KR20220158108A - Method and Apparatus for Controlling Vehicle based on State of Driver - Google Patents

Abstract

Disclosed are a device and a method for controlling a vehicle according to a state of a driver. According to one aspect of the present invention, the device for controlling a vehicle comprises: a driving pattern collection unit collecting a driving pattern of a driver with respect to a vehicle through communication in the vehicle; a state determination unit determining a state of the driver based on the collected driving pattern and the pre-stored driving pattern; and a control information generation unit generating control information of the vehicle based on the state of the driver.

Description

Apparatus and method for controlling vehicle according to driver state {Method and Apparatus for Controlling Vehicle based on State of Driver}

Embodiments of the present invention relate to an apparatus and method for controlling a vehicle according to a driver's condition.

The information described in this section simply provides background information on the present invention and does not constitute prior art.

Recently, the development of driving assist for ensuring driver's safety and providing driving convenience and autonomous driving technology for allowing a vehicle to drive on the road by itself without driver's intervention has been accelerated.

On the other hand, the cause of fatal traffic accidents is caused by drowsy driving. Many drivers experience drowsy driving and even die due to drowsy driving. In addition to drowsy driving, a situation may occur in which the driver cannot control the vehicle due to a problem with the driver's body.

Departed Driver Rescue and Exit Maneuver is a technology that assists driving or controls a vehicle through autonomous driving when a driver suddenly becomes unable to drive, such as drowsy driving or cardiac arrest.

In order to monitor the driver's condition at all times according to DDREM, various sensors such as a camera, a bio-signal measuring device, and a pressure sensor should be provided inside the vehicle.

However, there is a problem in that it takes a lot of time and money to mount these sensors on a vehicle and install an algorithm for operating the sensors.

Embodiments of the present invention are mainly aimed at providing a vehicle control apparatus and method for determining a driver's condition without monitoring the driver by monitoring the driving pattern of the driver.

Other embodiments of the present invention are a vehicle control apparatus and method for promoting the safety of a driver and surrounding vehicles even if the driver suddenly becomes out of control by determining the driver's state and controlling the vehicle according to the driver's state. Its main purpose is to provide

Another object of the present invention is to provide a vehicle control apparatus and method for preventing a collision by controlling the vehicle when the driver is out of control, but controlling the vehicle in consideration of the risk of collision with another vehicle or a pedestrian. there is

According to one aspect of the present invention, the process of collecting a driver's driving pattern for the vehicle through in-vehicle communication; determining a state of the driver based on the collected driving pattern and the previously stored driving pattern; and generating vehicle control information based on the driver's condition.

According to another aspect of the present embodiment, the driving pattern collection unit for collecting the driver's driving pattern of the vehicle through in-vehicle communication; a state determining unit that determines a state of the driver based on the collected driving pattern and the previously stored driving pattern; and a control information generation unit configured to generate vehicle control information based on the driver's condition.

As described above, according to one embodiment of the present invention, by monitoring the driver's driving pattern, the driver's condition can be determined without monitoring the driver.

According to another embodiment of the present invention, by determining the driver's condition and controlling the vehicle according to the driver's condition, the safety of the driver and surrounding vehicles can be promoted even if the driver suddenly becomes out of control.

According to another embodiment of the present invention, a collision can be prevented by controlling the vehicle when the driver is out of control, but considering the risk of collision with another vehicle or a pedestrian.

1 is a configuration diagram illustrating an integrated vehicle controller according to an embodiment of the present invention.
2 is a configuration diagram illustrating a vehicle control device according to an embodiment of the present invention.
3 is a flowchart illustrating an operating method of a vehicle control device according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. Throughout the specification, when a part 'includes' or 'includes' a certain component, it means that it may further include other components without excluding other components unless otherwise stated. . In addition, terms such as '~unit' and 'module' described in the specification refer to a unit that processes at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

1 is a configuration diagram illustrating an integrated vehicle controller according to an embodiment of the present invention.

Referring to FIG. 1 , the integrated controller 100 according to an embodiment of the present invention includes an in-vehicle communication unit 110, a V2X communication unit 120, at least one processor 130 and 132, a memory 140, and an internal communication unit. (150) is included in whole or in part. All blocks shown in FIG. 1 are not essential components, and some blocks included in the integrated controller 100 may be added, changed, or deleted in other embodiments.

An integrated controller 100 according to an embodiment of the present invention is mounted on a vehicle 10 such as a car, taxi, van, bus, or truck, and receives data from various devices inside/outside the vehicle 10 And, by storing, processing, and analyzing the received data, the overall driving of the vehicle 10 is controlled.

The integrated controller 100 interlocks with at least one controller 160 mounted in the vehicle to electrically control various driving devices (not shown) in the vehicle, or directly controls various driving devices in the vehicle independently of the controller 160. can do.

The in-vehicle communication unit 110 is configured to communicate with at least one controller 160 and/or at least one sensor 170 mounted in the vehicle.

The in-vehicle communication unit 110 may transmit/receive data with the controller 160 and/or the sensor 170 using various communication protocols existing in the vehicle. The communication protocol may include at least one of CAN (Controller Area Network), CAN FD (CAN with Flexible Data rate), Ethernet, LIN (Local Interconnect Network), and FlexRay, but is not limited thereto Any protocol for communication between various devices mounted on a vehicle may be applied.

The controller 160 includes Engine Management System (EMS), Electronic Stability Control (ESC), Electronic Stability Program (ESP), Vehicle Dynamic Control (VDC), Lane Keeping Assistance System (LKAS), Smart Cruise Control (SCC), ACC ( Adaptive Cruise Control), Autonomous Emergency Braking (AEB), Forward Collision-Avoidance Assist (FCA), Highway Driving Assist (HDA), Highway Driving Pilot (HDP), Lane Departure Warning (LDW), Driver Awareness Warning (DAW), DSW (Driver State Warning) and/or one or more of other devices that electrically control various driving devices in the vehicle. Hereinafter, the device and function of the above-described controller 160 are referred to as an Advanced Driver Assist System (ADAS).

The sensor 170 includes a radar, a lidar, an ultrasonic sensor, a camera, a wheel speed sensor, an accelerator level detection sensor, a steering angle sensor, It may include one or more of a yaw rate sensor, a Global Positioning System (GPS) receiver, and a gyroscope sensor, but is not limited to the above, and may include all sensors applicable to a vehicle. can

The V2X communication unit 120 is configured to communicate with an external device of the vehicle. According to embodiments, the V2X communication unit 120 may communicate with another vehicle 180 (V2V: Vehicle to Vehicle) or communicate with the infrastructure 190 (Vehicle to Infrastructure). The infrastructure 190 may be, for example, a roadside base station or server that periodically transmits traffic information in conjunction with TIS (Transportation Information System) or ITS (Intelligent Transport System), but is not limited to these examples, All infrastructure capable of communicating with the vehicle 10 may be included.

The V2X communication unit 120 may preferably transmit and receive data to and from the outside of the vehicle using a wireless communication protocol. To this end, the V2X communication unit 120 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element.

According to embodiments, overall operations of the in-vehicle communication unit 110 and the V2X communication unit 120 may be controlled by a separate processor (not shown) provided therein. The in-vehicle communication unit 110 and the V2X communication unit 120 may include one or more processors or may not include a processor. When not including a processor, the in-vehicle communication unit 110 and the V2X communication unit 120 may operate under the control of at least one processor 130 and 132 in the integrated controller 100.

Processors 130 and 132 may control the overall operation of vehicle 10 . According to embodiments, each of the processors 130 and 132 may include an electronic controller unit (ECU), a micro controller unit (MCU), an application processor (AP), and a central processing unit (CPU). : Central Processing Unit) and/or other electronic devices capable of generating various arithmetic processing and control signals.

At least one of the processors 130 and 132 may perform a determination related to the control of the vehicle 10 and control another controller 160 and/or a driving device (not shown) according to the determination result. According to embodiments, the at least one processor 130 and 132 may operate the controller 160 and/or a driving device (not shown) based on data received by the in-vehicle communication unit 110 and/or the V2X communication unit 120. It is possible to create a control command to control.

At least one of the processors 130 and 132 is a gateway for supporting communication between the controller 160 and/or sensors 170 that transmit and receive data using different protocols and different data buses. function can be provided.

The memory 140 stores various programs and data necessary for driving the vehicle 10 . The memory 140 may store data input/output to at least one of the processors 130 and 132 . The memory 140 may store data processed by at least one of the processors 130 and 132 . The memory 140 may store various data for overall operation of the vehicle 10, such as a program for processing or controlling the at least one processor 130 and 132.

The memory 140 stores various data necessary for autonomous driving and/or driving assistance of the vehicle, or data generated in the process of providing the autonomous driving and/or driving assistance functions of the vehicle by the processors 130 and 132. can be saved

Map information required for autonomous driving and/or driving assistance control by the processors 130 and 132 may be stored in the memory 140 . The memory 140 is map information, and includes a navigation map providing information in units of roads and/or a precision road map providing information in units of lanes, that is, a 3D high-precision map (HD-map: High Definition-map) can be saved. The map information stored in the memory 140 is used for autonomous driving and/or driving assistance of the vehicle 10, such as lanes, lane center lines, regulatory lines, road boundaries, road center lines, traffic signs, road surface markings, road shapes and heights, lane widths, etc. It can provide dynamic and static information required for control.

An algorithm for autonomous driving and/or driving assistance control of a vehicle may be stored in the memory 140 . The processors 130 and 132 may execute an algorithm stored in the memory 140 to perform active autonomous driving and/or driving assistance control on the surrounding environment of the vehicle.

The internal communication unit 150 prevents a fault propagation problem in which the normal processors 130 and 132 are affected when the malfunctioning processors 130 and 132 are not accurately recognized, and between the processors 130 and 132 or It is introduced to improve the communication speed between the processors 130 and 132 and the memory 140.

According to one embodiment of the present invention, the internal communication unit 150 is a DMA controller (not shown) that directly accesses the memory 140 or the local memory (not shown) of the processors 130 and 132 on behalf of each of the processors 130 and 132. A direct memory access controller (not shown) may be included.

The internal communication unit 150 performs data transmission between the processors 130 and 132 or between the processors 130 and 132 and the memory 140 . Accordingly, the processors 130 and 132 can perform calculation and data transmission in parallel (parallel processing). For example, the internal communication unit 150 may perform a read/write operation by accessing the memory 140 instead of the processors 130 and 132 . Accordingly, the processors 130 and 132 may perform other calculation processing while the read/write operation is performed, and when the operation is completed, a completion interrupt is received from the internal communication unit 150 . On the other hand, if the processors 130 and 132 do not receive the completion interrupt, it may be determined that the memory 140 is out of order.

In the case of using the DMA controller in this way, it is possible to implement a faster communication speed than the existing CAN communication method, and it is possible to recognize a failure based on whether or not an interrupt is received.

Depending on embodiments, the processors 130 and 132 may recognize whether or not messages from the other processors 130 and 132 are normally received and/or whether messages are out of order based on whether or not an ACK is received.

For example, when the first processor 130 wants to transmit a message to the second processor 132, the first processor 130 or the internal communication unit 150 issues an interrupt to the second processor 132, and interrupts the second processor 132. Upon recognizing, the second processor 132 checks the message. After confirming the message, the second processor 132 transmits an ACK indicating that the message was normally received. The second processor 132 or the internal communication unit 150 interrupts the first processor 130, and upon receiving the ACK, the first processor 130 recognizes that the second processor has normally received the message.

Meanwhile, when the second processor 132 does not transmit an ACK, the first processor and/or the internal communication unit 150 may retransmit the message or immediately determine that the second processor 132 is out of order.

2 is a configuration diagram illustrating a vehicle control device according to an embodiment of the present invention.

Referring to FIG. 2 , the vehicle control device 200 according to an embodiment of the present invention includes a controller information collection unit 210, a driving pattern collection unit 220, other vehicle information collection unit 230, an environment information collection unit ( 240), a navigation information collection unit 250, a map management unit 260, a state determination unit 270, a collision determination unit 280, and a control information generation unit 290 in whole or in part. The vehicle control device 200 may further include a warning output unit (not shown) for providing a warning notification to the driver and the outside. All blocks shown in FIG. 2 are not essential components, and some blocks included in the vehicle control device 200 may be added, changed, or deleted in another embodiment.

The vehicle control device 200 according to an embodiment of the present invention is a device mounted on the vehicle 10 and may be implemented by components of the integrated controller 100 in FIG. 1 . That is, the vehicle control device 200 divides the components of the integrated controller 100 by function, and the functions (operations) of the vehicle control device 200 are distributed and performed by a plurality of processors 130 and 132. can For example, the function of the controller information collection unit 210 may be performed by the first processor 130 and the function of the environment information collection unit 240 may be performed by the second processor 132 . Some functions of the vehicle control device 200 may be implemented through an external server of the vehicle 10 .

Hereinafter, for convenience of explanation, it will be described that all component functions included in the vehicle control device 200 are performed by a single processor 130 and 132 . For example, the functions of the vehicle control device 200 may be performed by the first processor 130 . In this case, the vehicle control device 200 may be a sub-component of the first processor 130 .

Meanwhile, in this embodiment, the controller information collection unit 210, driving pattern collection unit 220, other vehicle information collection unit 230, environment information collection unit 240, and navigation information collection unit 250 are collectively referred to as collection units. can The collection unit collects information in real time as well as pre-stored information so that the control information generation unit 290 can provide an Advanced Driver Assistance System (ADAS) based on various and accurate information.

In the controller information collection unit 210 , the in-vehicle communication unit 110 may collect ADAS control information of the vehicle 10 from at least one controller 160 .

In the controller information collection unit 210 , the in-vehicle communication unit 110 may receive ADAS control information from at least one controller 160 . For example, the controller information collection unit 210 may collect ADAS control information such as LKAS, ABS, AEB, ESC, VDC, ESP, HDA, HDA 2, HDA 3, or HDP. The controller information collection unit 210 may collect information on whether or not each function of the ADAS has been operated, an operation history, or whether or not the operation is possible. ADAS control information of the vehicle 10 is output to the driver through an interface, provided to the outside, or used for controlling the vehicle 10 .

The driving pattern collection unit 220 collects state information (hereinafter referred to as 'driving pattern') of the vehicle 10 received from at least one sensor 170 through the in-vehicle communication unit 110 .

The driving pattern includes driving information and control information of the vehicle 10 . Specifically, the driving pattern includes the vehicle 10's position, speed, direction, vertical acceleration, horizontal acceleration, overall length, height, vehicle width, location accuracy, heading, route history, predicted route, braking system state, indicator light state, event flag, Slip occurrence, yaw rate, steering angle, steering angle speed, accelerator pedal location information, brake pedal location information, turning state, turning radius, sideslip angle, inclination, turning radius of each wheel, turning slip amount , a stagger angle, and a driver's driving mode. The driving pattern may further include an indoor/outdoor temperature difference, an operating state of an air conditioner, whether or not a navigation route is set, and an operating state of a media device. Furthermore, the control information of the vehicle 10 may include ADAS control information of the vehicle 10 collected by the controller information collecting unit 210 . That is, the driving pattern collecting unit 220 may use the ADAS control information collected by the controller information collecting unit 210 as a driving pattern. The driving pattern is not limited thereto, and may include all information related to the state of the vehicle 10 .

The driving pattern collection unit 220 according to an embodiment of the present invention may store the driver's driving pattern in the memory 140 or an external server. The previously stored driving pattern is used for comparison with a driving pattern collected later. Furthermore, the previously stored driving pattern may be used to learn a model for determining the driver's condition.

The driving pattern collection unit 220 according to an embodiment of the present invention may directly calculate a driving pattern based on data collected by the in-vehicle communication unit 110 from the sensor 170 .

For example, the driving pattern collection unit 220 may calculate the vehicle speed of the vehicle 10 based on data received from the wheel speed sensor. The driving pattern collection unit 220 may determine whether or not slip occurs by using a speed difference between each wheel.

The driving pattern collection unit 220 may calculate the current yaw rate of the vehicle 10 based on the data received from the yaw rate sensor. The driving pattern collection unit 220 may calculate an estimated yaw rate according to the steering angle based on the data received from the steering angle sensor.

The driving pattern collecting unit 220 may calculate the turning state of the vehicle 10 based on the calculated current yaw rate and the estimated yaw rate. The turning state may be one of under steer, over steer, and neutral steer. The driving pattern collection unit 220 may calculate the turning radius and turning slip amount of each wheel using the vehicle's center of gravity, wheelbase, steering angle versus wheel angle, and the like.

The driving pattern collection unit 220 may calculate a shift angle between the direction of the wheel and the moving direction of the vehicle 10 based on the data received from the steering angle sensor.

In addition, the driving pattern collection unit 220 may collect driving modes (eg, autonomous driving mode/manual driving mode, sports mode/eco mode/safety mode/normal mode, etc.) of the vehicle determined according to the driver's manipulation. have.

The other vehicle information collection unit 230 collects status information (hereinafter, 'other vehicle information') of another vehicle 180 through the in-vehicle communication unit 110 and/or the V2X communication unit 120. The other vehicle information includes at least one of driving information and control information of the other vehicle 180 . The other vehicle information collection unit 230 may use a V2V communication method.

Specifically, the other vehicle information collection unit 230 may collect at least one of driving information and control information of the other vehicle 180 from the other vehicle 180 through the V2X communication unit 120 .

The driving information of the other vehicle 180 is the location, speed, direction, vertical acceleration, horizontal acceleration, overall length, height, vehicle width, location accuracy, heading, inclination, relative location, route history, and prediction of the other vehicle 180. Route, braking system status, indicator light status, event flag, slip occurrence, yaw rate, steering angle, steering angular velocity, accelerator pedal location information, brake pedal location information, turning status, turning radius, sideslip angle , inclination, turning radius of each wheel, turning slip amount, offset angle, driver's driving mode, and the like.

The control information of the other vehicle 180 includes ADAS operation status, operation history, operation availability, and the like. For example, the control information of the other vehicle 180 may include ABS operation status, AEB operation status, ESC, VDC, ESP operation information, and the like.

The other vehicle information collection unit 230 may also collect other vehicle information from at least one sensor 170 through the in-vehicle communication unit 110 . For example, the other vehicle information collecting unit 230 uses the in-vehicle communication unit 110 to determine whether another vehicle 180 has been detected for at least one of the front, left side, right side, and rear of the vehicle, the other vehicle 180 ) It is possible to collect all information about other vehicles 180 that can be calculated as sensor data, such as relative positions and relative speeds.

The sensor 170 used to collect other vehicle information may include one or more of a radar, lidar, ultrasonic sensor, and camera disposed on at least one of the front, left, right, and rear surfaces of the vehicle, but the type and arrangement of sensors The location and number of arrangements are not limited to a particular embodiment.

The other vehicle information collection unit 230 according to an embodiment of the present invention may directly calculate other vehicle information based on data collected from the sensor 170 . For example, the other vehicle information collection unit 230 analyzes the time when the signal transmitted by the sensor 170 is reflected by the other vehicle 180 and returns, or the strength of the signal transmitted and received by the sensor 170, or the sensor 170 Other vehicle information such as the location and speed of the other vehicle 180 may be determined by applying a predefined image processing to the image taken by the vehicle 180 .

The environment information collection unit 240 collects environment information about the external environment from the infrastructure 190 through the V2X communication unit 120 . The environment information includes at least one of road information, traffic information, and weather information. The environment information collection unit 240 may use a V2I communication method.

The road information includes at least one of road type, road curvature and road slope, and road construction information. The road information may further include road-related information such as road surface condition information and road width. Types of roads include highways, local national roads, or city roads. The condition information of the road surface includes whether the road is paved, whether it is an unpaved road, whether it is wet from rain, whether it is snowy, or temperature.

Traffic information includes information about traffic flow. Traffic flow according to an embodiment of the present invention may be classified into smooth, slow, delayed, and congested. Traffic flow may be divided based on the location, speed, and number of other vehicles 180 . In addition to this, traffic flow can be classified into four or more categories based on various information.

Weather information includes weather information such as rain, snow, fog, hail, and sun.

The navigation information collection unit 250 collects navigation information of the vehicle 10 from the in-vehicle communication unit 110, the V2X communication unit 120, and/or the memory 140. The navigation information may include location information of the vehicle 10 , map information corresponding to the location information, route information, and road information of a road on which the vehicle 10 is driving.

The navigation information collection unit 250 uses the in-vehicle communication unit 110 to input the destination information input by the driver/passenger to the navigation device mounted in the vehicle 10 and route information according to the destination setting (driver/passenger among candidate routes to the destination). Shortest route or preferred route selected by the passenger may be collected.

The navigation information collection unit 250 extracts map information corresponding to the current location from among the map information pre-stored in the memory 140 based on the current location of the vehicle positioning from the GPS receiver, or uses the V2X communication unit 120 to extract map information from an external server. It is possible to receive map information corresponding to the current location from.

The map manager 260 creates and manages a map around the vehicle 10 based on other vehicle information and environment information. For example, the map management unit 260 reflects driving information and control information such as the location, speed, and heading angle of the vehicle 10 and other vehicles 180 on the map information received by the navigation information collection unit 250, thereby The surrounding map of (10) can be created. The map management unit 260 may reflect environment information on a surrounding map. Meanwhile, information of the vehicle 10 and other vehicle information used to generate the surrounding map are not limited to the above, and may include all information that the vehicle control device 200 can collect. For example, the map management unit 260 may generate a map around the vehicle 10 by additionally considering driving routes of the vehicle 10 and other vehicles 180 . The map management unit 260 may periodically update the surrounding map.

The map information means a navigation map or a high-definition map.

The state determining unit 270 determines the driver's state based on the collected driving patterns and previously stored driving patterns.

Even if there is no driver's condition information such as the driver's gaze, eye blinking speed, eye blinking frequency, backrest contact, gaze deviation, voice, heart rate, electrocardiogram, blood pressure, oxygen saturation, and respiration rate, the state determination unit (270 ) may determine the driver's condition based on the collected driving patterns and previously stored driving patterns.

For example, the pre-stored driving pattern may include a pattern in which an indicator light is turned on before the driver performs steering control. On the other hand, when the collected driving pattern means that the driver controls the steering without turning on the indicator light, the state determination unit 270 may determine that the driver's state is in an abnormal state. In addition, when the driver behaves differently from the usual driving pattern, the state determining unit 270 may determine that the driver is in an abnormal state using various driving patterns. The state determination unit 270 may determine whether the driver has suddenly fallen into a driving incapacity state, such as drowsy driving or cardiac arrest.

The state determining unit 270 according to an embodiment of the present invention may directly determine the driver's state or indirectly determine the driver's state.

When the state determination unit 270 directly determines the driver's state, the previously stored driving pattern may be stored in the in-vehicle memory 140 . That is, the state determination unit 270 may determine the driver's state using the driving pattern stored in the memory 140 .

When the state determination unit 270 determines the driver's state using a server, the pre-stored location may be stored in an external server.

When the state determination unit 270 uses a server, the V2X communication unit 120 may transmit the collected driving patterns to the server. The server may receive the collected driving pattern and compare the collected driving pattern with the previously stored driving pattern to determine the driver's condition. Then, the V2X communication unit 120 may receive the driver's condition determined by the server from the server. The state determination unit 270 determines the driver's state based on the received driver's state.

The state determination unit 270 according to an embodiment of the present invention may determine the driver's state through a model learned through machine-learning or deep learning.

The state determiner 270 may determine the driver's state by using a model learned to determine the driver's state based on a pre-stored driving pattern.

Specifically, the state determiner 270 may input the collected driving patterns to the learned model and obtain the driver's state from the learned model. The state determiner 270 may determine the driver's state based on the driver's state acquired from the learned model.

A model according to an embodiment of the present invention may be learned in advance by the state determination unit 270 or the server.

When the state determination unit 270 learns the model, the state determination unit 270 may generate the collected driving patterns, the pre-stored driving patterns, and the driver's state as learning data, and make the model learn the learning data. At this time, the model is stored in the memory 140.

When the server learns the model, the server may generate the driving pattern received from the V2X communication unit 120, the previously stored driving pattern, and the driver's state as learning data, and may make the model learn the learning data. At this time, the model may be stored in the server. In addition, the model may be transmitted to the V2X communication unit 120 and stored in the in-vehicle memory 140.

The structure of the model may be various structures for learning, such as a machine learning model, a neural network, a convolutional neural network, a recurrent neural network, and a recursive neural network.

The learning method of the model may be supervised learning, unsupervised learning, semi-supervised learning, and/or reinforcement learning. A preferred learning method for a model is a supervised learning method. Since the specific learning method of the model is common in the relevant field, a detailed description thereof will be omitted.

The state determination unit 270 according to an embodiment of the present invention may determine the driver's state as a normal state or an abnormal state.

The state determination unit 270 according to an embodiment of the present invention may determine the driver's state as one of controllable, semi-controllable, and uncontrollable. The controllable state is a normal state, and the uncontrollable state is an abnormal state. The semi-controllable state may be arbitrarily set to either a steady state or an abnormal state.

The controllable state means a state in which the driver can completely control the vehicle 10 . The controllable state may include a state in which the speed and steering of the vehicle 10 can be controlled even when the driver feels slight pain or slight drowsiness.

The semi-controllable state means a state in which it is difficult for the driver to control the vehicle 10 . That is, the semi-controllable state means a state in which it is difficult for the driver to control the speed and steering of the vehicle 10 . For example, when the vehicle 10 crosses a lane or drives zigzag due to the driver's drowsiness, the state determination unit 270 may determine that the driver is in a semi-controllable state.

The uncontrollable state means a state in which the driver cannot control the vehicle 10 . Specifically, the uncontrollable state means a state in which the driver cannot completely control the speed and steering of the vehicle 10 . For example, when the driver cannot step on the accelerator pedal or the brake pedal, the state determining unit 270 may determine that the driver is in an out of control state.

The collision determination unit 280 determines the risk of collision with another vehicle 180 or a pedestrian while the vehicle 10 is moving.

The collision determination unit 280 may calculate a risk of collision with another vehicle 180 or a pedestrian in consideration of other vehicle information and environmental information. For example, the collision determination unit 280 is based on the positions of the vehicle 10 and the other vehicle 180, the speed, the driving route, and the behavior of the vehicle 10 and the other vehicle 180 predicted according to the traffic flow. The risk of collision can be calculated with

The control information generator 290 generates vehicle control information based on the driver's condition. The control information includes control information about the position, speed, acceleration, direction, braking, route, and the like of the vehicle 10 . Control information may include information necessary to provide ADAS functions.

Specifically, the control information generation unit 290 according to an embodiment of the present invention generates a guide route based on other vehicle information, environment information, and surrounding maps when the driver's condition is in an abnormal state. The control information generation unit 290 generates a guide route so that the vehicle 10 does not collide with another vehicle 180 and does not interfere with the flow of traffic based on other vehicle information, environment information, and surrounding maps.

The control information generation unit 290 generates control information of the vehicle 10 so that the vehicle 10 moves along the guide route.

Meanwhile, when the driver's condition is in an abnormal state, the control information generation unit 290 may activate the ADAS function by generating control information. The control information generation unit 290 may assist the driver's control by using at least one of ADAS functions so that the driver can safely and conveniently arrive at the destination. The control information generating unit 290 may generate speed control information of the vehicle 10 using the SCC function, and generate steering control information using the LKAS function.

On the other hand, when the driver's condition is normal, the control information generation unit 290 may generate control information within a range that assists the driver in controlling the vehicle.

The control information generation unit 290 according to an embodiment of the present invention may modify the guide path according to the collision risk determined by the collision determination unit 280 while the vehicle 10 is moving. The control information generating unit 290 may generate control information of the vehicle 10 based on the guidance path corrected according to the risk of collision.

For example, when it is determined that a lane change is possible without a risk of collision, the control information generation unit 290 modifies a straight path to a lane change path and generates control information for lane change. Conversely, the control information generation unit 290 maintains a straight path when it is determined that a lane change is impossible due to a risk of collision. That is, when a risk of collision with another vehicle 180 is detected while controlling the lane change of the vehicle 10, the control information generating unit 290 stops the lane change control and provides information for returning to the lane (lane return path). , lane return control starting point and control amount, etc.) can be calculated.

According to an embodiment of the present invention, if there is an existing guidance route of the vehicle 10 when the driver is determined to be in an abnormal state, the control information generating unit 290 determines the existing guidance route based on other vehicle information and environment information. safety can be assessed. If the existing guide route is not safe, the control information generation unit 290 may generate a new guide route.

The control information generation unit 290 generates vehicle control information so that the vehicle moves along a new guidance path.

When it is determined that the driver's condition is in an abnormal state, the control information generation unit 290 according to an embodiment of the present invention may generate a guidance route having a predetermined place as a destination based on other vehicle information and environment information. . Here, the pre-stored place means a safe place such as a hospital, fire station, police station, rest area, or sleepy shelter.

The control information generating unit 290 according to an embodiment of the present invention may determine whether a pre-designated place is within a predetermined range from the vehicle 10 . When the pre-designated place is not within a predetermined range from the vehicle 10, the control information generating unit 290 generates a guide path for the vehicle 10 to stop in the stop area. Here, the stopping area means a shoulder of the road or a parking lot. The control information generation unit 290 may generate a guide path so that the vehicle 10 does not interfere with traffic flow or collide with other vehicle information and environment information.

The control information generating unit 290 generates vehicle control information so that the vehicle moves along the guide route.

On the other hand, the control information generation unit 290 configures the control information to meet the communication protocol standard with various controllers 160 in the vehicle or a driving device (not shown), and uses the in-vehicle communication unit 110 to configure the controller 160 ) or by transmitting control information to the driving device, the vehicle 10 may be controlled. For example, the control information generation unit 290 may use a Motor Driven Power Steering (MDPS) motor, an engine control unit (ECU) or a transmission control unit (TCU) based on the calculated control start time and control amount. ), etc. can be configured and transmitted to meet the communication protocol standard of each controller/driver.

According to an embodiment of the present invention, when the driver's condition is in an abnormal state, the vehicle control device 200 may output a warning to the driver and the outside through the warning output unit.

The warning output unit may output a warning to the driver through voice, vibration, or video. Also, the warning output unit may output a warning through the driver's terminal.

The warning output unit may transmit a warning to another vehicle 180 or an external server through communication. The warning output unit may transmit an emergency rescue request by transmitting the driver's abnormal state to an external server. In addition, the warning output unit may induce collision avoidance to another vehicle 180 or a pedestrian by transmitting a warning to the outside of the vehicle 10 .

Through the above configurations, when the vehicle 10 does not support the DDREM function, the vehicle control device 200 can determine the driver's condition only with the driver's driving pattern and control the vehicle 10 or provide the ADAS function. have.

3 is a flowchart illustrating an operating method of a vehicle control device according to an embodiment of the present invention.

Referring to FIG. 3 , the vehicle control device collects a driver's driving pattern for the vehicle through in-vehicle communication (S300).

Here, the driver's driving pattern includes vehicle driving information and control information. In order to identify a pre-stored driving pattern mentioned below, the driving pattern may be collected and stored in advance before collecting the driver's driving pattern.

The vehicle control device determines the driver's condition based on the collected driving pattern and the previously stored driving pattern (S302).

The vehicle control device according to an embodiment of the present invention may directly determine the driver's state or indirectly determine the state using a server.

When the vehicle control device directly determines the driver's condition, the pre-stored driving pattern may be stored in an in-vehicle memory.

When the vehicle control device determines the driver's condition using a server, the pre-stored location may be stored in an external server. The vehicle control device may transmit the collected driving patterns to the server and receive the driver's condition from the server. The server compares the previously stored driving pattern with the received driving pattern to determine the driver's condition.

According to one embodiment of the present invention, the vehicle control device determines the driver's state by using a model learned to determine the driver's state based on a pre-stored driving pattern. That is, the previously stored driving pattern is used as learning data of the model. Through the learned model, the vehicle control device can accurately determine the driver's condition from the collected driving patterns.

Even without directly monitoring the driver, the vehicle control device may determine the driver's condition through the driving pattern of the driver, that is, the driving pattern of the vehicle.

Meanwhile, the vehicle control device collects other vehicle information from other vehicles through communication and collects environmental information from infrastructure (S304).

Other vehicle information includes at least one of driving information and control information of another vehicle. The environment information includes at least one of road information, traffic information, and weather information.

The vehicle control device generates a surrounding map based on other vehicle information and environment information (S306).

Processes S304 and S306 may be performed together while processes S300 and S302 are performed.

When the driver's condition is normal, the vehicle control device collects the driver's driving pattern again (S300). The vehicle control device may generate control information within a range of assisting the driver in controlling the vehicle.

Conversely, when the driver's condition is in an abnormal state, the vehicle control device creates a guidance route based on other vehicle information, environment information, and surrounding maps (S308).

The vehicle control device according to an embodiment of the present invention may determine a risk of collision with another vehicle or a pedestrian while the vehicle is moving. At this time, the vehicle control device corrects the guidance path according to the risk of collision.

The vehicle control device generates vehicle control information so that the vehicle moves along the guidance path (S310).

The control information includes control information about the position, speed, acceleration, direction, braking, route, and the like of the vehicle 10 . Control information may include information necessary to provide ADAS functions.

When the driver's condition is abnormal, the vehicle control device outputs a warning to the driver and the outside (S312).

The vehicle control device may output a warning to the driver through voice, vibration, or video. The vehicle control device may transmit a warning to other vehicles, pedestrians, or an external server through communication. Here, the external server refers to a server in a place capable of handling a driver's emergency rescue request, such as a hospital, fire station, police station, or rest area. That is, the vehicle control device may induce collision avoidance with other vehicles and pedestrians through a warning output, and send an emergency rescue request to a remote server.

Although it is described in FIG. 3 that steps S300 to S312 are sequentially executed, this is merely an example of the technical idea of one embodiment of the present invention. In other words, those skilled in the art to which an embodiment of the present invention belongs may change and execute the sequence described in FIG. 3 without departing from the essential characteristics of the embodiment of the present invention, or one of steps S300 to S312. Since it will be possible to apply various modifications and variations by executing the above process in parallel, FIG. 3 is not limited to a time-series sequence.

Meanwhile, the processes shown in FIG. 3 can be implemented as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. That is, such a computer-readable recording medium includes non-transitory media such as ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network to store and execute computer-readable codes in a distributed manner.

In addition, components of the present invention may use an integrated circuit structure such as a memory, a processor, a logic circuit, a look-up table, and the like. These integrated circuit structures execute each of the functions described herein through the control of one or more microprocessors or other control devices. In addition, the components of the present invention may be specifically implemented by a program or part of code that includes one or more executable instructions for performing a specific logical function and is executed by one or more microprocessors or other control devices. In addition, the components of the present invention may include or be implemented by a central processing unit (CPU), a microprocessor, etc. that perform each function. Also, components of the present invention may store instructions executed by one or more processors in one or more memories.

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

10: vehicle 100: integrated controller
110: in-vehicle communication unit 120: V2X communication unit
130 and 132: processor 140: memory
150: internal communication unit 160: sensor
170: controller 180: other vehicles
190: infrastructure

Claims (20)

Collecting a driver's driving pattern for the vehicle through in-vehicle communication;
determining a state of the driver based on the collected driving pattern and the previously stored driving pattern; and
Process of generating vehicle control information based on the driver's condition
Operating method of a vehicle control device comprising a. According to claim 1,
The operating method of the vehicle control device, characterized in that the pre-stored driving pattern is stored in the in-vehicle memory. According to claim 2,
The process of determining the driver's condition,
and determining the driver's state by using a model learned to determine the driver's state based on the pre-stored driving pattern. According to claim 1,
The method of operating a vehicle control device, characterized in that the pre-stored driving pattern is stored in a server. According to claim 4,
The process of determining the driver's condition,
transmitting the driving pattern of the driver to a server; and
Receiving a state of the driver determined by the server based on a comparison between the collected driving pattern and the pre-stored driving pattern
Operating method of a vehicle control device comprising a. According to claim 1,
Collecting other vehicle information from other vehicles through communication and collecting environmental information from infrastructure; and
Process of generating a surrounding map based on the other vehicle information and the environment information
A method of operating a vehicle control device further comprising a. According to claim 6,
The process of generating the control information of the vehicle,
generating a guide route based on the other vehicle information, the environment information, and the surrounding map when the driver's condition is in an abnormal state; and
Generating control information of the vehicle so that the vehicle moves along the guide route
Operating method of a vehicle control device comprising a. According to claim 7,
determining a risk of collision with another vehicle or pedestrian while the vehicle is moving; and
The process of modifying the guide path according to the collision risk
A method of operating a vehicle control device further comprising a. According to claim 1,
When the driver's condition is in an abnormal state, outputting a warning to the driver and the outside
A method of operating a vehicle control device further comprising a. According to claim 1,
The driving pattern of the driver,
A method of operating a vehicle control device comprising driving information and control information of the vehicle. a driving pattern collection unit that collects a driver's driving pattern for the vehicle through in-vehicle communication;
a state determining unit that determines a state of the driver based on the collected driving pattern and the previously stored driving pattern; and
Control information generation unit for generating vehicle control information based on the driver's condition
A vehicle control device comprising a. According to claim 11,
The vehicle control device, characterized in that the pre-stored driving pattern is stored in the in-vehicle memory. According to claim 12,
The state determination unit,
The vehicle control apparatus according to claim 1 , wherein the driver's state is determined by using a model learned to determine the driver's state based on the pre-stored driving pattern. According to claim 11,
The vehicle control device, characterized in that the pre-stored driving pattern is stored in a server. According to claim 14,
Further comprising a V2X communication unit that communicates with the server, other vehicles and servers,
The communication department,
Transmitting the collected driving pattern to a server and receiving a driver's condition determined by the server based on a comparison between the collected driving pattern and the pre-stored driving pattern;
The state determination unit,
and determining the driver's condition based on the received driver's condition. According to claim 11,
a other vehicle information collection unit that collects other vehicle information from other vehicles through communication;
Environmental information collection unit for collecting environmental information from the infrastructure through communication; and
A map management unit generating a surrounding map based on the other vehicle information and the environment information
Vehicle control device further comprising a. According to claim 16,
The control information generating unit,
When the driver's condition is in an abnormal state, a guide route is generated based on the other vehicle information, the environment information, and the surrounding map, and vehicle control information is generated so that the vehicle moves according to the guide route. vehicle control device. According to claim 17,
Further comprising a collision determination unit for determining a risk of collision with the other vehicle or pedestrian while the vehicle is moving;
The control information generating unit,
The vehicle control device, characterized in that for correcting the guide path according to the collision risk. According to claim 11,
When the driver's condition is in an abnormal state, a warning output unit for outputting a warning to the driver and the outside
Vehicle control device further comprising a. According to claim 11,
The driving pattern of the driver,
A vehicle control device comprising driving information and control information of the vehicle.

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