KR20220047438A - System for recognizing emegency vehicle of autonomous vehicle and method thereof - Google Patents

Abstract

The present invention relates to an emergency vehicle recognition system of an autonomous vehicle and a method thereof. The emergency vehicle recognition system of the autonomous vehicle according to one embodiment of the present invention may comprise: an input unit for receiving a location of an emergency vehicle from a cloud server which updates location information received from the emergency vehicle on an electronic map; and a decision control unit which arranges a location of the emergency vehicle received through the input unit on a precise map providing relatively detailed location information compared to the electronic map and determining a need to yield, and requests transfer of control rights to a driver when a yield is required or for deflecting driving of the autonomous vehicle based on motions of surrounding vehicles when the requested transfer of the control rights is delayed. An objective of the present invention is to provide the emergency vehicle recognition system of the autonomous vehicle to perform a duty of yielding to the emergency vehicle, and the method thereof.

Description

SYSTEM FOR RECOGNIZING EMEGENCY VEHICLE OF AUTONOMOUS VEHICLE AND METHOD THEREOF

The present invention relates to a system and method for recognizing an emergency vehicle for an autonomous vehicle, and more particularly, to identify an approaching emergency vehicle using a precision map, autonomous driving sensor, and V2X technology, and using the deflection driving function of autonomous driving A system and method for recognizing an emergency vehicle of an autonomous vehicle that enable it to perform yield obligations to an emergency vehicle.

An autonomous vehicle refers to a vehicle that has a function of detecting and processing external information while driving, recognizing the surrounding environment, determining a driving route by itself, and driving independently using its own power.

Such autonomous vehicles can reach their destination by themselves, maintaining a distance from obstacles on the path and adjusting speed and driving direction according to the shape of the road, without the driver operating the steering wheel, accelerator pedal, or brake.

For example, acceleration may be performed on a straight road, and deceleration may be performed on a curved road while changing a driving direction in response to the curvature of the road.

In this case, the autonomous vehicle searches for a route from a predetermined place to another place, and in order to drive the searched route, sensors (eg, camera, lidar, etc.) that detect objects around the route, a GPS receiver, and an electronic map (electronic maps), etc. can be used.

In other words, in order to implement an autonomous vehicle, electronic sensors that measure the driving environment of the vehicle together with a general vehicle system, technology that effectively processes data generated by itself or received from outside, communication technology between vehicles or between vehicles and infrastructure, etc. Various electronic and IT technologies are required to be combined, and for this reason, not only traditional automobile manufacturers, but also non-automotive companies such as software manufacturers and robot manufacturers are jumping into the technology field related to autonomous vehicles.

On the other hand, the necessity of recognizing emergency vehicles is emerging to respond to emergency vehicles while autonomous vehicles are driving. It is necessary to recognize an emergency vehicle while driving and respond accordingly.

Korean Patent Laid-Open Publication No. 10-2010-0007318

An embodiment of the present invention utilizes precision maps, autonomous driving sensors, and V2X technology to identify an emergency vehicle approaching with an autonomous vehicle, and requests the transfer of control to the driver when identifying an emergency vehicle, and when the transfer of control is delayed The purpose of this study is to provide an emergency vehicle recognition system and method for autonomous vehicles that can perform yield obligations to emergency vehicles using the deflection driving function of autonomous driving based on the motion of surrounding vehicles.

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 description below.

An emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention includes an input unit that receives the location of the emergency vehicle from a cloud server that updates location information received from the emergency vehicle on an electronic map, and an input unit that receives the location of the emergency vehicle from the input unit. The location of the emergency vehicle is placed on a precision map that provides relatively more detailed location information than the electronic map, the necessity of yielding is determined, and the transfer of control right is requested from the driver when yield is required, or when the requested control transfer is delayed, It may include a determination controller configured to perform deflection driving of the autonomous vehicle based on the motion.

In addition, the emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention provides an input unit that receives location information from an emergency vehicle and the location of the emergency vehicle received through the input unit, which is relatively more detailed than an electronic map. A decision control unit that arranges on the provided precision map, determines the necessity of yielding, requests the driver to transfer control when necessary, or performs deflection driving of the autonomous vehicle based on the motion of surrounding vehicles when the requested control transfer is delayed may include

In an embodiment, the emergency vehicle may include a location transmission module for transmitting location information.

In an embodiment, the input unit is provided in a wireless communication unit receiving the location information of the emergency vehicle from the cloud server or the emergency vehicle, a map data unit providing the electronic map, and the autonomous driving vehicle, the autonomous driving It may include a local sensor unit that measures the driving environment around the vehicle and a GPS receiver that receives GPS data.

In an embodiment, the determination control unit receives the electronic map data, the GPS data, and driving environment data around the autonomous vehicle, converts the location of the autonomous vehicle into central coordinates, and outputs the precision map A positioning unit, a mapping unit that maps the received emergency vehicle location on the precision map, and the emergency vehicle location on the precise map, and the emergency vehicle driving information, determine whether the autonomous vehicle needs to yield and whether to respond accordingly It may include a corresponding determination unit for judging.

In an embodiment, the determination control unit checks the relative distance between the autonomous driving vehicle and the emergency vehicle, the relative speed between the autonomous driving vehicle and the emergency vehicle, or whether a neighboring vehicle responds to the driving information of the emergency vehicle can be checked.

In an embodiment, the determination controller may control the haptic driving of the steering wheel while requesting the driver to transfer the control right when yield is required.

In an embodiment, the determination controller may control deflection driving of the autonomous vehicle based on a motion of the surrounding vehicle when yielding is required.

In a method for recognizing an emergency vehicle of an autonomous vehicle according to another embodiment of the present invention, the emergency vehicle from a cloud server that updates location information received from an emergency vehicle having a location transmission module for transmitting location information on an electronic map The location receiving step of receiving the location of the vehicle from the input unit, and the location receiving step of receiving the location of the emergency vehicle received through the location receiving step at the decision control unit are placed on a precision map that provides relatively detailed location information than the electronic map, and the necessity of yield is determined and a control step of requesting the driver to transfer the control right when a yield is required through the determination step, or performing deflection driving of the autonomous vehicle based on the motion of the surrounding vehicle when the requested control transfer is delayed. there is.

In addition, the method for recognizing an emergency vehicle of an autonomous vehicle according to another embodiment of the present invention includes a location receiving step of receiving location information from an input unit from an emergency vehicle having a location transmitting module for transmitting location information; The location of the emergency vehicle received through the location receiving step is placed on a precision map that provides relatively more detailed location information than the electronic map, and the control right is transferred to the driver when the yield is required through the determination step and the determination step of determining the necessity of yielding It may include a control step of performing deflection driving of the autonomous vehicle based on the motion of the surrounding vehicle when requesting the vehicle or transferring the requested control right is delayed.

In an embodiment, the determining step includes receiving electronic map data provided from the precision positioning unit through the map data unit, GPS data received through the GPS receiving unit, and driving environment data around the autonomous vehicle through a local sensor unit, and the converting the location of the autonomous vehicle into central coordinates and outputting the precision map; mapping the location of the emergency vehicle received through the wireless communication unit in a mapping unit on the precision map; and the precision map in a correspondence determination unit The method may include determining whether the autonomous vehicle needs to yield and whether to respond accordingly, based on the location of the emergency vehicle on the emergency vehicle and driving information of the emergency vehicle.

In an embodiment, the determining step includes checking the relative distance between the autonomous vehicle and the emergency vehicle, the relative speed between the autonomous vehicle and the emergency vehicle, or whether a neighboring vehicle responds to the driving information of the emergency vehicle. It may include the step of confirming.

In an embodiment, the determining step may include controlling the haptic driving of the steering wheel while requesting the driver to transfer the control right when yield is required.

In an embodiment, the determining step may include controlling deflection driving of the autonomous vehicle based on a motion of the surrounding vehicle when yield is required by the response determination unit.

This technology uses precision maps, autonomous driving sensors, and V2X technology to identify emergency vehicles approaching with autonomous vehicles, and requests transfer of control to the driver when identifying emergency vehicles. It has the effect of making it possible to perform yield obligations to emergency vehicles by using the deflection driving function of autonomous driving based on motion.

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

1 is a block diagram illustrating an emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention;
2 is a block diagram illustrating an autonomous vehicle constituting an emergency vehicle recognition system of an autonomous vehicle according to an embodiment of the present invention;
3 and 4 are diagrams for explaining a yielding process for an emergency vehicle through an emergency vehicle recognition system of an autonomous vehicle according to an embodiment of the present invention;
5 is a flowchart illustrating a method for recognizing an emergency vehicle 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 component from other components, and the essence, 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 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 4 .

1 is a block diagram illustrating an emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention, and FIG. 2 is an autonomous vehicle constituting an emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention. 3 and 4 are diagrams for explaining a yielding process for an emergency vehicle through an emergency vehicle recognition system of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , an emergency vehicle recognition system for an autonomous vehicle according to an embodiment of the present invention may include an emergency vehicle 100 and an autonomous vehicle 300 .

The ambulance 100 may include a location transmitting module that continuously transmits location information.

The cloud server 500 may receive the location information from the ambulance 100 and update the location information on the electronic map.

The autonomous vehicle 300 is configured to include an input unit 310, a decision control unit 330, a display 351, an alarm unit 353, a haptic driving unit 355, and a vehicle driving unit 357 with reference to FIG. can

The input unit 310 may include a wireless communication unit 317 , a map data unit 311 , a local sensor unit 313 , and a GPS receiver 315 .

The wireless communication unit 317 connects to the cloud network to receive the location of the ambulance 100 from the cloud server 500 or directly receive location information from the ambulance 100 through V2V (Vehicle-to-Vehicle) communication. there is.

The map data unit 311 may provide a pre-stored electronic map, and may provide a precise map that provides relatively detailed location information than the electronic map according to the driver's selection.

The precision map may be displayed through the display 351 provided inside the autonomous vehicle 300 .

The local sensor unit 313 is capable of detecting the driving environment around the autonomous vehicle 300 , and includes a camera for photographing the front, rear and sides of the autonomous vehicle 300 , the front of the autonomous vehicle 300 , It may include a radar and lidar that detects objects in the rear and on the side.

The GPS receiver 315 may receive GPS data from a satellite.

The determination control unit 330 may be configured to include a precision positioning unit 331 , a mapping unit 333 and a corresponding determination unit 335 .

The precision positioning unit 331 can place the location of the ambulance 100 received by the input unit 310 on the precision map, and receives the precision map, GPS data, and driving environment data around the autonomous vehicle 300 . The location of the autonomous vehicle 300 may be converted into central coordinates and placed on the precision map.

The mapping unit 333 may map and display the received location of the ambulance 100 on the precision map.

The mapping unit 333 is transmitted from the ambulance 100 in addition to the location information of the ambulance 100 received from the cloud server 500 or the position information of the ambulance 100 directly received from the ambulance 100 through V2V communication. Unique characteristics of the ambulance 100 such as a signal of a specific frequency, a siren sound, and a warning light display may be input through the local sensor unit 313 .

Correct the position of the ambulance 100 on the precision map by using a technique such as triangulation through a signal of a specific frequency transmitted from the ambulance 100 input to the local sensor unit 313, a siren sound, and a warning light display. By mapping, the location of the ambulance 100 can be more precisely tracked.

The positions of the autonomous vehicle 300 disposed on the precision map and the ambulance vehicle 100 mapped on the precision map may be displayed through the display 351 .

The response determination unit 335 may check the location of the ambulance 100 and determine whether yield is necessary, the position of the ambulance 100 mapped on the precision map, the radar sensor of the local sensor unit 313, etc. The relative distance between the autonomous driving vehicle 300 and the ambulance vehicle 100, the relative speed between the autonomous driving vehicle 300 and the ambulance vehicle 100, or the side of the lane in which the autonomous driving vehicle 300 travels. Driving information of the emergency vehicle 100 may be checked by checking whether a vehicle traveling in a lane or a vehicle traveling in the rear of the autonomous vehicle 300 responds.

The response determination unit 335 may check the location of the ambulance 100 and, if a yield is required, may request the driver to transfer the control right.

The response determination unit 335 displays a request for transfer of control right through the display 351 while requesting transfer of control right to the driver, and a notification of transfer of control right through the alarm unit 353 provided inside the autonomous vehicle 300 . can be output.

In addition, the response determination unit 335 drives the haptic drive unit 355 provided in the autonomous vehicle 300 to provide a haptic drive that vibrates the steering wheel, seat belt, or seat so that the driver recognizes transfer of control. can

On the other hand, the response determination unit 335 determines the position of the ambulance 100 on the precision map, the relative distance between the autonomous vehicle 300 and the ambulance 100 , and the relative speed between the autonomous vehicle 300 and the ambulance 100 . If it is confirmed that the ambulance 100 is located in the opposite lane through a similar method, it may be determined that yielding is not necessary.

After the response determination unit 335 requests the transfer of control right to the driver because it is necessary to give way to the ambulance vehicle 100 , the driver does not receive the transfer of control right to the autonomous vehicle 300 . The driving vehicle 300 may determine whether to respond to yield by itself.

Accordingly, the autonomous vehicle 300 may perform deflection driving based on motions of surrounding vehicles.

For example, referring to FIG. 3 , when the location of the ambulance 100 is displayed on the precision map, the ambulance 100 is identified through the rear camera of the autonomous vehicle 300 or the local sensor unit 313 such as a radar. can do.

At this time, even if the ambulance 100 is located at the rear of the vehicle 200 located at the rear of the autonomous vehicle 300, the ambulance 100 can be identified by a part of the warning light, the ambulance 100 siren sound, etc. Deflection driving of the autonomous driving vehicle 300 may be performed by tracking the located vehicle 200 with the local sensor unit 313 and detecting the motion of the vehicle 200 located at the rear side.

Therefore, when the vehicle 200 located at the rear changes to the right lane to yield to the ambulance 100 to proceed, the autonomous vehicle 300 also determines whether a vehicle exists in the next lane through the local sensor unit 313. Thereafter, the vehicle driving unit 357 may be driven to change to the right lane according to the motion of the vehicle 200 located at the rear.

By changing the lane according to the motion of the vehicle 200 located at the rear in this way, the yield for the progress of the ambulance 100 may be completed.

In addition, referring to FIG. 4 , although the vehicle located at the rear changes lanes, the vehicle may not be able to change lanes immediately because there is a vehicle in the next lane, and the ambulance 100 may be located directly behind the autonomous vehicle 300 . can

In this case, the autonomous vehicle 300 detects the relative distance and the relative speed between the autonomous vehicle 300 and the ambulance 100, and before the ambulance 100 approaches, it passes through the local sensor unit 313. By determining whether a vehicle exists in the lane and driving the vehicle driving unit 357 to move the autonomous vehicle 300 to a lane with a safe space, the concession for the progress of the ambulance 100 can be completed.

Hereinafter, a method for recognizing an emergency vehicle of an autonomous vehicle according to another embodiment of the present invention will be described in detail with reference to FIG. 5 . 5 is a flowchart illustrating a method for recognizing an emergency vehicle of an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the emergency vehicle recognition system of the autonomous vehicle of FIG. 1 performs the process of FIG. 5 .

First, when the input unit 310 receives the location of the ambulance 100 from the cloud server 500 or directly receives the location information from the ambulance 100 through V2V communication, the decision control unit 330 receives the ambulance 100 ) is placed on the precision map, and when the ambulance 100 approaches from the rear, it is possible to determine the necessity of yielding (S110).

Subsequently, when it is determined that a yield is necessary, the decision control unit 330 may notify the driver ( S120 ) and request transfer of control of the autonomous vehicle 300 ( S130 ).

Subsequently, when the driver transfers the control right, the autonomous driving vehicle 300 can drive under the driver's control. Deflection driving can be performed.

Accordingly, when the ambulance 100 is identified as being located at the rear of the autonomous vehicle 300 ( S150 ), the determination control unit 330 determines whether the vehicle located just before the rear of the autonomous vehicle 300 is the ambulance 100 . It can be confirmed (S160).

Next, if the vehicle located just before the rear of the autonomous vehicle 300 is the ambulance 100, after checking whether a vehicle exists in the next lane, the vehicle driving unit 357 is driven to move the autonomous vehicle to a lane with a safe space ( By moving 300 ) ( S190 ), the concession for the progress of the ambulance 100 may be completed.

On the other hand, if the ambulance 100 is not located just before the rear, but is located at the rear of the vehicle 200 located at the rear of the autonomous vehicle 300, the motion of the vehicle 200 located at the rear is detected and the autonomous vehicle ( 300) can be performed.

Accordingly, the determination controller 330 may notify the driver of the warning until the vehicle 200 located at the rear of the autonomous vehicle 300 changes lanes ( S180 ), and the vehicle located at the rear of the autonomous vehicle 300 . When 200 changes lanes to yield in order to proceed with the ambulance 100 (S170), the autonomous vehicle 300 also determines whether there is a vehicle in the next lane through the local sensor unit 313, and then The vehicle driving unit 357 may be driven to change a lane according to the motion of the located vehicle 200 ( S190 ).

By changing the lane according to the motion of the vehicle 200 located at the rear in this way, the yield for the progress of the ambulance 100 may be completed.

As described above, this technology utilizes precision maps, autonomous driving sensors, and V2X technology to identify emergency vehicles approaching with autonomous vehicles, and requests transfer of control to the driver when identifying emergency vehicles, and the transfer of control is delayed. If possible, it has the effect of enabling the duty to yield to emergency vehicles by using the deflection driving function of autonomous driving based on the motion of surrounding vehicles.

Meanwhile, the emergency vehicle recognition method of the autonomous vehicle according to steps S110 to S190 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 interpreted 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.

300: autonomous vehicle 310: input unit
330: decision control unit 351: display
353: alarm unit 355: haptic driving unit
357: vehicle driving unit

Claims (15)

an input unit receiving the location of the emergency vehicle from a cloud server that updates the location information received from the emergency vehicle on an electronic map; and
arranging the location of the emergency vehicle received through the input unit on a precision map that provides relatively detailed location information than the electronic map, and determining the necessity of yielding;
request the driver to hand over control if yield is necessary; or
When the requested control transfer is delayed, the judgment control unit performs deflection driving of the autonomous vehicle based on the motion of the surrounding vehicle.
An emergency vehicle recognition system for an autonomous vehicle, comprising: an input unit receiving location information from an emergency vehicle; and
Placing the location of the emergency vehicle received through the input unit on a precision map that provides relatively detailed location information than an electronic map, and determining the necessity of yielding;
request the driver to hand over control if yield is necessary; or
When the requested control transfer is delayed, the judgment control unit performs deflection driving of the autonomous vehicle based on the motion of the surrounding vehicle.
An emergency vehicle recognition system for an autonomous vehicle, comprising: The method according to claim 1 or 2,
The emergency vehicle is
An emergency vehicle recognition system for an autonomous vehicle, characterized in that it includes a location transmission module for transmitting location information. The method according to claim 1 or 2,
The input unit,
a wireless communication unit receiving the location information of the emergency vehicle from the cloud server or the emergency vehicle;
a map data unit providing the electronic map;
a local sensor unit provided in the autonomous vehicle to measure a driving environment around the autonomous vehicle; and
GPS receiver to receive GPS data
An emergency vehicle recognition system for an autonomous vehicle, comprising: 5. The method according to claim 4,
The determination control unit,
a precision positioning unit that receives the electronic map data, the GPS data, and driving environment data around the autonomous vehicle, converts the location of the autonomous vehicle into central coordinates, and outputs the precise map;
a mapping unit for mapping the received location of the emergency vehicle on the precision map; and
A response determination unit that determines the necessity of yielding the autonomous vehicle and whether to respond accordingly, based on the location of the emergency vehicle on the precise map and the driving information of the emergency vehicle
An emergency vehicle recognition system for an autonomous vehicle, comprising: 6. The method of claim 5,
The determination control unit,
and checking the driving information of the emergency vehicle by checking the relative distance between the autonomous vehicle and the emergency vehicle, the relative speed between the autonomous vehicle and the emergency vehicle, or whether a nearby vehicle responds. emergency vehicle recognition system. 6. The method of claim 5,
The determination control unit,
An emergency vehicle recognition system for an autonomous vehicle, characterized in that the haptic driving of the steering wheel is controlled while requesting the driver to transfer control when a yield is required. 6. The method of claim 5,
The determination control unit,
An emergency vehicle recognition system for an autonomous vehicle, characterized in that when yielding is required, the deflection driving of the autonomous vehicle is controlled based on the motion of the surrounding vehicle. a location receiving step of receiving, from an input unit, the location of the emergency vehicle from a cloud server that updates location information received from an emergency vehicle having a location transmission module for transmitting location information on an electronic map;
a decision step of arranging the location of the emergency vehicle received through the location receiving step by the decision control unit on a precision map that provides relatively detailed location information than the electronic map, and determining the necessity of yielding; and
A control step of requesting the driver to transfer control right when a yield is required through the determination step, or performing deflection driving of the autonomous vehicle based on the motion of surrounding vehicles when the requested control right transfer is delayed
An emergency vehicle recognition method of an autonomous vehicle, comprising: a location receiving step of receiving location information from an input unit from an emergency vehicle having a location transmitting module for transmitting location information;
a determination step of arranging the location of the emergency vehicle received through the location receiving step in the determination control unit on a precision map that provides relatively detailed location information than an electronic map, and determining the necessity of yielding; and
A control step of requesting the driver to transfer control right when a yield is required through the determination step, or performing deflection driving of the autonomous vehicle based on the motion of surrounding vehicles when the requested control right transfer is delayed
An emergency vehicle recognition method of an autonomous vehicle, comprising: 11. The method according to claim 9 or 10,
The judging step is
The precision positioning unit receives the electronic map data provided through the map data unit, the GPS data received through the GPS receiving unit, and the driving environment data around the autonomous vehicle through the local sensor unit, and converts the location of the autonomous vehicle into central coordinates. outputting the precision map;
mapping the location of the emergency vehicle received through the wireless communication unit on the precision map by the mapping unit; and
Determining, in the response determining unit, the necessity of yielding the autonomous vehicle and whether to respond accordingly, based on the location of the emergency vehicle on the precise map and the driving information of the emergency vehicle
An emergency vehicle recognition method of an autonomous vehicle, comprising: 12. The method of claim 11,
the judgment step;
and checking the driving information of the emergency vehicle by checking the relative distance between the autonomous vehicle and the emergency vehicle, the relative speed between the autonomous vehicle and the emergency vehicle, or whether a neighboring vehicle responds. The self-driving car's emergency vehicle recognition method. 12. The method of claim 11,
The judgment step is
An emergency vehicle recognition method for an autonomous vehicle, comprising: controlling haptic driving of a steering wheel while requesting a driver to transfer control right when yield is required. 12. The method of claim 11,
The judgment step is
and controlling deflection driving of the autonomous vehicle based on the motion of the surrounding vehicle when the response determination unit requires yield. A computer-readable recording medium in which a program for executing the method for recognizing an emergency vehicle for an autonomous vehicle according to any one of claims 9 to 14 is recorded.

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