KR20210073705A - Vehicle control system according to failure of autonomous driving vehicle and method thereof - Google Patents

Abstract

The present invention relates to a vehicle control system according to a failure of an autonomous vehicle and a method thereof. According to the present invention, if a malfunction occurs in a main controller while driving in an autonomous mode in a fully autonomous vehicle without a steering or braking system inside the vehicle, through a backup controller which performs the same function as the main controller, the vehicle can continue to drive in the autonomous mode, thereby ensuring vehicle safety. In addition, if the failure occurs in the backup controller while driving in the autonomous mode through the backup controller, safety of the vehicle can be secured by forcible control by a driver. Accordingly, it is possible to secure psychological stability of the driver for the autonomous vehicle. The vehicle control system according to the failure of the autonomous vehicle of the present invention comprises: a vehicle sensor unit; a vehicle control unit; a manual control unit; and a vehicle driving unit.

Description

VEHICLE CONTROL SYSTEM ACCORDING TO FAILURE OF AUTONOMOUS DRIVING VEHICLE AND METHOD THEREOF

The present invention relates to a vehicle control system and method according to a failure of an autonomous vehicle, and more particularly, to a vehicle control system and method according to a failure of an autonomous vehicle that can provide a step-by-step backup solution for a failure situation during driving of a fully autonomous vehicle It relates to a vehicle control system and method.

In classifying the stages of vehicle automation, it is divided into 0 to 5 stages.

Stage 0 is a fully manual driving stage in which the driver performs driving, and stages 1 to 3 are partially autonomous driving stages, where the vehicle supports some autonomous driving functions, but the driver performs driving in cooperation with the vehicle . In addition, steps 4 to 5 are fully autonomous driving stages in which the vehicle autonomously drives and the driver is not directly involved in driving in general or all situations, not special situations.

Most of the autonomous vehicles currently being developed are equipped with a steering system and a braking system like existing vehicles. This is to allow the driver to take over control at any time and perform driving in manual mode when an unexpected situation or a difficult situation occurs while driving. Therefore, even if the vehicle is autonomously driving in the autonomous driving mode, the driver must take a posture such as sitting in the driver's seat and observing the road conditions.

Therefore, in the autonomous driving situation of the vehicle, it notifies the driver whether the vehicle is normally performing the autonomous driving function well, thereby increasing the driver's psychological stability and performing a function that can cope well when the driving needs to be switched to the manual mode. It is desirable to be implemented so that

On the other hand, in the case of a vehicle that is an autonomous driving vehicle corresponding to stages 4 to 5 of the automation stage of the vehicle and does not have a steering system and a braking system inside the vehicle, that is, the driver cannot directly participate in driving, the autonomous driving vehicle and the driver There is no transfer of control between them. Therefore, since a fully autonomous vehicle does not have the concept of a driver itself, a method for dealing with a failure while driving is required.

Korean Patent Laid-Open Publication No. 10-2019-0124122

In an embodiment of the present invention, if a failure occurs in the main controller while a fully autonomous vehicle without a steering device and a braking device inside the vehicle is driven in autonomous mode, the vehicle continues in autonomous mode through a backup controller that performs the same function as the main controller. It is possible to secure vehicle safety by allowing the vehicle to be driven, and if the backup controller fails while driving in autonomous mode through the backup controller, the safety of the vehicle can be secured through forced control by the driver, thereby providing safety to the autonomous vehicle. The purpose of this study is to provide a vehicle control system and method according to the failure of an autonomous vehicle that can secure the psychological stability of drivers.

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

A vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention includes a vehicle sensor unit having a plurality of sensors that provide information on the exterior and interior of the vehicle necessary for the autonomous vehicle to drive in an autonomous mode; It receives information from one or more sensors constituting the vehicle sensor unit and controls the autonomous vehicle to drive in autonomous mode through the main control unit. When a failure of the main control unit is detected while driving in the autonomous mode, autonomous mode is performed through the backup control unit. a vehicle control unit that controls the vehicle to drive as a system, and when a failure of the backup control unit is detected, stops autonomous driving and outputs a signal to switch to the manual control unit, and receives a switching signal from the vehicle control unit to control the autonomous vehicle in manual mode It may include a manual control unit and a vehicle driving unit that operates the autonomous vehicle in an autonomous mode according to the main control unit or the backup control unit, or operates the autonomous vehicle in a manual mode according to the manual control unit.

In an embodiment, the vehicle control unit may control the autonomous vehicle to drive in an autonomous mode by receiving information through another sensor performing a similar function when any one sensor constituting the vehicle sensor unit fails. have.

In an embodiment, the vehicle control unit may output a warning sound and a warning display to an output unit provided in the autonomous vehicle when detecting a failure of the main control unit and the backup control unit.

In an embodiment, the vehicle controller may perform a failure recognition process and a failure level determination process, respectively, in order to detect failures of the main controller and the backup controller.

In an embodiment, the failure level includes a safety level in which a failure is not detected and safe autonomous driving is possible, a warning level in which failure detection is notified to the output unit after failure detection, and autonomous driving is no longer possible after the warning level An emergency level in which the output unit notifies the recommendation of switching to manual control when it is determined that the emergency level is in a state of notifying the output unit to emergency stop the autonomous vehicle when the manual control is not switched to after the emergency level may include.

In an embodiment, the vehicle controller may output a signal for switching to the manual controller after the emergency stop level.

In one embodiment, the manual control unit may include a handle inside the autonomous vehicle, and may be configured by mechanically connecting wires to the left and rear left wheels of the handle and the right and rear right wheels of the handle, respectively. have.

In a vehicle control method according to a failure of an autonomous vehicle according to another embodiment of the present invention, information necessary for driving in an autonomous mode is provided from a vehicle sensor unit having a plurality of sensors that provide information about the exterior and interior of the vehicle. The first step of controlling the autonomous vehicle to drive in autonomous mode through the main control unit, the second step of controlling the autonomous driving vehicle to drive in autonomous mode through the backup control unit when a failure of the main control unit is detected while driving in the autonomous mode, the second step After step 2, if a failure of the backup control unit is detected while driving in autonomous mode, the third step of stopping autonomous driving and outputting a switch signal to the manual control unit, and after the third step, the autonomous driving vehicle is operated in manual mode through the manual control unit A fourth step of controlling may be included.

In an embodiment, the second step or the third step includes, when one sensor fails, receiving information through another sensor performing a similar function and controlling the autonomous vehicle to drive in an autonomous mode may include.

In an embodiment, the second step or the third step may include outputting a warning sound and a warning display to an output unit provided in the autonomous vehicle when a failure of the main control unit and the backup control unit is detected. can

In an embodiment, the second step or the third step may include performing a failure recognition process and a failure level determination process, respectively, in order to detect failures of the main control unit and the backup control unit.

In an embodiment, the third step includes: the failure level determination process includes a safety level determination step in which a failure is not detected and safe autonomous driving is possible, and a warning level determination in a state in which the failure detection is notified to the output unit after failure detection an emergency level determination step in which the output unit notifies the recommendation to switch the control right to manual control when it is determined that autonomous driving is no longer possible after the warning level, and when the control right is not switched to manual control after the emergency level and an emergency stop level determination step in which an output unit informs an emergency stop of the autonomous vehicle.

In an embodiment, the third step may include switching to manual control after determining the emergency stop level.

With this technology, if a failure occurs in the main controller while a fully autonomous vehicle without steering and braking systems inside the vehicle is driven in autonomous mode, it can continue to drive in autonomous mode through a backup controller that performs the same function as the main controller. In this way, vehicle safety can be secured, and if the backup controller fails while driving in autonomous mode through the backup controller, it is possible to secure the safety of the vehicle through forced control by the driver. It has the effect of securing psychological stability.

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

1 is a block diagram illustrating a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention.
2 to 5 are block diagrams for explaining an operation process of a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention.
6 is a diagram illustrating a manual control unit constituting a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention.
7 and 8 are diagrams for explaining an operation process of a manual control unit constituting a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention.
9 is a flowchart illustrating a vehicle control method according to a failure of an autonomous vehicle according to an embodiment of the present invention.

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

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art 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 art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 8 .

1 is a block diagram illustrating a vehicle control system according to a failure of an autonomous driving vehicle according to an embodiment of the present invention, and FIGS. 2 to 5 are vehicle control according to a failure of an autonomous driving vehicle according to an embodiment of the present invention. It is a block diagram for explaining the operation process of the system, and FIG. 6 is a view showing a manual control unit constituting a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention, and FIGS. 7 and 8 are It is a diagram for explaining an operation process of a manual control unit constituting a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention.

First, the autonomous vehicle according to the present invention may be a fully autonomous vehicle of level 4 or higher without a steering device and a braking device inside the vehicle.

Referring to FIG. 1 , a vehicle control system according to a failure of an autonomous vehicle according to an embodiment of the present invention includes a vehicle sensor unit 110 , a vehicle control unit 130 , an output unit 150 , and a vehicle driving unit 170 . and a manual control unit 300 .

The vehicle sensor unit 110 may include a plurality of sensors that provide information on the exterior and interior of the vehicle necessary for the autonomous vehicle to drive in an autonomous mode, and a camera 113 for detecting an external environment. , a radar sensor 115, a lidar sensor, and the like, and may include a speed sensor, a yaw rate sensor, an acceleration sensor, and a torque sensor for detecting the state of the vehicle.

The vehicle driving unit 170 may operate the autonomous vehicle in an autonomous mode according to the main controller 133 or the backup control unit 135 , or may operate the autonomous vehicle in a manual mode according to the manual control unit 300 .

The vehicle control unit 130 may be an ECU (Electronic Control Unit) mounted on a vehicle, and may include a main control unit 133 and a backup control unit 135 .

The backup control unit 135 is configured in the same way as the main control unit 133 and can perform the same operation. Even if either the main control unit 133 or the backup control unit 135 fails, autonomous driving is performed with the other one. The vehicle can be controlled to drive in autonomous mode.

Referring to FIG. 2 , the vehicle control unit 130 may receive information from one or more sensors constituting the vehicle sensor unit 110 and control the autonomous vehicle to drive in an autonomous mode through the main control unit 133 . , the vehicle control unit 130 may monitor the vehicle state and driving situation when the autonomous driving vehicle is started and driving in the autonomous mode is started. Here, the vehicle state may include a software state and a hardware state related to the vehicle or autonomous driving function, such as whether the autonomous driving function operates normally and whether an error occurs, and the driving situation is whether the vehicle is traveling along a specified route; It may include the road and surrounding conditions recognized during autonomous mode driving, such as whether an obstacle exists on the road or an unexpected situation has occurred. The monitoring of the vehicle state and driving situation is continuously performed at a predetermined cycle while the vehicle is turned on or driving.

Referring to FIG. 3 , when any one of the sensors constituting the vehicle sensor unit 110 fails, the vehicle control unit 130 receives information through another sensor performing a similar function, and receives information through the main control unit 133 . It is possible to control the autonomous vehicle to drive in autonomous mode.

For example, when a temporary malfunction occurs because the camera 113 is obscured by fallen leaves, braking control to temporarily prevent a collision with a vehicle in front may be performed using a signal from the radar sensor 115 .

As an example of temporary failure, the sensor constituting the vehicle sensor unit 110 is temporarily unrecognizable due to rainwater, fallen leaves, backlight, etc., which may correspond to a temporary functional incomplete situation rather than an overall failure, and thus, rainwater, fallen leaves, etc. Normal operation may be possible if environmental problems such as lighting and backlighting are resolved. That is, when the temporary failure is resolved, the autonomous vehicle can run in the autonomous mode through the control of the main controller 133 .

Referring to FIG. 4 , when a failure occurs in the main controller 133 while the autonomous vehicle is driving in the autonomous mode through the main controller 133 , the vehicle controller 130 drives in the autonomous mode through the backup controller 135 . can be controlled to do so.

In addition, referring to FIG. 5 , the vehicle control unit 130 functions as a result of a malfunction of the sensor constituting the vehicle sensor unit 110 , and the main control unit 133 and the backup control unit 135 constituting the vehicle control unit 130 . When a permanent failure occurs, such as in a situation in which recovery is impossible or the overall system cannot function, a warning sound and a warning display may be output to the output unit 150 provided in the autonomous vehicle.

The output unit 150 is provided inside the autonomous vehicle and can be configured to output various types of information on the screen or in sound, and has a form that can output a notification that the driver can sensibly recognize, such as a display device. can be implemented

A permanent failure state is a state in which normal recovery is impossible. In this case, backup control cannot be performed, and it is the most dangerous situation.

In addition, the vehicle controller 130 may perform a failure recognition process and a failure level determination process, respectively, in order to detect failures of the main controller 133 and the backup controller 135 .

When the vehicle control unit 130 is recognized as a temporary failure or a permanent failure while driving in an autonomous mode, a safety level, a warning level, an emergency level, an emergency stop level ( Emergency Stop Level) can be judged in stages.

The safety level indicates a state in which safe autonomous driving is possible because no failure is detected as a result of the determination after recognizing the failure, and the warning level is the case where a failure is determined as a result of the determination according to the failure recognition, regardless of how dangerous the current situation is. It is a warning level that notifies the driver of the occurrence of a failure through the output unit 150, and is a step for recommending the control change to manual control.

The emergency level outputs a notification recommending switching to manual control to the output unit 150 when it is determined that autonomous mode driving is no longer possible after the warning level. This is the stage where conversion is encouraged.

The emergency stop level notifies the output unit 150 to emergency stop the autonomous vehicle when the manual control is not switched to the emergency level after the emergency level. This is a step that must be secured.

In addition, the failure level determination process may further include a sub determination process in which detailed determination is performed.

When a failure is detected through the failure recognition process through the vehicle controller 130 , it is possible to determine the existence of state information that can replace the malfunctioning sensor and the controller as the first sub-determination. In the first sub-determination, if the faulty information can be accurately obtained by replacing the faulty information using other environmental sensors, etc., even if it is not the same sensor or the same control unit, it may be determined that autonomous driving is possible as a replacement sensor and control unit.

Therefore, the first sub-determination determines the status information of the functional failure as a warning level if it can be measured and controlled by other sensors and control units, which corresponds to a temporary failure, and can be determined as an emergency level if there are no replacement sensors and replacement control units. .

If it is determined as the warning level in the first sub-determination, even in a situation where autonomous driving using an alternative system (sensor and control unit) is possible, a warning notification that selectively switches control to the driver is output to the output unit 150 as a faulty situation. can

In addition, if it is determined as the emergency level in the first sub determination, a strong warning for changing the control right is output to the output unit 150 to the driver, and the second sub determination is performed.

The second sub determination is a detailed determination performed when the emergency level is determined in the first sub determination, and the second sub determination is the final determination level for the failure of the autonomous vehicle.

That is, the second sub-determination is an emergency level situation, a situation in which a functional failure of the autonomous driving system has occurred, and a situation in which there is no hardware to replace the malfunctioning sensor and control unit, which corresponds to a permanent failure. Therefore, in a situation where autonomous driving is impossible, the control right must be transferred to the driver.

If it is determined in the second sub-determination that the control right has been transferred to the driver, it is determined as a safe level as driving according to manual control, and if the control right is not switched for a certain period of time, the output unit 150 determines the emergency stop level and emergency braking the vehicle ) to inform the driver. The manual control unit 300 may receive a control right switching signal from the vehicle control unit 130 after the emergency stop level according to the second sub determination to control the autonomous vehicle in a manual mode.

6 and 7 , the manual control unit 300 includes a handle 310 inside the autonomous vehicle, and controls the left and rear left wheels of the handle 310 and the right and rear right wheels of the handle 310 . Each may be configured by connecting the wires 330 in a mechanical manner.

Between the wire 330 and the rear wheel, a braking actuator for generating braking hydraulic pressure, and braking hydraulic pressure generated from the braking actuator are transmitted to generate braking force for restricting the rotation of the left and right wheels of the rear wheel. The wheel cylinder, the braking actuator, and the wheel It may be configured to include a hydraulic pressure supply line for supplying the brake hydraulic pressure generated by the brake actuator to each wheel cylinder by connecting the cylinders.

Therefore, when the manual control unit 300 pulls the handle with physical force without driving means such as a motor, the wire 330 connected to the left wheel of the rear wheel and the wire 330 connected to the right wheel of the rear wheel are simultaneously pulled while the left rear wheel is pulled. The speed of the autonomous vehicle can be reduced by generating a braking force to restrict rotation with the same force on the wheel and the right rear wheel.

In addition, if the manual control unit 300 pulls the handle and rotates it to the left, a stronger braking force is generated on the left rear wheel than on the right rear wheel, so that the autonomous vehicle can reduce the speed while turning left. Conversely, when the manual control unit 300 pulls the handle and rotates it to the right, a stronger braking force is generated on the right rear wheel than on the left rear wheel, so that the autonomous vehicle can reduce the speed while turning right.

Accordingly, when a notification is transmitted through the output unit 150 to determine the emergency stop level through the vehicle control unit 130 to emergency braking the autonomous vehicle, the driver pulls the handle 310 of the manual control unit 300 to autonomously The autonomous driving vehicle may be stopped by stopping the driving vehicle while gradually reducing the speed, or by gradually reducing the speed while turning the handle 310 to the left or right to turn left or right.

On the other hand, manual control can be operated by physical force by means of a mechanical wire, so even in a situation where the entire electronic control system cannot be operated because power is not supplied due to a malfunction of the autonomous vehicle, the driver can autonomously drive with physical force. You can control the vehicle.

Hereinafter, a method according to another embodiment of the present invention will be described in detail with reference to FIG. 9 . 9 is a flowchart illustrating a vehicle control method according to a failure of an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the vehicle control system according to the failure of the autonomous vehicle of FIG. 1 performs the process of FIG. 9 .

First, the autonomous vehicle receives information necessary for driving in the autonomous mode from the vehicle sensor unit 110 having a plurality of sensors that provide information on the outside and inside of the autonomous vehicle, and the autonomous vehicle becomes autonomous through the main controller 133 . Control to drive in mode (S110).

Then, when a failure of the main controller 133 is detected due to a temporary failure while driving in the autonomous mode (S120), the vehicle is controlled to drive in the autonomous mode through the backup controller 135 (S130).

Next, when the temporary failure is resolved (S140), the main controller 133 controls the vehicle to run in the autonomous mode, and if the temporary failure is not resolved, the backup controller 135 controls the vehicle to run in the autonomous mode. Maintain (S150).

Then, while driving in autonomous mode through the backup control unit 135, if a failure of the backup control unit 160 is detected due to a permanent failure (S160), the autonomous driving is stopped, and a switching signal is output to the manual control unit 300, and , control to stop the autonomous vehicle by reducing the speed in the manual mode through the manual control unit 300, or reducing the speed while turning left or right (S170).

According to the present invention as described above, when a failure occurs in the main controller while driving in the autonomous mode in a fully autonomous vehicle without a steering device and a braking device inside the vehicle, a backup controller performing the same function as the main controller is used. By allowing the vehicle to continue driving in autonomous mode, vehicle safety can be secured, and if the backup controller fails while driving in autonomous mode through the backup controller, the safety of the vehicle can be secured through forced control by the driver. It has the effect of securing the psychological stability of the driver for the autonomous vehicle.

Meanwhile, the vehicle control method according to the failure of the autonomous vehicle according to steps S110 to S170 according to the present invention may be programmed and stored in a computer-readable recording medium.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

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

110: vehicle sensor unit 130: vehicle control unit
150: output unit 170: vehicle driving unit
300: manual control unit

Claims (14)

a vehicle sensor unit having a plurality of sensors that provide information on the exterior and interior of the vehicle necessary for the autonomous vehicle to drive in an autonomous mode;
It receives information from one or more sensors constituting the vehicle sensor unit and controls the autonomous vehicle to drive in the autonomous mode through the main controller. When a failure of the main controller is detected while driving in the autonomous mode, the autonomous mode is performed through the backup controller a vehicle control unit that controls the vehicle to drive as the vehicle, and when a failure of the backup control unit is detected, stops autonomous driving and outputs a signal for switching to the manual control unit;
a manual control unit receiving a switching signal from the vehicle control unit and controlling the autonomous vehicle in a manual mode; and
a vehicle driving unit for operating the autonomous vehicle in an autonomous mode according to the main control unit or the backup control unit or operating the autonomous vehicle in a manual mode according to the manual control unit;
Vehicle control system according to the failure of the autonomous vehicle, characterized in that it comprises a. The method according to claim 1,
The vehicle control unit,
Vehicle according to failure of an autonomous driving vehicle, characterized in that when any one of the sensors constituting the vehicle sensor unit fails, information is provided through another sensor performing a similar function, and the autonomous driving vehicle is controlled to drive in an autonomous mode control system. The method according to claim 1,
The vehicle control unit,
When a failure of the main control unit and the backup control unit is detected, a warning sound and a warning display are outputted to an output unit provided in the autonomous vehicle. 4. The method according to claim 3,
The vehicle control unit,
A vehicle control system according to failure of an autonomous driving vehicle, characterized in that a failure recognition process and a failure level determination process are performed, respectively, to detect the failure of the main controller and the backup controller. 5. The method according to claim 4,
The failure level is
Safety level in which safe autonomous driving is possible because no failure is detected, warning level in which failure detection is notified to the output unit after failure detection, and manual control is switched to output unit when it is determined that autonomous driving is no longer possible after warning level and an emergency level that notifies the recommendation of the autonomous driving vehicle, and an emergency stop level that notifies the output unit to emergency stop the autonomous vehicle when manual control is not switched after the emergency level. Vehicle control system according to failure. 6. The method of claim 5,
The vehicle control unit,
A vehicle control system according to a failure of an autonomous vehicle, characterized in that outputting a signal for switching to the manual control unit after the emergency stop level. The method according to claim 1,
The manual control unit,
Vehicle control according to failure of an autonomous vehicle, characterized in that a handle is provided inside the autonomous vehicle, and the left and rear left wheels of the handle and the right and rear right wheels of the handle are respectively connected with wires in a mechanical manner. system. a first step of receiving information necessary for driving in an autonomous mode from a vehicle sensor unit having a plurality of sensors that provide information on the exterior and interior of the vehicle, and controlling the autonomous vehicle to drive in the autonomous mode through the main controller;
a second step of controlling the vehicle to drive in the autonomous mode through the backup controller when a failure of the main controller is detected while driving in the autonomous mode;
a third step of stopping autonomous driving and outputting a switch signal to the manual controller when a failure of the backup controller is detected while driving in the autonomous mode after the second step; and
After the third step, a fourth step of controlling the autonomous vehicle in a manual mode through the manual control unit
A vehicle control method according to a failure of an autonomous vehicle, comprising: 9. The method of claim 8,
The second step or the third step,
When one sensor fails, receiving information through another sensor performing a similar function and controlling the autonomous vehicle to drive in an autonomous mode; . 9. The method of claim 8,
The second step or the third step,
and outputting a warning sound and a warning display to an output unit provided in the autonomous vehicle when a failure of the main control unit and the backup control unit is detected. 11. The method of claim 10,
The second step or the third step,
and performing a failure recognition process and a failure level determination process, respectively, to detect failures of the main controller and the backup controller. 12. The method of claim 11,
The third step is
The failure level determination process includes a safety level determination step in which a failure is not detected and safe autonomous driving is possible, a warning level determination step in which the failure detection is notified to the output unit after failure detection, and autonomous driving is no longer possible after the warning level an emergency level determination step in which the output unit notifies the recommendation to switch the control right to manual control when it is determined that it is impossible, and the output unit to emergency stop the autonomous vehicle when the control right is not switched to manual control after the emergency level A method for controlling a vehicle according to a failure of an autonomous vehicle, comprising the step of determining the emergency stop level, which is a notification state. 13. The method of claim 12,
and the third step includes switching to manual control after determining the emergency stop level. A computer-readable recording medium in which a program for executing the vehicle control method according to the failure of the autonomous vehicle according to any one of claims 8 to 13 is recorded.

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