KR20200075047A - Apparatus, method and system for controlling autonomous driving - Google Patents

Abstract

The present invention relates to a device, method, and system for controlling autonomous driving to improve the accuracy of autonomous driving. The device comprises: a map data storage unit storing map data; a path search unit searching a path to a destination; and a control unit searching one or more paths to the destination through the path search unit using driving environment information reflecting a driving situation of a road and the map data stored in the map data storage unit, determining each autonomous driving level for each of the one or more paths searched based on the driving environment information and the map data, and then mapping the one or more paths to each autonomous driving level determined with respect to the one or more paths and providing the one or more paths.

Description

Autonomous driving control device, method, and system {APPARATUS, METHOD AND SYSTEM FOR CONTROLLING AUTONOMOUS DRIVING}

The present invention relates to an autonomous driving control device, method, and system, and more particularly, to an autonomous driving control device, method, and system that enables autonomous driving to a destination according to a selected autonomous driving level.

Today's automobile industry is moving toward autonomous driving that minimizes driver intervention in driving vehicles. An autonomous vehicle is a vehicle that independently determines the driving path by recognizing the surrounding environment through external information detection and processing functions, and independently drives using its own power.

Self-driving vehicles can drive to their destinations themselves without the driver's steering wheel, accelerator pedal, or brake, preventing collision with obstacles on the driving route and adjusting the vehicle speed and driving direction according to the shape of the road. have. Specifically, the autonomous driving vehicle determines the driving position and the driving lane optimally by determining and correcting the position of the vehicle through the map data and the location information of the facility, controls the driving of the vehicle so as not to deviate from the determined path and the lane, and surroundings Defends and avoids driving against dangerous elements existing on a vehicle or driving path that suddenly enters.

In controlling such an autonomous vehicle, a technique for controlling the autonomous vehicle driving has been proposed to be suitable for a road environment and a driver's driving pattern by detecting a road environment or learning a driver's driving pattern. In the process of autonomous driving, a user's intervention may be required depending on the user's situation or driving environment, but in the autonomous driving control technology proposed in the related art, consideration is given to the level of autonomous driving and the level of autonomous driving according to the degree of user intervention. Due to the absence, the user frequently intervenes in autonomous driving in the autonomous driving process, and such a problem arises from the fact that the determination of the autonomous driving level for each route is not pre-determined when searching for a route to a destination.

Background of the invention is disclosed in Republic of Korea Patent Publication No. 10-2012-0022305 (2012.03.12. published).

The present invention was devised to solve the above-mentioned problems, and an object according to an aspect of the present invention is to determine an autonomous driving level for each route when searching for a route to a destination so that a user can achieve an autonomous driving level desired by the user. It is to provide an autonomous driving control device, method and system for reducing user intervention in an autonomous driving process and improving autonomous driving accuracy for the environment.

An autonomous driving control apparatus according to an aspect of the present invention includes a map data storage unit storing map data, a route search unit searching for a route to a destination, and driving environment information reflecting a driving condition of a road, and storing the map data After searching for one or more routes to the destination through the route search unit using the map data stored in the unit, and determining the autonomous driving level for each of the searched one or more routes based on the driving environment information and the map data, respectively And, it characterized in that it comprises a control unit for providing the one or more paths mapped to each autonomous driving level determined for each.

In the present invention, the driving environment information includes driving history data, traffic information, weather information, height information, and road data of the corresponding road, and the map data is three-dimensional including positioning model data and lane model data It is characterized by being precision map data.

In the present invention, when determining the autonomous driving level for the corresponding route, the control unit may have a high driving safety level determined based on driving history data, traffic information, weather information, height information, and road data included in the driving environment information. The first weight value is determined as a higher value, and as the number of location model data and lane model data included in the map data increases, the second weight value is determined as a higher value, and then the sum of the first weight and the second weight is determined. It is characterized by determining the autonomous driving level on the basis of.

In the present invention, when determining the autonomous driving level for the corresponding route, the controller determines the autonomous driving level by further considering the quality of geographic data for the corresponding route together with the driving environment information and the map data. It is characterized by determining.

In the present invention, when determining the autonomous driving level for the corresponding route, the controller automatically considers the third weight according to the quality of the geographic data together with the sum of the first weight and the second weight. Characterized by determining the level.

In the present invention, the control unit is characterized in that the higher the sum value of the first weight and the second weight and the third weight, the higher the autonomous driving level.

In the present invention, the control unit guides a route according to the autonomous driving level selected by the user to the user, and transmits a route according to the selected autonomous driving level to an autonomous driving system applied to a vehicle, and a destination according to the selected autonomous driving level. It is characterized in that the autonomous driving is made until.

In the present invention, when the control unit is determined to be unable to maintain autonomous driving according to the selected autonomous driving level by detecting an obstacle through a sensor mounted on the vehicle during autonomous driving according to the selected autonomous driving level. , Re-discovering another route that can reach the destination through autonomous driving according to the selected autonomous driving level, and transmitting the re-discovered other route to the autonomous driving system.

In an autonomous driving control method according to an aspect of the present invention, the control unit searches for one or more paths to a destination using driving environment information and map data reflecting a road driving condition, and the controller controls the driving environment information and And determining an autonomous driving level for each of the searched one or more paths based on the map data, and providing, by the controller, mapping the one or more paths to each autonomous driving level determined for each. It is characterized by.

An autonomous driving control system according to an aspect of the present invention searches for one or more paths to a destination using driving environment information and map data reflecting a driving condition of a road, and searches based on the driving environment information and the map data After determining the autonomous driving level for each of the one or more paths, a navigation terminal providing and mapping the one or more paths to the determined autonomous driving level for each, and the driving environment information are updated and managed, and the driving environment It characterized in that it comprises a server that provides information to the navigation terminal.

The present invention further includes an autonomous driving system that is applied to a vehicle equipped with the navigation terminal and receives a route according to the autonomous driving level selected by the user from the navigation terminal, and performs autonomous driving to a destination according to the selected autonomous driving level. It is characterized by.

According to an aspect of the present invention, the present invention can improve the reliability of autonomous driving level selection by determining an autonomous driving level for a route to a destination in consideration of the quality of driving environment information, map data, and predetermined geographic data. , Autonomous driving to the destination is made according to the autonomous driving level selected by the user, so that the user can autonomously drive to the desired level, thereby improving user convenience and guiding the user to the optimized route.

1 is a block diagram illustrating an autonomous driving control apparatus according to an embodiment of the present invention.
2 is an exemplary diagram illustrating an example in which a path (distance) and an autonomous driving level from an autonomous driving control device to a destination are mapped and provided to a user according to an embodiment of the present invention.
3 is a block diagram illustrating an autonomous driving control system according to an embodiment of the present invention.
4 is a flowchart illustrating an autonomous driving control method according to an embodiment of the present invention.

Hereinafter, an embodiment of an autonomous driving control apparatus, method, and system according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition of these terms should be made based on the contents throughout this specification.

1 is a block diagram for explaining an autonomous driving control apparatus according to an embodiment of the present invention, and FIG. 2 is a path (distance) and autonomous driving from an autonomous driving control apparatus according to an embodiment of the present invention to a destination. FIG. 3 is a block diagram illustrating an autonomous driving control system according to an embodiment of the present invention.

1, the autonomous driving control apparatus 100 according to an embodiment of the present invention includes a map data storage unit 110, a route search unit 120, a communication unit 130, a geographic data storage unit 140, And it may include a control unit 150 for controlling in conjunction with each of the components (110-140). In addition, the autonomous driving control apparatus 100 according to the present exemplary embodiment operates in a manner of transmitting and receiving predetermined information with an external server 200 to determine an autonomous driving level for a route to a destination, as illustrated in FIG. 1. can do.

First, with reference to the server 200 illustrated in FIG. 1, the server 200 stores driving environment information required for path search and autonomous driving level determination by the autonomous driving control device 100 as will be described later. I can manage it. Here, the driving environment information is information reflecting the driving situation of the road, and may include driving history data of the corresponding road, traffic information of the road, weather information, yugo information, and road data, and the driving history data of the corresponding road includes the road. It may mean a set of driving data collected from a plurality of driving vehicles. The server 200 updates and manages driving history data, traffic information, weather information, height information, and road data included in the driving environment information, thereby providing driving environment information that is kept up to date with the autonomous driving control device 100 can do. A communication device for transmitting and receiving each information may be implemented in the server 200.

The autonomous driving control device 100 may operate in a manner of determining an autonomous driving level for a route to a destination based on driving environment information received from the server 200, and hereinafter, a subordinate of the autonomous driving control device 100. The operation will be specifically described as a configuration.

The map data storage unit 110 may store map data, and in this embodiment, the map data may be implemented as 3D precision map data including positioning model data and lane model data. Positioning model data can mean location data (location coordinates) and attribute data (facility type) of road marking facilities (e.g., traffic safety signs, road markings, beacons, etc.), and lane model data is the shape of lanes on the road. It may mean data and attribute data. The map data stored in the map data storage unit 110 may be utilized in a process of searching a route to a destination and determining an autonomous driving level, as will be described later.

The route search unit 120 searches for a route to a destination by using driving environment information transmitted from the server 200 and map data stored in the map data storage unit 110 under the control of the control unit 150 described later. Can.

The communication unit 130 receives the sensing value from the sensor mounted on the vehicle, the driving unit information is transmitted from the server 200, the sensor mounted on the vehicle, and each driving data obtained in the autonomous driving process. It can function as a communication interface for delivering to the server 200.

The geographic data storage unit 140 may store quality information of geographic data evaluated by ISO 19157, and the quality information of the stored geographic data may be utilized in a process of determining an autonomous driving level as will be described later.

The control unit 150 uses the driving environment information received from the server 200 and the driving environment information reflecting the road driving condition and the map data stored in the map data storage unit 110 to reach the destination through the route search unit 120. After searching for the above paths, and determining the autonomous driving level for each of the one or more searched paths based on driving environment information and map data, one or more paths may be mapped to each autonomous driving level determined for each and provided. have.

That is, the control unit 150 may determine one or more paths to the destination using the driving environment information and map data together with the autonomous driving level for each path, and then provide the mapping result between the path and the autonomous driving level to the user. . 2 shows an example in which a route to a destination (distance) and an autonomous driving level are mapped and provided to a user.

The autonomous driving level employed in this embodiment is a parameter that is determined to be a higher value as the level of autonomous driving of the autonomous vehicle is higher. For example, the autonomous driving level of the present embodiment is as shown in Table 1 below. The autonomous driving level defined by (NHTSA) may be employed.

[Table 1]

Based on the meaning of the autonomous driving level described above, a process in which the controller 150 determines the autonomous driving level for a route to a destination will be described in detail.

When determining an autonomous driving level for a corresponding route, the controller 150 determines a first weight determined based on driving environment information received from the server 200 and map data stored in the map data storage unit 110 (that is, , 3D precision map data) to determine the autonomous driving level through a method using a second weight determined on the basis of).

In relation to the determination of the first weight, the controller 150 increases the first weight as the driving safety level determined based on the driving history data, traffic information, weather information, height information, and road data included in the driving environment information increases. Can be determined by value. For example, the greater the number of driving history data, the smoother the traffic situation of the road determined through traffic information, the lower the risk of driving on the road determined through weather information and yugo information, and determined through road data It may be determined that the driving safety level is higher as the state of the corresponding road is the latest, and the first weight may be determined as a higher value. The range of the first weight may be variously set according to the designer's intention (eg, 0 or more and 50 or less)

Next, in relation to the determination of the second weight, the control unit 150 may determine the second weight to a higher value as the number of location model data and lane model data included in the map data (3D precision map data) increases. That is, as the number of positioning model data and lane model data included in the 3D precision map data increases, the number of data that can be used for autonomous driving increases and the autonomous driving error can be minimized. Therefore, the controller 150 determines the positioning model. The larger the number of data and lane model data, the higher the second weight can be determined. In this case, the control unit 150 divides the 3D precision map data into a reference unit distance (for example, 1 km), and counts the number of positioning model data and lane model data in a section within the reference unit distance to obtain the second weight. By determining, it is possible to reliably determine the second weight even when data is concentrated in a specific section. The range of the second weight may be variously set according to the designer's intention (eg, 0 or more and 50 or less)

Table 2 below shows an example of how the first and second weights are determined.

[Table 2]

When the first and second weights are determined, the controller 150 may determine an autonomous driving level based on the sum of the first and second weights. That is, the higher the sum of the first and second weights determined according to the aforementioned criteria, the more stable the autonomous driving is possible. Therefore, the higher the sum of the first and second weights, the higher the autonomous driving level. You can decide with a high value.

Meanwhile, when determining the autonomous driving level for the corresponding route, the controller 150 may determine the autonomous driving level by further considering the quality of geographic data for the corresponding route together with the driving environment information and map data. . Here, the quality of geographic data may be adopted, for example, the quality of geographic data evaluated based on completeness, logical consistency, location accuracy, temporal quality, and topic accuracy according to ISO 19157, and accordingly, the controller 150 is applicable When determining the autonomous driving level for the route, the autonomous driving level may be determined by further considering the third weight according to the quality of geographic data, together with the sum of the first weight and the second weight. In this case, the controller 150 may determine the third weight in a manner that determines the quality of geographic data in a section within a reference unit distance.

In relation to the determination of the third weight, the control unit 150 may determine the third weight through a method of classifying the quality of geographic data and using a score differentially assigned to each grade. Table 3 and Equation 1 below show an example in which the controller 150 determines the third weight.

[Table 3]

[Equation 1]

Third weight = Pa + Pb + Pc + Pd

Pa = Grade A score (10) * Number of Grade A data

Pb = B grade score (8) * B grade data count

Pc = C grade score (5) * C grade data count

Pd = D grade score (3) * D grade data count

When the first to third weights are determined, the controller 150 may determine the higher the autonomous driving level as the sum of the first weight and the second weight and the third weight are larger. Table 4 below shows an example in which the autonomous driving level is determined according to the first to third weights.

[Table 4]

In Table 4, St is the sum of the first and second weights, and Sl is the third weight. The numerical values in Table 4 are only examples to help understanding of the present embodiment, and the numerical ranges of the weights corresponding to each autonomous driving level may be variously designed according to a designer's intention.

When the autonomous driving level for each path is determined, the controller 150 may map each path to each autonomous driving level and provide (output) the user. Accordingly, the user can improve the convenience by selecting one autonomous driving level from among the output autonomous driving levels so that the autonomous driving of a desired level is achieved.

Thereafter, the control unit 150 may guide the user with a route according to the autonomous driving level selected by the user. In this case, the control unit 150 may transmit a route according to the selected autonomous driving level to the autonomous driving system 300 applied to the vehicle, so that the autonomous driving to the destination is performed according to the autonomous driving level selected by the user. That is, the autonomous driving system 300 applied to the vehicle may perform autonomous driving to the destination based on the route and the autonomous driving level received from the controller 150.

On the other hand, in the process of autonomous driving according to the selected autonomous driving level, the control unit 150 detects an obstacle through a sensor mounted on the vehicle and determines that the autonomous driving according to the autonomous driving level selected by the user cannot be maintained. The autonomous driving according to the autonomous driving level selected by the autonomous driving may be re-discovered to other destinations, and the re-discovered other routes may be transmitted to the autonomous driving system 300. If there is no other route that can reach the destination through autonomous driving according to the autonomous driving level selected by the user, the control unit 150 outputs an alarm indicating that manual driving of the current user is required, and manually reaches the destination. A general route according to driving can be provided to the user.

The autonomous driving control apparatus 100 according to the present embodiment described above may be implemented as a navigation terminal that is usually mounted on a vehicle and guides a user to a route, and accordingly, the present embodiment shows navigation as shown in FIG. 3. It may be implemented as an autonomous driving control system including a terminal (ie, an autonomous driving control device 100), a server 200, and an autonomous driving system 300 applied to a vehicle.

That is, the navigation terminal 100 searches for one or more paths to a destination by using driving environment information and map data reflecting the driving conditions of the road, and for each one or more paths searched for based on the driving environment information and map data. After each autonomous driving level is determined, one or more paths are operated by mapping to each autonomous driving level determined for each, and the server 200 updates and manages the driving environment information to transmit the driving environment information to the navigation terminal 100. Provided, the autonomous driving system 300 is applied to a vehicle equipped with the navigation terminal 100 and receives a route according to the autonomous driving level selected by the user from the navigation terminal 100, and a destination according to the selected autonomous driving level It may also operate to perform autonomous driving.

4 is a flowchart illustrating an autonomous driving control method according to an embodiment of the present invention.

If the autonomous driving control method according to an embodiment of the present invention is described with reference to FIG. 4, first, the controller 150 searches for one or more routes to a destination using driving environment information and map data reflecting the driving conditions of the road. (S100). The driving environment information includes driving history data, traffic information, weather information, height information, and road data of the corresponding road, and the map data may be implemented as 3D precision map data including positioning model data and lane model data. Can. As shown in FIG. 4 before step S100, step S10 of receiving a destination from a user and step S20 of determining whether the current vehicle driving mode is an autonomous driving mode may be performed.

Subsequently, the controller 150 determines an autonomous driving level for each of the one or more paths searched for in step S100 based on the driving environment information and map data (S200 ). In step S200, when determining an autonomous driving level for the corresponding route, the controller 150 determines a driving safety level determined based on driving history data, traffic information, weather information, height information, and road data included in driving environment information. The higher the first weight is determined as a higher value, and the larger the number of positioning model data and lane model data included in the map data, the higher the second weight is determined, and based on the sum of the first weight and the second weight The autonomous driving level can be determined.

In addition, in step S200, when determining the autonomous driving level for the corresponding route, the controller 150 considers the quality of geographic data for the corresponding route together with the driving environment information and map data, and the autonomous driving level. You can also decide Accordingly, in step S200, when determining the autonomous driving level for the corresponding path, the controller 150 autonomously considers the third weight according to the quality of geographic data together with the sum of the first weight and the second weight. The driving level may be determined. Specifically, the higher the sum value of the first weight and the second weight and the third weight, the higher the autonomous driving level.

After step S200, the controller 150 maps and provides each route with each autonomous driving level set for each of them (S300).

Subsequently, the control unit 150 guides the user's route according to the autonomous driving level selected by the user (S400), and transmits the route according to the autonomous driving level applied to the autonomous driving system 300 applied to the vehicle to the selected autonomous driving level. Accordingly, autonomous driving is performed to the destination (S500).

At this time, in the process of autonomous driving according to the selected autonomous driving level, when an obstacle is detected through a sensor mounted on the vehicle and it is determined that autonomous driving according to the selected autonomous driving level cannot be maintained (S600), the controller 150 The other route that can reach the destination through autonomous driving according to the selected autonomous driving level is re-discovered (S700), and the re-discovered other route is transmitted to the autonomous driving system 300 (S800). If there is no other route that can reach the destination through autonomous driving according to the autonomous driving level selected by the user (S700), the controller 150 outputs an alarm indicating that manual driving of the current user is required, and the destination It provides the user with a general route according to the manual operation of S (S900).

As described above, the present embodiment can improve the reliability of autonomous driving level selection by determining the autonomous driving level for the route to the destination in consideration of the quality of driving environment information, map data, and predetermined geographic data, and the autonomy selected by the user By autonomous driving to the destination according to the driving level, the user can autonomously drive to a desired level, thereby improving user convenience and guiding the user to the optimized route.

100: autonomous driving control device
110: map data storage
120: route search unit
130: communication unit
140: geographic data storage
150: control unit
200: server
300: autonomous driving system

Claims (18)

A map data storage unit storing map data;
A route search unit searching a route to a destination; And
Based on the driving environment information and the map data, one or more routes to a destination are searched through the route searching unit using driving environment information reflecting the driving conditions of the road and map data stored in the map data storage unit. A control unit for determining the autonomous driving level for each of the searched one or more paths, and mapping the one or more paths to the determined autonomous driving level for each;
Autonomous driving control device comprising a.
According to claim 1,
The driving environment information includes driving history data, traffic information, weather information, height information, and road data of the corresponding road, and the map data is 3D precision map data including positioning model data and lane model data. Autonomous driving control device, characterized in that.
According to claim 2,
When determining the autonomous driving level for the corresponding route, the control unit determines a first weight as the driving safety level determined based on driving history data, traffic information, weather information, height information, and road data included in the driving environment information increases. Is determined to be a high value, and the larger the number of positioning model data and lane model data included in the map data, the second weight is determined to be a high value, and then autonomous driving is performed based on the sum of the first weight and the second weight. Autonomous driving control device, characterized in that to determine the level.
According to claim 3,
When determining an autonomous driving level for a corresponding route, the controller determines an autonomous driving level in consideration of the quality of geographic data for the corresponding route together with the driving environment information and the map data. Autonomous driving control device.
According to claim 4,
When determining an autonomous driving level for a corresponding route, the controller determines an autonomous driving level by further considering a third weight according to the quality of the geographic data, together with the sum of the first weight and the second weight. Autonomous driving control device, characterized in that.
The method of claim 5,
The control unit, the autonomous driving control device, characterized in that the higher the sum of the first weight and the second weight and the third weight, the higher the autonomous driving level.
According to claim 1,
The control unit guides a path according to the autonomous driving level selected by the user to the user, and transmits a path according to the selected autonomous driving level to the autonomous driving system applied to the vehicle, thereby enabling autonomous driving to a destination according to the selected autonomous driving level. Autonomous driving control device, characterized in that to be made.
The method of claim 7,
In the process of autonomous driving in accordance with the selected autonomous driving level, the control unit determines that the autonomous driving according to the selected autonomous driving level cannot be maintained by detecting an obstacle through a sensor mounted on the vehicle. An autonomous driving control device characterized in that it searches for another route that can reach the destination through autonomous driving according to the driving level, and delivers the re-searched other route to the autonomous driving system.
The control unit, using the driving environment information and map data reflecting the driving conditions of the road to search for one or more paths to the destination;
Determining, by the controller, an autonomous driving level for each of the searched one or more routes based on the driving environment information and the map data; And
Providing, by the control unit, mapping the one or more paths with respective autonomous driving levels determined for each;
Autonomous driving control method comprising a.
The method of claim 9,
The driving environment information includes driving history data, traffic information, weather information, height information, and road data of the corresponding road, and the map data is 3D precision map data including positioning model data and lane model data. Autonomous driving control method, characterized in that.
The method of claim 10,
In the step of determining each of the autonomous driving level, the control unit,
When determining the autonomous driving level for the corresponding route, the higher the driving safety level determined based on the driving history data, traffic information, weather information, height information, and road data included in the driving environment information, the higher the first weight value. After determining, the greater the number of positioning model data and lane model data included in the map data, the second weight is determined to be a higher value, and then the autonomous driving level is determined based on the sum of the first weight and the second weight Autonomous driving control method, characterized in that.
The method of claim 11,
In the step of determining each of the autonomous driving level, the control unit,
When determining an autonomous driving level for a corresponding route, autonomous driving characterized by determining an autonomous driving level by further considering the quality of geographic data for the corresponding route together with the driving environment information and the map data. Control method.
The method of claim 12,
In the step of determining each of the autonomous driving level, the control unit,
When determining an autonomous driving level for a corresponding path, the autonomous driving level is determined by further considering a third weight according to the quality of the geographic data together with the sum of the first weight and the second weight. Autonomous driving control method.
The method of claim 13,
In the step of determining each of the autonomous driving level, the control unit,
The autonomous driving control method, characterized in that the higher the sum value of the first weight and the second weight and the third weight, the higher the autonomous driving level.
The method of claim 9,
The control unit, guiding the route according to the autonomous driving level selected by the user to the user; And
The control unit, the autonomous driving system applied to the vehicle by passing the path according to the selected autonomous driving level so that the autonomous driving to the destination according to the selected autonomous driving level; Autonomous driving control further comprising a Way.
The method of claim 15,
When the control unit determines that an obstacle is detected through a sensor mounted on the vehicle during autonomous driving according to the selected autonomous driving level and it is determined that autonomous driving according to the selected autonomous driving level cannot be maintained, the selected autonomous driving Re-discovering another route that can reach the destination through autonomous driving according to the driving level; And
And transmitting, by the control unit, the re-discovered other route to the autonomous driving system.
One or more routes to a destination are searched using driving environment information and map data reflecting the driving conditions of the road, and autonomous driving levels for each of the searched one or more routes are respectively based on the driving environment information and the map data. After determining, the navigation terminal provides the one or more paths mapped to each autonomous driving level determined for each; And
A server that updates and manages the driving environment information and provides the driving environment information to the navigation terminal;
Autonomous driving control system comprising a.
The method of claim 17,
The autonomous driving system applied to a vehicle equipped with the navigation terminal receives a path according to a user-selected autonomous driving level from the navigation terminal and performs autonomous driving to a destination according to the selected autonomous driving level. Autonomous driving control system.

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