KR20200063314A - System and method for converting autonomous driving control based on driver monitoring - Google Patents

Abstract

The present invention relates to a system for switching control of an autonomous vehicle through driver monitoring and a method thereof. The system for switching control of the autonomous vehicle using driver monitoring according to the present invention includes: a receiving unit which receives a torque value of an autonomous vehicle; a memory for storing a program for switching control using the torque value; and a processor for executing the program. The processor determines whether or not to switch driving control using the torque value and a driver′s behavior analysis result.

Description

System for autonomous vehicle control using driver monitoring and its method {SYSTEM AND METHOD FOR CONVERTING AUTONOMOUS DRIVING CONTROL BASED DRIVER MONITORING}

The present invention relates to a system and method for switching control of an autonomous vehicle through driver monitoring.

It is difficult to determine whether the additional torque generated in the steering device is due to the driver's intention or the road condition or resilience, and causes a danger when switching the control right.

The present invention has been proposed to solve the above-mentioned problems, observes the driver's behavior in an autonomous vehicle, and determines whether to switch control rights according to a result of determining whether the additional torque applied to the steering device is due to the driver's intention. By doing so, it is an object to provide a control right switching system and a method capable of increasing driving safety.

An autonomous vehicle control right switching system using driver monitoring according to the present invention includes a receiver for receiving a torque value of an autonomous vehicle and a processor for executing a program and a memory storing a program for switching control rights using the torque value, The processor is characterized by determining whether to switch the driving control right using the torque value and the result of analyzing the driver's behavior.

An autonomous vehicle control method switching method using driver monitoring according to the present invention includes receiving a torque value of an autonomous vehicle, receiving driver behavior information, and analyzing results of the torque value and driver behavior. It characterized in that it comprises the step of determining whether to switch the control of the driving.

An autonomous vehicle control right switching system using driver monitoring according to the present invention includes an autonomous driving control unit that applies steering torque for autonomous driving, a torque sensor transmitting actual measured torque, a driver monitoring unit transmitting driver behavior information, and Comprising the difference between the steering torque and the actual measured torque, calculates additional torque, and analyzes driver behavior information to determine whether the additional torque is due to the driver's intention, and includes an agent to determine whether to switch control. do.

According to an embodiment of the present invention, it is possible to observe the driver's behavior in an autonomous vehicle, evaluate the correspondence with the additional torque applied to the steering device, and switch control right from autonomous driving to manual driving. .

According to the present invention, it solves the risk that may occur in the control of the overriding method according to the prior art, and enables a driver's reliable driving intervention at an urgent moment, thereby increasing the usability and safety of the autonomous vehicle. There is.

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

1 and 2 are block diagrams showing an autonomous vehicle control right switching system using driver monitoring according to an embodiment of the present invention.
3 is a flow chart showing a method for switching control of an autonomous vehicle using driver monitoring according to an embodiment of the present invention.

The above-mentioned objects and other objects, advantages and features of the present invention and methods for achieving them will be clarified with reference to the embodiments described below in detail together with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the following embodiments are intended for those skilled in the art to which the present invention pertains. It is merely provided to easily inform the configuration and effect, the scope of the present invention is defined by the description of the claims.

Meanwhile, the terms used in the present specification are for explaining the embodiments and are not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and/or "comprising" refers to the components, steps, operations and/or elements in which one or more other components, steps, operations and/or elements are present. Or added.

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

With the development of autonomous driving technology, partial autonomous driving and conditional autonomous driving technology are on the way to commercialization.

Such autonomous driving is not a complete autonomous driving until the driver boards and unloads the vehicle, but when a certain condition is satisfied (for example, on a highway or an automobile road) or partially in a driving function Direction or lateral control) to perform autonomous driving.

Therefore, in this type of autonomous driving, the control of the vehicle is switched from the driver to the autonomous driving system or from the autonomous driving system to the driver.

That is, the control right changeover may be initiated by the driver or the autonomous driving system, and the control right changeover initiated by the driver may be changed by a button, a paddle shift, a steering device or a pedal operation. Method is applied.

Switching of control right by a button can be mainly used in a transition from manual driving to autonomous driving.

In the case of paddle shift, it can be used for both of the two-way switching intuitively.

In the case of a driver's urgent intervention during autonomous driving, switching through a steering operation such as a steering device or a pedal may be applied.

It is very important to bring control right and intuitively by overriding the steering device that is controlled by the existing autonomous driving, especially in the case of a sudden turn or avoiding obstacles.

The control of the overriding method according to the prior art is mainly performed in addition to the steering torque input by the autonomous driving system for actual vehicle control, and when an additional torque is generated, it is determined as the driver's intention and performs control control switching.

However, when the vehicle is actually driving on the road, the torque applied to the steering device may generate additional torque due to various causes in addition to the torque for lateral control commanded by the autonomous driving system.

The torque that can be most frequently generated is the restoration torque, and when the steering device is operated for curved driving, an opposite torque that returns to the origin is generated.

In addition, additional torque may be generated in the steering device in various situations, such as when the road surface is inclined or when irregularities occur.

According to the prior art, it is difficult to distinguish whether the additional torque is due to the driver's intention or the road condition or resilience, and when the overriding control method is adopted without this distinction, the autonomous vehicle has a severe curve or unevenness. During autonomous driving in a section, irrespective of the driver's intention, the control is suddenly transferred to the driver, and a very dangerous situation occurs.

The present invention has been proposed to solve the above-mentioned problems, observes the driver's behavior in an autonomous vehicle, and determines whether the additional torque applied to the steering device is due to the driver's intention, so that the driver actually takes over control. A control switching system and method for improving driving safety are proposed by determining control switching according to whether or not it is intended to be received.

1 and 2 are block diagrams showing an autonomous vehicle control right switching system using driver monitoring according to an embodiment of the present invention.

1, the autonomous vehicle control right switching system using driver monitoring according to the present invention includes a receiver 110 for receiving a torque value of the autonomous vehicle and a memory in which a program for switching control right using the torque value is stored ( 120) and a processor 130 for executing a program, and the processor determines whether to switch the driving control right using the torque value and the result of analyzing the driver's behavior.

The receiving unit 110 according to an embodiment of the present invention receives the steering torque from the autonomous driving control unit, receives the actually measured torque from the torque sensor, and the processor 130 calculates the difference between the steering torque and the actually measured torque. The additional torque is calculated, and when it is determined through the driver's behavior analysis that the additional torque is due to the driver's intention, a command for controlling control is transmitted.

At this time, the processor 130 checks whether the additional torque coincides with the timing and direction of the driver's intention, taking into account driver behavior information.

2, the autonomous vehicle control right switching system using driver monitoring according to the present invention includes an autonomous driving control unit 220 that applies steering torque for autonomous driving, and a torque sensor 210 that transmits actual measured torque. And, calculates the additional torque by calculating the difference between the steering monitoring torque and the actual measured torque and the driver monitoring unit 230 for transmitting the driver behavior information, and analyzes the driver behavior information to determine whether the additional torque is due to the driver's intention. It includes an agent 240 to determine whether to switch control rights by determining.

The autonomous driving control unit 220 controls the vehicle using information obtained from a sensor mounted on the vehicle, and calculates torque to be applied to the steering device for stable driving.

The agent 240 receives the actually measured torque from the torque sensor 210 mounted in the steering device.

The agent 240 calculates a difference between the torque generated by the autonomous driving control unit 220 and the actually measured torque, and acquires additional torque values excluding torque applied for driving to the steering device.

The driver monitoring unit 230 collects driver information through a measuring device such as a camera or a hand-on sensor.

The agent 240 analyzes the driver's behavior information received from the driver monitoring unit 230 to analyze whether the driver intends to steer the steering angle.

For example, when it is determined that the driver is holding the steering device by the acquired value of the hands-on sensor, it is determined that the driver intends to take over the driving control.

When the analyzed intention of the driver is analyzed at the time when the additional torque is generated, the agent 240 decides to switch from the autonomous driving mode to the manual driving mode.

The agent 240 determines that the driver's intention to switch control is actually determined when the time and direction of the additional torque coincides with the point and direction of the driver's intention estimated by observing the driver in the driver monitoring unit 230 and autonomous driving The control unit 220 transmits a control right switching command.

3 is a flow chart showing a method for switching control of an autonomous vehicle using driver monitoring according to an embodiment of the present invention.

Referring to FIG. 3, a method for switching control of an autonomous vehicle using driver monitoring according to the present invention includes receiving a torque value of an autonomous vehicle (S310), receiving driver behavior information (S320), and a torque value. And determining whether to switch the driving control right of the autonomous vehicle using the analysis result of the driver's behavior (S330).

In step S310, the steering torque applied to the autonomous vehicle is received from the autonomous driving controller, and the actual measured torque is received from the torque sensor mounted in the steering device.

In step S320, the image information obtained using the camera or the hand-on information obtained through the hands-on sensor is received as driver behavior information, and in step S330, whether the additional torque is due to the driver's intention by analyzing the driver behavior information. Judge.

Step S330 calculates the additional torque by calculating the difference between the steering torque and the actually measured torque, performs driver behavior analysis, and when the occurrence and direction of the additional torque coincides with the timing and direction of the driver's intention, the corresponding additional torque It is determined that it is due to the driver's intention, and transmits a control right switching command.

On the other hand, a method for switching control of an autonomous vehicle using driver monitoring according to an embodiment of the present invention may be implemented in a computer system or recorded in a recording medium. The computer system may include at least one processor, memory, a user input device, a data communication bus, a user output device, and storage. Each of the above-described components communicates through a data communication bus.

The computer system can further include a network interface coupled to the network. The processor may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory and/or storage.

The memory and storage may include various types of volatile or nonvolatile storage media. For example, the memory may include ROM and RAM.

Accordingly, a method for switching control of an autonomous vehicle using driver monitoring according to an embodiment of the present invention may be implemented in a method executable on a computer. When the method for switching control of an autonomous vehicle using driver monitoring according to an embodiment of the present invention is performed on a computer device, instructions readable by a computer may perform the control method switching method according to the present invention.

On the other hand, the above-described method for switching the control of an autonomous vehicle using driver monitoring according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. Computer-readable recording media includes all kinds of recording media storing data that can be read by a computer system. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, and an optical data storage device. In addition, the computer-readable recording medium may be distributed over computer systems connected through a computer communication network, and stored and executed as code readable in a distributed manner.

So far, we have focused on embodiments of the present invention. Those skilled in the art to which the present invention pertains will understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in terms of explanation, not limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent range should be interpreted as being included in the present invention.

110: receiver 120: memory
130: processor 210: torque sensor
220: autonomous driving control unit 230: driver monitoring unit
240: agent

Claims (14)

A receiver configured to receive a torque value of an autonomous vehicle;
A memory in which a program for switching control rights using the torque value is stored; And
It includes a processor for executing the program,
The processor determines whether to switch the driving control right using the torque value and the result of analyzing the driver's behavior.
Autonomous vehicle control control system using in-driver monitoring.
According to claim 1,
The receiving unit receives the steering torque from the autonomous driving control unit, and receives the actually measured torque from the torque sensor
Autonomous vehicle control control system using in-driver monitoring.
According to claim 2,
The processor calculates an additional torque by calculating a difference between the steering torque and the actually measured torque, and when it is determined through the driver's behavior analysis that the additional torque is due to the driver's intention, commands the control right to switch to the autonomous driving control unit. Transmission
Autonomous vehicle control control system using in-driver monitoring.
According to claim 3,
The processor, considering the driver behavior information received from the driver monitoring unit, checks whether the timing and direction of the additional torque coincides with the timing and direction of the driver's intention.
Autonomous vehicle control control system using in-driver monitoring.
According to claim 3,
The processor determines the intention of the driver using hands-on information
Autonomous vehicle control control system using in-driver monitoring.
(a) receiving a torque value of an autonomous vehicle;
(b) receiving driver behavior information; And
(c) determining whether to switch the driving control of the autonomous vehicle using the analysis result of the torque value and driver behavior
To switch the control of autonomous vehicles using driver monitoring.
The method of claim 6,
In step (a), the steering torque applied to the autonomous vehicle and the actually measured torque are received.
A method for switching control of autonomous vehicles using in-driver monitoring.
The method of claim 7,
In step (c), an additional torque is calculated by calculating a difference between the steering torque and the actually measured torque, and when it is determined through the driver's behavior analysis that the additional torque is due to the driver's intention, a control right switching command is transmitted. that
A method for switching control of autonomous vehicles using in-driver monitoring.
The method of claim 8,
The step (b) receives hands-on information as the driver behavior information, and the step (c) determines whether the additional torque is due to the driver's intention using the hands-on information.
A method for switching control of autonomous vehicles using in-driver monitoring.
The method of claim 8,
The step (c) is to check whether the timing and direction of occurrence of the additional torque coincides with the timing and direction of driver's intention.
A method for switching control of autonomous vehicles using in-driver monitoring.
An autonomous driving control unit that applies steering torque for autonomous driving;
A torque sensor that transmits the actual measured torque;
A driver monitoring unit that transmits driver behavior information; And
An agent that calculates the difference between the steering torque and the actually measured torque to calculate additional torque, analyzes the driver behavior information, determines whether the additional torque is due to the driver's intention, and determines whether to switch control rights
Autonomous vehicle control right switching system using driver monitoring, including.
The method of claim 11,
The driver monitoring unit detects whether a hand is on, and transmits the driver behavior information
Autonomous vehicle control control system using in-driver monitoring.
The method of claim 11,
When it is determined that the additional torque is due to the driver's intention, the agent transmits a control right switching command to the autonomous driving control unit.
Autonomous vehicle control control system using in-driver monitoring.
The method of claim 11,
The agent determines whether to switch control by checking whether the time and direction of the additional torque coincides with the time and direction of the driver's intention.
Autonomous vehicle control control system using in-driver monitoring.

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