KR20200084468A - Apparatus and method for exchanging driving control right based on personal characteristics - Google Patents

Abstract

The present invention relates to a device for exchanging a driving control right of an autonomous vehicle based on personal characteristics and a method thereof. According to the present invention, the device comprises: an input unit receiving setting information; a memory in which a program for exchanging a driving control right according to the setting information is embedded; and a processor executing the program. The processor determines time of changing the driving control right in consideration of information on personal characteristics included in the setting information.

Description

Apparatus and method for converting driving control based on personal characteristics{APPARATUS AND METHOD FOR EXCHANGING DRIVING CONTROL RIGHT BASED ON PERSONAL CHARACTERISTICS}

The present invention relates to an apparatus and method for switching the control of driving of an autonomous vehicle based on personal characteristics.

In the method for switching the driving control right of an autonomous vehicle according to the prior art, the control right switching may be unintentionally caused by a force applied to the steering wheel by the driver, and there is a risk of leading to a serious accident.

The present invention has been proposed to solve the above-described problems, and has an object to provide an apparatus and method for switching a driving control right having excellent stability and convenience by determining whether to switch the driving control right by reflecting the characteristics of the individual driver.

The personal property-based driving control right switching device according to the present invention includes an input unit for receiving setting information, a memory in which a driving control right switching program according to the setting information is embedded, and a processor for executing the program, wherein the processor is an individual included in the setting information It is characterized in that it determines the timing of switching the driving control right in consideration of characteristic information.

The method for converting a driving control right based on personal characteristics according to the present invention includes a step of receiving setting information and determining whether to switch the driving control right in consideration of personal characteristic information included in the setting information.

According to an embodiment of the present invention, it is possible to determine whether to switch the driving control right according to the characteristics and preferences of the individual driver, thereby improving the satisfaction of the driver with respect to autonomous driving and securing driving stability.

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 is a block diagram illustrating an apparatus for switching a control control right based on personal characteristics according to an embodiment of the present invention.
2 and 3 are flow charts illustrating a method for switching a driving control right based on personal characteristics 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 apparent with reference to 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.

On the other hand, the terms used in this specification are for describing 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 proposed by the present invention will be described first, and embodiments of the present invention will be described.

Among the autonomous driving stages classified by the Society of Automotive Engineers (SAE), in the autonomous driving vehicle of three or more stages, a take-over situation occurs between the driver and the vehicle.

In the SAE level definition, control switching is expressed as DDT (Dynamic Driving Task) fallback, and when the driver or the Automated Driving System (ADS) needs to end autonomous driving due to a system failure or a change in the external environment, it controls the vehicle's control. Explain that this is a response to transfer and ensure safety.

In addition, the Ministry of Land, Infrastructure and Transport announced that the regulations on safety driving requirements and test operation of autonomous vehicles are defined as'signals that inform the driver to switch to the driver priority mode while driving in the system priority mode.'

According to the prior art (Republic of Korea Patent Publication No. 10-2016-0087336), in the autonomous driving mode, a method of establishing a connection diagram of a steering wheel and steering, and suggesting a method of recognizing a driving control right transition signal by a haptic reaction that a driver exerts on a steering wheel Doing.

However, according to the prior art, even when the driver accidentally applies a force to the handle, a transition may be unintentionally caused, which degrades the driver's confidence in the autonomous driving system and the driver's response is not properly achieved. There is a risk of leading to a big accident.

The present invention has been proposed to solve the above-mentioned problems, and improves unilateral control right switching based on a result of a determination based on sensor or system status. By inducing the minimization of switching, we propose a driving control device and a method for converting the driving control to enable safe and comfortable autonomous driving.

1 is a block diagram showing an apparatus for switching control of driving based on personal characteristics according to an embodiment of the present invention.

The personal property-based driving control right switching device according to an embodiment of the present invention includes an input unit 110 for receiving setting information, a memory 120 in which a driving control right switching program according to the setting information is embedded, and a processor 130 for executing the program Including, the processor 130 determines the timing of switching the driving control right in consideration of personal characteristic information included in the setting information.

The input unit 110 according to an embodiment of the present invention receives setting information on preference conditions and vulnerability conditions set by an individual.

At this time, the input unit 110 receives personal property information including at least one of road information, traffic information, weather information, and driving capability information as setting information.

Each driver may have different preferences and vulnerable conditions depending on personal preference and driving proficiency.

For example, driver A, who has low proficiency in changing lanes in a congested section, or has an accident when changing lanes in a congested section, may set a congested urban commute situation as a vulnerable condition. In this case, the processor 130 controls personal information to avoid switching the driving control right and maintain the autonomous driving situation as much as possible when the current driving situation is a busy commute section.

Conversely, driver B, who prefers not to maintain lanes according to autonomous driving in a crowded section, and wants to change lanes frequently to change lanes to a less congested side, prefers a congested urban commute. Can be set to In this case, the processor 130 considers personal characteristic information, performs a driving control right switch, and maintains the driving mode of the driver.

According to an embodiment of the present invention, it is preferable to determine whether to switch control rights in consideration of personal characteristic information and status information of a driver obtained from a sensor or other device. That is, the processor 130 comprehensively considers the setting information for the driver's preference/weak condition and the status information of the driver currently driving to determine whether to switch the driving control right.

For example, according to the above-described setting of the driver B, even if the driver's driving mode is a desired situation, if it is determined that the driver is currently in a drowsy driving situation, autonomous driving is given by assigning a higher weight to the safety item than the driver's request compliance. It is possible to recommend/execute a take-over to the mode.

The processor 130 according to an embodiment of the present invention determines whether there is a vulnerable driving section in consideration of personal characteristic information on a route in consideration of destination information.

For example, the processor 130 determines whether a vulnerable driving section (congestion section) in consideration of personal characteristic information exists according to the input of the destination information of the driver A described above.

If the current driving situation is rainy at night, and it is determined that the stability of the driver A's vehicle driving in the autonomous driving mode using the sensing data is significantly deteriorated, it is expected that there is a high possibility that the driving control to the driver A will occur. Can.

In this case, the processor 130 needs to prepare for a situation in which a policy for avoiding the switching of the driving control right in consideration of personal characteristic information and an attempt to switch the driving control right in consideration of driving environment information conflict.

Even in the autonomous driving mode, a situation may arise inevitably to pass control to the driver due to the responsibility.

According to an embodiment of the present invention, the processor 130 provides a message in advance that a driving control switch may be generated for a vulnerable section when driving corresponding to a vulnerable condition set by an individual is expected as described above. , Re-search other paths (ie, alternative paths with as few driving vulnerable sections as possible) to provide the search results to the driver.

Subsequently, depending on the driver's choice, the driver may start driving on another re-discovered route, or refrain from switching the driving control when a specific situation occurs, but for the situation in which the driving control switching should be performed, the driver may prepare for the switching of the control right in advance. Make it possible.

In the case of the other route re-discovery described above, the processor 130 may consider the personal preference information by calling the existing route history information.

For example, as an alternative route from a specific starting point to a specific destination, it is assumed that routes a, b, and c exist, and the driving control right switching situation is not changed for the history of driving on route b under similar driving conditions (time zone, weather, etc.). When it is confirmed that it has not occurred, and when it is determined that the driving control right switching situation has occurred relatively frequently with respect to the history of driving on the route c under a similar driving situation, the processor 130 selects route b as an alternative route or the driver Recommended to.

According to an embodiment of the present invention, the processor 130 determines whether to switch the driving control right according to the weight with the personal characteristic information in consideration of the driving control right switching condition of another vehicle.

The processor 130 according to an embodiment of the present invention receives information on a section in which a control right conversion is frequently generated from a vehicle to a driver, and at a time when the current driving vehicle passes or is expected to pass the section, the control right You decide whether to switch.

The driver, by acquiring information on the driving control right switching bunch section in advance, such as an accident bunch section, can prepare for a response to the switching of the control right in advance.

That is, according to an exemplary embodiment of the present invention, it is determined whether to switch the driving control right in consideration of the personal information of the driver, but by considering whether the driving control right is switched by considering the accumulated driving information of the individual driver or the accumulated driving information of another driver. In addition, it supports stable control switching and subsequent driving when necessary in various driving environments.

The processor 130 according to an embodiment of the present invention determines whether to switch the driving control right in consideration of whether a vehicle is equipped with a function according to an autonomous driving level.

Each vehicle does not have the same functions for various autonomous driving functions such as lane departure prevention and emergency braking.

Accordingly, the processor 130 according to an embodiment of the present invention determines whether to switch the driving control right based on personal characteristics in consideration of whether the autonomous driving level is advanced and whether the function is mounted.

For example, in the case of car sharing, depending on whether the target vehicle is equipped with a function, the driver's weak section setting information may not be reflected as it is.

In this case, the processor 130 notifies the driver of the driving control right switching scenario in advance, thereby informing the driver that the control right switching may occur even in a situation set as a vulnerable section, searching for the alternative route described above, and switching the control right in a specific situation And so on.

The processor 130 according to the embodiment of the present invention determines whether to switch the driving control right according to the weight with the personal characteristic information in consideration of the occupant information.

According to an embodiment of the present invention, in determining whether to switch the driving control right based on the personal information of the driver, it is possible to determine whether to switch by further considering the occupant information.

For example, it is assumed that the driver C prefers the driver driving mode in the highway section, and has a driving history in which lane changes and speed limit frequently occur in order to shorten the driving time as much as possible.

At this time, in the case of a high-speed driving situation in which an infant is included as the occupant, the driving habit of the driver C is likely to cause inconvenience to the occupant.

In this case, the processor 130 considers the occupant information, and recommends a safe driving mode (eg, observing the regulated speed, preferably observing the lower lane, and avoiding the lane change) to the driver, so that the occupant information is considered as a factor of switching control. .

According to an embodiment of the present invention, the driving control right switching time point is determined in consideration of driving history information other than setting information.

For example, according to the setting of the driver D, the driving in the sunset time zone (5-6 pm) was set as a vulnerable condition, and in the sunset lane, the academy vehicle lined up before and after the pedestrian crossing on the rightmost lane to drive the stopped school road. Assume there is.

Considering driving history information, it can be confirmed that when a hagwon vehicle frequently enters a driving lane, a view is not secured by a student crossing between hagwan vehicles.

In other words, the section should be operated in the autonomous driving mode according to the vulnerable driving conditions, but in this case, it is not possible to instantaneously find and respond to the student crossing through the crosswalk through the pedestrian crossing through sensing or image analysis. There is a risk of collision.

In consideration of such a case, the processor 130 transfers the driving control right to the driver so that an immediate driver can cope with the vulnerable conditions, and notifies the driver of a scenario that needs to be dealt with.

From this, the driver can first recognize in advance the possibility of switching the driving control right according to the control right switching operation considering the current driving situation and the driving history information as well as personal characteristic information, and immediately perform the corresponding response. It is possible to reduce the possibility of accidents.

2 and 3 are flow charts illustrating a method for switching a driving control right based on personal characteristics according to an embodiment of the present invention.

Referring to FIG. 2, a method for switching a driving control right based on personal characteristics according to an embodiment of the present invention comprises the steps of receiving setting information (S210) and determining whether to switch the driving control right in consideration of personal characteristic information included in the setting information It is configured to include (S220).

According to an embodiment of the present invention, depending on the driver's setting, it is determined that it is a vulnerable situation in which the driver does not want to switch control rights by reflecting the characteristic information of the driver, rather than collectively switching control rights in various scenarios. In this case, there is a technical feature of maintaining an autonomous driving mode without switching control.

In step S210, setting information including at least one of road information, traffic information, weather information, and driving capability information is received.

The setting information received in step S210 is data input to reflect preferences and vulnerable conditions for each driver, and a process of setting vulnerable conditions to avoid a take-over from autonomous driving mode to driver driving mode to be.

In step S220, it is determined whether there is a vulnerable driving section on the route in consideration of the destination information and determines whether to switch the driving control right. At this time, if the stability of autonomous driving mode using the vehicle's sensing data is greatly deteriorated, there is a possibility that control control switching may occur even though it is set as a vulnerable section. Drive along an alternate route. In addition, according to the personal information of the driver according to the setting, it is possible to provide a personalized service that does not cause control switching to another driver even in a situation in which control switching can occur to one driver. In addition, depending on the location of responsibility, a situation in which control rights must be switched may occur. In this case, by notifying the driver in advance that the control rights may be changed (that is, control rights may be changed regardless of the setting). There is an effect of preparing a response).

In step S220, it is determined whether or not a driving vulnerable situation has occurred in consideration of personal characteristics information, and whether to switch driving control rights accordingly. At this time, if the driving environment information continuously changing at every time is continuously collected (in this case, it is possible to collect information through V2X), and if it is expected that a driving vulnerable situation taking into account personal characteristics information is expected to occur, alternative routes will be described as described above. Do not search or switch to driving control, and notify the driver in advance that a driving control switching may occur depending on the situation. As described above, the control right is not collectively generated according to the driving environment information monitoring result, and even if the control right is changed to one driver according to the personal characteristic information of the driver, the control right is not changed to the other driver. By controlling so as not to have, there is a feature that can provide a personalized service.

In step S220, whether to switch the driving control right according to the weight with the personal characteristic information is determined in consideration of the driving control right switching information received from another vehicle. For example, information on a section in which control switching is frequently generated is received, and when the current driving vehicle passes or is expected to pass the section, it is determined whether to switch control. At this time, despite the multiple control switching section, if it is desired to maintain the autonomous driving mode selection according to the driver's selection, it is possible not to perform control switching by assigning a larger weight to the personal characteristics. On the other hand, in the case of the control section switching control section, it is possible to perform control switching by assigning a greater weight to the current driving situation than the personal characteristics, considering that the driver needs immediate action, which is the driver's setting, that is, personal characteristic information It is set differently according to.

In step S220, it is determined whether to switch the driving control right in consideration of the function mounting information and personal characteristic information according to the autonomous driving level of the host vehicle. Each vehicle does not have the same functions for various autonomous driving functions such as lane departure prevention and emergency braking, and it is necessary to provide personalized service depending on whether or not to switch the driving control in the car sharing situation as well as in the own vehicle operation situation. According to an embodiment of the present invention, personal characteristics information is considered, and according to whether a target vehicle is equipped with a function, a case in which a driver's vulnerable section setting information is not reflected is notified in advance, and the aforementioned alternative route search and control right Avoid switching, switching control under certain circumstances, etc.

In step S220, it is determined whether to switch the driving control right in consideration of the occupant information and personal characteristic information. For example, it is assumed that a vehicle of a driver having a driving history in which a lane change and a speed limit frequently occurs in order to shorten the driving time as much as possible, in order to shorten the driving time in the highway section, it is assumed that an infant is included as a passenger. At this time, in the case of a high-speed road driving situation in which an infant is included as the occupant, the driving habit of the corresponding driver is likely to cause inconvenience to the occupant, and according to an embodiment of the present invention, the occupant information is considered, and the driver is safely driven By recommending a mode (e.g. observing regulated speed, observing sub-lanes as much as possible, avoiding lane changes), occupant information is considered as a factor for switching control.

In step S220, the driving control right switching time is determined in consideration of the setting information and the driving history information. For example, according to the driver's setting, the driving in the sunset time zone (5-6 pm) was set as a vulnerable condition, and the school vehicle was driving on the road in the rightmost lane lined up before and after the pedestrian crossing in the sunset time zone. Suppose Considering driving history information, it can be confirmed that when a hagwon vehicle frequently enters a driving lane, a view is not secured by a student crossing between hagwan vehicles. In other words, depending on the vulnerable driving conditions, the section must be operated in the autonomous driving mode, but there is no instantaneous discovery and response to students crossing through crosswalks through the pedestrian crossing through sensing vehicles or image analysis. There is a risk of occurrence. Alternatively, in the case where the above-described collision is a frequently occurring section, it is recommended that it is desirable to transfer the driving control right to the driver so that the driver can respond immediately despite the weak condition setting. From this, the driver can first recognize the possibility of the transfer of the control of the driving control in advance according to the control switching operation considering the current driving situation and the driving history information as well as the personal characteristic information, and immediately perform the corresponding response. By doing so, it is possible to reduce the possibility of accidents.

3 illustrates a method of switching control rights based on personal characteristics according to an embodiment of the present invention.

The step S310 is a step of receiving input of setting information for a driver's preference/vulnerability section, and receives personal property information including at least one of road information, traffic information, weather information, and driving capability information as setting information.

In step S320, the destination information is received, and the destination address or name is received.

Step S330 is a step of checking the driving situation, and according to the destination information received in step S320, it is determined whether a vulnerable section exists on the driving route. In addition, the current driving environment is sensed or traffic condition information is received through V2X communication to check whether a vulnerable section exists.

Step S340 is a step of determining whether a current driving situation or a driving situation to be generated is a vulnerable section, and whether a vulnerable section exists on a driving path or a vulnerable section exists as a result of sensing the driving environment.

If it is determined in step S340 that it is not a vulnerable section, the process returns to step S330 to continuously check the driving situation, and if it is determined to be a vulnerable section in step S340, a step S350 of determining whether to search for a route or switch control rights is performed.

According to an embodiment of the present invention, in order to minimize the switching of the driving control right, the driving route is changed in advance in step S350, and the driving control right is switched from the autonomous driving priority mode to the driver priority mode in consideration of setting information (personal characteristic information). The basic operating mode is to maintain the autonomous driving priority mode.

The preferred situation for each driver and the situation to be avoided may be different, and such personal characteristic information may be input as setting information in step S310, and additionally, the previously accumulated driving history information (not only the driver's driving history information) , It is also possible to derive using the driving history information of other drivers).

That is, according to the input of the setting information of each driver, the determination of whether to switch the driving control right may be different, so there is an effect of providing a personalized service, which is not simply dependent on the input of the setting information, but the current driver It is possible to determine whether or not to switch the driving control right by comprehensively considering the state information, the driving history information up to the previous time, and the occupant information.

On the other hand, the method for converting a driving control right based on personal characteristics 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 non-volatile storage media. For example, the memory may include ROM and RAM.

Accordingly, the method for switching the driving control right based on personal characteristics according to an embodiment of the present invention may be implemented in a method executable in a computer. When the method for converting a driving control right based on personal characteristics according to an embodiment of the present invention is performed on a computer device, instructions readable by a computer may perform the driving control right switching method according to the present invention.

On the other hand, the above-described personal property-based driving control switching method 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 the embodiments of the present invention. Those skilled in the art to which the present invention pertains will understand that the present invention can 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.

100: input 120: memory
130: processor

Claims (17)

An input unit for receiving setting information;
A memory in which an operation control right switching program according to the setting information is embedded; And
It includes a processor for executing the program,
The processor determines the timing of switching the driving control right in consideration of personal characteristic information included in the setting information.
Personal property-based driving control switching device.
According to claim 1,
The input unit receives the personal property information including at least one of road information, traffic information, weather information, and driving capability information as the setting information.
Personal property-based driving control switching device.
According to claim 1,
The processor, in consideration of destination information, determines whether there is a vulnerable driving section in consideration of the personal characteristic information on the route
Personal property-based driving control switching device.
According to claim 3,
The processor provides an alarm as to whether or not the driving control right is switched for the vulnerable driving section, and searches for another route or performs a driving control right switching.
Personal property-based driving control switching device.
According to claim 4,
The processor considers preference information for an existing route when searching for the other route.
Personal property-based driving control switching device.
According to claim 1,
The processor determines whether to switch the driving control right according to the weight with the personal property information in consideration of the conditions for switching the driving control right of another vehicle.
Personal property-based driving control switching device.
According to claim 1,
The processor determines whether to switch the driving control right in consideration of whether the vehicle is equipped with a function according to the autonomous driving level.
Personal property-based driving control switching device.
According to claim 1,
The processor determines whether to switch the driving control right according to the weight with the personal characteristic information, in consideration of the occupant information
Personal property-based driving control switching device.
According to claim 1,
The processor considers driving history information other than the setting information as the personal characteristic information, and determines a driving control right switching point
Personal property-based driving control switching device.
(a) receiving setting information; And
(b) determining whether to switch the driving control right in consideration of personal characteristic information included in the setting information
Personal characteristics based driving control method comprising a.
The method of claim 10,
In step (a), receiving the setting information including at least one of road information, traffic information, weather information, and driving capability information
A personal personality-based driving control method.
The method of claim 10,
In step (b), determining whether there is a vulnerable driving section on the route in consideration of destination information and determining whether to switch the driving control right
A personal personality-based driving control method.
The method of claim 10,
The step (b) is to determine whether or not a driving vulnerable situation taking into account the personal characteristic information in consideration of driving environment information and to determine whether to switch driving control rights accordingly.
A personal personality-based driving control method.
The method of claim 10,
In step (b), it is determined whether to switch the driving control right according to the weight with the personal property information in consideration of the driving control right switching information received from another vehicle.
A personal personality-based driving control method.
The method of claim 10,
In step (b), it is determined whether to switch the driving control right in consideration of the function mounting information and the personal characteristic information according to the autonomous driving level of the host vehicle
A personal personality-based driving control method.
The method of claim 10,
In step (b), determining whether to switch the driving control right in consideration of the occupant information and the personal characteristic information
A personal personality-based driving control method.
The method of claim 10,
The step (b) is to determine a point of time when the driving control right is switched in consideration of the setting information and the driving history information.
A personal personality-based driving control method.

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