KR20210088411A - Apparatus for autonomous driving controlling Apparatus, and method thereof - Google Patents

Abstract

The present invention relates to a device for controlling autonomous driving and a method therefor. According to an embodiment of the present invention, the device comprises: a processor computing a safe zone for controlling autonomous driving and determining switching to an autonomous driving mode based on a current position of a driver's seat, in advance; and a storage unit storing the safe zone and data and an algorithm operated by the processor. The processor switches a mode into the autonomous driving mode when the current position of the driver's seat is positioned in the pre-computed safe zone and moves the current position of the driver's seat into the safe zone to be switched into the autonomous driving mode when the current position of the driver's seat is not positioned in the safe zone when a switching request to the autonomous driving mode is inputted during driving in a manual driving mode.

Description

Apparatus for autonomous driving controlling Apparatus, and method thereof

The present invention relates to an autonomous driving control apparatus and method, and more particularly, to a technology for controlling a position of a driver's seat according to a driving mode of an autonomous driving vehicle.

A vehicle is a device that moves on a road, and the vehicle is equipped with various devices for protecting occupants, assisting driving, and improving riding comfort.

Recently, research on an autonomous driving control device for automatically driving to a destination by recognizing a road environment, determining a driving situation, and controlling the vehicle to drive along a planned driving route has been actively conducted.

The autonomous driving control device recognizes a change in the position of an obstacle and a lane, and allows the vehicle to drive in a safe lane while avoiding the obstacle based on the recognized information.

The autonomous driving control device transfers control of the vehicle to the driver when an unexpected situation occurs during autonomous driving control of the vehicle. However, when the current state of the driver's seat is a situation in which the driver cannot receive the control right immediately, the control right conversion is delayed, and the risk of an accident may increase.

Accordingly, there is a need for a technology for switching a driving mode in consideration of a driver's condition for a smooth driving environment without risk of an accident.

An embodiment of the present invention provides an autonomous driving control device that calculates the safety area of the driver's seat and automatically controls the seat so that the driver can be positioned in a forward-looking state when the driver wants to switch to the autonomous driving mode while driving in the manual driving mode; We want to provide that method.

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.

An autonomous driving control apparatus according to an embodiment of the present invention includes: a processor for controlling autonomous driving and calculating in advance a safety area for determining switching to an autonomous driving mode based on a current position of a driver's seat; and a storage unit storing the safety area and data and algorithms driven by the processor, wherein the processor is configured to, when a request to switch to the autonomous driving mode is input while driving in the manual driving mode, When the position is located within the pre-calculated safety area, it switches to the autonomous driving mode, and if the current position of the driver's seat is not located within the safety area, the current position of the driver's seat is moved into the safety area to switch to the autonomous driving mode may include

In an embodiment, the controller may further include an interface unit that is controlled by the processor to output a state of the autonomous driving mode or the manual driving mode.

In an embodiment, the processor may include controlling the interface unit to notify the driver that switching to the autonomous driving mode is impossible when the position of the driver's seat cannot be moved within the safety area.

In an embodiment, the processor is configured to determine the position of the driver's seat using at least one of a vehicle's in-lane position, a distance from a vehicle in front, a change in vehicle speed, rapid deceleration or rapid acceleration, and a driver's face position. It may include determining safety and calculating the safety area based on a current position of the driver's seat.

In an embodiment, the processor calculates the current position of the driver's seat as the safety area when a ratio of the vehicle center deviating from the center of the lane by more than a certain level during a recent predetermined time does not exceed a predetermined threshold value. may include doing

In an embodiment, the processor may include calculating the current position of the driver's seat as the safety area if the deviation of the distance from the center of the vehicle to the center of the vehicle for a recent predetermined time does not exceed a predetermined threshold. have.

In an embodiment, the processor may include calculating the current position of the driver's seat as the safety area when the vehicle-to-vehicle distance between the host vehicle and the vehicle in front is kept constant equal to or greater than a predetermined threshold.

In an embodiment, the processor calculates the minimum safety distance for collision with the front vehicle by using the state vehicle speed with the vehicle ahead, and determines a ratio at which the own vehicle violates the minimum safety distance for collision during the most recent predetermined time. If the value is not exceeded, calculating the current position of the driver's seat as the safety area.

In an embodiment, the processor may include calculating the current position of the driver's seat as the safety area when the amount of change in vehicle speed for a recent predetermined time is within a predetermined value.

In an embodiment, the processor may include calculating the current position of the driver's seat as a safety area according to whether rapid acceleration or rapid deceleration has occurred for a recent predetermined time period.

In an embodiment, the processor may include calculating the current position of the driver's seat as a safety area when the driver's face position is within a predetermined range.

In an embodiment, the processor may include calculating the current position of the driver's seat as a safety area when the driver's face position is at a position with the least obstruction to the driver's field of vision.

In an embodiment, the processor may include calculating a safety area for each driver based on authentication information for each driver and controlling the calculation to be stored in the storage unit.

In an embodiment, the safety area may include information about a sliding position of a seat, a reclining angle, and a seat height.

In an embodiment, the interface unit may include at least one of a cluster, a head up display, an audio, video, navigation (AVN), a display, a warning sound speaker, and a haptic device. .

An autonomous driving control method according to an embodiment of the present invention includes the steps of: calculating and storing in advance a safety area for determining switching to an autonomous driving mode based on a current position of a driver's seat during manual driving; determining whether a current position of the driver's seat is located within a pre-calculated safety area when a request for switching to the autonomous driving mode is input while driving in the manual driving mode; switching to the autonomous driving mode when the current position of the driver's seat is located within the pre-calculated safety area; and if the current location of the driver's seat is not located within the safety area, moving the current location of the driver's seat into the safety area to switch to the autonomous driving mode.

In an embodiment, when the position of the driver's seat cannot be moved within the safety area, the method may further include notifying the driver that the autonomous driving mode cannot be switched.

In an embodiment, the step of calculating and storing the safety area in advance includes at least one of a vehicle's position within a lane, a distance from a vehicle in front, a change in vehicle speed, whether to decelerate or accelerate rapidly, and a position of the driver's face. determining the safety of the position of the driver's seat using the , and calculating the safety area based on the current position of the driver's seat.

In an embodiment, the step of calculating and storing the safety area in advance may include calculating and storing the safety area for each driver based on authentication information for each driver.

In an embodiment, the safety area may include information about a sliding position of the seat, a reclining angle, and a seat height.

This technology can increase the safety of autonomous driving by calculating the safety area of the driver's seat and automatically controlling the seat so that the driver can be positioned in the forward-looking state when the driver wants to switch to the autonomous driving mode while driving in the manual driving mode. have.

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

1 is a block diagram illustrating a configuration of a vehicle system including an autonomous driving control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a method for controlling a seat during autonomous driving according to an embodiment of the present invention.
3 is a flowchart illustrating a method of calculating a seat position safety area during autonomous driving according to an embodiment of the present invention.
4 illustrates a computing system 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

The present invention adjusts the position of the driver's seat so that the driver can easily keep an eye on the front at all times and use the steering wheel, brake braking and other operation systems when switching to the autonomous driving mode while driving in the manual driving mode in the autonomous driving vehicle It discloses a technology that can automatically control the driver's seat so that the right of control is safely transferred when the right of control is transferred.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4 .

1 is a block diagram illustrating a configuration of a vehicle system including an autonomous driving control apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , an autonomous driving control apparatus 100 according to an embodiment of the present invention may be implemented inside a vehicle. In this case, the autonomous driving control apparatus 100 may be integrally formed with the internal control units of the vehicle, or may be implemented as a separate device and connected to the control units of the vehicle by a separate connection means.

The vehicle system may include an autonomous driving control device 100 , a sensing device 200 , a seat 300 , and an authentication device 400 .

The autonomous driving control device 100 controls autonomous driving and calculates in advance a safety area for determining switching to the autonomous driving mode based on the current position of the driver's seat, and requests to switch to the autonomous driving mode while driving in the manual driving mode When this is input, if the current position of the driver's seat is located within the pre-calculated safety area, it switches to the autonomous driving mode, and if the current position of the driver's seat is not within the safe area, the current position of the driver's seat is moved into the safety area can be converted to

In this case, the safety area may include information on the sliding position, reclining angle, and seat height of the seat in a state in which the driver can always keep an eye on the front easily and use the steering wheel, brake braking, and other operation systems.

The autonomous driving control apparatus 100 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 may be implemented as an independent hardware device such as a microprocessor or a general-purpose computer system. It may be driven in a form included in a hardware device.

The autonomous driving control apparatus 100 may include a communication unit 110 , a storage unit 120 , an interface unit 130 , and a processor 140 .

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection. In the present invention, in-vehicle network communication technology, a server outside the vehicle, infrastructure, and wireless Internet access to other vehicles, etc. Alternatively, V2I communication may be performed using a short-range communication technology. Here, as the vehicle network communication technology, in-vehicle communication may be performed through CAN (Controller Area Network) communication, LIN (Local Interconnect Network) communication, Flex-Ray communication, or the like. In addition, as wireless communication technology, wireless Internet technology may include wireless LAN (WLAN), WiBro (Wireless Broadband, Wibro), Wi-Fi (Wi-Fi), Wimax (World Interoperability for Microwave Access, Wimax), etc. have. In addition, the short-range communication technology may include Bluetooth, ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), and the like.

As an example, the communication unit 110 may perform in-vehicle communication with the sensing device 200 , the seat 300 , and the authentication device 400 .

The storage unit 120 may store the sensing result of the sensing device 200 , data acquired by the processor 140 , data and/or algorithms required for the processor 140 to operate, and the like.

As an example, the storage unit 120 may store the safe area calculated by the processor 140 . Also, the storage unit 120 may store data and an algorithm for calculating the safe area. Also, the storage unit 120 may store data for switching between the autonomous driving mode and the manual driving mode. Also, the storage unit 120 may store information on a forward obstacle detected by the sensing device 200 for autonomous driving control, for example, information on a vehicle in front. Also, the storage unit 120 may store a safety area for each driver.

The storage unit 120 includes a flash memory type, a hard disk type, a micro type, and a card type (eg, SD card (Secure Digital Card) or XD card (eXtream Digital) Card)), RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), magnetic memory (MRAM) , a magnetic RAM), a magnetic disk, and an optical disk type memory may include at least one type of storage medium.

The interface unit 130 may include an input unit for receiving a control command from a user and an output unit for outputting an operation state and result of the apparatus 100 .

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. In addition, 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 are integrated. As an example, the output means may output switching between the autonomous driving mode and the manual driving mode, an autonomous driving activation state, an autonomous driving inactivation state, an autonomous driving impossible guidance, an autonomous driving possibility guidance, and the like. As an example, the output means may be implemented as a cluster, a head up display, an AVN (Audio, Video, Navigation), a display, a beep speaker, a haptic device, and the like.

In this case, the display includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (Flexible Display). , a field emission display (FED), and a three-dimensional display (3D display) may include at least one.

The processor 140 may be electrically connected to the communication unit 110 , the storage unit 120 , and the interface unit 130 , may electrically control each component, and may be an electrical circuit executing software commands. Thereby, it is possible to perform various data processing and calculations to be described later. The processor 140 may be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or other sub-controller mounted in a vehicle.

The processor 140 controls the overall operation of autonomous driving, controls switching between the manual driving mode and the autonomous driving mode, etc., and determines whether the driver is in a state to receive the control right when switching from the autonomous driving mode to the manual driving mode. carry out That is, the processor 140 may calculate in advance a safe area for determining the transition to the autonomous driving mode based on the current position of the driver's seat, and when the current position of the driver's seat is located in the safe area, that is, the driver always looks forward It can be switched to autonomous driving mode when the steering wheel, brake brake and other controls are easy to use and easy to use.

When a request for switching to the autonomous driving mode is input while driving in the manual driving mode, the processor 140 switches to the autonomous driving mode when the current position of the driver's seat is located within the pre-calculated safety area, and the current position of the driver's seat is set in the safe region If it is not located inside, it can switch to autonomous driving mode by moving the current position of the driver's seat into the safe area.

When the position of the driver's seat cannot be moved within the safety area, the processor 140 may notify the driver through the interface unit 130 that it is impossible to switch to the autonomous driving mode. At this time, the processor 140 may determine that an external load (obstacle) exists when a current value exceeding the reference current value is generated based on the motor current sensor, etc., and may determine the immovable state using other sensors. have. In addition, the processor 140 may notify the cause of the immovable state through the interface unit 130 and output a notification for inducing removal of the cause (eg, an obstacle) of the immovable state.

In addition, the processor 140 may notify the driver through the interface unit 130 that the autonomous driving mode is switched to the autonomous driving mode when the position of the driver's seat is located within the safety area.

The processor 140 determines the safety of the position of the driver's seat by using at least one of the vehicle's position in the lane, the distance from the vehicle in front, the change in vehicle speed, whether the vehicle is rapidly decelerating or rapidly accelerating, and the position of the driver's face, The safety area can be calculated based on the current position of the driver's seat.

The conditions for calculating the safe area will be described in more detail as follows. The processor 140 may calculate the current position of the driver's seat as a safe area when the ratio of the vehicle center deviating from the center of the lane by a predetermined level or more during the recent predetermined time does not exceed a predetermined threshold value. The processor 140 calculates the current position of the driver's seat as a safe area if the deviation of the distance from the center of the vehicle to the center of the vehicle for a recent predetermined time does not exceed a predetermined threshold.

The processor 140 may calculate the current position of the driver's seat as the safety area when the distance between the own vehicle and the vehicle in front is kept constant at or above a predetermined threshold.

The processor 140 calculates the minimum safety distance for collision with the vehicle in front using the state vehicle speed with the vehicle ahead, and if the rate at which the own vehicle violates the minimum safety distance for collision during the most recent predetermined time does not exceed a predetermined value, the driver The current position of the seat can be calculated as a safe area.

The processor 140 may calculate the current position of the driver's seat as a safety area when the amount of change in vehicle speed during the recent predetermined time is within a predetermined value.

The processor 140 may calculate the current position of the driver's seat as a safety area according to whether rapid acceleration or rapid deceleration has occurred during a recent predetermined time period. In this case, the processor 140 may determine the rapid acceleration or the rapid deceleration by using the change value of the acceleration of the vehicle.

If the driver's face position is within a predetermined range, the processor 140 may calculate the current position of the driver's seat as a safety area.

The processor 140 may calculate the current position of the driver's seat as a safety area when the driver's face position is at a position with the least obstruction to the driver's field of vision.

In this way, the processor 140 may calculate the current position of the driver's seat in which steering, braking, acceleration control, etc. are appropriately performed during manual driving as the safe area. In addition, when driver authentication is possible, the processor 140 may calculate a safe area stored for each driver and update the safe area based on a learning algorithm.

In addition, the processor 140 may calculate the safety area using a predetermined distance and angle compared to the maximum / minimum movement distance and the maximum / minimum angle of reclining in the trail in design.

In addition, the processor 140 may measure the driver's body information to calculate the seat safety area compared to the reference. In this case, various sensors for measuring the driver's body information may be provided.

The processor 140 may move the driver's seat by using the safe area stored for the driver whose authentication is successful by performing authentication.

The sensing device 200 may include one or more sensors for detecting an obstacle located around the vehicle, for example, a vehicle in front, and measuring a distance and/or a relative speed of the corresponding obstacle.

The sensing device 200 may include a plurality of sensors to detect an object external to the vehicle, and the position of the external object, the speed of the external object, the moving direction of the external object, and/or the type of the external object (eg, vehicle, pedestrian) , bicycles or motorcycles) can be obtained. To this end, the sensing device 200 may include an ultrasonic sensor, a radar, a camera, a laser scanner and/or a corner radar, a lidar, an acceleration sensor, a yaw rate sensor, a torque measuring sensor and/or a wheel speed sensor, a steering angle sensor, etc. can

The authentication apparatus 400 may perform authentication for each driver using a vehicle key, a smartphone, iris recognition, face recognition, and the like, and may include means for such authentication. In this case, the authentication device 400 may be implemented as an authentication means used when entering and exiting a vehicle, a driver monitoring system, and the like.

Hereinafter, an autonomous driving control method according to an embodiment of the present invention will be described in detail with reference to FIG. 2 . 2 is a flowchart illustrating an autonomous driving control method according to an embodiment of the present invention.

Hereinafter, it is assumed that the autonomous driving control apparatus 100 of FIG. 1 performs the process of FIG. 2 . Also, in the description of FIG. 2 , an operation described as being performed by the device may be understood as being controlled by the processor 140 of the autonomous driving control device 100 .

Referring to FIG. 2 , the autonomous driving control device 100 determines an appropriate seat position for the driver based on the sliding position, reclining angle, and seat height of the seat determined before the driver starts manual driving after boarding the vehicle. In this case, the seat position suitable for the driver may be a specific value or a specific range.

When the manual driving mode starts ( S101 ), the autonomous driving control device 100 determines whether there is a request for switching to the autonomous driving mode during manual driving. In this case, the autonomous driving control apparatus 100 may receive an autonomous driving mode change request from the driver through the interface unit 130 .

When there is a request to switch to the autonomous driving mode, the autonomous driving control apparatus 100 determines whether the current position of the driver's seat is located within a predetermined safe area ( S103 ).

In this case, the safety area may include an area within the sliding distance, height, and reclining angle of the seat in which the driver can operate the steering, brake, and operation system switches (emergency lights, etc.).

When the current position of the driver's seat is located within the predetermined safety area, the autonomous driving control device 100 displays the start of the autonomous driving mode and outputs a notification to the driver (S107).

On the other hand, if the current position of the driver's seat is not located within the predetermined safe area, the driver's seat position is moved to the safe area (S104).

Then, the autonomous driving control device 100 determines again whether the position of the moved driver's seat is located within the predetermined safe area (S105), and determines that autonomous driving is impossible if the position of the driver's seat is still not located within the predetermined safe area. and outputs a notification to the driver (S106).

On the other hand, if the current position of the driver's seat is located within the predetermined safety area, the autonomous driving control device 100 displays the start of the autonomous driving mode and outputs a notification to the driver (S107).

Then, the autonomous driving control device 100 switches to the autonomous driving mode and starts autonomous driving control (S108).

As described above, the autonomous driving control apparatus 100 of the present invention determines whether the current position of the driver's seat exists within the safety area when the driver attempts to activate the autonomous driving mode after starting driving in the manual driving mode. When the current location of the vehicle is within the safe zone, it informs the driver that autonomous driving will start and switches to autonomous driving mode and starts autonomous driving.

On the other hand, if the driver attempts to activate the autonomous driving mode but the driver's seat is not located within the safe area, the autonomous driving control device 100 moves the seat to the safe area and autonomous driving only when the driver's seat is positioned in the safe area. It informs the driver that this has started and switches to the autonomous driving mode to start autonomous driving.

If the driver's seat cannot be moved due to an external factor (eg, obstacle, etc.) or a malfunction of the seat itself, the autonomous driving control device 100 notifies the driver that autonomous driving is impossible and does not switch to the autonomous driving mode. . Also, the autonomous driving control apparatus 100 may output a notification message to remove an obstacle for the movement of the driver's seat.

Hereinafter, a method of calculating a safe area during autonomous driving control according to an embodiment of the present invention will be described in detail with reference to FIG. 3 . 3 is a flowchart illustrating a method of calculating a safe area during autonomous driving control according to an embodiment of the present invention.

Hereinafter, it is assumed that the autonomous driving control apparatus 100 of FIG. 1 performs the process of FIG. 3 . Also, in the description of FIG. 3 , an operation described as being performed by the apparatus may be understood as being controlled by the processor 140 of the autonomous driving control apparatus 100 .

The autonomous driving control apparatus 100 determines the safety of the position of the driver's seat in the vehicle during manual driving ( S201 ). That is, the autonomous driving control apparatus 100 may determine the safety of the current position of the driver's seat by determining whether steering and acceleration/deceleration operations are properly performed at the current position of the driver's seat during manual driving.

The autonomous driving control device 100 determines the safety of the position of the driver's seat by using at least one of the vehicle's position in the lane, the distance from the vehicle in front, the change in vehicle speed, whether the vehicle is rapidly decelerating or accelerated, and the position of the driver's face. It is determined and a safety area may be calculated based on the current position of the driver's seat that satisfies safety ( S202 ).

First, when driving does not deviate from the center of the lane on a general road where lanes exist, that is, when the ratio of the vehicle's center of gravity deviating from the center of the lane by more than a certain level during the recent predetermined time does not exceed a predetermined threshold value, the driver's seat The current position of can be calculated as a safe area.

Second, the autonomous driving control apparatus 100 may calculate the current position of the driver's seat as a safe area if the deviation of the distance from the center of the lane to the center of the vehicle for a recent predetermined time does not exceed a predetermined threshold.

Third, the autonomous driving control apparatus 100 may determine that the current position of the driver's seat is safe when the distance from the vehicle in front is kept constant over a specific threshold.

That is, the autonomous driving control apparatus 100 may calculate the minimum safe collision distance after a predetermined time (eg, 1 second) when the vehicle in front and the relative vehicle speed are maintained in a situation in which the vehicle in front is detected. The minimum collision safety distance is expressed by Equation 1 below.

That is, the autonomous driving control apparatus 100 may calculate the current location of the driver's seat as a safe area if the rate at which the own vehicle violates the minimum safety distance for collision during the recent predetermined time does not exceed a predetermined value.

Fourth, the autonomous driving control apparatus 100 may determine that the current position of the driver's seat is safe unless a sudden change in speed occurs.

That is, the autonomous driving control apparatus 100 may calculate the current position of the driver's seat as a safe area when the amount of change in vehicle speed for a recent predetermined time is within a predetermined value.

Fifth, the autonomous driving control apparatus 100 may determine the stability of the current position of the driver's seat according to whether rapid acceleration or rapid deceleration has occurred for a recent predetermined time period. That is, the autonomous driving control apparatus 100 may calculate the current position of the driver's seat as a safe area when no rapid acceleration or rapid deceleration has occurred for a recent predetermined time or when the rapid acceleration or rapid deceleration rate is less than or equal to a predetermined rate.

In addition, the autonomous driving control apparatus 100 may determine the stability of the current position of the driver's seat according to whether an absolute value of the acceleration of the host vehicle deviates from a predetermined value during a recent predetermined time. That is, the autonomous driving control apparatus 100 may calculate the current position of the driver's seat as a safe area if the absolute value of the acceleration of the own vehicle does not deviate from a predetermined value.

Sixth, if the driver's face position is within a predetermined range, the autonomous driving control apparatus 100 may calculate the current position of the driver's seat as a safe area. That is, the autonomous driving control apparatus 100 may determine that the current position of the driver's seat is safe when the driver's face is present in a position where there is little obstruction to the driver's field of vision.

The autonomous driving control apparatus 100 may calculate the safety area by setting a margin based on the position of the driver's seat where the above-described conditions are satisfied. Then, even if the position of the driver's seat is changed, the autonomous driving control apparatus 100 may continuously update the safety area when the above-described conditions are satisfied.

In this case, the margin may be a predetermined distance from the predetermined seat position, but may be calculated by applying a different weight to the predetermined direction. As such, the autonomous driving control device 100 may include the entire area including all of the plurality of safe locations as the safe area, and intermediate points of the sporadic locations may be included in the safe area by applying appropriate interpolation.

In addition, the autonomous driving control apparatus 100 may use various methods for designating the range of the safe area, and may calculate the safe area by using a sensor capable of measuring the driver's body. The apparatus 100 may finally calculate the safety area by considering a specific range and an error range of a specific angle from the position of each seat based on the positions of the sheets satisfying the conditions for calculating the above-described safe area.

The autonomous driving control apparatus 100 stores the calculated safe area in the storage unit 120 (S203). In this case, the autonomous driving control apparatus 100 may store information on the safety area calculated for each driver when driver authentication is possible. In this case, driver authentication may be performed through an authentication means used when entering and exiting a vehicle, a driver monitoring system, and the like. In this case, the autonomous driving control apparatus 100 may continuously store safety area information for each driver even when the engine is turned off. In addition, if driver authentication is impossible but there are multiple seat positions stored by the user, the autonomous driving control apparatus 100 may store each safety area information based on the driver's seat position.

In addition, the autonomous driving control apparatus 100 may store the driver's seat position separately memorized by the driver as a safe area, and in this case, it is possible when the driver authentication is successful.

The autonomous driving control device 100 is initially 95% of adults at the maximum or minimum movement distance and the maximum or minimum reclining angle of the seat in the trail by design in the initial stage when safety area information, authentication information, etc. are not stored (tile) This steering and pedal operation area can be calculated and stored as a safe area, and when the driver's current seat position is out of the initially saved safe area, the safe area can be recalculated and supplemented based on the driver's current seat position. have.

In addition, the autonomous driving control device 100 can authenticate the driver with a specific authentication means (eg, key, smartphone, etc.) possessed by the driver or the driver's ecological information (iris recognition, face recognition), and the safety area calculated in the past If there is information, the driver's seat position can be modified using the previously stored safety area information.

As described above, in the autonomous driving control device 100 of the present invention, the driver moves the position of the driver's seat so that the driver can easily use the steering wheel, brake braking, and other operation systems in the autonomous driving mode, and an emergency situation occurs and the driver drives manually in the autonomous driving mode It is possible to safely switch control when switching to a mode quickly.

4 illustrates a computing system according to an embodiment of the present invention.

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 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 read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by the processor 1100 , or a combination of the two. A software module resides in a storage medium (ie, memory 1300 and/or storage 1600 ) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100 , the processor 1100 capable of reading information from, and writing information to, the storage medium. Alternatively, the storage medium may be integrated with the processor 1100 . The processor and storage medium 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 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.

Claims (20)

a processor that controls autonomous driving and calculates in advance a safety area for determining switching to the autonomous driving mode based on the current position of the driver's seat; and
a storage unit in which the safe area and data and algorithms driven by the processor are stored;
The processor is
When a request to switch to the autonomous driving mode is input while driving in the manual driving mode, if the current position of the driver's seat is located within the pre-calculated safety area, the vehicle switches to the autonomous driving mode and the current position of the driver's seat is located within the safe area If not, the autonomous driving control device according to claim 1, wherein the current position of the driver's seat is moved into the safety area to switch to the autonomous driving mode. The method according to claim 1,
an interface unit controlled by the processor to output a state of the autonomous driving mode or the manual driving mode;
An autonomous driving control device further comprising a. 3. The method according to claim 2,
The processor is
and controlling the interface unit to notify the driver that switching to the autonomous driving mode is impossible when the position of the driver's seat cannot be moved within the safety area. The method according to claim 1,
The processor is
The safety of the position of the driver's seat is determined using at least one of the vehicle's in-lane position, the distance from the vehicle in front, the change in vehicle speed, whether the vehicle is rapidly decelerating or rapidly accelerating, and the position of the driver's face, and The autonomous driving control device, characterized in that calculating the safe area based on the location. The method according to claim 1,
The processor is
The autonomous driving control apparatus of claim 1, wherein the current position of the driver's seat is calculated as the safety area when a ratio of the vehicle's center deviating from the center of the road by a predetermined level or more during a recent predetermined time does not exceed a predetermined threshold value. The method according to claim 1,
The processor is
The autonomous driving control apparatus according to claim 1, wherein the current position of the driver's seat is calculated as the safety area when the deviation of the distance from the center of the vehicle to the center of the vehicle for a recent predetermined time does not exceed a predetermined threshold. The method according to claim 1,
The processor is
The autonomous driving control apparatus of claim 1, wherein the current position of the driver's seat is calculated as the safety area when the vehicle-to-vehicle distance between the host vehicle and the vehicle in front is kept constant at or above a predetermined threshold. The method according to claim 1,
The processor is
The minimum safety distance for collision with the vehicle in front is calculated using the state vehicle speed with the vehicle in front, and if the rate at which the own vehicle violates the minimum safety distance for collision during the most recent predetermined time does not exceed a predetermined value, the current value of the driver's seat The autonomous driving control device according to claim 1, wherein the position is calculated as the safe area. The method according to claim 1,
The processor is
The autonomous driving control apparatus of claim 1, wherein the current position of the driver's seat is calculated as the safety area when the amount of change in vehicle speed during the recent predetermined time is within a predetermined value. The method according to claim 1,
The processor is
The autonomous driving control apparatus of claim 1, wherein the current position of the driver's seat is calculated as a safety area according to whether rapid acceleration or rapid deceleration has occurred during a recent predetermined time. The method according to claim 1,
The processor is
If the driver's face position is within a predetermined range, the autonomous driving control apparatus of claim 1, wherein the current position of the driver's seat is calculated as a safety area. 12. The method of claim 11,
The processor is
The autonomous driving control device of claim 1, wherein the current position of the driver's seat is calculated as a safety area when the driver's face position is at a position with the least obstruction to the driver's field of vision. The method according to claim 1,
The processor is
An autonomous driving control device, characterized in that a safety area for each driver is calculated based on authentication information for each driver and is controlled to be stored in the storage unit. The method according to claim 1,
The safety area includes information on a sliding position of a seat, a reclining angle, and a seat height. 3. The method according to claim 2,
The interface unit,
An autonomous driving control device comprising at least one of a cluster, a head up display, an audio, video, navigation (AVN), a display, a warning sound speaker, and a haptic device. Calculating and storing in advance a safety area for determining switching to the autonomous driving mode based on the current position of the driver's seat during manual driving;
determining whether a current position of the driver's seat is within a pre-calculated safety area when a request for switching to the autonomous driving mode is input while driving in the manual driving mode;
switching to the autonomous driving mode when the current position of the driver's seat is located within the pre-calculated safety area; and
If the current position of the driver's seat is not located within the safety area, moving the current position of the driver's seat into the safety area to switch to the autonomous driving mode;
An autonomous driving control method comprising a. 17. The method of claim 16,
notifying the driver that switching to the autonomous driving mode is impossible when the position of the driver's seat cannot be moved within the safety area;
The autonomous driving control method further comprising a. 17. The method of claim 16,
The step of calculating and storing the safe area in advance includes:
The safety of the position of the driver's seat is determined using at least one of the vehicle's in-lane position, the distance from the vehicle in front, the change in vehicle speed, whether the vehicle is rapidly decelerating or rapidly accelerating, and the position of the driver's face, and An autonomous driving control method, characterized in that the safe area is calculated based on a location. 17. The method of claim 16,
The step of calculating and storing the safe area in advance includes:
An autonomous driving control method comprising calculating and storing a safety area for each driver based on driver-specific authentication information. 17. The method of claim 16,
The safety area includes information on a sliding position of a seat, a reclining angle, and a seat height.

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