KR20210008980A - Apparutus and method for controlling mode of hybrid vehicle - Google Patents

Abstract

The present invention relates to an apparatus for controlling a mode of a hybrid vehicle, and a method thereof. According to the present invention, the apparatus for controlling a mode of a hybrid vehicle comprises: a sensor unit which detects the state of the vehicle and information on a surrounding state of the vehicle; a mode determination unit configured to determine any one of a first shift mode based on a regenerative braking system or a second shift mode based on a driver input by combining the detected state of the vehicle and the information on the surrounding state of the vehicle; and a shift control unit which performs shift control based on the determined operation mode.

Description

Mode control device and method of hybrid vehicle {APPARUTUS AND METHOD FOR CONTROLLING MODE OF HYBRID VEHICLE}

The present invention relates to an apparatus and method for controlling a mode of a hybrid vehicle.

General gasoline vehicles employ a manual shift function that performs shifting according to the driver's choice. On the other hand, the hybrid vehicle employs an automatic shifting function using a regenerative braking system. Such a hybrid vehicle has an effect of improving fuel economy by performing an automatic shift function by a regenerative braking system.

In addition to the automatic shifting function by the regenerative braking system, the hybrid vehicle is equipped with functions that control shifting by the driver's selection, such as manual mode and sport mode.

In the case of a hybrid vehicle, when shifting from the regenerative braking mode to the manual mode or the sports mode, the automatic shifting function by the regenerative braking system is not provided. Accordingly, the driver can instantly feel a high sense of acceleration when operating in the manual mode or the sports mode of the hybrid vehicle.

However, when operating in the manual mode or the sports mode, the effect of improving fuel economy by regenerative braking cannot be brought about. In addition, after entering the sports mode in the hybrid vehicle, the re-entry to the regenerative braking mode is possible only after entering the manual mode, so there is a hassle during mode switching.

It is an object of the present invention to perform shift control by automatically selecting a regenerative braking mode or a manual mode according to a vehicle state or a surrounding situation in an offense driving situation of a hybrid vehicle, thereby facilitating mode switching between regenerative braking mode and manual mode, It is to provide an apparatus and method for controlling a mode of a hybrid vehicle.

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

In order to achieve the above object, a mode control apparatus of a hybrid vehicle according to an embodiment of the present invention includes a sensor unit configured to detect vehicle state and surrounding state information of the vehicle, the detected state of the vehicle, and the surrounding area of the vehicle. A mode determination unit that determines any one of a first shift mode based on a regenerative braking system or a second shift mode based on a driver input by combining state information, and a shift that performs shift control based on the determined operation mode It characterized in that it comprises a control unit.

The first shift mode is a regenerative braking mode, and the second shift mode is a manual mode.

The sensor unit includes a first sensor detecting an excel operation state of the vehicle, a second sensor detecting a brake operation state of a preceding vehicle, a third sensor detecting a distance between the vehicle and the preceding vehicle, and a side vehicle located in the side direction of the vehicle. It characterized in that it comprises a fourth sensor for detecting.

The mode determining unit determines whether the brake of the preceding vehicle is operated as a first condition, determines whether a distance between the vehicle and the preceding vehicle is less than a reference distance as a second condition, and as a third condition, the left side of the vehicle and/or Alternatively, it is characterized in that it is determined whether there is a side vehicle in the lateral direction on the right side, and as a fourth condition, it is determined whether the Excel has been operated by the driver.

The mode determination unit may determine that the brake of the preceding vehicle is operated when a red brake or the like is detected from the image of the preceding vehicle obtained from the photographed image in front of the vehicle.

When the first condition, the second condition, and the third condition are satisfied, the mode determination unit determines an operation mode as a first shift mode.

The mode determining unit may determine an operation mode as a first shift mode when the first and second conditions are satisfied and the third and fourth conditions are not satisfied.

The mode determining unit may determine an operation mode as a second shift mode when the first condition, the second condition, and the fourth condition are satisfied, and the third condition is not satisfied.

The mode determination unit may determine an operation mode as a first shift mode when the first condition or the second condition is not satisfied and the third condition is satisfied.

The mode determination unit may determine an operation mode as a second shift mode if the first condition or the second condition is not satisfied and the third condition is not satisfied.

In addition, a method for controlling a mode of a hybrid vehicle according to an embodiment of the present invention for achieving the above object includes the steps of detecting information on a state of the vehicle and surrounding state of the vehicle, the detected state of the vehicle, and Determining any one of the first shift mode based on the regenerative braking system or the second shift mode based on the driver input by combining the surrounding state information, and performing shift control based on the determined operation mode. It characterized in that it includes.

According to the present invention, there is an effect that it is easy to switch between the regenerative braking mode and the manual mode by performing shift control by automatically selecting a regenerative braking mode or a manual mode according to the vehicle state or surrounding conditions in the offense driving situation of the hybrid vehicle. .

In addition, according to the present invention, by automatically switching the operation mode between the regenerative braking mode and the manual mode according to the situation, there is an effect of satisfying both the fuel economy improvement effect in the regenerative braking mode and the acceleration feeling in the manual mode.

1 is a diagram showing the configuration of a mode control apparatus for a hybrid vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an embodiment referenced for describing an operation of a mode control apparatus of a hybrid vehicle according to an embodiment of the present invention.
3 is a diagram illustrating an operation flow for a mode control method of a hybrid vehicle according to an embodiment of the present invention.
4 is a diagram illustrating a computing system in which a method according to an embodiment of the present invention is executed.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function obstructs an understanding of the embodiment of the present invention, a detailed description thereof will be omitted.

In describing the constituent elements of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Regarding the mode control apparatus and method of the hybrid vehicle of the present invention, the hybrid vehicle described in the present invention includes a hybrid electric vehicle (HEV) and a plug-in hybrid electric vehicle (PHEV). Can be.

1 is a diagram showing the configuration of a mode control apparatus for a hybrid vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the mode control apparatus of a hybrid vehicle includes a control unit 110, an interface unit 120, a sensor unit 130, a communication unit 140, a storage unit 150, a mode determination unit 160, and a shift control unit. It may include 170.

Here, the control unit 110, the mode determination unit 160, and the shift control unit 170 of the mode control apparatus of the hybrid vehicle may be implemented as at least one or more processors. In this case, the control unit 110 may be implemented in a form including the mode determination unit 160 and the shift control unit 170.

The controller 110 may process signals transmitted between components of the mode control device of the hybrid vehicle.

The interface unit 120 may include an input means for receiving a control command from a user and an output means for outputting an operation state and a result of the device.

Here, the input means may include a key button, and may include a mouse, a joystick, a jog shuttle, a stylus pen, and the like. Further, the input means may include a soft key implemented on the display.

The output means may include a display, and may include an audio output means such as a speaker. In this case, when a touch sensor such as a touch film, a touch sheet, or a touch pad is provided in the display, the display operates as a touch screen, and the input means and the output means may be integrated.

At this time, the display is a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. , It may include at least one of a field emission display (FED) and a 3D display.

The sensor unit 130 may include one or more first sensors for detecting vehicle state information. For example, the first sensor may correspond to an accelerator position sensor (APS), a brake pedal sensor (BPS), and the like.

In addition, the sensor unit 130 may further include a second sensor for photographing a front image of the vehicle. As an example, the second sensor may correspond to a camera of a drive video record system (DVRS), and may correspond to a separate camera installed in front of the vehicle.

In addition, the sensor unit 130 may further include one or more third sensors that detect an obstacle located around a vehicle in front, for example, a preceding vehicle, and measure a distance and/or a relative speed of the obstacle. For example, the third sensor may correspond to a radar (RADAR), an ultrasonic sensor, or the like.

In addition, the sensor unit 130 may further include a fourth sensor that detects an obstacle in the lateral direction of the vehicle. As an example, the fourth sensor may correspond to a blind spot detection system (BSD).

The communication unit 140 may include a communication module that supports a communication interface with electronic equipment and/or control units provided in the vehicle. As an example, the communication module may receive information detected from sensors provided in the vehicle. In addition, the communication module may receive predetermined information from a system for detecting a vehicle condition and/or an obstacle located around the vehicle.

Here, the vehicle network communication technology may include controller area network (CAN) communication, local interconnect network (LIN) communication, and flex-ray communication.

In addition, the communication unit 140 may include a communication module for wireless Internet access or short range communication.

Here, the wireless Internet technology may include a wireless LAN (WLAN), a wireless broadband (Wibro), a Wi-Fi, and a World Interoperability for Microwave Access (Wimax). In addition, short-range communication technologies may include Bluetooth, ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), and Infrared Data Association (IrDA).

The storage unit 150 may store data and/or algorithms required to operate the mode control device of the hybrid vehicle.

As an example, the storage unit 150 includes a command and/or algorithm for selecting either a regenerative braking mode or a manual mode based on one or more information detected by the sensor unit 130 and/or an in-vehicle detection system. Can be saved. In addition, the storage unit 150 may store commands and/or algorithms for performing shift control based on the selected mode.

Here, the storage unit 150 includes a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), and an electrically erasable programmable read-only memory (EEPROM). It may include a storage medium such as.

The mode determination unit 160 combines the information collected by the sensor unit 130 to determine any one of the first shift mode based on the regenerative braking system or the second shift mode based on the driver input. Hereinafter, the first shift mode will be described as a regenerative braking mode, and the second shift mode will be described as a manual mode.

The mode determining unit 160 determines the operation mode based on the brake operation state of the preceding vehicle, the distance between the vehicle and the preceding vehicle, the presence of the side vehicle located in the side direction of the vehicle, and/or whether the vehicle is operated with an excel. Can be decided in manual mode. In this case, the mode determination unit 160 may collect information detected from sensors through the communication unit 140 and determine an operation mode using the collected information.

The mode determination unit 160 determines whether the brake of the preceding vehicle is operated as the first condition.

Here, the mode determination unit 160 may determine a brake operation state of the preceding vehicle from an image of the preceding vehicle acquired by a camera photographing the front of the vehicle. For example, when a red brake light of the preceding vehicle is detected from an image photographed in front of the vehicle, the mode determination unit 160 may determine that the brake of the preceding vehicle has been operated.

In addition, as a second condition, the mode determination unit 160 determines whether the distance between the vehicle and the preceding vehicle is less than the reference distance.

For example, the mode determination unit 160 may determine the distance between the vehicle and the preceding vehicle using distance information detected by a sensor such as a radar (RADAR). The reference distance may be a value set in advance and stored in the storage unit 150.

As a third condition, the mode determination unit 160 determines whether a side vehicle exists in the left and/or right side of the vehicle.

For example, the mode determination unit 160 may determine whether a side vehicle exists using obstacle information detected by the vehicle's rear side warning system (BSD) or the like.

As a fourth condition, the mode determination unit 160 determines whether the Excel has been operated by the driver.

As an example, the mode determination unit 160 may determine whether an Excel has been manipulated using information detected from the Excel position sensor APS.

The mode determiner 160 may determine a regenerative braking mode or a manual mode as an operation mode based on the determination result of the first to fourth conditions.

As a first embodiment, the mode determination unit 160 may determine the operation mode as the regenerative braking mode when the first condition, the second condition, and the third condition are satisfied.

In other words, when it is determined that the brake of the preceding vehicle is operated, the distance between the vehicle and the preceding vehicle is less than the reference distance, and the lateral vehicle is present in the lateral direction of the vehicle, the operation mode is set to the regenerative braking mode. Can be determined by

When the first condition, the second condition, and the third condition are satisfied, the mode determination unit 160 may determine that the driver does not want to intervene in the operation if the Excel is not manipulated, and thus determine the operation mode as the regeneration provision mode.

However, even when the Excel is operated while satisfying the first condition, the second condition, and the third condition, the mode determination unit 160 selects the operation mode because there is a possibility of a collision between the vehicle and the preceding vehicle and/or the side vehicle. It can be decided by regenerative braking mode.

As a second embodiment, the mode determination unit 160 may determine the operation mode as the regenerative braking mode when the first condition and the second condition are satisfied, and the third condition and the fourth condition are not satisfied.

In other words, when it is determined that the brake of the preceding vehicle is operated and the distance between the vehicle and the preceding vehicle is less than the reference distance, and it is determined that there is no side vehicle in the side direction of the vehicle, the Excel operation state is checked. do. In this case, if the Excel is not manipulated, the mode determination unit 160 may determine the operation mode as the regenerative braking mode.

As a third embodiment, the mode determination unit 160 may determine the operation mode as the manual mode when the first condition, the second condition, and the fourth condition are satisfied, and the third condition is not satisfied.

In other words, when it is determined that the brake of the preceding vehicle is operated and the distance between the vehicle and the preceding vehicle is less than the reference distance, and it is determined that there is no side vehicle in the side direction of the vehicle, the Excel operation state is checked. do. At this time, if it is confirmed that the Excel has been manipulated, the mode determination unit 160 may determine the operation mode as the manual mode.

As a fourth embodiment, when the first condition or the second condition is not satisfied and the third condition is satisfied, the mode determiner 160 may determine the operation mode as the regenerative braking mode.

In other words, when the brake of the preceding vehicle is not operated or the distance between the vehicle and the preceding vehicle is greater than or equal to the reference distance, the mode determining unit 160 checks whether a side vehicle exists in the side direction of the vehicle. In this case, if there is a side vehicle, there may be a risk of a collision between the vehicle and the side vehicle, so the mode determination unit 160 may determine the operation mode as the regenerative braking mode.

As a fifth embodiment, when the first condition or the second condition is not satisfied, and the third condition is not satisfied, the mode determination unit 160 may determine the operation mode as the manual mode.

In other words, when the brake of the preceding vehicle is not operated or the distance between the vehicle and the preceding vehicle is greater than or equal to the reference distance, the mode determining unit 160 checks whether a side vehicle exists in the side direction of the vehicle. At this time, if the side vehicle does not exist. The mode determination unit 160 may determine the operation mode as a manual mode.

When the operation mode is determined by the operation of the first to fifth embodiments, the mode determination unit 160 transmits information on the determined operation mode to the shift control unit 170.

In this case, the shift control unit 170 performs shift control of the vehicle based on the operation mode information received from the mode determination unit 160. Here, the shift control unit 170 may be implemented as a transmission control unit (TCU).

The mode control apparatus for a hybrid vehicle according to the present invention may be implemented inside the vehicle. In this case, the mode control device of the hybrid vehicle may be integrally formed with the internal control units of the vehicle, and may be implemented as a separate device to be connected to the control units of the vehicle by a separate connection means.

FIG. 2 is a diagram illustrating an embodiment referenced for describing an operation of a mode control apparatus of a hybrid vehicle according to an embodiment of the present invention.

As shown in FIG. 2, the mode determination unit 160 determines either the regenerative braking mode or the manual mode by combining the information collected by the sensor unit 130.

Here, the mode determination unit 160 is the first sensor information 211, and may collect information on the Excel operation state from the Excel position sensor APS.

In addition, the mode determination unit 160 may collect an image of a vehicle in front from the front camera as the second sensor information 213.

In addition, the mode determination unit 160 may collect distance information between the vehicle and the preceding vehicle from the radar (RADAR) as the third sensor information 215.

In addition, the mode determination unit 160 may collect detection information of the side vehicle from the rear side warning system BSD as the fourth sensor information 217.

Accordingly, the mode determination unit 160 determines either the regenerative braking mode or the manual mode by combining the information collected through operations 211 to 217, and transmits information on the determined operation mode to the shift control unit 170. Deliver.

Accordingly, the shift control unit 170 performs shift control based on the operation mode determined by the mode determination unit 160.

The mode control apparatus of the hybrid vehicle according to the present embodiment operating as described above may be implemented in the form of an independent hardware device including a memory and a processor for processing each operation, and other hardware such as a microprocessor or a general-purpose computer system. It can be driven in the form included in the device.

3 is a diagram illustrating an operation flow of a method for controlling a mode of a hybrid vehicle according to an embodiment of the present invention.

Referring to FIG. 3, when the driving of the vehicle starts, the mode control apparatus of the hybrid vehicle collects state information of the vehicle and/or information about the surrounding situation (S110).

In the'S110' process, the mode control device of the hybrid vehicle displays information such as the brake operation status of the preceding vehicle, the distance between the vehicle and the preceding vehicle, the presence of the side vehicle located in the side direction of the vehicle, and/or whether the vehicle is operated with Excel. Can be collected.

Thereafter, the mode control apparatus of the hybrid vehicle determines an operation mode by combining the information collected in the process'S110'.

At this time, the mode control device of the hybrid vehicle is in a state in which the brake of the preceding vehicle is ON (S120), the distance between the vehicle and the preceding vehicle is less than the reference distance (S130), and there is a side vehicle in the side direction of the vehicle. If it is confirmed that the operation mode is determined (S140), the operation mode is determined as the regenerative braking mode (S170).

In the process'S140', when there is no side vehicle in the side direction of the vehicle, the mode control device of the hybrid vehicle determines that the Excel has not been operated by the driver (S150), and determines the operation mode as the regenerative braking mode ( S170).

On the other hand, if it is confirmed that the Excel has been manipulated by the driver in the process'S150', the mode control device of the hybrid vehicle determines the operation mode as the manual mode (S180).

In addition, when it is confirmed that the brake of the preceding vehicle has not been operated in the process'S120' or the distance between the vehicle and the preceding vehicle is more than the reference distance in the process'S130', the vehicle It is determined whether there is a side vehicle in the lateral direction of (S160).

If it is determined that the side vehicle is present in the process'S160', the mode control apparatus of the hybrid vehicle determines the operation mode as the regenerative braking mode (S170). On the other hand, if it is determined that the side vehicle does not exist in the process'S160', the mode control device of the hybrid vehicle determines the operation mode as the manual mode (S180).

The mode control apparatus of the hybrid vehicle performs shift control based on the operation mode determined in the process'S170' or'S180' (S190).

In this case, the processes'S110' to'S190' may be repeatedly performed until there is a separate end command or until the driving of the vehicle is finished.

4 is a diagram illustrating a computing system in which a method according to an embodiment of the present invention is executed. Referring to FIG. 4, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage connected through a bus 1200. (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) 1310 and a random access memory (RAM) 1320.

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware, software modules, or a combination of the two executed by the processor 1100. Software modules reside in storage media (i.e., memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM. You may. An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

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

110: control unit 120: interface unit
130: sensor unit 140: communication unit
150: storage unit 160: mode determination unit
170: shift control section

Claims (20)

A sensor unit detecting information on a state of the vehicle and surrounding state of the vehicle;
A mode determining unit configured to determine any one of a first shift mode based on a regenerative braking system or a second shift mode based on a driver input by combining the detected state of the vehicle and the surrounding state information of the vehicle; And
A shift control unit that performs shift control based on the determined operation mode
Mode control apparatus of a hybrid vehicle comprising a. The method according to claim 1,
The first shift mode is a regenerative braking mode,
The second shift mode is a mode control apparatus for a hybrid vehicle, wherein the second shift mode is a manual mode. The method according to claim 1,
The sensor unit,
A first sensor that detects the excel operation state of the vehicle, a second sensor that detects the brake operation state of the preceding vehicle, a third sensor that detects the distance between the vehicle and the preceding vehicle, and a second sensor that detects the side vehicle located in the side direction of the vehicle. Mode control apparatus of a hybrid vehicle, characterized in that it comprises 4 sensors. The method of claim 3,
The mode determination unit,
As a first condition, it is determined whether the brake of the preceding vehicle is operated, as a second condition, it is determined whether the distance between the vehicle and the preceding vehicle is less than the reference distance, and as a third condition, the side direction of the left and/or right of the vehicle A mode control device for a hybrid vehicle, characterized in that it is determined whether or not a vehicle on the side of the vehicle exists, and determining whether an excel has been operated by a driver as a fourth condition. The method of claim 4,
The mode determination unit,
When a red brake light is detected from an image of a preceding vehicle acquired from a photographed image in front of the vehicle, it is determined that the brake of the preceding vehicle is operated. The method of claim 4,
The mode determination unit,
When the first condition, the second condition, and the third condition are satisfied, the operation mode is determined as the first shift mode. The method of claim 4,
The mode determination unit,
When the first condition and the second condition are satisfied and the third condition and the fourth condition are not satisfied, an operation mode is determined as a first shift mode. The method of claim 4,
The mode determination unit,
When the first condition, the second condition, and the fourth condition are satisfied and the third condition is not satisfied, an operation mode is determined as a second shift mode. The method of claim 4,
The mode determination unit,
When the first condition or the second condition is not satisfied and the third condition is satisfied, an operation mode is determined as a first shift mode. The method of claim 4,
The mode determination unit,
If the first condition or the second condition is not satisfied and the third condition is not satisfied, an operation mode is determined as a second shift mode. Detecting information on a state of the vehicle and surrounding state of the vehicle;
Determining any one of a first shift mode based on a regenerative braking system or a second shift mode based on a driver input by combining the detected state of the vehicle and the surrounding state information of the vehicle; And
Performing shift control based on the determined operation mode
Mode control method of a hybrid vehicle comprising a. The method of claim 11,
The first shift mode is a regenerative braking mode,
The second shift mode is a mode control method for a hybrid vehicle, characterized in that the manual mode. The method of claim 11,
The detecting step,
Detecting an Excel operation state of the vehicle by the first sensor;
Detecting a brake operation state of the preceding vehicle by a second sensor;
Detecting a distance between the vehicle and the preceding vehicle by a third sensor; And
A method for controlling a mode of a hybrid vehicle, comprising the step of detecting a side vehicle located in a side direction of the vehicle by a fourth sensor. The method of claim 13,
The step of determining the operation mode,
Determining whether the brake of the preceding vehicle is operated as a first condition:
Determining whether a distance between the vehicle and the preceding vehicle is less than a reference distance as a second condition;
Determining whether a side vehicle is present in the left and/or right side direction of the vehicle as a third condition; And
As a fourth condition, a method for controlling a mode of a hybrid vehicle comprising the step of determining whether an Excel has been operated by a driver. The method of claim 14,
The step of determining the operation mode,
When a red brake light is detected from an image of a preceding vehicle obtained from a photographed image in front of the vehicle, it is determined that the brake of the preceding vehicle is operated. The method of claim 14,
The step of determining the operation mode,
And determining an operation mode as a first shift mode when the first condition, the second condition and the third condition are satisfied. The method of claim 14,
The step of determining the operation mode,
And determining an operation mode as a first shift mode when the first condition and the second condition are satisfied and the third condition and the fourth condition are not satisfied. The method of claim 14,
The step of determining the operation mode,
And determining an operation mode as a second shift mode when the first condition, the second condition, and the fourth condition are satisfied and the third condition is not satisfied. The method of claim 14,
The step of determining the operation mode,
And determining an operation mode as a first shift mode when the first condition or the second condition is not satisfied and the third condition is satisfied. The method of claim 14,
The step of determining the operation mode,
And determining an operation mode as a second shift mode if the first condition or the second condition is not satisfied and the third condition is not satisfied.

Images