KR20240102050A - Method for performing aprtial autonomous driving on a curved road and an electric device for the method - Google Patents

Abstract

The present invention includes the steps of collecting driving environment information including information on the lane in which the vehicle is traveling and location information of the vehicle ahead driving in the same lane, comparing the driving environment information with preset hands-free autonomous driving conditions, If the driving environment information satisfies all of the above hands-free autonomous driving conditions, setting the vehicle state to the active state to determine whether to drive hands-free and moving the vehicle in the longitudinal and lateral directions within a preset time after the vehicle state is set to the active state. It provides a driving control method for a vehicle, comprising the step of performing control, wherein the radius of the curved road is 500 m or more, and the curvature change rate of the curved road is 4*10 ^-5 1/m ² or less.

Description

Method for performing partially autonomous driving on a curved road and electronic device therefor {METHOD FOR PERFORMING APRTIAL AUTONOMOUS DRIVING ON A CURVED ROAD AND AN ELECTRIC DEVICE FOR THE METHOD}

The present invention relates to a method for performing partially autonomous driving using information on lanes driving on a curved road, etc., and an electronic device for the same.

Recently, people's interest in autonomous vehicles has been increasing. Self-driving vehicles that are currently being commercialized apply driver assistance systems (Advanced Driver Assistance Systems, ADAS), which not only frees drivers from simple tasks such as operating the steering wheel and pedals while driving, but also reduces mistakes caused by driver inattention, resulting in accidents. can be prevented in advance.

However, currently commercialized autonomous vehicles calculate the Time to Collision (TTC) based on detection information from sensors mounted inside to prevent collisions with objects, and based on uniform driving strategies and control parameters. Because it performs autonomous driving, there are limitations in reflecting the driving tendencies of various drivers, and there is a problem of deteriorating ride comfort because there is a sense of disparity between actual driving and autonomous driving from the user's perspective.

In addition, because it is difficult to consider all variables that may occur in the unpredictable real road environment, it is limited to a passive response focused on safety rather than a flexible response.

Meanwhile, the conventional vehicle distance maintenance technology is implemented through acceleration feedback control using the relative speed and relative distance to the preceding vehicle. In particular, acceleration feedback control measures relative speed and relative distance and multiplies them by predetermined proportional gain, integral gain, and differential gain (hereinafter referred to as 'control gain') in the form of PID (Proportional-Integral Differential) control to determine the required acceleration. is calculated.

However, the conventional inter-vehicle distance maintenance technology has the complexity of having to set the control gain differently depending on the driving environment, and when the control gain is not accurately tuned, control becomes unstable, such as collision avoidance with the preceding vehicle cannot be guaranteed. There is a downside.

Additionally, because the control gain is an arbitrary value predetermined for an undetermined future situation, there is a limit to flexibly responding to various driving environments.

The present invention provides a vehicle driving control method and an electronic device therefor that can perform partially autonomous driving on a curved road by comparing driving environment information on a curved road with hands-free autonomous driving conditions.

The present invention includes the steps of collecting driving environment information including information on the lane in which the vehicle is traveling and location information of the vehicle ahead driving in the same lane, comparing the driving environment information with preset hands-free autonomous driving conditions, If the driving environment information satisfies all of the above hands-free autonomous driving conditions, setting the vehicle state to the active state to determine whether to drive hands-free and moving the vehicle in the longitudinal and lateral directions within a preset time after the vehicle state is set to the active state. It provides a driving control method for a vehicle, comprising the step of performing control, wherein the radius of the curved road is 500 m or more, and the curvature change rate of the curved road is 4*10 ^-5 1/m ² or less.

According to one embodiment, the driving environment information may include the number of vehicles driving in front, information on the lane in which the vehicle in front is driving, the steering angle of the driving vehicle, and the driving speed of the driving vehicle.

According to one embodiment, the hands-free autonomous driving condition includes whether the lane in which the vehicle in front and the vehicle in front travel are the same, and whether the distance between the vehicle in front and the vehicle in front is less than a preset threshold, and whether the vehicle in front and the vehicle in front are traveling in the same lane. If the driving lanes are not the same and the distance between the preceding vehicle and the driving vehicle exceeds the threshold, the driving environment information may satisfy the hands-free autonomous driving condition.

According to one embodiment, the method of controlling driving of a vehicle may further include transitioning the vehicle state to a deactivated state for determining whether to drive hands-free when the turn signal lamp is operated by the driver.

According to one embodiment, a method of controlling the driving of a vehicle includes the steps of checking whether the vehicle ignition is turned on, if the vehicle ignition is turned on, checking whether there is a system error in the system for hands-free autonomous driving, and hands-free autonomous driving. If there is no system error in the system, the step of setting the vehicle state to a standby state to determine whether to drive hands-free may be further included.

According to one embodiment, when the vehicle state is set to the standby state or the activated state, the step of displaying information for notifying that the vehicle state is set to the standby state or the activated state may be further included.

According to one embodiment, a method for controlling the driving of a vehicle includes recognizing the driver's state and setting the vehicle state to a deactivated state to determine whether to drive hands-free when the recognized driver state is an uncontrollable state of the vehicle. may further include.

The present invention provides a sensor that collects driving environment information including information on the lane in which the vehicle is traveling and location information on the vehicle ahead driving in the same lane, compares the driving environment information with preset hands-free autonomous driving conditions, and If the environmental information satisfies all of the above hands-free autonomous driving conditions, the vehicle state to determine whether to drive hands-free is set to the activated state, and after the vehicle state is set to the activated state, the vehicle's longitudinal and lateral directions are controlled within a preset time. An electronic device is provided, including a control unit that performs the operation, the radius of the curved road is 500 m or more, and the curvature change rate of the curved road is 4*10 ^-5 1/m ² or less.

According to one embodiment, the driving environment information may include the number of vehicles driving in front, information on the lane in which the vehicle in front is driving, the steering angle of the driving vehicle, and the driving speed of the driving vehicle.

According to one embodiment, the hands-free autonomous driving condition includes whether the lane in which the preceding vehicle and the vehicle traveling are the same, and whether the distance between the vehicle in front and the vehicle traveling in front is less than a preset threshold, and the controller If the lane in which the vehicle and the vehicle are traveling are not the same, and the distance between the vehicle in front and the vehicle in front exceeds the threshold, it may be determined that the driving environment information satisfies the hands-free autonomous driving condition.

According to one embodiment, when the turn signal lamp is operated by the driver, the control unit may transition the vehicle state to a deactivated state to determine whether to drive hands-free.

According to one embodiment, the control unit checks whether the vehicle ignition is turned on, and if the vehicle ignition is turned on, determines whether there is a system error in the system for hands-free autonomous driving, and configures the system for hands-free autonomous driving. If there is no error, the vehicle state can be set to standby to determine whether to drive hands-free.

According to one embodiment, when the vehicle state is set to the standby state or the activated state, the display may further include displaying information for notifying that the vehicle state is set to the standby state or the activated state.

According to one embodiment, the control unit may recognize the driver's state and, if the recognized driver state is an uncontrollable state of the vehicle, set the vehicle state for determining whether to drive hands-free to a deactivated state.

According to an embodiment disclosed in the present invention, even a vehicle traveling on a curve can partially perform hands-free autonomous driving by comparing driving environment information with hands-free autonomous driving conditions preset in the vehicle.

In addition, according to an embodiment disclosed in the present invention, the safety of autonomous vehicle driving can be improved by customizing the driving mode according to whether the driver can control the vehicle in a hands-free autonomous driving situation.

Figure 1 is a diagram showing an autonomous driving scenario for a vehicle driving on a curved road.
Figure 2 is a flowchart of a vehicle driving control method according to an embodiment of the present invention.
Figure 3 is a flowchart of a hands-free autonomous driving condition determination process according to an embodiment of the present invention.
Figure 4 is a flowchart of a method for setting a vehicle state according to an embodiment of the present invention.
Figure 5 is a flowchart of a method for setting vehicle state deactivation according to an embodiment of the present invention.
Figure 6 is a diagram showing a vehicle state transition process according to an embodiment of the present invention.
Figure 7 is a configuration diagram of an electronic device that performs a vehicle driving control method according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component without departing from the scope of the present invention, and similarly, the second component may also be named a first component. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Figure 1 is a diagram showing an autonomous driving scenario for a vehicle driving on a curved road.

According to one embodiment, the first vehicle 110 driving on a curved road receives information about the lane in which the first vehicle 110 is traveling (for example, whether it is a first lane or a second lane) and whether the first vehicle 110 is driving in the same lane. Hands-free autonomous driving can be performed based on the location information of the vehicle ahead. For example, the first vehicle 110 makes a second vehicle based on the distance to the second vehicle 120 running in front of the first vehicle 110 and the moving speed and moving displacement of the second vehicle 120. It can perform hands-free autonomous driving that follows the vehicle.

According to one embodiment, autonomous driving disclosed in the present invention may mean autonomous driving of level 2 or higher, and vehicles may include various types of vehicles such as passenger cars, commercial vehicles, and buses. According to various embodiments, the radius of a curved road on which autonomous driving is performed may be 500 m or more, and the curvature change rate of the curved road may be 4*10 ^-5 1/m ² or less.

Meanwhile, the present invention discloses a driving control method for a vehicle driving on a curved road, but the scope of the present invention is not limited to the driving control method for a vehicle driving on a curved road.

Figure 2 is a flowchart of a vehicle driving control method according to an embodiment of the present invention. According to one embodiment, the flowchart shown in FIG. 2 may be performed by the electronic device shown in FIG. 7.

According to one embodiment, driving environment information including information on the lane in which the vehicle is traveling and location information on the vehicle ahead traveling in the same lane may be collected through step S210. According to various embodiments, the driving environment information may include various information including the number of vehicles driving in front, information on the lane in which the vehicle in front is driving, the steering angle of the driving vehicle, and the driving speed of the driving vehicle.

According to one embodiment, the number of vehicles traveling in front may include not only the vehicles in front driving in the same lane, but also the number of vehicles in front traveling in different lanes. According to various embodiments, the number of vehicles driving in front and information on the lane in which the vehicle in front is traveling may be determined based on information acquired through various types of smart sensors, such as vision sensors placed in the vehicle.

According to one embodiment, in addition to the steering angle of the vehicle and the driving speed of the vehicle, the location of the vehicle, information on the lane in which the vehicle is traveling, driver information, etc. may be additionally included in the driving environment information. According to various embodiments, lane information may include whether the detected lane is a solid line or a dotted line, and the driving environment information collected in relation to the vehicle is collected and managed by not only smart sensors mounted on the vehicle but also data related to the vehicle's driving. It can be obtained through memory.

According to one embodiment, after the end of step S210, the driving environment information collected through step S220 may be compared with preset hands-free autonomous driving conditions. A detailed description of step S220 will be described later through the description of FIG. 3. According to various embodiments, when the driving environment information satisfies all preset hands-free autonomous driving conditions, the vehicle state for determining whether to drive hands-free may be set to the activated state through step S230.

According to one embodiment, the vehicle state for determining whether to drive hands-free may be divided into a system deactivation state that deactivates the hands-free autonomous driving system and a system activation state that activates the hands-free autonomous driving system. According to various embodiments, the system deactivation state may include a system OFF state and a system stand-by state, and the system activation state may include a longitudinal control activation state and a lateral control activation state. there is. More detailed information about the vehicle state for determining whether to drive hands-free will be described later through the description of FIG. 6.

According to one embodiment, after the vehicle state is set to an activated state for hands-free autonomous driving through step S240, longitudinal and reverse direction control of the vehicle may be performed within a preset time. According to various embodiments, autonomous driving by the hands-free autonomous driving system may be terminated when a preset time period is exceeded after the vehicle state is set to the hands-free autonomous driving activated state. For example, if the preset time is 60 seconds, the hands-free autonomous driving system can perform longitudinal and rotational control of the vehicle for 60 seconds, and after 60 seconds, autonomous driving through the hands-free autonomous driving system can be terminated. .

According to one embodiment, in order to perform autonomous driving again after the hands-free autonomous driving system is terminated, steps S210 to S240 shown in FIG. 2 must be performed again, and if necessary, step S210 is omitted or the existing hands-free autonomous driving system is used. The information used to determine driving conditions can be reused.

Figure 3 is a flowchart of a hands-free autonomous driving condition determination process according to an embodiment of the present invention. According to one embodiment, the flowchart shown in FIG. 3 can be performed by the electronic device shown in FIG. 7, and is a process that embodies step S220 shown in FIG. 2.

According to one embodiment, it may be determined whether the lane in which a vehicle equipped with a hands-free autonomous driving system is traveling and the lane in which a vehicle located in front is traveling are the same through step S310. According to various embodiments, when the lane in which a vehicle equipped with a hands-free autonomous driving system is traveling and the lane in which the vehicle in front is traveling are the same, it is determined that the driving vehicle does not satisfy the hands-free autonomous driving conditions considering the possibility of vehicle collision. and continue monitoring.

If the lane in which the vehicle equipped with the hands-free autonomous driving system is traveling is different from the lane in which the vehicle in front is traveling, the distance between the vehicle equipped with the hands-free autonomous driving system and the vehicle in front is set to a preset threshold through step S320. Determine whether it is less than or not. According to various embodiments, the preset threshold may be a sufficient distance value (for example, 1 km) to minimize the possibility of vehicle collision.

According to one embodiment, when the distance between a vehicle equipped with a hands-free autonomous driving system and a vehicle traveling in front is less than a preset threshold, the vehicle traveling in consideration of the possibility of vehicle collision is subject to the hands-free autonomous driving condition even if the driving lanes are different. is determined to be unsatisfactory and monitoring continues. According to various embodiments, when the distance between a vehicle equipped with a hands-free autonomous driving system and a vehicle traveling in front is greater than or equal to a preset threshold, it may be determined that the hands-free autonomous driving condition is satisfied through step S330.

According to one embodiment, after step S330 ends, the vehicle driving control process returns to step S230 of FIG. 2 and sets the vehicle state for determining whether to drive hands-free to the activated state.

Figure 4 is a flowchart of a method for setting a vehicle state according to an embodiment of the present invention. The flowchart shown in FIG. 4 can be performed by the electronic device shown in FIG. 7.

According to one embodiment, it is possible to check whether the vehicle engine is turned on in step S410. According to various embodiments, if it is determined in step S410 that the vehicle engine is off or on, it can be determined whether there is an error in the hands-free autonomous driving system through step S420.

According to one embodiment, if it is determined that there is an error in the hands-free autonomous driving system in step S420, autonomous driving by the hands-free autonomous driving system is not performed, and the step returns to step S410 and performs the step of monitoring whether the vehicle ignition is turned on again. . According to various embodiments, if it is determined in step S420 that there is no error in the hands-free autonomous driving system, the vehicle state for determining whether to drive hands-free may be set to a standby state in step S430. The standby state in this description may be the same as the standby state included in the system deactivation state described above.

According to one embodiment, when the vehicle state is set to the standby state, notification information indicating that the vehicle state is set to the standby state may be displayed through step S440. For example, when the vehicle state is set to standby for determining whether to drive hands-free through a series of steps in S410, S420, and S430, a message or graphic information notifies that the vehicle state is set to standby through the cluster in step S440. may be displayed. Meanwhile, although not shown in FIG. 2, after step S230, notification information may be displayed to inform that the vehicle state for determining whether to drive hands-free is set to the activated state.

Specific error situations that may occur in the hands-free autonomous driving system and the response of the hands-free autonomous driving system to each error situation will be described later with reference to FIG. 7.

Figure 5 is a flowchart of a method for setting vehicle state deactivation according to an embodiment of the present invention. The flowchart shown in FIG. 5 can be performed by the electronic device shown in FIG. 7.

According to one embodiment, S510. The driver's condition can be recognized through the steps. For example, the driver's state may include information about whether the driver is holding the steering wheel, the state of the driver's pupils, the driver's gaze, etc. According to various embodiments, the driver's state can be detected using various types of smart sensors, such as a vision sensor mounted inside the vehicle.

According to one embodiment, it is possible to determine whether the driver can control the vehicle through step S520. According to various embodiments, if the driver's state is in a state where the vehicle can be controlled as a result of the determination through step S520, the hands-free autonomous driving system can return to step S510 and continuously monitor the driver's state.

According to one embodiment, if the driver's state is such that the vehicle cannot be controlled as a result of determination through step S520, the vehicle state for determining whether to drive hands-free may be set to a disabled state through step S530. According to various embodiments, the driving state can be continuously monitored after being set to a deactivated state, and if the driver is unable to control the vehicle beyond a certain threshold time, the hands-free autonomous driving system sends emergency braking to the vehicle control unit. A signal can be transmitted.

Figure 6 is a diagram showing a vehicle state transition process according to an embodiment of the present invention. The vehicle state transition shown in FIG. 6 may be performed by the electronic device shown in FIG. 7 .

According to one embodiment, the 'PADS OFF' state means a system off state, and in the system off state, the hands-free autonomous driving system does not perform any operation. According to various embodiments, the 'PADS stand-by' state means a system standby state, and even in the system standby state, the hands-free autonomous driving system does not perform any operation.

According to one embodiment, the transition from the system off state to the system standby state may be performed directly by the driver or automatically performed by the system. Citing the previous example, if the vehicle's engine is turned on and no error occurs in the hands-free autonomous driving system, the system can be switched from the system off state to the system standby state. According to various embodiments, the transition from the system standby state to the system off state may be directly performed by the driver or automatically performed by the system. For example, if the vehicle's engine is turned off or an error occurs in the hands-free autonomous driving system, the system may be switched from the standby state to the system off state.

According to one embodiment, the 'PADS active' state means a system activation state, and the system activation state may include a 'PADS lognit' state, which is a longitudinal control activation state, and a 'PADS longit-lat' state, which is a lateral control activation state. You can. According to various embodiments, the state transition from the system standby state to the system active state may be performed by the driver or when driving environment information matches hands-free autonomous driving conditions.

According to one embodiment, a state transition to the system activated state may lead to a longitudinal control activated state or a lateral control activated state, and one of the activation criteria for the lateral control activated state is the lane boundary of the vehicle equipped with the system. Alternatively, it may be the lane and vehicle position of the vehicle equipped with the system in terms of relative reference to the vehicle ahead.

According to one embodiment, the state transition from the system active state to the system standby state may be performed directly by the driver or automatically performed by the system. For example, if an error occurs in the hands-free autonomous driving system, the state may change from the system active state to the system standby state.

According to one embodiment, the state transition from the system activated state to the system off state may be performed directly by the driver or automatically performed by the system. For example, if the vehicle's engine is turned off or an error occurs in the hands-free autonomous driving system, the system may switch from the activated state to the system off state.

According to one embodiment, when an error occurs in the hands-free autonomous driving system, the hands-free autonomous driving system must immediately notify the driver that an error has occurred, and notification of a stroke occurring in the hands-free autonomous driving system must be performed when the hands-free autonomous driving system is turned off. It must remain active until

According to one embodiment, the hands-free autonomous driving system may include a steering control system, a lane recognition system, a hands-free autonomous driving control unit, and a vehicle speed control unit. According to various embodiments, when an error occurs in lateral control in the steering control system, lateral control must be stopped by the hands-free autonomous driving system. However, if the steering actuator still operates smoothly, steering control before the steering actuator is completely terminated may be permitted.

According to one embodiment, when an error occurs in lateral control in the lane recognition system, lateral control by the hands-free autonomous driving system must be slowly stopped. According to various embodiments, when an error occurs in lateral control in the hands-free autonomous driving control unit, lateral control by the hands-free autonomous driving system must gradually stop. However, errors occurring in the hands-free autonomous driving control unit must be displayed to the driver before lateral control is completely terminated. On the other hand, when an error occurs in vertical control in the hands-free autonomous driving control unit, the vertical control by the hands-free autonomous driving system must gradually stop, just as in the case where an error occurs in lateral control, and the vertical control must be completely terminated. Errors that occur in the hands-free autonomous driving control unit must be displayed to the driver.

According to one embodiment, when an error occurs in lateral control in the vehicle speed control unit, lateral control by the hands-free autonomous driving system should be gradually stopped, and lateral control should not be terminated suddenly.

Figure 7 is a configuration diagram of an electronic device that performs a vehicle driving control method according to an embodiment of the present invention.

According to one embodiment, the electronic device 700 includes a sensor 710 that collects driving environment information including information on the lane in which the vehicle is traveling and location information on the vehicle ahead driving in the same lane, and stores the driving environment information. Compare with the set hands-free autonomous driving conditions, and if the driving environment information satisfies all of the hands-free autonomous driving conditions, the vehicle state to determine whether to drive hands-free is set to the activated state, and after the vehicle state is set to the activated state, the preset It may include a control unit 710 that performs longitudinal and lateral control of the vehicle within time. According to various embodiments, the electronic device 700 may further include a display 730 that displays information to notify that the vehicle state is set to a standby state or an activated state.

According to one embodiment, the hands-free autonomous driving condition may include whether the driving lane is the same as the vehicle ahead and whether the distance between the vehicle and the vehicle ahead is less than a preset threshold. According to various embodiments, the control unit 710 controls the hands-free autonomous driving when the driving lane is not the same as the vehicle in front and the distance between the vehicle in front and the vehicle in front exceeds the threshold. It can be judged that the conditions are satisfied.

According to one embodiment, when the turn signal lamp is operated by the driver, the control unit 710 may transition the vehicle state to a deactivated state to determine whether to drive hands-free. According to various embodiments, the control unit 710 checks whether the vehicle ignition is turned on, and when the vehicle ignition is turned on, checks whether there is a system error in the system for hands-free autonomous driving, and determines whether the system for hands-free autonomous driving is If there is no system error, the vehicle state can be set to standby to determine whether to drive hands-free.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (14)

In a method of controlling the driving of a vehicle driving on a curved road,
Collecting driving environment information including information on the lane in which the vehicle is traveling and location information on the vehicle ahead traveling in the same lane;
Comparing the driving environment information with preset hands-free autonomous driving conditions;
If the driving environment information satisfies all of the hands-free autonomous driving conditions, setting a vehicle state to an activated state to determine whether to drive hands-free; and
It includes: performing longitudinal and lateral control of the vehicle within a preset time after the vehicle state is set to the activated state,
The radius of the curved road is 500 m or more, and the curvature change rate of the curved road is 4*10 ^-5 1/m ² or less,
A method of controlling the driving of a vehicle. According to paragraph 1,
The driving environment information includes the number of vehicles driving in front, information on the lane in which the vehicle in front is driving, the steering angle of the driving vehicle, and the driving speed of the driving vehicle,
A method of controlling the driving of a vehicle. According to paragraph 1,
The hands-free autonomous driving condition includes whether the lane in which the vehicle in front and the vehicle in front are traveling are the same, and whether the distance between the vehicle in front and the vehicle in front is less than a preset threshold,
Characterized in that the driving environment information satisfies the hands-free autonomous driving condition when the driving lane and the preceding vehicle are not the same, and the distance between the preceding vehicle and the traveling vehicle exceeds the threshold.
A method of controlling the driving of a vehicle. According to paragraph 1,
When the turn signal light is operated by the driver, the vehicle state further includes a step of transitioning the vehicle state to a deactivated state for determining whether to drive hands-free.
A method of controlling the driving of a vehicle. According to paragraph 1,
Checking whether the vehicle ignition is turned on;
When the vehicle ignition is turned on, checking whether there is a system error in the system for hands-free autonomous driving; and
If there is no system error in the system for hands-free autonomous driving, further comprising setting the vehicle state to a standby state to determine whether to drive hands-free.
A method of controlling the driving of a vehicle. According to clause 5,
When the vehicle state is set to the standby state or the activated state, further comprising displaying information to inform that the vehicle state is set to the standby state or the activated state,
A method of controlling the driving of a vehicle. According to paragraph 1,
Recognizing driver status; and
Characterized in that it further comprises the step of setting the vehicle state to a deactivated state for determining whether to drive hands-free when the recognized driver state is an uncontrollable state of the vehicle.
A method of controlling the driving of a vehicle. In the electronic device for controlling the driving of a vehicle traveling on a curved road,
A sensor that collects driving environment information including information on the lane in which the vehicle is traveling and location information on the vehicle ahead traveling in the same lane; and
The driving environment information is compared with preset hands-free autonomous driving conditions, and if the driving environment information satisfies all of the hands-free autonomous driving conditions, the vehicle state for determining hands-free driving is set to activated, and the vehicle state is activated. It includes a control unit that performs longitudinal and lateral control of the vehicle within a preset time after being set to the state,
The radius of the curved road is 500 m or more, and the curvature change rate of the curved road is 4*10 ^-5 1/m ² or less,
Electronic devices. According to clause 8,
The driving environment information includes the number of vehicles driving in front, information on the lane in which the vehicle in front is driving, the steering angle of the driving vehicle, and the driving speed of the driving vehicle,
Electronic devices. According to clause 8,
The hands-free autonomous driving condition includes whether the lane in which the vehicle in front and the vehicle in front are traveling are the same, and whether the distance between the vehicle in front and the vehicle in front is less than a preset threshold,
The control unit determines that the driving environment information satisfies the hands-free autonomous driving condition when the driving lane is not the same as the preceding vehicle and the distance between the preceding vehicle and the traveling vehicle exceeds the threshold value. Characterized by,
Electronic devices. According to clause 8,
When the turn signal is operated by the driver, the control unit transitions the vehicle state to a deactivated state to determine whether to drive hands-free.
Electronic devices. According to clause 8,
The control unit checks whether the vehicle ignition is on, and if the vehicle ignition is on, checks whether there is a system error in the system for hands-free autonomous driving, and if there is no system error in the system for hands-free autonomous driving, the control unit checks whether the vehicle ignition is on. Characterized by setting the vehicle state to a standby state for determining whether to drive,
Electronic devices. According to clause 12,
When the vehicle state is set to the standby state or the activated state, it further comprises a display that displays information to inform that the vehicle state is set to the standby state or the activated state,
Electronic devices. According to clause 8,
The control unit recognizes the driver's state and sets the vehicle state to a deactivated state to determine whether to drive hands-free when the recognized driver state is an uncontrollable state of the vehicle.
Electronic devices.

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