KR20230116369A - System and method for coltrolling vehicle based on state of controller - Google Patents

Abstract

The present invention relates to a controller state-based vehicle control system and method, and the vehicle control system according to the present invention includes an analysis unit that collects information on controllers in a vehicle and analyzes the state of each controller, and a state analysis result of each controller. A learning unit for learning the state of each of the controllers based on, a determination unit for determining an abnormal state for at least one of the controllers based on a state analysis result and a learning result for each of the controllers, and and a control unit that manages vehicle control rights according to abnormal conditions.

Description

Vehicle control system and method based on controller state {SYSTEM AND METHOD FOR COLTROLLING VEHICLE BASED ON STATE OF CONTROLLER}

The present invention relates to a controller state-based vehicle control system and method.

In general, an update operation of a vehicle controller is performed using an electrical load in an engine off state.

DDREM (Departed Driver Rescue and Exit Maneuver) technology detects situations in which the driver cannot control the vehicle, such as drowsy driving or cardiac arrest, by guiding the vehicle to a safe state, such as finding a safe place and stopping, by automatically controlling the vehicle for collision. It is a technique that allows risk mitigation.

The self-driving technology of vehicles acquires and receives information necessary for autonomous driving by transmitting and receiving signals through vehicle to X (V2X) communication between roadside devices or nearby vehicles, and vehicle network communication with controllers (sensors) in the vehicle. It is to autonomously control the driving of the vehicle based on the received information.

However, if the performance of each controller in the vehicle deteriorates due to aging or if some or all functions are abnormal due to failure, inaccurate information is provided when providing information necessary for autonomous driving, or when specific information is required. Failure to provide information may cause problems in autonomous driving control.

Currently, abnormal conditions due to deterioration or failure of the controller are only warned to the driver, but are not reflected in the autonomous driving control of the vehicle.

An object of the present invention is to prevent an accident due to an abnormality of a controller during autonomous driving by switching the control authority for functions supporting autonomous driving of a vehicle according to the abnormal state step of the controller when a controller failure occurs while the vehicle is driving. It is an object of the present invention to provide a vehicle control system and method based on a controller state so as to be able to prevent it.

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.

In order to achieve the above object, a vehicle control system based on the state of a controller according to an embodiment of the present invention includes an analysis unit that collects information on controllers in a vehicle and analyzes the state of each controller, and a state analysis result of each controller. a learning unit that learns the state of each of the controllers based on the above, a determination unit that determines an abnormal state of at least one of the controllers based on a state analysis result of each of the controllers and a learning result, and an abnormality of the controllers. It is characterized in that it includes a control unit that manages the right to control the vehicle according to the state.

In one embodiment, the analyzer may analyze at least one or more of an aging state, a failure state, a response performance, a control amount, and a sensor state of each of the controllers based on information collected from each of the controllers.

In one embodiment, the learning unit may learn response performance of each of the controllers based on a state analysis result of each of the controllers.

In one embodiment, the learning unit selects a control parameter for determining the performance of each of the controllers based on a state analysis result of each of the controllers, and sets a parameter value input from each of the controllers with respect to the selected control parameter. characterized by learning.

In one embodiment, the determination unit may determine an abnormal state step according to the abnormal state of the corresponding controller when an abnormal state of at least one of the controllers is confirmed.

In one embodiment, the control unit is characterized in that it grants control rights for functions supporting autonomous driving of the vehicle to an autonomous driving controller or a driver according to an abnormal state step according to an abnormal state of the controller.

In one embodiment, the control unit is characterized in that, when the controller abnormal state step is the first step, grants the entire control right for the functions supporting the autonomous driving of the vehicle to the autonomous driving controller.

In one embodiment, the control unit is characterized in that, when the controller abnormal state step is the second step, grants some control rights for functions supporting autonomous driving of the vehicle to the autonomous driving controller.

In one embodiment, the control unit, when the confirmed controller abnormal state step is the second step, queries the driver for control rights for functions supporting autonomous driving of the vehicle, and responds to the driver's selection in response to the query. It is characterized in that the corresponding control right is given to the autonomous driving controller or the driver according to the method.

In one embodiment, the control unit is characterized in that, when the confirmed controller abnormal state step is the third step, grants the driver full control rights for functions supporting autonomous driving of the vehicle.

In one embodiment, the control unit may switch the control right granted to the driver to the autonomous driving controller if the driver's operation is not detected for a predetermined time while driving.

In addition, a vehicle control method based on the state of a controller according to an embodiment of the present invention for achieving the above object includes the steps of collecting information on controllers in a vehicle and analyzing the state of each controller, and the state analysis result of each controller. Learning the state of each of the controllers based on, determining the abnormal state of at least one of the controllers based on the state analysis result and the learning result of each of the controllers, and the abnormal state of the controllers. It characterized in that it comprises the step of managing the vehicle control right according to.

In one embodiment, the analyzing step includes analyzing at least one or more of the aging state, failure state, response performance, control amount, and sensor state of each of the controllers based on information collected from each of the controllers characterized by

In one embodiment, the learning may include learning the response performance of each of the controllers based on a state analysis result of each of the controllers.

In one embodiment, the learning step may include selecting a control parameter for determining the performance of each of the controllers based on a state analysis result of each of the controllers, and inputting the selected control parameter from each of the controllers. It is characterized in that it comprises the step of learning the parameter value.

In one embodiment, the determining step may include determining an abnormal state step according to the abnormal state of the corresponding controller when an abnormal state of at least one of the controllers is confirmed.

In one embodiment, the determining of the vehicle control right may include granting control rights for functions supporting autonomous driving of the vehicle to an autonomous driving controller or a driver according to an abnormal state step according to an abnormal state of the controller. It is characterized by including.

In one embodiment, the granting may include, when the confirmed controller abnormal state step is the first step, granting the entire control right for functions supporting autonomous driving of the vehicle to an autonomous driving controller; When the controller abnormal state step is step 2, granting the autonomous driving controller some control rights for functions supporting autonomous driving of the vehicle, and when the confirmed controller abnormal state step is step 3, the vehicle and granting the driver full control over functions supporting autonomous driving.

In one embodiment, the granting may include, when the confirmed controller abnormal state step is the second step, querying the driver for control rights for functions supporting autonomous driving of the vehicle, and responding to the query by the driver. It is characterized in that it further comprises the step of granting the corresponding control right to the autonomous driving controller or the driver according to the selection.

In one embodiment, the step of determining the right to control the vehicle may further include converting the control right granted to the driver to the autonomous driving controller if the driver's manipulation is not detected for a predetermined time while driving. .

According to the present invention, when an error occurs in the controller while the vehicle is driving, control rights for functions supporting autonomous driving of the vehicle are switched according to the abnormal state step of the controller, thereby preventing an accident due to an error in the controller during autonomous driving. There are effects that can be done.

1 is a diagram showing the configuration of a vehicle control system based on a controller state according to an embodiment of the present invention.
2 is a diagram illustrating an embodiment of defining an abnormal state of a step-by-step controller according to an embodiment of the present invention.
3 is a diagram illustrating an embodiment of defining step-by-step control rights according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating an embodiment referred to for explaining an operation of granting a control right in a two-step abnormal state according to an embodiment of the present invention.
5 is a diagram illustrating an operation flow for a vehicle control method based on a controller state according to an embodiment of the present invention.
6 and 7 are diagrams illustrating the detailed operation flow of the operation of granting the control right of FIG. 5 .

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 an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. 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. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

1 is a diagram showing the configuration of a vehicle control system based on a controller state according to an embodiment of the present invention.

Referring to FIG. 1 , the controller state-based vehicle control system may include a communication unit 110, an analysis unit 120, a learning unit 130, a determination unit 140, a control unit 150, and a storage unit 160. can

The communication unit 110 may include a communication module that performs vehicle network communication with the controllers 50 in the vehicle. Vehicle network communication technologies include CAN (Controller Area Network) communication, CANFD (Controller Area Network Flexible Data-Rate) communication, LIN (Local Interconnect Network) communication, Flex-Ray communication, and Ethernet communication. can be included

The communication unit 110 may receive state information about each controller 50 from the controllers 50 while driving. Here, the controllers 50 may include a controller supporting an autonomous driving function. The controllers 50 may include sensors such as cameras, radars, lidars, and the like, and may control operations of the sensors or process information acquired by the sensors.

For example, the controllers 50 may include driving controllers such as an engine management system (EMS), electronic stability control (ESC), electronic stability program (ESP), and vehicle dynamic control (VDC). In addition, the controllers are LKAS (Lane Keeping Assist System), HDA (Highway Driving Assist), SCC (smart cruise control)/ACC (Adaptive Cruise Control), AEB (Autonomous Emergency Brake)/FCA (Front Collision Avoidance assist), HDP ( It may also include ADAS (Advanced Driver Assistance System) controllers such as Highway Driving Pilot (LDW), Lane Departure Warning (LDW), Driver Attention Warning (DAW), and Driver State Warning (DSW).

Meanwhile, the communication unit 110 may further include a communication module for communicating with a nearby roadside device (not shown) and/or a nearby vehicle (not shown) using a wireless Internet access method or a short-distance communication method. Here, the wireless Internet technology may include wireless LAN (WLAN), wireless broadband (Wibro), Wi-Fi, and World Interoperability for Microwave Access (Wimax). In addition, short-range communication technologies may include Bluetooth, ZigBee, Ultra-Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), and the like.

When information of each controller is received through the communication unit 110, the analyzer 120 may analyze the state of each controller and a sensor included in each controller based on the received information.

Here, the information of each controller received through the communication unit 110 may include failure information of sensors included in each controller and calibration state information of sensor data, and failure information of each controller, controller response performance, control amount, Information such as replacement time and frequency of use may be included.

For example, the analyzer 120 may analyze whether the replacement time of each controller has elapsed or whether the frequency of use exceeds a reference value based on the information received from each controller. In addition, the analyzer 120 may analyze whether failure information of the sensor is included among the information received from each controller or whether the calibration state of the sensor data falls within a normal range. In addition, the analyzer 120 may analyze whether failure information of each controller is included among the information received from each controller, and whether response performance and/or control amount of the controller fall within a reference range.

The analysis unit 120 may provide state analysis results for each controller to the learning unit 130 and the determination unit 140 .

The learning unit 130 learns the state of each controller based on the controller state analysis result of the analysis unit 120 . For example, the learning unit 130 may learn response performance such as response/response time, speed, and control amount of each controller.

Here, the learning unit 130 may select a plurality of control parameters required to maintain basic performance of each controller, and learn parameter values of each controller for the selected plurality of control parameters. At this time, the learning unit 130 may learn a reference range of parameter values for each controller to maintain basic performance with respect to a plurality of pre-selected control parameters.

In addition, the learning unit 130 may compare the previously learned state information of the controller with the currently learned state information of the controller to learn the state change of each controller.

When learning about the state of the controller is completed, the learning unit 130 may provide a learning result to the determination unit 140 .

Accordingly, the determination unit 140 determines the aging state and/or abnormality of each controller based on the analysis result of the state of the controller received from the analysis unit 120 and the result of learning the state of the controller received from the learning unit 130. status can be judged.

For example, when the response performance of some or all of the controllers 50 does not satisfy the reference value, the determination unit 140 may determine that the corresponding controller is in an old state.

In addition, the determination unit 140 checks whether the input values of the respective controllers for the plurality of control parameters selected by the learning unit 130 fall within the reference range, and when out of the reference range, the corresponding controller is in an abnormal state. can be judged to be

The determination unit 140 may determine the abnormal state step of the controller when the old state or the abnormal state of the controller is confirmed.

The abnormal state of the controller can be divided into several stages. Accordingly, reference is made to FIG. 2 for an embodiment in which the abnormal state of the controller is divided into several stages.

Referring to FIG. 2, the abnormal state of the controller is divided into step 1, step 2, and step 3, and abnormal state conditions may be defined for each step in advance.

The controller abnormal state of step 1 may be defined when there is no abnormality in the entire controller or when a slight abnormality occurs in the controller to the extent that it does not affect vehicle control.

For example, if the aging state of some controllers is confirmed, but the response performance of the corresponding controller is within the normal range beyond the lowest standard value (a degree that does not affect vehicle control), it can be defined as an abnormal state of the controller of the first stage. .

The controller abnormal state of the second stage may be defined when an abnormality occurs in the controller to a degree that partially affects vehicle control.

For example, when an abnormality occurs only in a steering-related function of a controller, it may be defined as a two-step controller abnormal state. In addition, even when an abnormality occurs only in the acceleration/deceleration-related functions of the controller, it can be defined as a two-step controller abnormal state.

In addition, if the aging state of the controller related to steering or acceleration/deceleration is confirmed, but there is no abnormality in the response performance of each controller, it can be defined as a controller abnormal state of the second stage.

In addition, when a failure occurs in a front sensor such as a camera, radar, lidar, or the like, it can be defined as a two-step controller abnormal state.

In addition, when there is an abnormality in the response performance of the entire controller, it can be defined as a two-step controller abnormal state.

The controller abnormal state of the 3rd step may be defined when an abnormality occurs to a degree in which the controller greatly affects vehicle control.

For example, when a failure occurs in some or all of the controllers, it can be defined as a three-step controller abnormal state. In addition, even when a failure occurs in all sensors of an autonomous driving-related controller or a failure in a front sensor such as a camera, radar, lidar, etc., it can be defined as a three-step controller abnormal state. In addition, when a failure occurs in a steering related controller and an acceleration/deceleration related controller among the controllers, it can be defined as a three-step controller abnormal state. In addition, if there is no response from the entire controller, it can be defined as a three-step controller abnormal state.

In FIG. 2, some abnormal states are defined for each step, but other abnormal states may be added for each step.

In this way, when the abnormal state of the controller is confirmed, the determination unit 140 may determine a step corresponding to the confirmed abnormal state of the controller.

The determination unit 140 may provide the controller 150 with a determination result on the aging state or abnormal state of the controller.

The control unit 150 may be connected to each component of the vehicle control system to perform overall functions of the corresponding vehicle control system. Here, the control unit 150 may be a hardware device such as a processor or a central processing unit (CPU), or a program implemented by a processor.

When the abnormal state of the controller is confirmed, the controller 150 may inform the driver of the abnormal state of the controller. For example, the controller 150 may turn on a warning light corresponding to an abnormal state of the controller at each stage or output an alarm sound or a guide sound.

When the aging or abnormal state of each controller is confirmed, the controller 150 may grant control rights for functions related to driving of the vehicle to either the autonomous driving controller or the driver according to the abnormal state of each controller. Here, the functions related to driving of the vehicle may correspond to functions controllable by an autonomous driving controller such as an advanced driver assistance system (ADAS).

The control right for each stage according to the abnormal state of the controller may be defined as shown in FIG. 3 .

Referring to FIG. 3 , in the controller abnormal state of step 1, it may be defined to give the autonomous driving controller full control rights for functions supporting autonomous driving of the vehicle.

In the controller abnormal state of the second stage, it may be defined to give the autonomous driving controller some control rights for functions supporting autonomous driving of the vehicle. However, in the controller abnormal state of the second stage, the object to which each control right is granted may be changed according to the driver's selection.

For example, when the control right for the steering control function is given to the autonomous driving controller in the controller abnormal state of the second stage, the corresponding control right may be changed from the autonomous driving controller to the driver according to the driver's selection.

In the third stage controller abnormal state, it can be defined to give the driver full control over the functions supporting the free driving of the vehicle. However, if the driver's manipulation is not detected for a predetermined period of time, the object to which each control right is granted may be switched to an autonomous driving controller.

As such, when the abnormal state of the controller is confirmed, the control unit 150 controls the functions supporting the autonomous driving of the vehicle based on the subject of the control right defined for each step of the abnormal state of the controller shown in FIG. 3 . may be given to the autonomous driving controller or the driver.

For example, if the controller 150 is in an abnormal state in the first step, the control unit 150 may grant the autonomous driving controller full control rights for functions supporting autonomous driving. Accordingly, the autonomous driving controller may control all functions supporting autonomous driving of the vehicle.

However, even if the controller 150 is in an abnormal state in step 1, if there is a request from the driver to switch some or all of the control rights for functions supporting autonomous driving of the vehicle, the controller 150 performs autonomous driving of the vehicle according to the driver's request. Some or all control of the supported functions can be transferred to the driver.

In addition, in the case of an abnormal state of the controller in the second step, the control unit 150 may grant control rights for some functions supporting autonomous driving to the autonomous driving controller and grant control rights for the remaining functions to the driver. Accordingly, the autonomous driving controller may control some functions supporting autonomous driving of the vehicle.

In the controller abnormal state of step 2, the controller 150 may query the driver for control rights for some functions. In this case, the control unit 150 may grant the control right for the corresponding function to the autonomous driving controller or the driver according to the driver's selection of the query.

In case of the controller abnormal state in step 2, the operation of granting the control right according to the controller abnormal state refers to the embodiment of FIG. 4 .

Referring to FIG. 4 , the control unit 150 grants the control right for the acceleration/deceleration control function to the autonomous driving controller when it is confirmed that the controller 150 has an abnormal state in the second stage due to an error in the steering-related function or an error in the response performance of the steering-related controller. can do.

In addition, the control unit 150 may grant the control right for the acceleration/deceleration control function to the autonomous driving controller when it is determined that the controller 150 is in an abnormal state in the second stage due to aging of the steering-related controller. However, the control unit 150 may grant the control right for the acceleration/deceleration control function to the driver according to the driver's selection even when the controller 150 is determined to be in an abnormal state in the second stage due to the aging of the steering-related controller.

The control unit 150 may grant the control right for the steering control function to the driver when the controller 150 is confirmed to be in the second-stage controller abnormal state due to an abnormal acceleration/deceleration related function or an abnormal response performance of the acceleration/deceleration related controller.

In addition, the control unit 150 may grant the control right for the steering control function to the driver when it is confirmed that the controller 150 is in an abnormal state in the second stage due to aging of the controller related to acceleration/deceleration. However, the control unit 150 may grant the control right for the steering control function to the autonomous driving controller according to the driver's selection even when the controller 150 is determined to be in an abnormal state in the second stage due to aging of the controller related to acceleration/deceleration.

On the other hand, the control unit 150, when the communication state of the vehicle is confirmed to be in the second-stage controller abnormal state due to a sensor failure other than the front sensor, functions to support autonomous driving of the vehicle, for example, an acceleration/deceleration control function and the control right for the steering control function, etc. may be given to the autonomous driving controller or the driver according to the driver's selection.

Meanwhile, when the controller 150 is in an abnormal state of the third step, the control unit 150 may grant the driver full control rights for functions supporting autonomous driving of the vehicle. Accordingly, the autonomous driving controller releases all control of functions supporting autonomous driving of the vehicle so that manual driving can be performed by a driver's manipulation.

In this way, target conditions for granting control rights may be defined differently depending on the abnormal state of the controller at each stage. However, according to the abnormal state of the controller at each stage, the control right for a predetermined function may be changed according to the driver's request. In other words, after notifying the driver of the abnormal state of the controller, if there is a request from the driver to switch some or all of the control rights for functions supporting autonomous driving of the vehicle, the controller 150 controls the control of the vehicle according to the driver's request. Partial or full control of functions supporting autonomous driving can be switched.

In addition, the object of granting the control right for each function supporting the autonomous driving of the vehicle may be switched according to the driver's situation. For example, when the driver is unable to operate the vehicle due to drowsiness or a heart attack, an accident may occur if the driver has the right to control.

Accordingly, the control unit 150 may transfer the control right granted to the driver to the autonomous driving controller when the driver's operation is not detected for a predetermined period of time after granting the driver some or all of the functions supporting autonomous driving of the vehicle. there is. For example, the control unit 150 switches the control right for the corresponding functions to the autonomous driving controller when the driver's operation is not detected while the control right for the acceleration/deceleration control function and/or the steering control function is granted to the driver. In addition, accidents that may occur due to mismanagement can be prevented in advance.

The storage unit 160 may store data and/or algorithms necessary for the vehicle control system 100 to operate.

As an example, the storage unit 160 may store state analysis results for the controllers 50 and state learning data for the controllers 50 . In addition, the storage unit 160 may store commands and/or algorithms for determining the abnormal state of the controllers based on the state analysis results and the state learning results of the controllers 50, and for each step of the controller abnormal state. Commands and/or algorithms for granting control may be stored.

Here, the storage unit 160 includes RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory) It may include a storage medium such as.

On the other hand, although not shown in FIG. 1, the vehicle control system according to the present invention may further include an interface unit for providing information on abnormal conditions of the controller and providing a control right selection screen for functions supporting autonomous driving of the vehicle to the driver. there is.

The interface unit may include an input unit for receiving a command from a user such as a driver and an output unit for outputting an operating state and result of the vehicle control system 100 .

Here, the input means may include a key button or may include a soft key implemented on a display. Also, the input means may include a mouse, a joystick, a jog shuttle, a stylus pen, and the like.

The output unit may include a display and may also include an audio output unit such as a speaker. In this case, when a touch sensor such as a touch film, a touch sheet, or a touch pad is provided in a display, the display operates as a touch screen, and an input unit and an output unit may be integrated.

The operation flow of the vehicle control system according to the present invention configured as described above will be described in more detail.

FIG. 5 is a diagram illustrating an operational flow for a method for controlling a vehicle based on a controller state according to an embodiment of the present invention, and FIGS. 6 and 7 are diagrams illustrating a detailed operational flow of the operation of granting a control right in FIG. 5 am.

First, referring to FIG. 5 , the vehicle control system collects state information of the controller while driving the vehicle (S110) (S120). In step 'S120', the vehicle control system may monitor the state of each controller in real time or at a predetermined time unit while the vehicle is driving and collect state information.

The vehicle control system analyzes the status of each controller based on the status information of the controller collected in 'S120' (S130), and learns the status of each controller based on the status analysis result of 'S130'. (S140). In step 'S140', the vehicle control system may select control parameters necessary for maintaining normal performance of each controller and learn parameter values input from each controller for the selected control parameters.

The vehicle control system determines whether each controller is in an abnormal state based on the controller state analysis result of 'S130' and the controller state learning result of 'S140' process. If the state of each controller is normal (S150), the vehicle control system repeatedly performs processes 'S120' to 'S150' in real time or at predetermined intervals.

Meanwhile, when it is determined that at least one of the controllers is not normal in step 'S150', the vehicle control system checks the abnormal state of the corresponding controller (S160), and the abnormal state of the controller confirmed in step 'S160' Check the steps of (S170).

At this time, the vehicle control system grants control rights to functions supporting autonomous driving of the vehicle based on the abnormal state of the controller at the stage confirmed in step 'S170' (S180).

The detailed operation flow of the 'S180' process refers to the embodiments of FIGS. 6 and 7 .

Referring to FIG. 6 , the vehicle control system, when the step of the controller abnormal state identified in the steps 'S160' and 'S170' of FIG. The control right is given to the autonomous driving controller (S220).

On the other hand, the vehicle control system grants some control rights for functions supporting autonomous driving of the vehicle when the controller abnormal state step identified in steps 'S160' and 'S170' of FIG. 5 is the second step (S230). It is given to the controller (S240). Here, the vehicle control system may grant the autonomous driving controller a control right for a function defined in advance in response to an abnormal state of the controller in the second stage among functions supporting autonomous driving of the vehicle. In addition, the vehicle control system may grant control rights for some functions selected by the driver to the autonomous driving controller.

On the other hand, the vehicle control system gives the driver full control rights for the functions supporting autonomous driving of the vehicle when the controller abnormal state identified in steps 'S160' and 'S170' of FIG. 5 is the third step (S230). Granted (S250).

Here, as shown in FIG. 7 , in the vehicle control system, the entire control right for the functions supporting autonomous driving of the vehicle is given to the driver (S310), and if the driver's manipulation is not detected for time t thereafter (S320) , In order to prevent an accident from occurring due to mismanagement of driving, the entire control right granted to the driver may be converted to an autonomous driving controller (S330).

Meanwhile, if it is confirmed that the driver's manipulation is detected within time t in step 'S320', the vehicle control system maintains the control right granted in step 'S310' to the driver (S340).

In this way, when the control right for each function supporting the autonomous driving of the vehicle is granted according to the abnormal state of the controller, the driving state of the vehicle is controlled by the target to which each control right is granted, that is, the control of the autonomous driving controller and/or the driver. to keep

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

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

50: controller 100: vehicle control system
110: communication unit 120: analysis unit
130: learning unit 140: judgment unit
150: control unit 160: storage unit

Claims (20)

An analysis unit that collects information of controllers in the vehicle and analyzes the state of each controller;
a learning unit that learns a state of each of the controllers based on a state analysis result of each of the controllers;
a determination unit determining an abnormal state of at least one of the controllers based on a state analysis result and a learning result of each of the controllers; and
a controller that manages vehicle control rights according to abnormal states of the controllers;
Controller state-based vehicle control system comprising a. The method of claim 1,
The analysis unit,
A vehicle control system based on a controller state, characterized in that analyzing at least one of an aging state, a failure state, a response performance, a control amount, and a sensor state of each of the controllers based on information collected from each of the controllers. The method of claim 1,
The learning unit,
A controller state-based vehicle control system, characterized in that the response performance of each of the controllers is learned based on the state analysis result of each of the controllers. The method of claim 1,
The learning unit,
Based on the state analysis result of each of the controllers, control parameters that determine the performance of each of the controllers are selected, and parameter values input from each of the controllers are learned for the selected control parameters. vehicle control system. The method of claim 1,
The judge,
When an abnormal state of at least one of the controllers is confirmed, an abnormal state step according to the abnormal state of the corresponding controller is determined. The method of claim 5,
The control unit,
A vehicle control system based on a state of a controller, characterized in that control rights for functions supporting autonomous driving of the vehicle are granted to an autonomous driving controller or a driver according to an abnormal state step according to an abnormal state of the controller. The method of claim 6,
The control unit,
The vehicle control system based on the state of the controller, characterized in that when the confirmed controller abnormal state step is step 1, the entire control right for functions supporting autonomous driving of the vehicle is granted to the autonomous driving controller. The method of claim 6,
The control unit,
The vehicle control system based on the state of the controller, characterized in that, when the confirmed abnormal state step of the controller is the second step, some control rights for functions supporting autonomous driving of the vehicle are granted to an autonomous driving controller. The method of claim 6,
The control unit,
If the confirmed controller abnormal state step is step 2, the driver is queried for control rights for functions supporting autonomous driving of the vehicle, and the corresponding control right is transferred to the autonomous driving controller or the driver according to the driver's selection in response to the query. Controller state-based vehicle control system, characterized in that for granting. The method of claim 6,
The control unit,
The vehicle control system based on the state of the controller, characterized in that when the confirmed abnormal state step of the controller is step 3, full control rights for functions supporting autonomous driving of the vehicle are granted to the driver. The method of claim 10,
The control unit,
A controller state-based vehicle control system that converts the control right granted to the driver to the autonomous driving controller when the driver's manipulation is not detected for a predetermined period of time while driving. Collecting information of controllers in the vehicle and analyzing the state of each controller;
Learning a state of each of the controllers based on a state analysis result of each of the controllers;
determining an abnormal state of at least one of the controllers based on a state analysis result and a learning result of each of the controllers; and
managing vehicle control rights according to abnormal states of the controllers;
A controller state-based vehicle control method comprising: The method of claim 12,
The analysis step is
and analyzing at least one of an aging state, a failure state, a response performance, a control amount, and a sensor state of each of the controllers based on information collected from each of the controllers. . The method of claim 12,
The learning step is
and learning response performance of each of the controllers based on a state analysis result of each of the controllers. The method of claim 12,
The learning step is
Selecting a control parameter for determining the performance of each of the controllers based on a state analysis result of each of the controllers; and
and learning a parameter value input from each of the controllers for the selected control parameter. The method of claim 12,
The determining step is
When the abnormal state of at least one of the controllers is confirmed, determining an abnormal state step according to the abnormal state of the corresponding controller. The method of claim 16
The step of determining the vehicle control right,
and granting control rights for functions supporting autonomous driving of the vehicle to an autonomous driving controller or a driver according to an abnormal state step according to an abnormal state of the controller. The method of claim 17
The step of giving is
granting full control rights for functions supporting autonomous driving of the vehicle to an autonomous driving controller when the determined abnormal state of the controller is the first phase;
granting partial control rights for functions supporting autonomous driving of the vehicle to an autonomous driving controller when the determined abnormal state of the controller is the second phase; and
and granting full control rights for functions supporting autonomous driving of the vehicle to a driver when the determined controller abnormal state step is step 3. The method of claim 17
The step of giving is
If the confirmed controller abnormal state step is step 2, the driver is queried for control rights for functions supporting autonomous driving of the vehicle, and the corresponding control right is transferred to the autonomous driving controller or the driver according to the driver's selection in response to the query. A vehicle control method based on a controller state, further comprising the step of giving to. The method of claim 17
The step of managing the vehicle control right,
and switching the control right granted to the driver to the autonomous driving controller when the driver's manipulation is not detected for a predetermined period of time while driving.

Images