It may include a step.

According to an embodiment of the present disclosure, the processor may determine a risk minimization strategy according to the warning level when the control right is not transferred to the user after performing the control transfer request notification according to the warning level, and the vehicle according to the risk minimization strategy. Performing control.

In one embodiment, the risk minimization strategy may include at least one of a constant speed driving control, a stop control, and a shoulder stop control after the reduction at a constant speed.

According to an aspect of the present invention, there is provided a vehicle system including: a vehicle driving control apparatus configured to perform a notification for transferring control right to a user by differently applying a warning level according to at least one of a driving condition and a user state during automatic driving; And a warning device for performing a warning according to the warning level.

According to an embodiment of the present disclosure, the warning device may include performing at least one of a visual warning, an audio warning, and an emergency call mode.

Vehicle driving control method according to an embodiment of the present invention comprises the steps of determining at least one or more of the driving situation and the user state during automatic driving; And applying a warning level differently according to at least one of the driving situation and the user state to perform the control right notification.

According to an embodiment of the present disclosure, after the control right transfer request notification is performed according to the warning level, if the control right is not transferred to the user, the risk minimization strategy is determined according to the warning level, and the vehicle control is performed according to the risk minimization strategy. It may further comprise the step.

According to an embodiment of the present disclosure, the driving situation may include whether a collision risk occurs within a predetermined time or whether a system operation area out of the system operation area outside the system operation area in which the automatic driving is possible is performed.

The present technology may allow a user to cope with a dangerous situation safely by applying a control transfer request method differently according to a driving environment and / or a user state in an automatic driving environment.

In addition, various effects may be provided that are directly or indirectly identified through this document.

1 is a block diagram illustrating a configuration of a vehicle system including a vehicle driving control apparatus according to an embodiment of the present invention.
2 is a diagram for describing an exemplary method of determining a warning level when driving is dangerous according to an embodiment of the present disclosure.
3 is a flowchart illustrating a vehicle driving control method according to an embodiment of the present invention.
4A is a diagram for describing an exemplary operation of vehicle exterior situation recognition of a vehicle driving control apparatus according to an embodiment of the present disclosure.
4B is a diagram for describing an example of generating a static grid map by extracting a static object shape according to an exemplary embodiment.
5 is a view for explaining an exemplary operation of the driving risk determination of the vehicle driving control apparatus according to an embodiment of the present invention.
6 is a view for explaining an exemplary operation of the user state determination of the vehicle driving control apparatus according to an embodiment of the present invention.
7 is a view for explaining an exemplary operation of determining the warning level of the vehicle driving control apparatus according to an embodiment of the present invention.
8 is a view for explaining an exemplary operation of determining the risk minimization strategy of the vehicle driving control apparatus according to an embodiment of the present invention.
9 is a flowchart illustrating a method of determining a warning level according to a driving environment and determining a risk minimization strategy according to the warning level according to an embodiment of the present invention.
10 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the embodiments of the present invention, when it is determined that a detailed description of a related well-known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

The present invention performs a transition demand request alarm to a user by applying a warning level differently according to a driving environment and / or a user state during automatic driving, and controls a vehicle according to a risk minimization strategy when the user does not transfer the control right. As a technique for performing the above, it may be applied to an autonomous driving technique.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to FIGS. 1 to 10.

1 is a block diagram showing the configuration of a vehicle system including a vehicle parking control apparatus according to an embodiment of the present invention.

1, a vehicle parking control apparatus 100, a sensor module 200, a GPS (Global Positioning System) receiving apparatus 300, a map database 400, and a display apparatus 500 according to an embodiment of the present invention. ), Warning device 600, and actuator 700.

The vehicle parking control apparatus 100 may perform the notification of the transfer of control right to the user by applying a warning level differently according to at least one or more of a driving condition and / or a user state during automatic driving. In addition, the vehicle parking control apparatus 100 may determine the risk minimization strategy according to the warning level and automatically drive the vehicle according to the determined risk minimization strategy when the user receives the control right transfer notification but does not receive the control right transfer.

The vehicle parking control apparatus 100 may include a communication unit 110, a storage unit 120, and a processor 130.

The communication unit 110 is a hardware device implemented by various electronic circuits for transmitting and receiving signals through a wireless or wired connection. In the present invention, the communication unit 110 performs in-vehicle communication through can communication, lean communication, and the like. The controller 200 may communicate with the sensor module 200, the GPS receiver 300, the map database 400, the display device 500, the warning device 600, and the actuator 700.

The storage unit 120 may store the sensing result of the sensor module 200 and the driving situation, the user state, and the warning level information acquired by the processor 130. The storage unit 120 may include a flash memory type, a hard disk type, a micro type, and a card type (eg, an SD card (Secure Digital Card) or an XD card (eXtream Digital). Card)), RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), Magnetic Memory (MRAM) , A storage medium of at least one type of a magnetic RAM, a magnetic disk, and an optical disk type of memory.

The processor 130 may be electrically connected to the communication unit 110, the storage unit 120, and the like, may electrically control each component, and may be an electric circuit that executes a command of software. Data processing and calculations can be performed.

The processor 130 applies the warning level differently according to at least one of the driving situation and the user state during the automatic driving to perform the control transfer notification to the user, and if the user does not perform the control transfer even if the user receives the control transfer notification, Determine the risk cancellation strategy accordingly so that the vehicle can be automatically controlled to avoid the danger situation.

In this case, the driving situation may include whether the collision within a predetermined time or whether the system operating area out of the system operating area that enables automatic driving. That is, the driving situation refers to situation information on whether there is a possibility of collision within a predetermined time or outside the system operation area.

The system operating area is a range set to perform a function of the automatic driving system, and the stem operating area may be set in consideration of conditions such as a geographical condition, a road condition, an environmental condition, a traveling speed, and the like. That is, for safe driving, system operation for autonomous driving is possible on highways, car-only roads, etc., but system operation for autonomous driving on general roads, JC / IC, toll gates, and the like is impossible.

The processor 130 tracks static objects and dynamic objects based on information received from the sensor module 200 and the GPS receiver 300 to generate a static grid map and a dynamic object list, and from the map database 400. Map information can be extracted. In this case, the dynamic object list may list up the dynamic object, and may include information such as the type and trajectory of the dynamic object.

The processor 130 generates the own vehicle driving trajectory based on the information received from the sensor module 200 and the GPS receiver 300 or the navigation (not shown), and whether the vehicle driving trajectory and the static grid map cross each other, and the own vehicle driving. The collision may be determined by determining whether the trajectory and the dynamic object trajectory of the dynamic object list cross each other. That is, if there is a point (intersection point) where the driving trajectory and the static grid map or the trajectory of the dynamic object meet, it means that a collision occurs.

In addition, the processor 130 may determine the system operation area out time and the system operation area out type based on the map information. The system operation area out time information is time information at the time of leaving the system operation area, and the system operation area (ODD) type information indicates the type information when driving is allowed for a predetermined time after the system operation area is out and when driving is not possible after the system operation area is out. Can contain

The processor 130 may determine whether the user is in a hands off state, an eyes off state, or a mind off state. At this time, the determination of the user's state is to determine whether the user is inadvertent and unable to concentrate on driving. That is, the hands off state is a state in which the user is not holding the steering wheel (steering wheel), the eyes off is a careless state such as watching a movie without the user looking forward, and the mind off is a user dozing or drunk. In other words, it means a state in which driving is impossible.

The processor 130 may determine that the user is not holding the steering wheel when the steering wheel torque sensor measurement value is smaller than the predetermined value and the steering angle change state is maintained for a predetermined time or more, thereby determining that the steering wheel torque state is a hands off state. At this time, the user should be in the eyes on, mind on. The processor 130 may determine the eye-off state based on the gaze information of the user from the image data, the face direction information of the user, and the like, when a time for which the gaze of the user is not looking forward continues for a predetermined time or more. At this time, the user must be in a mind-on state. The processor 130 may determine the user's drowsy driving by extracting the user's blink or yawn based on the user's facial expression information from the image data, or may determine the mind off when the user's driving is impossible. The processor 100 generates one of a hands off flag, an eyes off flag, and a mind off flag.

When determining the warning level, the processor 130 may determine the warning level in the order of the hands off state, the eyes off state, and the mind off state, and the notification reference time (in the order of the hands off state, the eyes off state, and the mind off state). Notification period) can be set to be shorter. For example, if the hands off state, the notification period may be set to 100 meters, and if the mind off state, the notification period may be set to 10 meters.

In other words, the processor 130 may change and apply the notification reference time, which is the time of notification, according to the user state. The processor 130 determines that the risk increases in the order of the hands off state, the eyes off state, and the mind off state. In this case, the notification reference time may be set to the longest, and in the case of a mind-off state, the notification reference time may be set to the shortest. For example, if a collision is expected at 100 meters, if the user is in the hands off state, the transfer of control is notified at 50 meters before reaching the collision prediction point, but if the user is mind off, before the collision prediction point is reached. Starting at 10 meters, you can perform a transfer of control notifications and increase the warning level.

The processor 130 determines the warning level by determining whether the driver is eyes off or mind-off when there is no driving danger in the driving situation, performs a control transfer request notification according to the determined warning level, and, if a predetermined time elapses, the warning level. Can be increased.

In addition, the processor 130 may apply the warning level differently according to an expected time when a collision risk occurs or an expected time when a system operation area out occurs. That is, the processor 130 performs a visual warning in a warning step 1, performs a visual warning and an audio warning in a warning step 2, and performs a visual warning and an audio warning in a warning step 3, but a warning step 1 and a warning step 2 The visual warning is performed in a color different from that of the visual warning, and the sound output is louder than that of the acoustic warning in the second stage. In the warning step 4, a visual warning may be performed in a color different from the color of the visual warning in steps 1 to 3, an auditory warning having the loudest sound and an emergency call mode operation may be performed.

The processor 130 may determine the risk minimization strategy according to the warning level and perform the vehicle control according to the risk minimization strategy after performing the control right transfer request notification according to the warning level. In this case, the risk minimization strategy may include at least one of a constant speed driving control, a stop control, and a shoulder stop control after the reduction at a constant speed. For example, the processor 130 may perform shoulder stop control in the fourth step of warning, or may perform the constant speed control in the first step of warning.

The sensor module 200 may include a plurality of sensors for detecting an external object of the vehicle, and may include a location of the external object, a speed of the external object, a moving direction of the external object, and / or a type of external object (eg, a vehicle or a pedestrian). , Bicycles or motorcycles). To this end, the sensor module 200 may be an ultrasonic sensor, radar sensor, lidar sensor, camera, laser scanner and / or corner radar, acceleration sensor, yaw rate sensor, torque measurement sensor and / or wheel speed sensor, steering angle sensor, steering. Wheel torque sensor and the like.

In the present invention, a dynamic object and a static object around a vehicle may be detected and provided to the processor 130 through an ultrasonic sensor, a radar sensor, a lidar sensor, a camera, or the like. In addition, the sensor module 200 may obtain the user's gaze information, the user's face direction information and the user's facial expression information from the image data of the camera, and may obtain the steering angle information from the steering angle sensor and provide it to the processor 130. .

The GPS receiver 300 may receive a GPS signal from a GPS satellite and provide it to the processor 130. GPS signals can be used to determine the current location of the vehicle.

The map database 400 may store map information for autonomous driving control of the vehicle and provide the map information to the processor 130. In this case, the map information may include information such as the type of road on which the vehicle is currently running (for example, a highway, a car-only road, a general road, etc.), the presence of a toll gate, and whether JC / IC.

The display apparatus 500 may be controlled by the vehicle driving control apparatus 100 to display a visual alert for notification of the control right transfer request, and may differently display the color of the visual alert according to the alert level. In addition, the display device 500 may display the vehicle control information during the automatic driving as well as request the transfer of the control right, and provide the same to the user.

The display device 500 may be implemented as a head-up display (HUD), a cluster, an audio video navigation (AVN), or the like. In addition, the user may receive a color input directly from the user through the USM menu of the cluster. In addition, the display device 500 may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), a light emitting diode (LED), and an organic light emitting diode (OLED). LED), an active OLED (AMOLED, Active Matrix OLED), a flexible display (flexible display), a bent display (bended display), and may include at least one of (3D display). Some of these displays may be implemented as a transparent display configured as a transparent type or a transparent type so that the outside can be seen. In addition, the display device 500 may be provided as a touch screen including a touch panel and used as an input device in addition to the output device.

The warning device 600 may perform a visual alert, an acoustic alert (beep) output, or an emergency call mode for notification of the transfer of control request, and according to the alert level determined by the processor 130. It can be output by changing the warning color or by changing the sound intensity.

In addition, the warning device 600 may perform a warning such as a driving danger situation notification during automatic driving. The warning device 600 may be configured to perform a warning of sight, hearing, and haptic, and may be implemented as a head-up display (HUD), a cluster, an audio video navigation (AVN), a pop-up speaker, or the like.

The actuator 700 may be configured to be controlled by the vehicle driving control apparatus 100 to control a steering angle, acceleration, braking, engine driving of the vehicle, and the like, and a controller for controlling the actuator and the actuator linked to the steering wheel, the steering wheel, A controller for controlling the brake, a controller for controlling the speed of the vehicle, and may be configured to control the shift of the vehicle, and may include a controller for controlling a gear, a clutch, and the like.

As described above, the present invention determines the warning level and the notification period by determining the driving situation and / or the user status, performs the control transfer request notification according to the warning level and the notification period, and continues the warning level if the user does not transfer control. You can increase the number of alerts or keep the alerts shorter so that you can be notified. In addition, if the user is not transferred to the control right, the risk minimization strategy according to the warning level can be determined to perform the automatic driving control of the vehicle, thereby minimizing the dangerous situation during the automatic driving of the vehicle and safe driving.

Hereinafter, an example of determining a warning level when driving is dangerous will be described in detail with reference to FIG. 2. 2 is a diagram for describing an exemplary method of determining a warning level when driving is dangerous according to an embodiment of the present disclosure. An example of determining the warning level at the time of danger of collision and the system operation area out will be described with reference to 201 and 202 of FIG. 2.

A. Condition to start notification when there is no risk of driving

1. If there is no danger of driving but the eye-off state continues for a predetermined time, the vehicle driving control apparatus 100 may increase the warning level as time passes after entering the warning stage 2. Thereafter, the warning is increased to three levels of warning and four levels of warning, but when the control right is not transferred, stop control can be performed.

2. If there is no danger of driving but the mind-off state lasts for a predetermined time, the vehicle driving control apparatus 100 increases the warning level according to the passage of time after entering the warning step 3, and enters the warning step 4, but notifies control. If this is not done, the shoulder stop control can be performed.

B. Conditions for starting notification when there is a risk of driving

 1. State in which collision risk is foreseen

이후에 일어나는 경우① collision is the first reference time

If it happens later

-Step 2 alert if user is hands off

-Stop control when the user is in the eyes off state and in stage 2 warning

-Shoulder stop control when user is in mind off state and 3 levels of warning

이후(제 2 기준 시간과 제 1 기준 시간 사이), 일어나는 경우, ② the second reference time shorter than the collision first reference time

Then (between the second reference time and the first reference time),

-Stop control when the user is in the hands off state and in stage 3 warning

-Stop control when the user is in eyes off and has 4 levels of warning

-If the user is in the mind-off state, if the 4th step warning, stop the stop control

2. State in which the system operation area out (ODD Out) is predicted

후 일어나는 경우① ODD Out is the first reference time

If happens after

-Constant speed drive control when the user is in hands-off state and warning level 1

-Constant speed drive control when user is eyes off and warning level 2

-Stopped when the user is mind off and is in warning 3

이후(제 2 기준 시간과 제 1 기준 시간 사이)에 일어나는 경우② second reference time shorter than the first reference time of ODD Out.

Occurs later (between the second reference time and the first reference time)

-Constant velocity control if user is hands off and warns 2

-Stop control when the user is in the eyes off and warning level 3

-Shoulder stop control when user is mind off and has 4 levels of warning

Hereinafter, a vehicle driving control method according to an exemplary embodiment of the present invention will be described in detail with reference to FIG. 3. 3 is a flowchart illustrating a vehicle driving control method according to an embodiment of the present invention.

Hereinafter, it is assumed that the device 100 of FIG. 1 performs the process of FIG. 3. In addition, in the description of FIG. 3, it can be understood that the operations described as being performed by the apparatus are controlled by the processor 130 of the apparatus 100.

Referring to FIG. 3, the vehicle driving control apparatus 100 recognizes an external vehicle situation based on information received from the sensor module 200, the GPS receiver 300, and the map database 400 (S110). In this case, the vehicle exterior situation recognition may include generating a static grid map by tracking a static object, generating a dynamic object list through dynamic object tracking, and extracting map information.

Subsequently, the vehicle driving control apparatus 100 may determine the driving risk based on the vehicle external situation recognition information (S120). The vehicle driving control apparatus 100 determines the intersection of the driving trajectory and the static grid map of the own vehicle based on the static grid map and the dynamic object list, and determines whether the driving trajectory and the dynamic object trajectory of the own vehicle intersect with each other to determine whether there is a collision and the collision prediction. You can judge the time. Also, the vehicle driving control apparatus 100 determines whether the vehicle driving control apparatus 100 leaves the system operation region based on the map information. That is, the vehicle driving control apparatus 100 outputs the system operation area (ODD) type information and the system operation area out time information based on the map information.

Thereafter, the vehicle driving control apparatus 100 determines a user state based on the information received from the sensor module 200 (S130). In this case, the user state may include at least one of hands off, eyes off, and mind off.

The vehicle driving control apparatus 100 determines a warning level based on a driving risk and a user state and outputs a warning (control right transfer request) (S140).

If the user transfers the control right through the warning output, the user directly drives (S160), but if the user does not transfer the control, the vehicle driving control apparatus 100 may reduce the risk based on the driving risk and the user state. MRM) is determined and vehicle control is performed accordingly (S170).

4A is a diagram for describing an exemplary operation of vehicle exterior situation recognition of a vehicle driving control apparatus according to an embodiment of the present disclosure.

Referring to FIG. 4A, the vehicle driving control apparatus 100 includes an ultrasonic sensor 210, a radar sensor 220, a lidar sensor 230, a camera 240, a GPS receiver 300, and a map database 400. Perform static object tracking based on the information received through (S111) to output a static grid map, perform dynamic object tracking (S112), generate and output a dynamic object list, and extract map information (S113). ) Print the map information.

At this time, the vehicle driving control apparatus 100 expresses and outputs a static object of the surrounding environment as a grid map, and predicts the dynamic object position, the dynamic object speed, the dynamic object acceleration, the current driving lane, and the driving trajectory to generate a dynamic object list. Create and print In addition, the vehicle driving control apparatus 100 may find a section currently running based on a current location and a map database and transmit geographical / road information on a section currently running. In this case, the geographic / road information may include information such as a highway main line, JC (Junction) / IC (Interchange), a toll gate, a car-only road, or a general road.

4B is a diagram for describing an example of generating a static grid map by extracting a static object shape according to an exemplary embodiment.

When a static object is detected from the radar sensor 220, the lidar sensor 240, and the camera 240, and the shapes of the static objects 203 and 204 are extracted as shown in 401 of FIG. 4B, the vehicle driving control apparatus 100 may be As shown in 402, the shapes of the static objects 203 and 204 may be represented by the points 205 of the grid map.

5 is a view for explaining an exemplary operation of the driving risk determination of the vehicle driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 5, the vehicle driving control apparatus 100 performs collision determination using a static grid map and a dynamic object list (S121), and moves out of the system operating area using the map information (system operating area out). Can be determined (S126).

The vehicle driving control apparatus 100 generates a vehicle driving trajectory based on the current driving lane (S122), determines whether the intersection of the vehicle driving trajectory and the static grid map is determined (S123), and determines whether the intersection of the vehicle driving trajectory and the dynamic object trajectory is present. Can be determined (S124). It is possible to know whether the intersection 207 between the static object 205 shaped as the point of the grid map 402 generated in FIG. 4B and the host vehicle trajectory 206 is formed. At this time, the occurrence of the intersection means that the collision occurs, and the time to the intersection means the estimated time of collision between the static object and the dynamic object. Subsequently, the vehicle driving control apparatus 100 calculates a minimum collision time to collision (TTC) and a distance (S125).

In addition, the vehicle driving control apparatus 100 may determine a system operation area by calculating a remaining distance and time from the map information to an event based on the location information of the own vehicle (S127). In this case, the system operation area refers to an area where autonomous driving is possible, and an event means a point where autonomous driving is possible. For example, when driving on a highway that falls within the range of the system operating area and then converts to a general road that is not within the range of the system operating area, the system operates by viewing the system operating area before entering the general road (event). It can be determined as an out point.

The system operation area out type may be classified into i) a case where a certain amount of time is allowed to run after the system operation area out (ODD Out) and ii) a case where driving is impossible after the system operation area out. In addition, if a certain time after the system operation area (ODD Out) can be driven may include entering the general road after the end of the expressway, or if the weather effect due to rain, etc., if the driving is impossible after the system operation area out, the lane disappears or lane If there is no such may be included.

6 is a view for explaining an exemplary operation of the user state determination of the vehicle driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 6, the vehicle driving control apparatus 100 may determine whether a user state, that is, a hands off state, an eyes off state, or a mind off state. At this time, the hands off state is a state in which the user does not hold the steering wheel, the eyes off state is a state in which the user opens his eyes, and the mind off state is a state in which the user is dozing. Hands on, Eyes On, Mind On mean the opposite state.

The vehicle driving control apparatus 100 may determine the hands off based on the steering wheel torque information and the steering angle information (S131). That is, when the steering wheel torque sensor measurement value is smaller than the predetermined value and the state without the steering angle change lasts for a predetermined time, the vehicle driving control apparatus 100 may generate the hands flag by determining that the user is not holding the steering. At this time, the user should be in Eyes On and Mind On.

The vehicle driving control apparatus 100 may determine whether the vehicle driving control apparatus 100 is in an eye-off state based on user gaze information and user face direction information of the camera image data (S132). That is, the vehicle driving control apparatus 100 may generate the eyes off flag when the eye gaze and the direction of the face of the user keep track of the user's gaze for more than a predetermined time. At this time, the user should be in the Mind On state.

The vehicle driving control apparatus 100 may determine whether the vehicle is in a mind-off state using the user facial expression information of the camera image data (S133). That is, the vehicle driving control apparatus 100 may generate a mind off flag by determining a user's drowsiness and a current driving impossibility state through blinking of a user's eyes or yawning.

7 is a view for explaining an exemplary operation of determining the warning level of the vehicle driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 7, the vehicle driving control apparatus 100 may determine the warning level by using collision information, collision prediction time information, system operation area out information, system operation area out time information, and user state information. (S140).

The vehicle driving control apparatus 100 may perform the control right transfer request notification as a warning step 1 when a handoff occurs. At this time, in the warning step 1, a visual warning may be performed.

The vehicle driving control apparatus 100 may perform the control right transfer request notification in two stages of warning when a hands off or an eyes off occurs. In this case, in the warning step 2, a visual warning and a sound notification (beep sound) may be performed.

The vehicle driving control apparatus 100 may perform the control right transfer request notification in three stages of warning when a hands off or an eyes off occurs. At this time, in the warning step 3, a visual warning and a sound notification (beep sound) may be performed, but the color of the visual warning may be different from that in the warning step 2, or a loud sound may be output.

The vehicle driving control apparatus 100 may perform the control right transfer request notification in four stages of warning when a hands off or an eyes off occurs. At this time, the warning step 4 may perform a visual warning, sound notification (beep sound), emergency call (Emergency Call) mode. In this case, the visual warning color and the visual warning color may be output differently from the warning 2 step or the warning 3 step, and the sound intensity may be harder than the warning 3 step.

In FIG. 7, an example of providing a visual, auditory, and emergency call mode for each warning level is disclosed. However, the present disclosure is not limited thereto, and the warning may be performed through various methods for performing a warning (notification) such as tactile sense.

FIG. 8 is a diagram illustrating an exemplary operation of determining a minimum risk maneuver (MRM) of a vehicle driving control apparatus according to an embodiment of the present disclosure.

Referring to FIG. 8, when the control right is not transferred by the user after the control right transfer request notification, the vehicle driving control apparatus 100 may determine the risk minimization strategy (S160) and control the vehicle according to the risk minimization strategy (S160). S161).

The vehicle driving control apparatus 100 may determine one of the constant speed driving control that is driving at a constant speed after decelerating at a constant speed, a stop control stopping at a corresponding lane, and a shoulder stop controlling to stop after changing a lane by a shoulder. .

The vehicle driving control apparatus 100 may determine a risk minimization strategy according to a driving risk and a user state, and when the control transfer request notification starts, the warning level is gradually increased according to the progress time and the control transfer request notification is performed. After the control transfer request notification is performed at the highest level of the level, if the control transfer is not performed by the user for a predetermined time, the vehicle control may be performed by determining a risk minimization strategy.

Hereinafter, a method of determining a warning level according to a driving environment according to an embodiment of the present disclosure and determining a risk minimization strategy according to the warning level will be described in detail with reference to FIG. 9. 9 is a flowchart illustrating a method of determining a warning level according to a driving environment and determining a risk minimization strategy according to the warning level according to an embodiment of the present invention.

Hereinafter, it is assumed that the device 100 of FIG. 1 performs the process of FIG. 9. In addition, in the description of FIG. 9, it can be understood that the operations described as being performed by the apparatus are controlled by the processor 130 of the apparatus 100.

Referring to FIG. 9, the vehicle driving control apparatus 100 may determine whether there is a driving risk (S201), and when there is no driving risk, the vehicle driving control apparatus 100 may determine whether an eyes are in an off state or a mind off state (S202). . At this time, if there is no danger of driving, it is not determined whether the hands off state. That is, since the vehicle driving control apparatus 100 is a system activated in the hands off and eyes on states, the hands off warning is not performed.

When the user state is the eyes off state in step S202, the vehicle driving control apparatus 100 performs the control right notification request in two steps of warning and increases the warning level as time passes, and transfers the user's control right even after entering the warning step 4. If this is not done, stop control is performed (S203).

If the user's state is in the mind-off state in step S202, the vehicle driving control apparatus 100 performs the control right notification in three steps of warning and increases the warning level as time passes, and transfers the user's control right after entering the warning step 4. If this is not done, the shoulder stop control can be performed (S204).

On the other hand, if there is a driving risk in the process S201, the vehicle driving control apparatus 100 determines whether there is a risk of collision and whether the system operation area out (S205).

If there is a collision risk in the process S205, the vehicle driving control apparatus 100 determines whether the collision risk occurs after a predetermined time (S206).

When the collision risk occurs after a predetermined time, the vehicle driving control apparatus 100 may determine the warning level according to the user state.

That is, when a collision risk occurs after a predetermined time, the vehicle driving control apparatus 100 performs a notification for transferring control right to the second stage of warning when the user state is hands off, and the second stage of warning when the user state is eyes off. The control right transfer request notification is performed, and if the user state is a mind-off state, the control right transfer request notification is performed in step 3 (S207).

When the user does not transfer the control right, the vehicle driving control apparatus 100 performs the stop control when the vehicle stops the control right and the mind off warning step 3 when the control right transfer notification is performed in the second step of the eyes off warning (S208).

On the other hand, if the collision is not to occur after a predetermined time but before the predetermined time (faster), the vehicle driving control apparatus 100 warns step 3 when the user state is a hands off state, and the user state is eyes off. If the state is a warning step 4, if the user state is a mind-off state to perform the control transfer request notification to the warning step 4 (S209).

If the user's control transfer is not made after the control transfer request is notified, the vehicle driving control apparatus 100 stops the vehicle at the third stage of the hands-off warning, stops the vehicle at the fourth stage of the eyes off warning, and controls the shoulder at the fourth stage of the mind-off warning. It performs (S210).

If it is determined in step S205 that the system operation area is out (system operation area out), the vehicle driving control apparatus 100 determines whether the system operation area out occurs after a predetermined time (S211).

If the system operation area out occurs after a predetermined time, the vehicle driving control apparatus 100 warns step 1 when the user state is hands off, warns step 2 when the user state is eyes off, and the user state is mind off. In the case of the state, the control transfer request notification is performed in step 3 (S212).

If the user's control transfer is not made after the control transfer request is notified, the vehicle driving control apparatus 100 performs the constant speed control at the first stage of the hands-off warning, the stop control at the second stage of the eyes off warning, and the shoulder stop control at the third stage of the mind-off warning. It may be performed (S213).

On the other hand, if it is determined in step S211 that the system operation area out occurs before a predetermined time, the vehicle driving control apparatus 100 warns step 2 when the user state is the hands off state, and when the user state is the eyes off state. In the third step of warning, if the user state is in the mind-off state, the four steps of warning are performed.

If the user does not transfer the control right after the request for the transfer of control right, the vehicle driving control apparatus 100 performs the constant speed control at the second stage of the hands-off warning, the stop control at the third stage of the eyes off warning, and the shoulder stop control at the fourth stage of the mind-off warning. It performs (S215).

10 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 10, the computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. 1600, and network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, software module, or a combination of the two executed by the processor 1100. The software module resides in a storage medium (ie, memory 1300 and / or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (20)

A processor for performing a control transfer notification to a user by applying a warning level differently according to at least one of a driving condition and a user state during automatic driving; And
Storage unit for storing the information on the driving situation and the user state and the warning level information determined by the processor
Vehicle driving control device comprising a. The method according to claim 1,
The driving situation is,
And whether or not there is a risk of collision within a predetermined time or whether the system operation area out of the system operation area capable of automatic driving is out. The method according to claim 1,
The processor,
Tracking a static object and a dynamic object to generate a static grid map and dynamic object list, and extract map information. The method according to claim 3,
The processor,
A vehicle driving trajectory is generated by determining a vehicle driving trajectory and determining whether the vehicle driving trajectory crosses the static grid map, and whether the vehicle driving trajectory crosses the dynamic object trajectory of the dynamic object list. controller. The method according to claim 3,
The processor,
And determining a system operation area out time and a system operation area out type based on the map information. The method according to claim 5,
The system operation out type is
And a case in which driving is possible for a predetermined time after the system operation out and a case in which driving is impossible after the system operation out. The method according to claim 1,
The processor,
And the user state determines at least one of a hands off state, an eyes off state, and a mind off state. The method according to claim 7,
The processor,
And varying and applying the notification reference time corresponding to the notification time according to the user state. The method according to claim 8,
The processor,
And the notification reference time is shortened in the order of the hands off state, the eyes off state, and the mind off state. The method according to claim 7,
The processor,
And the warning level is determined to be high in the order of the hands off state, the eyes off state, and the mind off state. The method according to claim 7,
The processor,
In the driving situation, when there is no risk of driving, whether to eyes off or the mind is determined whether the warning level, and according to the determined warning level transfer control request notification, if the predetermined time elapses the warning level Vehicle running control device, characterized in that for increasing. The method according to claim 2,
The processor,
And apply a warning level differently according to an anticipated time of occurrence of the collision risk or an anticipated time of occurrence of the system operation area out. The method according to claim 12,
The warning level is,
A first step of performing a visual alert;
The second step of performing a visual alert and an audio alert,
A visual warning and an audio warning, the warning being performed in a color different from the color of the visual warning of the first and second steps, and outputting a sound larger than the acoustic level at the hearing warning of the second step; 3 steps,
A fourth step of performing a visual warning different in color from the first to third steps, an auditory warning having a loudest sound, and an emergency call mode operation
Vehicle driving control apparatus comprising a. The method according to claim 12,
The processor,
After performing the control right transfer request notification according to the warning level, if the control right is not transferred to the user, the risk minimization strategy is determined according to the warning level, the vehicle characterized in that to perform the vehicle control according to the risk minimization strategy Odometer control device. The method according to claim 14,
The risk minimization strategy,
And at least one of constant speed travel control, stop control, and shoulder stop control after the reduction at a constant speed. A vehicle driving control apparatus configured to apply a warning level differently according to at least one of a driving condition and a user state during automatic driving to notify the user of control transfer; And
A warning device for performing a warning according to the warning level;
Vehicle system comprising a. The method according to claim 16,
The warning device,
And at least one of visual alert, auditory alert, and emergency call mode. Determining at least one of a driving situation and a user state during automatic driving;
Performing a control transfer notification to a user by applying a warning level differently according to at least one of the driving situation and the user state;
Vehicle driving control method comprising a. The method according to claim 18,
After performing the control right transfer request notification according to the warning level, if the control right is not transferred to the user, determining a risk minimization strategy according to the warning level, and performing vehicle control according to the risk minimization strategy
Vehicle driving control method further comprising. The method according to claim 18,
The driving situation is,
And whether or not a risk of collision within a predetermined time or a system operating area out of the system operating area capable of automatic driving is included.

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