KR20230073412A - A hybrid vehicle and method for controlling the same - Google Patents

Abstract

A vehicle according to one embodiment of the present invention comprises: a control device which is provided to change the driving state of a vehicle; an autonomous driving module which is physically connected to the control device, and controls the control device to control the driving of the vehicle; an autonomous driving controller which receives and analyzes external information from the outside, and controls the autonomous driving module based on the analyzed external information and predetermined internal information; an ECU which senses the operation state of the control device, and generates a blocking signal when the vehicle, which is being autonomously driven, is determined to have deviated from a predetermined driving pattern based on the sensing result; and a separation module which physically separates the control device from the autonomous driving module by means of the blocking signal. Here, the ECU and the autonomous driving controller are separated from each other on the network. Therefore, more stable autonomous driving is enabled.

Description

A HYBRID VEHICLE AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a vehicle capable of autonomous driving using a driving control device and an autonomous driving module in a state where an ECU is blocked from external information flowing in from a network, and a method for controlling the same.

Recently, automobiles have evolved to be driven by an electric method for driver's convenience and driving safety. In particular, as vehicle systems become fully automated, communication between controllers inside the vehicle is also frequently performed, and CAN (Controller Area Network) communication is generally used for internal communication of the vehicle.

An electronic control system inside a vehicle is composed of various electronic control units (ECUs) such as an engine control unit, a shift control unit, a braking control unit, a steering control unit, and an airbag control unit. In addition, each electronic control device is provided with a CAN controller for CAN communication, and a CAN transceiver is provided in which a data transmission end and a data reception end are connected to a CAN communication line to implement CAN communication.

On the other hand, the electronic control system of a vehicle using conventional CAN communication is vulnerable to security, making it difficult to defend against hacking or viruses. There was a problem that there was a limit that could not secure security.

An object of the present invention is to provide a vehicle capable of more stable autonomous driving and a method for controlling the same.

In particular, the present invention autonomously drives centered on a driver control device and an autonomous driving module under the control of an autonomous driving controller, but in the case of abnormal autonomous driving, a disconnection module capable of physically disconnecting them is provided between the driver control device and the autonomous driving module. By arranging, the purpose is to provide a vehicle capable of stable autonomous driving and a method for controlling it.

In addition, an object of the present invention is to provide a vehicle that can perfectly protect an ECU from attacks such as hacking and malicious code viruses by blocking external information flowing from a network and a method for controlling the same.

The technical problems to be achieved in 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. You will be able to.

In order to solve the above technical problems, a vehicle according to an embodiment of the present invention is physically connected to an operating device for changing the driving state of the vehicle, and the operating device, and operates the operating device to control the driving of the vehicle. An autonomous driving module for controlling, an autonomous driving controller for receiving and analyzing external information from the outside, and controlling the autonomous driving module based on the analyzed external information and preset internal information, sensing an operating state of the operating device, An ECU generating a blocking signal when it is determined that the vehicle in autonomous driving deviated from a preset driving pattern based on a sensing result, and a disconnection module physically separating the control device and the autonomous driving module by the blocking signal. and the ECU and the autonomous driving controller are disconnected from each other on a network.

In addition, according to an embodiment of the present invention, a method for controlling a vehicle traveling autonomously on a road includes the steps of manipulating a driving state change of the vehicle using an operating device, and using an autonomous driving module physically connected to the operating device. and controlling the operation device to operate, providing external information provided from the outside to an autonomous driving controller, and controlling the autonomous driving module based on the external information and preset internal information; Sensing a driving state using an ECU and determining a driving pattern of the vehicle in autonomous driving based on a result of the sensing; Determining whether to separate and switching from an autonomous driving mode to a driver driving mode when the control device and the autonomous driving module are physically separated.

According to at least one embodiment of the present invention configured as described above, the vehicle drives autonomously centering on the driver control device and the autonomous driving module under the control of the autonomous driving controller, but in the case of abnormal autonomous driving, they can be physically disconnected. By disposing the disconnection module between the manipulation module and the autonomous driving module, stable autonomous driving can be achieved.

In addition, according to at least one embodiment of the present invention, by disconnecting the communication between the ECU and the network, the vehicle can be completely blocked from attacks such as hacking and malicious code viruses, thereby improving security.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is a block diagram showing an example of an autonomous driving system of a vehicle according to an embodiment of the present invention.
2 is a diagram for explaining a physical connection between a manipulation module, an autonomous driving module, and a disconnection module according to an embodiment of the present invention.
3 is a flowchart illustrating a method for controlling a vehicle according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated. Also, parts denoted with the same reference numerals throughout the specification mean the same components.

In addition, a unit or control unit included in the name of an electronic controller (ECU: Electronic Control Unit) is just a term widely used for naming a controller that controls vehicle-specific functions, It does not mean a generic function unit. For example, each controller is a communication device that communicates with other controllers or sensors to control the function in charge, a memory that stores operating system or logic commands and input/output information, and a controller that performs judgment, calculation, and decision necessary for controlling the function in charge. It may include more than one processor.

In the embodiments of the present invention, autonomous driving is performed centering on the driver control device and the autonomous driving module under the control of the autonomous driving controller, but in the case of abnormal autonomous driving, a disconnection module capable of physically disconnecting them is provided between the driver control device and the autonomous driving module. By placing it on the ECU, stable autonomous driving is possible, and by completely disconnecting the ECU online, it can be completely blocked from attacks such as hacking and malicious code viruses.

Hereinafter, a self-driving vehicle and a method for controlling the vehicle in a more secure state according to an embodiment of the present invention will be described.

1 is a block diagram showing an example of an autonomous driving system of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle 100 according to an embodiment of the present invention includes a control device 110, an autonomous driving module 120, an autonomous driving controller 130, an electronic control unit (ECU) 140, and a disconnection module. (150) may be provided.

The vehicle 100 operates a control unit 110, an autonomous driving module 120, an autonomous driving controller 130, an electronic control unit (ECU) 140, and a disconnection module 150 to operate in a normal driving mode or autonomous driving mode depending on circumstances. You can drive in driving mode.

The control device 110 may operate to change the driving state of the vehicle 100 . Changing the driving state may include at least one of acceleration, deceleration, shifting, and steering. The control device 110 may be a device or component module required to change the driving state of the vehicle 100 . The control device 110 may include an accelerator, a brake, a handle, and a shift lever necessary for changing the driving state of the vehicle 100 . The control device 110 may be referred to as a driver control module or a driver control device.

The autonomous driving module 120 is physically connected to the control device 110 and controls the vehicle 100 to drive through at least one or more parts capable of manipulating them.

The autonomous driving module 120 may include one or more motors. Each of the one or more motors may be physically connected to an accelerator, a brake, a steering wheel, and a shift lever. For example, the at least one motor may include an accelerator motor, a brake motor, a handle motor, and a shift lever motor. A detailed description of this will be described later.

The autonomous driving module 120 may be referred to as an autonomous driving control device or an autonomous driving device.

The autonomous driving controller 130 may receive and analyze external information from the external device 300 and control the autonomous driving module 120 based on the analyzed external information. The autonomous driving controller 130 may be electrically connected to the transceiver 160 disposed in the vehicle 100 . For example, the external device 300 may include various technologies utilizing a network, a cloud, and the like. The transceiver 160 may be referred to as a communication module 160 .

The self-driving controller 130 analyzes external information provided through the communication module 160 and controls the self-driving module 120 based on the analyzed external information and preset internal information, so that the vehicle ( 100) can be controlled to stably autonomously drive.

For example, the internal information may include vehicle speed information of the vehicle 100, first map information on the accelerator and acceleration of the vehicle 100, and second map information on the brake and deceleration of the vehicle 100. . Internal information may be referred to as essential vehicle information.

Vehicle speed information may be extracted or calculated through vehicle camera information and traffic information. For example, the autonomous driving controller 130 may extract or calculate vehicle speed information by inversely calculating the vehicle speed based on vehicle camera information and traffic information.

The first map information and the second map information may be stored based on driving data about a driving pattern of a driver who drives the vehicle 100 in a normal driving mode.

For example, driving data includes accelerator data generated when accelerator is operated, acceleration data generated when accelerating, brake data generated when brakes are applied, deceleration data generated when decelerating, shift data, and steering data. can include

The autonomous driving controller 130 analyzes and classifies the stored driving data to generate table values, and based on this, first map information and second map information may be set.

The external information may include at least one of vehicle information in front and rear of the vehicle 100, traffic information on the road, vehicle camera information capturing the surroundings of the vehicle 100, and vehicle speed information of the vehicle 100. .

The autonomous driving controller 130 may extract external information by receiving various external information transmitted through various external devices and filtering only information necessary for autonomous driving.

In addition, the self-driving controller 130 determines which objects the vehicle 100 recognizes in the self-driving mode and how it autonomously travels while controlling the control device 110 using the self-driving module 120. Information may be displayed through a built-in display unit (not shown).

An electronic control unit (ECU) 140 may sense the control device 110 and generate a blocking signal when the vehicle 100 in autonomous driving deviate from a preset driving pattern.

The ECU 140 may store driving data about a driver's driving pattern generated in a general driving mode in which the driver self-driving the vehicle 100 in real time and analyze the stored driving data. The ECU 140 may set a reference driving pattern based on the analyzed driving data.

The ECU 140 may periodically update the reference driving pattern. For example, the ECU 140 may set the update cycle to monthly, quarterly, yearly, and the like. It is not limited thereto, and may be set differently depending on the case.

So far, the case where one driver drives or drives the vehicle 100 has been described, but is not limited thereto. For example, when there are a plurality of drivers driving the vehicle 100, the ECU 140 may set different reference driving patterns by storing and analyzing driving data differently for each of the plurality of drivers.

The ECU 140 senses the control device 110 in real time, but when it is determined that the vehicle 100 in autonomous driving deviate from the set reference driving pattern, it generates a blocking signal, and the generated blocking signal is used as a disconnection module 150 to be described later. ) can be provided. The ECU 140 may control the disconnection module 150 to physically separate the manipulation device 110 and the autonomous driving module 120 and switch the autonomous driving mode to the general driving mode.

That is, when the control device 110 and the autonomous driving module 120 are physically separated from each other by the disconnection module 150, the ECU 140 releases the autonomous driving mode and controls to switch to the normal driving mode. . The general driving mode may be referred to as a driver driving mode.

The ECU 140 may allow the driver to recognize that the driving mode is switched using various methods before switching to the normal driving mode. In various ways, the conversion from the autonomous driving mode to the normal driving mode may be recognized using a speaker built into the vehicle, vibration of the driver's seat, a display unit built into the vehicle, or a windshield of the vehicle. The ECU 140 may recognize them by combining them.

As described above, the ECU 140 may continuously track the control device 110 including the accelerator, brake, handle, and shift lever. At this time, since the ECU 140 is physically and electrically disconnected from the transceiver 160 and the autonomous driving controller 130, external information is not provided. That is, since the ECU 140 is completely disconnected from the outside on-line (network), unlike the conventional ECU 140, it has improved security and can perform autonomous driving.

When unintentional driving or driving that threatens the driver's safety is confirmed during autonomous driving, the ECU 140 activates the disconnection module 150 to disconnect the control authority of the autonomous driving controller 130 from the control device 110 and , It is possible to control to transfer the authority of the operating device 110 to the driver.

The disconnection module 150 is disposed between the manipulation device 110 and the autonomous driving module 120, and may physically connect or separate them. The disconnection module 150 may physically connect or separate the manipulation device 110 and the autonomous driving module 120 under the control of the ECU 140 . For example, when a blocking signal is provided or supplied from the ECU 140, the disconnection module 150 may physically separate or disconnect the control device 110 and the autonomous driving module 120.

It is not limited thereto, and in some cases, the disconnection module 150 may be operated by a button or a switch disposed therein. For example, if a driver detects a danger during autonomous driving or determines that the driving is unstable, the driver will try to turn off the autonomous driving mode and switch to a normal driving mode. However, when the autonomous driving mode is not turned off due to hacking or security issues, the disconnection module 150 or the disconnection device is used to bring the authority of the control device 110 or the driver control device to the driver himself. can

The disconnection module 150 may include at least one or more blocking parts corresponding to the control device 110 and the autonomous driving module 120 . A detailed description of this will be described later.

The transceiver 160 may receive external information from the outside or transmit internal information to the outside. The transceiver 160 may be electrically connected to the autonomous driving controller 130 and not electrically connected to the ECU 140.

The transceiver 160 may be electrically connected to the autonomous driving controller 130 and provide external information to the autonomous driving controller 130 . Unlike this, the transceiver 160 is electrically disconnected from the ECU 140 and cannot provide external information to the ECU 140.

In addition, the transceiver 160 is not physically or electrically connected to the ECU 140 together with the autonomous driving controller 130. In this way, the ECU 140 may be physically or electrically separated from the transceiver 160 and the autonomous driving controller 130 electrically connected to the transceiver 160, thereby being disconnected from the outside and the network.

Accordingly, the present invention autonomously drives the operation device 110 and the autonomous driving module 120 under the control of the autonomous driving controller 130 in a state where the ECU 140 is completely disconnected from the outside on an online (network) basis, but abnormal autonomous In the case of driving, by physically disconnecting the control device 110 and the autonomous driving module 120 using the disconnection module 150 disposed between them, security can be improved and stable autonomous driving can be performed.

2 is a diagram for explaining a physical connection between a control device, an autonomous driving module, and a disconnection module according to an embodiment of the present invention.

Referring to FIG. 2 , the manipulation device 110 , the autonomous driving module 120 , and the disconnection module 150 according to an embodiment of the present invention may be physically connected to each other.

The operating device 110 may include a first operating component 111 to a fourth operating component 114 . The first operating component 111 is an accelerator, the second operating component 112 is a brake, the third operating component 113 is a shift lever, and the fourth operating component 114 is a steering wheel or steering wheel. can include

The autonomous driving module 120 may include a first motor 121 to a fourth motor 124 . The first motor 121 is a motor capable of operating an accelerator, the second motor 122 is a motor capable of operating a brake, the third motor 123 is a motor capable of operating a shift lever, 4 The motor 124 may be a motor capable of manipulating a steering wheel or a steering wheel.

The first motor 121 is physically connected to the first operating component 111, the second motor 122 is physically connected to the second operating component 112, and the third motor 123 is physically connected to the third operating component 123. The part 113 may be physically connected, and the fourth motor 124 may be physically connected to the fourth operating part 114 .

The disconnection module 150 may include a first disconnection component 151 to a fourth disconnection component 154 . Disconnect module 150 may be operated by a disconnect signal.

The first disconnection part 151 may be disposed between the first motor 121 and the first operation part 111 . For example, the first disconnecting part 151 may have one end physically connected to the first motor 121 and the other end physically connected to the first operation part 111 to physically connect or separate them.

The second disconnecting part 152 may be disposed between the second motor 122 and the second operating part 112 . For example, the second disconnecting part 172 may have one end physically connected to the second motor 182 and the other end physically connected to the second driving part 162 to physically connect or separate them.

The third disconnecting part 173 may be disposed between the third motor 183 and the third driving part 163 . For example, the third disconnecting part 173 may have one end physically connected to the third motor 183 and the other end physically connected to the third driving part 163 to physically connect or separate them.

The fourth disconnection part 174 may be disposed between the fourth motor 184 and the fourth driving part 114 . For example, the fourth disconnecting part 174 may have one end physically connected to the fourth motor 184 and the other end physically connected to the fourth driving part 114 to physically connect or separate them.

As described above, the present invention autonomously drives centered on the control device 110 and the autonomous driving module 120 under the control of the autonomous driving controller, but in case of abnormal autonomous driving, the disconnection module 150 capable of physically blocking them. ) is placed between the control device 110 and the autonomous driving module 120, not only can stable autonomous driving be performed, but also hacking is possible by completely disconnecting the ECU 140 from the external device 300 online (network). , malware, viruses, and other attacks can be completely blocked to improve security.

3 is a flowchart illustrating a method for controlling a vehicle according to an embodiment of the present invention.

Referring to FIG. 3 , a method of controlling a vehicle autonomously traveling on a road according to an embodiment of the present invention is as follows. In FIG. 3 , contents overlapping with the contents already described in FIGS. 1 and 2 will be omitted.

In the operation step, a driving state change of the vehicle may be manipulated using the operation device (S110).

In the step of controlling the manipulation device, the manipulation device may be controlled to be manipulated using an autonomous driving module physically connected to the manipulation device (S120).

In the step of controlling the autonomous driving module, external information provided from the outside may be provided to the autonomous driving controller, and the autonomous driving module may be controlled based on the external information and preset internal information (S130).

In the step of determining, the driving state of the control device may be sensed using the ECU, and the driving pattern of the vehicle in autonomous driving may be determined based on the sensing result (S140). ECUs and autonomous driving controllers can be disconnected from each other on a network.

In the determining step, when it is determined that the driving pattern of the vehicle deviates from the predetermined reference driving pattern (S140), the ECU may generate a blocking signal (S150). The ECU may provide the generated cut-off signal to the disconnect module. If it is determined that the driving pattern of the vehicle does not deviate from the preset reference driving pattern (S140), the ECU may maintain the currently driving autonomous driving mode without generating a blocking signal (S130).

In the determining step, whether or not to separate the control device and the autonomous driving module may be determined according to the result of the determined driving pattern of the vehicle (S160). That is, in the step of determining, when the disconnection signal is provided to the disconnection module, the control device and the autonomous driving module may be physically separated or disconnected using the disconnection module.

In the switching step, when the control device and the autonomous driving module are physically separated, the autonomous driving mode may be switched to the driver driving mode (S170).

The above-described present invention can be implemented as computer readable code on a medium on which a program is recorded. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. there is

Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

110: driver control device
120: autonomous driving module
130: autonomous driving controller
140: ECU
150: disconnection module
160: transceiver

Claims (13)

In a vehicle autonomously driving on the road,
an operating device for changing the running state of a vehicle;
an autonomous driving module that is physically connected to the control device and controls driving of the vehicle by manipulating the control device;
an autonomous driving controller that receives and analyzes external information from the outside, and controls the autonomous driving module based on the analyzed external information and preset internal information;
an ECU sensing an operating state of the control device and generating a blocking signal when it is determined that the vehicle in autonomous driving deviate from a preset driving pattern based on a result of the sensing; and
Including; a disconnection module physically separating the control device and the autonomous driving module by the disconnection signal;
The ECU and the autonomous driving controller are disconnected from each other on a network. According to claim 1,
The operating device is
Automobile including accelerator, brake, steering wheel and shift lever. According to claim 2,
the car,
A transceiver receiving the external information from the outside;
The transceiver is electrically connected to the autonomous driving controller and electrically separated from the ECU. According to claim 1,
The inside information is
vehicle speed information of the vehicle, first map information on an accelerator and acceleration of the vehicle, and second map information on a brake and deceleration of the vehicle;
A car that includes a. According to claim 1,
The external information,
A vehicle including at least one of vehicle information in front and rear of the vehicle, traffic information on the road, and vehicle camera information installed in the vehicle and capturing the surroundings of the vehicle. According to claim 4,
The vehicle speed information,
A car that is extracted through the information of the vehicle camera and the traffic information. According to claim 1,
The disconnection module,
When the blocking signal is supplied from the ECU, the vehicle physically separates the operation device and the autonomous driving module. According to claim 1,
The ECU,
When the control device and the autonomous driving module are physically separated from each other by the power failure module, the vehicle controls to release the autonomous driving mode and switch to the driver driving mode. A computer readable recording medium recording a program for executing the vehicle according to any one of claims 1 to 8. A method for controlling a vehicle autonomously driving on a road,
manipulating a change in the driving state of the vehicle using an operating device;
controlling the operating device to be operated using an autonomous driving module physically connected to the operating device;
providing external information provided from the outside to an autonomous driving controller, and controlling the autonomous driving module based on the external information and preset internal information;
sensing a driving state of the control device using an ECU, and determining a driving pattern of the vehicle in autonomous driving based on a result of the sensing;
determining whether to separate the control device and the autonomous driving module according to a result of the determined driving pattern of the vehicle; and
and switching from an autonomous driving mode to a driver driving mode when the control device and the autonomous driving module are physically separated. According to claim 10,
The ECU and the autonomous driving controller are disconnected from each other on a network. According to claim 10,
The step of judging is
When it is determined that the driving pattern of the vehicle deviates from a preset reference driving pattern, the ECU generates the blocking signal. According to claim 12,
The determining step is
When the disconnection signal is provided to the disconnection module, the method of physically separating the operation device and the autonomous driving module using the disconnection module.

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