WO2017018850A1

WO2017018850A1 - Autonomous vehicle and method for controlling autonomous vehicle

Info

Publication number: WO2017018850A1
Application number: PCT/KR2016/008351
Authority: WO
Inventors: 크로닌존; 조나단 윌슨딜런
Original assignee: 삼성전자 주식회사
Priority date: 2015-07-30
Filing date: 2016-07-29
Publication date: 2017-02-02

Abstract

Disclosed is a method for monitoring events occurring on a current driving path using information acquired during the driving of an autonomous vehicle and determining whether or not to drive to a detour when an event has been monitored. In particular, disclosed is a method for determining whether to drive to a detour depending on the cost to be incurred by driving to the detour.

Description

Autonomous vehicle and autonomous vehicle control method

An autonomous vehicle and an autonomous driving control method are provided.

Recently, interest in autonomous vehicles is increasing. In particular, various additional functions related to autonomous driving have been continuously developed to alleviate traffic congestion caused by increasing demand for automobiles and to safely avoid obstacles such as people and other vehicles. For example, there are many algorithms associated with lane keeping systems. In addition, as the connectivity of the Internet is expanded, the amount of data generated from various devices and automobiles is rapidly increasing, and various services using the same are emerging. Accordingly, various studies are being conducted on methods that can provide a user-friendly autonomous driving experience using various data in autonomous vehicles.

Disclosed are a method and a method of controlling an autonomous vehicle by monitoring the route.

Monitoring of the route provides a method for controlling autonomous vehicles and autonomous vehicles that are more useful to the user.

An autonomous vehicle control method and an autonomous vehicle that perform autonomous driving along a route can be provided.

1 is a diagram illustrating an example of obtaining a plurality of driving paths by an autonomous vehicle according to an exemplary embodiment.

2 is a block diagram illustrating detailed hardware configurations of an autonomous vehicle according to an exemplary embodiment.

3 is a block diagram illustrating an example of a configuration of an autonomous vehicle according to an embodiment.

4 is a flowchart illustrating a method of controlling an autonomous vehicle using information obtained through monitoring, according to an exemplary embodiment.

5 is a flowchart illustrating a method of controlling an autonomous vehicle using information received from an external device, according to an exemplary embodiment.

6 is a diagram illustrating an example of controlling an autonomous vehicle using a server according to an exemplary embodiment.

7 is a diagram illustrating an example of acquiring event information on a path on which an autonomous vehicle is driving, according to an exemplary embodiment.

8 is a diagram illustrating an example of matching an image acquired by an autonomous vehicle to a pre-stored image, according to an exemplary embodiment.

9 is a diagram illustrating an example in which an autonomous vehicle acquires weather information, according to an exemplary embodiment.

10 is a diagram illustrating an example of acquiring road situation information by an autonomous vehicle according to an embodiment.

11 is a diagram illustrating an example in which an autonomous vehicle acquires surrounding area information, according to an exemplary embodiment.

12 is a diagram illustrating an example of acquiring news information by an autonomous vehicle according to an exemplary embodiment.

FIG. 13 is a diagram illustrating a case in which an autonomous vehicle approaches an event zone, according to an exemplary embodiment.

14 is a flowchart illustrating a method of transmitting, by a server, a command to an autonomous vehicle according to a current position of the autonomous vehicle, according to an exemplary embodiment.

FIG. 15 is a diagram illustrating an example in which an autonomous vehicle determines one path among a plurality of bypass driving paths bypassing an event section as a second path, according to an exemplary embodiment.

FIG. 16 illustrates an example of operating the travel time or travel distance estimated when the autonomous vehicle travels on the first route, compared to the travel time or travel distance expected when driving the second route, according to an embodiment. It is a figure which shows.

FIG. 17 is a view illustrating a driving time or driving distance estimated when an autonomous vehicle travels on a first route according to an embodiment, compared to a driving time or driving distance expected when driving a second route; FIG. It is a flow chart showing.

18 is a diagram illustrating an example in which an autonomous vehicle according to an embodiment compares the amount of fuel consumed when driving the first route with the amount of fuel consumed when driving the second route, and operates.

19 is a flowchart illustrating a method of operating by comparing the amount of fuel consumed when the autonomous vehicle travels on the first route with the amount of fuel that is expected when driving on the second route, according to an exemplary embodiment.

20 is a diagram illustrating an example in which an autonomous vehicle operates according to a passenger's schedule information, according to an exemplary embodiment.

21 is a flowchart illustrating a method in which an autonomous vehicle operates using information of a passenger, according to an exemplary embodiment.

FIG. 22 illustrates a first route according to an estimated cost, a state of a passenger, or a type of monitored event when an autonomous vehicle runs on a first route or a second route when an event section is monitored on a first route. FIG. Or it is a figure which shows an example of traveling on a 2nd route.

FIG. 23 is a diagram illustrating an example in which an autonomous vehicle travels along a first path or a second path according to a passenger's state when an event section is monitored on a first path.

FIG. 24 is a flowchart illustrating a method in which an autonomous vehicle travels on a first route or a second route according to a passenger's state when an event section is monitored on a first route.

FIG. 25 is a diagram illustrating an example in which an autonomous vehicle runs on a second route in an autonomous driving mode, according to an embodiment.

FIG. 26 is a diagram illustrating an example in which an autonomous vehicle runs in an autonomous driving mode when an event section is monitored on a first route.

FIG. 27 is a diagram illustrating an example of a notification provided to an occupant by an autonomous vehicle according to an embodiment when an event section is monitored on a first route currently driven;

FIG. 28 is a diagram illustrating an example in which an autonomous vehicle provides a notification to a passenger and determines a driving route according to a user input received in response to the provided notification when an event section is monitored on a first route. to be.

29 is a diagram illustrating an example in which an autonomous vehicle provides a notification to an occupant and ends driving according to a user input received in response to the provided notification when an event section is monitored on a first route. .

30 is a block diagram illustrating an example of a configuration of an autonomous vehicle according to an embodiment of communicating with an external device.

FIG. 31 is a flowchart illustrating a method in which an autonomous vehicle travels along a first path or a second path according to a passenger's state when an event section is monitored on a first path.

32 is a flowchart illustrating a method in which an autonomous vehicle travels on a first route or a second route according to an occupant's state when an event section is monitored on a first route.

As a technical means for achieving the above-described technical problem, an aspect of the present disclosure, a step of monitoring an event generated on the first route while the autonomous vehicle is driving the first route in the autonomous driving mode; If the occurrence of the event is monitored, obtaining a second path; And determining whether to drive the second route in the autonomous driving mode by comparing the first cost expected when driving the first route with the second cost expected when driving the second route. An autonomous vehicle control method can be provided.

The determining of whether to drive the second route in the autonomous driving mode may include determining that the second route travels in the autonomous driving mode when a difference between the first cost and the second cost is equal to or less than a threshold.

The determining of whether to drive the second route in the autonomous driving mode may include driving an event section in which the event is monitored when the difference between the first cost and the second cost exceeds a threshold, in the manual driving mode. You can decide to.

The determining of whether to drive the second route in the autonomous driving mode may include providing a notification indicating stopping of the autonomous driving mode when a difference between the first cost and the second cost is greater than a threshold. step; And when the response to the notification is received, determining to drive the event section, which is the section where the event is monitored, in the manual driving mode.

The method may further include controlling to stop the autonomous vehicle in operation when the response to the notification is not received.

The determining of whether to drive the second route in the autonomous driving mode may further include determining to drive the second route in the autonomous driving mode when the response to the notification is not received. .

The method may further include controlling to stop the autonomous vehicle that is driving when the difference between the first cost and the second cost exceeds a threshold.

In addition, the event may indicate a situation in which the section determined to travel in the manual driving mode is on the first route.

The monitoring may include monitoring the event by using a road sign on the first route acquired by a camera included in the autonomous vehicle.

In addition, the monitoring may monitor the event by using driving environment information on the first route received from an external device.

The acquiring of the second route may include acquiring the second route, which is one of the plurality of bypass driving routes, according to a priority between the plurality of bypass driving routes replacing the first route.

The determining of whether to drive the second route in the autonomous driving mode may include: predicting when driving the first cost and the second route including a driving time or driving distance estimated when driving the first route. When the difference in the second cost including the traveling time or the traveling distance is equal to or less than a threshold, the second route may be determined to travel in the autonomous driving mode.

The determining of whether to drive the second route in the autonomous driving mode may include: a difference between the first cost and the second cost is equal to or less than a threshold value, and a driving distance expected when driving the second route is a driving distance. If so, the second route may be determined to travel in the autonomous driving mode.

The method may further include obtaining schedule information of a passenger of the autonomous vehicle, and determining whether to drive the second route in the autonomous driving mode may include a difference between the first cost and the second cost being below a threshold. When the expected arrival time when driving the second route is earlier than the time of the schedule information, the second route may be determined to travel in the autonomous driving mode.

The method may further include obtaining occupant state information indicating whether the occupant of the autonomous vehicle can drive, and determining whether to drive the second route in the autonomous driving mode further considering the occupant state information. It is possible to determine whether to drive the second route in the autonomous driving mode.

In addition, a second aspect of the present disclosure provides an interface for monitoring an event occurring on the first route while the autonomous vehicle is driving the first route in an autonomous driving mode; And when the occurrence of the event is monitored, acquiring a second route, and comparing the first cost expected when driving the first route with a second cost expected when driving the second route; An autonomous vehicle may be provided that includes a processor configured to determine whether to drive a route in the autonomous driving mode.

In addition, the third aspect of the present disclosure may further provide a computer readable non-transitory recording medium having recorded thereon a computer program for executing the method of the first aspect on a computer.

Hereinafter, only exemplary embodiments will be described in detail with reference to the accompanying drawings. The following examples are intended to embody the technical idea, but do not limit or limit the scope. From the detailed description and examples, what can be easily inferred by the experts in the relevant technical field is interpreted as belonging to the scope of rights.

As used herein, the term “consisting of” or “comprising” should not be construed as including all of the various elements, or steps, described in the specification, and some or some of them may be included. Should not be included, or should be construed to further include additional components or steps. In addition, the terms "... unit", "module", etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. .

In addition, terms including ordinal numbers, such as “first” or “second”, as used herein may be used to describe various components, but these terms may distinguish one component from another or It can be used for convenience.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings.

The embodiments of the present invention relate to a method for controlling an autonomous vehicle and an autonomous vehicle, and detailed descriptions of the matters well known to those skilled in the art to which the following embodiments belong will be omitted.

In addition, in the present specification, the autonomous vehicle may include a vehicle capable of autonomous driving through an additional setting or an additional process. Therefore, the autonomous vehicle may include not only a vehicle capable of performing an autonomous driving function at present, but also a general vehicle which is not yet capable of performing an autonomous driving function. For example, in the present specification, an autonomous vehicle may include a manual vehicle.

The autonomous vehicle 100 may refer to a vehicle that can drive by itself without intervention of a passenger.

Referring to FIG. 1, the autonomous vehicle 100 may determine one of a plurality of routes from a departure point to a destination as a route to travel, and may autonomously travel in the determined route. For example, the autonomous vehicle 100 may determine the first route as a route to travel, and autonomously travel to the first route.

The autonomous vehicle 100 may monitor an event occurring on a driving route. For example, the autonomous vehicle 100 may monitor an event occurring on the first route while driving.

The autonomous vehicle 100 may monitor an event occurring on a driving route using a sensor included in the autonomous vehicle 100. For example, the autonomous vehicle 100 may monitor an event by obtaining information of a road sign on a driving route using a camera provided in the autonomous vehicle.

The autonomous vehicle 100 may monitor an event occurring on a driving route using the external device 1000. For example, the autonomous vehicle 100 may monitor an event on a driving route using information received from a server. As another example, the autonomous vehicle 100 may monitor an event on a driving route using information received from the mobile device possessed by the occupant of the autonomous vehicle 100.

The event monitored by the autonomous vehicle 100 driving the preset route in the autonomous driving mode may indicate a situation in which there is a section in which the autonomous driving mode cannot be driven on the currently driving route. If there is an event section 110 on a path currently being driven, the event may be monitored. The event section 110 may include a section in which driving in a manual driving mode is requested.

In an embodiment, the event may be a section determined by the autonomous vehicle 100 that it is difficult to drive in the autonomous driving mode among one or more sections. Therefore, the event section 110 may be a section in which driving in the manual driving mode is requested when the event section 110 is driven.

The autonomous vehicle 100 may acquire a second route that bypasses the event section 110 when the event section 110 on the first route that is being driven is monitored. The autonomous vehicle 100 may determine one of the plurality of routes bypassing the event section 110 as the second route according to a predetermined criterion. For example, the autonomous vehicle 100 may determine, as the second route, the path having the shortest distance to the destination among the five routes bypassing the event section 110.

The autonomous vehicle 100 may drive the first path or the second path in an autonomous driving mode or a manual driving mode.

A case in which an event is monitored while the autonomous vehicle 100 runs on the first route in the autonomous driving mode will be described. For example, when an event occurring in the event section 110 is determined to be an insignificant event according to a predetermined criterion, the autonomous vehicle 100 driving on the first route may maintain driving in the autonomous driving mode.

On the contrary, when the event occurring in the event section 110 is determined as a significant event according to a predetermined criterion, and a response from the occupant of the autonomous vehicle 100 is received, the first route is determined. The autonomous vehicle 100 that is driving may change the driving mode to the manual driving mode.

The event occurring in the event section 110 is determined as a significant event according to a predetermined criterion, and the difference between the expected driving time when driving on the first route and the expected driving time when driving on the second route is constant. If the time is within the time (eg, within 10 minutes), the autonomous vehicle 100 may drive the second route in the autonomous driving mode.

In example embodiments, the first path may mean an initial driving path set at the start of the autonomous vehicle 100, and the second path may mean a bypass driving path that bypasses the event section 110.

In more detail, the first path may mean a path that the autonomous vehicle 100 is currently driving, and the second path may mean a path that replaces the first path. For example, the first route may be a driving route indicating a section from a current position of the autonomous vehicle 100 to a destination in a route currently being driven (for example, an initial set route), and the second route may be a first route. It may be a driving route indicating a section from the current position of the autonomous vehicle 100 to the destination in the alternate route (for example, the detour driving route). In this case, the destinations of the first path and the second path may be the same.

A specific embodiment in which the autonomous vehicle 100 runs the first path or the second path in the autonomous driving mode or the manual driving mode will be described later with reference to FIG. 4.

The autonomous vehicle 100 includes a propulsion device 210, a power supply device 299, a communication device 250, an input device 260, an output device 280, a storage device 270, and a travel device 220. , The sensing device 230, the peripheral device 240, and the processor 290. However, the autonomous vehicle 100 may further include other universal components in addition to the components illustrated in FIG. 2, or the autonomous vehicle 100 may not include some of the components illustrated in FIG. 2. It may be understood by those of ordinary skill in the art related to the present embodiment.

The propulsion device 210 may include an engine / motor 211, an energy source 212, a transmission 213 and a wheel / tire 214.

The engine / motor 211 may be any combination between an internal combustion engine, an electric motor, a steam engine, and a stirling engine. For example, when the autonomous vehicle 100 is a gas-electric hybrid car, the engine / motor 211 may be a gasoline engine and an electric motor.

Energy source 212 may be a source of energy that powers the engine / motor 211 in whole or in part. That is, engine / motor 211 may be configured to convert energy source 212 into mechanical energy. Examples of energy sources 212 may be at least one of gasoline, diesel, propane, other compressed gas based fuels, ethanol, solar panels, batteries, and other electrical power sources. Alternatively, the energy source 212 may be at least one of a fuel tank, a battery, a capacitor, and a flywheel. The energy source 212 may provide energy to the systems and devices of the autonomous vehicle 100.

Transmission 213 may be configured to transfer mechanical power from engine / motor 211 to wheel / tire 214. For example, the transmission 213 may include at least one of a gearbox, a clutch, a differential, and a drive shaft. When the transmission 213 includes drive shafts, the drive shafts may include one or more axles configured to be coupled to the wheel / tire 214.

One or more wheels / tires 214 may be included in the autonomous vehicle 100. For example, autonomous vehicle 100 may include two, three, four or five or more wheels / tires 214. The autonomous vehicle 100 may include a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. The wheel / tire 214 includes at least one wheel fixedly attached to the transmission 213 and at least one tire coupled to a rim of the wheel that can contact the driving surface. can do.

The traveling device 220 may include a brake unit 221, a steering unit 222, and a throttle 223.

The steering unit 222 may be a combination of mechanisms configured to adjust the direction of the autonomous vehicle 100.

Throttle 223 may be a combination of mechanisms configured to control the speed of operation of engine / motor 211 to control the speed of autonomous vehicle 100. In addition, the throttle 223 may adjust the amount of throttle opening to adjust the amount of mixed gas of fuel air flowing into the engine / motor 211, and may control power and thrust by adjusting the throttle opening.

The brake unit 221 may be a combination of mechanisms configured to decelerate the autonomous vehicle 100. For example, the brake unit 221 may use friction to reduce the speed of the wheel / tire 214.

Sensing device 230 may include a plurality of sensors configured to sense information regarding the environment in which autonomous vehicle 100 is located, as well as one or more actuators configured to modify the position and / or orientation of the sensors. Can include them. For example, the sensing device 230 includes a Global Positioning System (GPS) 224, an Inertial Measurement Unit (IMU) 225, a RADAR unit 226, a LIDAR unit 227, and an image sensor 228. can do. In addition, the sensing device 230 may include at least one of a temperature / humidity sensor 232, an infrared sensor 233, a barometric pressure sensor 235, a proximity sensor 236, and an RGB sensor illuminance sensor 237. It may be, but is not limited thereto. Since functions of the respective sensors can be intuitively deduced by those skilled in the art from the names, detailed descriptions thereof will be omitted.

In addition, the sensing device 230 may include a movement sensing device 238 capable of sensing the movement of the autonomous vehicle 100. The motion sensing device 238 may include a geomagnetic sensor 229, an acceleration sensor 231, and a gyroscope sensor 234.

The GPS 224 may be a sensor configured to estimate the geographic location of the autonomous vehicle 100. That is, the GPS 224 may include a transceiver configured to estimate the position of the autonomous vehicle 100 relative to the earth.

IMU 225 may be a combination of sensors configured to sense position and orientation changes of autonomous vehicle 100 based on inertial acceleration. For example, the combination of sensors may include accelerometers and gyroscopes.

The RADAR unit 226 may be a sensor configured to detect objects in the environment in which the autonomous vehicle 100 is located using a wireless signal. In addition, the RADAR unit 226 can be configured to sense the speed and / or direction of the objects.

The LIDAR unit 227 may be a sensor configured to detect objects in the environment in which the autonomous vehicle 100 is located using a laser. More specifically, LIDAR unit 227 may include a laser light source and / or laser scanner configured to emit a laser, and a detector configured to detect reflection of the laser. The LIDAR unit 227 may be configured to operate in coherent (eg, using hetirodyne detection) or noncoherent detection mode.

The peripheral device 240 may include a navigation 241, a light 242, a turn signal 243, a wiper 244, an interior light 245, a heater 246, and an air conditioner 247.

The navigation 241 may be a system configured to determine a travel route for the autonomous vehicle 100. The navigation 241 may be configured to dynamically update the driving route while the autonomous vehicle 100 is driving. For example, the navigation 241 can use data from the GPS 224 and maps to determine the route of travel for the autonomous vehicle 100.

The storage device 270 may include a magnetic disk drive, an optical disk drive, and a flash memory. Alternatively, the storage device 270 may be a portable USB data storage device. The storage device 270 can store system software.

The interface 252 can include a communication device 250 and an image sensor 228. The interface 252 may acquire information related to a route on which the autonomous vehicle 100 is driving, using the communication device 250 and / or the image sensor 228. For example, the interface 252 may monitor an event on a path on which the autonomous vehicle 100 is driving or an event in a region within a predetermined distance range from a current position of the autonomous vehicle 100.

The image sensor 228 may be a still camera or video camera configured to record three-dimensional images of the interior of the autonomous vehicle 100. For example, image sensor 228 may include multiple cameras, and multiple cameras may be disposed at multiple locations on the interior and exterior of autonomous vehicle 100. In addition, the image sensor 228 may monitor an event occurring on a driving route by obtaining information of a road sign on the driving route and visual information about a road situation.

The communication device 250 may include at least one communication hardware (eg, an antenna) for wirelessly communicating with another device. For example, communication device 250 may be used to communicate with a cellular network or other wireless protocols and systems wirelessly via Wi-Fi or Bluetooth. The communication device 250 controlled by the processor 290 may transmit and receive a wireless signal. For example, the processor 290 may execute a program included in the storage device 270 in order for the communication device 250 to transmit and receive a wireless signal with the cellular network. In addition, the communication device 250 may receive information related to the driving route from the server, and monitor the event on the driving route using the received information.

The input device 260 means a means for inputting data for controlling the autonomous vehicle 100. For example, the input device 260 may include a key pad, a dome switch, a touch pad (contact capacitive type, pressure resistive type, infrared sensing type, surface ultrasonic conduction type, and integral type). Tension measurement method, piezo effect method, etc.), a jog wheel, a jog switch, and the like, but are not limited thereto. In addition, the input device 260 may include a microphone, which may be configured to receive audio (eg, a voice command) from the occupant of the autonomous vehicle 100.

The output device 280 may output an audio signal or a video signal, and the output device 280 may include a display 281 and a sound output unit 282.

The display unit 281 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, or a three-dimensional display. 3D display, an electrophoretic display. In addition, depending on the implementation form of the output device 280, the output device 280 may include two or more display units 281.

The sound output unit 282 outputs audio data received from the communication device 250 or stored in the storage device 270. In addition, the sound output unit 282 may include a speaker, a buzzer, and the like.

The input device 260 and the output device 280 may include a network interface, and may be implemented as a touch screen.

The processor 290 typically controls the overall operation of the autonomous vehicle 100. For example, the processor 290 may execute the programs stored in the storage device 270, such as the propulsion device 210, the driving device 220, the sensing device 230, the peripheral device 240, and the communication device 250. ), The input device 260, the storage device 270, the output device 280, and the power supply 299 may be controlled overall.

The power supply 299 may be configured to provide power to some or all of the components of the autonomous vehicle 100. For example, power supply 299 may comprise a rechargeable lithium ion or lead-acid battery.

The autonomous vehicle 100 may include a passenger monitoring unit (not shown). The occupant monitoring unit may acquire state information of the occupant. For example, the occupant monitoring unit may determine whether the occupant's manual driving is possible by sensing a biosignal of the occupant and analyzing the biosignal. To this end, the occupant monitoring unit may include a biosignal sensor. Alternatively, the occupant monitoring unit may determine whether the occupant can manually drive by receiving a biosignal of the occupant sensed by the device from a device worn by the occupant or receiving a biosignal analysis result of the corresponding device. In addition, the occupant monitoring unit may monitor the occupant's head or eyes to determine whether the occupant is dozing. To this end, the passenger monitoring unit may include a camera. In addition, the passenger monitoring unit may further include various sensors or other components for obtaining the passenger's status information.

As shown in FIG. 3, the autonomous vehicle 100 may include an interface 252 and a processor 290. 3, only components related to an embodiment of the autonomous vehicle 100 are shown. Therefore, it will be understood by those skilled in the art related to the present embodiment that other general-purpose components other than the components shown in FIG. 3 may be further included in the autonomous vehicle 100.

Hereinafter, the components will be described in turn.

Interface 252 may include an image sensor 228 and communication device 250 as described above in FIG. 2.

The interface 252 may monitor the event generated on the driving route using the image sensor 228 and / or the communication device 250 while the autonomous vehicle 100 is traveling in the autonomous driving mode. For example, the interface 252 may monitor the road signs on the initial driving route with the image sensor 228. In addition, the interface 252 may monitor the driving environment on the initial driving route using the communication device 250.

The camera, which is an example of the image sensor 228, may obtain an image frame such as a still image or a moving picture of the outside of the autonomous vehicle 100. The image captured by the image sensor may be processed by the processor 290 or a separate image processor (not shown).

The communication device 250 may perform communication between the autonomous vehicle 100 and another device. For example, the communication device 250 may communicate with an external device 1000 such as a server or a mobile terminal.

The processor 290 may control the autonomous vehicle 100. The processor 290 monitors the occurrence of an event by controlling the interface 252, determines one path among the plurality of paths as a path to be driven according to the monitored event, and autonomously drives the vehicle 100 to autonomously travel in the determined path. ) Can be controlled. Further, the processor 290 obtains a bypass driving route that bypasses the event section on the initial driving route based on the event monitored by the interface 252, and estimates the first cost and the bypass driving route expected when driving the initial driving route. By comparing the estimated second costs when driving the vehicle, it is possible to determine whether to drive the detour driving route in the autonomous driving mode.

Hereinafter, a method of controlling the autonomous vehicle 100 and the autonomous vehicle 100 according to various embodiments will be described in detail.

In operation S410, the autonomous vehicle 100 monitors an event generated on the first route while the autonomous vehicle travels on the first route in the autonomous driving mode.

The autonomous vehicle 100 may perform monitoring while driving on the first path, which is the current driving path. Accordingly, the autonomous vehicle 100 may monitor an event generated on the first path using information obtained after the first path is set as the driving path. For example, the autonomous vehicle 100 may obtain construction area information on the first route, which is not received when the first route is set as the driving route, from the server after the first route is set as the driving route. As another example, the autonomous vehicle 100 includes child protection zone information on the first route, which is not obtained when the first route is set as the driving route, in the autonomous driving vehicle 100 after the first route is set as the driving route. The sensor may be acquired by recognizing a road sign.

In more detail, the autonomous vehicle 100 may perform monitoring using the external device 1000.

For example, the autonomous vehicle 100 may monitor the first route using a server. For example, the autonomous vehicle 100 may monitor the first route using the server used for monitoring while driving on the first route determined using the information received from the server storing the map information. Can be. The autonomous vehicle 100 may receive information about the rockfall warning section on the first route from the server through monitoring using the server.

Instead of receiving the monitoring information directly from the server, the autonomous vehicle 100 may monitor the first route using the mobile device possessed by the occupant of the autonomous vehicle 100. Can be. The mobile device of the autonomous vehicle 100 communicates with a server while the autonomous vehicle 100 travels on the first route to obtain information about the child protection zone on the first route, and then the autonomous vehicle 100 May obtain information about the child care zone on the first route from the mobile device.

Meanwhile, the autonomous vehicle 100 may perform monitoring by using a device provided in the autonomous vehicle 100. For example, the autonomous vehicle 100 may perform monitoring using the image sensor 228. A case in which the autonomous vehicle 100 performs monitoring with an image acquired while driving of the autonomous vehicle 100 by using a camera which is a kind of image sensor 228 will be described. The acquired image may be an image of a road sign. The autonomous vehicle 100 acquires an image of a road sign located on a driving route through a camera, and determines an image corresponding to the acquired image among a plurality of images stored in the storage device 270 of the autonomous vehicle 100. And a command corresponding to the determined image. The camera can be located in various places. For example, the camera may be included in a black box or installed in a car window. Alternatively, the autonomous vehicle 100 acquires a sign image indicating that the vehicle is under construction located in front of the autonomous vehicle 100 using the camera installed as described above, and stores an image corresponding to the acquired sign image. One of a plurality of images stored in the file may be determined as a construction002.jpg file, and a command corresponding to the determined construction002.jpg file may be performed. According to an example, the command corresponding to the file construction002.jpg may include searching for a detour bypassing a construction section. A detailed control method of the autonomous vehicle 100 according to the monitoring result will be described later in steps S420 and S430.

In operation S420, when the occurrence of the event is monitored, the autonomous vehicle 100 acquires a second route.

The second path may be a bypass driving path that is a path that bypasses an event section that is a section in which an event monitored by the autonomous vehicle 100 occurs.

When the event occurrence is monitored, the autonomous vehicle 100 may acquire a second path that bypasses the event occurrence section when the monitored event is an event of a preset type. For example, if the hearing impaired school neighborhood is monitored on a route currently being driven, and the hearing impaired school neighborhood is a predetermined type of event, the autonomous vehicle 100 bypasses a plurality of detours that bypass the hearing impaired school neighborhood. A second route, which is one of the driving routes, may be obtained. A detailed method of determining a second route among the plurality of detour driving routes will be described later with reference to FIG. 15.

When the event occurrence is monitored, the autonomous vehicle 100 may not acquire a second path that bypasses the event occurrence section when the monitored event is not an event of a preset type. For example, when the fine dust zone is monitored on the currently running route but the fine dust zone is not an event of a predetermined type, the autonomous vehicle 100 does not acquire a second route that bypasses the fine dust zone, You can travel on a running route.

In operation S430, the autonomous vehicle 100 determines a path to be driven by comparing the first cost expected when driving the first path with the second cost expected when driving the second path.

The cost may include tangible or intangible loss or value that occurs as the autonomous vehicle 100 travels. For example, the cost may include a time required for driving of the autonomous vehicle 100, a fuel amount consumed as the autonomous vehicle 100 runs, a driving distance according to the driving of the autonomous vehicle 100, and the like. have.

The first cost may mean an estimated cost when the autonomous vehicle 100 travels on the first route. The first cost may be estimated when the autonomous vehicle 100 runs in the manual driving mode in the event section of the first route and in the autonomous driving mode in the section other than the event section. It may include. However, the meaning of the first cost is not limited thereto. According to another embodiment, the first cost may be calculated based on the case where the autonomous vehicle 100 runs the first route only in the autonomous driving mode, or when only the event section is driven in the manual driving mode.

The second cost may mean an estimated cost when the autonomous vehicle 100 travels on the second route. The second cost may include an expected travel time, a travel distance, a consumed fuel amount, etc. when the autonomous vehicle 100 runs the second route in the autonomous driving mode. Meanwhile, the meaning of the second cost is not limited thereto, and according to another exemplary embodiment, the second cost may be a detour section from a branch point at which the first path and the second path are divided to a confluence point at which the first path and the second path merge. It may be calculated based on. In this case, the second cost may include an expected running time, a traveling distance, a consumed fuel amount, and the like, as the detour section from the branch point to the joining point is driven in the autonomous driving mode.

The autonomous vehicle 100 may obtain information about the first cost. When the autonomous vehicle 100 travels in the manual driving mode in the event section of the first route and runs in the autonomous driving mode in the section other than the event section, the autonomous vehicle 100 acquires information on an expected driving time, a traveling distance, a fuel consumption amount, and the like. can do. Alternatively, according to another exemplary embodiment, the autonomous vehicle 100 may obtain information about an expected driving time, a traveling distance, and a consumed fuel amount when driving the first route only from the current location to the destination in the autonomous driving mode.

The autonomous vehicle 100 may obtain information about the second cost. For example, the autonomous vehicle 100 may include information about an expected travel time, a travel distance, a consumed fuel amount, and the like, when traveling in the second path acquired in step S420 from the current location to the destination.

The autonomous vehicle 100 may determine which of the first path and the second path to travel by comparing the first cost and the second cost. For example, the autonomous vehicle 100 travels on the second route when the difference between the first cost and the second cost is less than or equal to the threshold, and the first route when the difference between the first cost and the second cost is greater than the threshold. You can drive When the autonomous vehicle 100 runs in the first route, the autonomous vehicle 100 may drive the event section, which is the section where the event is monitored in step S410, in the manual driving mode.

Hereinafter, a detailed method of determining a path to be driven by the autonomous vehicle 100 by comparing the first cost and the second cost will be described.

The case where the difference between the first cost and the second cost is below or below the threshold will be described.

As a result of the comparison of the first cost and the second cost, the difference between the first cost and the second cost may be below or below a threshold. For example, when driving in the manual driving mode in the event section of the first route, driving in the autonomous driving mode in the section other than the event section, the expected driving time is 30 minutes, and driving in the autonomous driving mode in the second route. If the estimated travel time is 50 minutes and the threshold is 30 minutes, the difference between the first cost and the second cost may be below or below the threshold. As another example, when the first cost is 3 km and the second cost is 2.5 km and the threshold is 1 km, the difference between the first cost and the second cost may be below or below the threshold.

The threshold may be set at the time of shipment of the autonomous vehicle 100 or may be set based on a user input.

The threshold may be determined as a specific value of cost or may be determined as a percentage of cost. For example, the threshold may be determined for 30 minutes, 10 km, 10 liters of fuel, and the like. As another example, the threshold may be determined as 30% of the second cost, 20% of the first cost, or the like.

As a result of the comparison between the first cost and the second cost, when the difference between the first cost and the second cost is less than or less than the threshold, the autonomous vehicle 100 may drive the second path in the autonomous driving mode.

For example, when the first cost is an hour of running time, the second cost is an hour of 20 minutes, and the threshold is 30 minutes, the autonomous vehicle 100 compares the first cost with the second cost. In addition, since the difference between the first cost and the second cost is less than or less than the threshold, the second path may be driven in the autonomous driving mode.

As another example, if the first cost is 8 km of travel, the second cost is 10 km, and the threshold is determined to be 30% of the second cost, then the autonomous vehicle 100 may determine the first cost and the second cost. Since the difference is below or below the threshold, the second path may be driven in the autonomous driving mode.

Unlike driving on the second route when the difference between the first cost and the second cost is above or above the threshold, driving on the second route when the difference between the first cost and the second cost is below or below the threshold. In this case, the loss incurred by traveling on the second route is below or below a predetermined level. Thus, traveling in the second route when the difference between the first cost and the second cost is below or below the threshold may be economical in terms of time or distance.

The case where the difference between the first cost and the second cost is above or above the threshold will be described.

As a result of the comparison of the first cost and the second cost, the difference between the first cost and the second cost may be above or above the threshold. For example, the estimated fuel consumption is 10 liters when driving in the manual driving mode in the event section of the first route, and driving in the autonomous driving mode in the section other than the event section, and the second route is driven in the autonomous driving mode. If the expected travel time in the case is 12 liters and the threshold is 1 liter, the difference between the first cost and the second cost may be above or above the threshold.

As a result of the comparison between the first cost and the second cost, if the difference between the first cost and the second cost is greater than or above the threshold, the autonomous vehicle 100 autonomously drives a notification indicating that an event section exists on the first route. It may be provided to the occupant of the vehicle 100. For example, the autonomous vehicle 100 may provide the passenger with a notification indicating that the vehicle should be driven in the manual driving mode for the event section on the first route.

When the user response to the notification provided to the occupant is received, the autonomous vehicle 100 may drive in the manual driving mode in the event section of the first route, and may drive in the autonomous driving mode in the section other than the event section.

If the user response to the notification provided to the occupant is not received, the autonomous vehicle 100 may operate according to a preset method. For example, if a user response to the notification provided to the occupant is not received, the autonomous vehicle 100 may drive the second route in the autonomous driving mode. As another example, when a user response to the notification provided to the occupant is not received, the autonomous vehicle 100 may stop in a preset manner. As another example, when a user response to the notification provided to the occupant is not received, the autonomous vehicle 100 may drive the first route in the autonomous driving mode.

As a result of the comparison between the first cost and the second cost, when the difference between the first cost and the second cost is greater than or above the threshold, the autonomous vehicle 100 may determine the first path as the driving path.

For example, if the first cost is 15 km of travel, the second cost is 20 km, and the threshold is 3 km, then the autonomous vehicle 100 compares the first cost with the second cost, Since the difference between the cost and the second cost is greater than 3 km, the first path may be determined as the driving path.

As another example, if the first cost is 10 liters of consumed fuel amount, the second cost is 14 liters of consumed fuel amount, and the threshold is determined to be 30% of the first cost, then the autonomous vehicle 100 may determine the first cost and the second cost. Since the difference in cost exceeds the threshold, the first route may be determined as the driving route.

As another example, when the estimated cost when driving the first route in the autonomous driving mode is greater than the expected cost when driving the second route in the autonomous driving mode, the autonomous vehicle 100 may drive the first route in the autonomous driving mode. You can drive

When the autonomous vehicle 100 determines the first route as the driving route, the autonomous vehicle 100 may travel in the manual driving mode in the event section of the first route, and may drive in the autonomous driving mode in the section other than the event section.

As a result of the comparison between the first cost and the second cost, the case where the first cost is larger than the second cost will be described.

When the autonomous vehicle 100 travels in the manual driving mode in the event section of the first route and travels in the autonomous driving mode in the section other than the event section, the driving time, the driving distance, or the amount of fuel consumed is estimated. ) Is greater than the expected travel time, travel distance, or consumed fuel amount when driving the second route in the autonomous driving mode, the autonomous vehicle 100 may determine the second route as the driving route. When the second route is determined as the driving route, the autonomous vehicle 100 may drive the second route in the autonomous driving mode.

The autonomous vehicle 100 may drive the first route in an autonomous driving mode or a manual driving mode. For example, when the autonomous vehicle 100 travels in the first route, the autonomous vehicle 100 may travel in the manual driving mode in the event section of the first route, and may drive in the autonomous driving mode in the section other than the event section. As another example, when the autonomous vehicle 100 travels in the first route, the autonomous vehicle 100 may drive the entire first route in the autonomous driving mode.

According to an example, when the first cost is an estimated cost when driving the first route in the autonomous driving mode, the autonomous vehicle 100 may be an estimated cost when driving the first cost and the second route in the autonomous driving mode. The second cost may be compared, and if the first cost is less than or equal to the second cost, the first route may be driven in an autonomous driving mode.

5 is a flowchart of a method of controlling the autonomous vehicle 100 according to an embodiment using information received from an external device.

In operation S510, the autonomous vehicle 100 may request information from the external device 1000.

The autonomous vehicle 100 may request the external device 1000 for event information that is information about an event occurring on a path currently being driven. In this case, the autonomous vehicle 100 may request information about an event occurring on the first path after the first path is set as the driving path. Here, the event information may include driving environment information regarding weather information, road situation information surroundings, area information, news information, and the like.

In addition, the autonomous vehicle 100 may additionally request occupant information, which is information related to a passenger of the autonomous vehicle 100, to the external device 1000. For example, the passenger information may be schedule information of the passenger.

The driving environment information may include information representing a situation related to driving of the autonomous vehicle 100. For example, the driving environment information may include weather information, road condition information, surrounding area information, news information, and the like.

The weather information may include information about temperature, humidity, snow or rain, fine dust, air pollution, and the like. In addition, the weather information is information about the weather around the location of the current autonomous vehicle 100, information about the weather around the destination of the autonomous vehicle 100, the weather around the movement path of the autonomous vehicle 100 Information and the like. The weather information may include information about the current weather as well as past or future weather.

For example, the weather information may include information that snow fell around the moving path of the autonomous vehicle 100 two hours ago. As another example, the weather information may include information that a heavy rain warning has been issued around the current destination.

The road situation information may include information indicating a road condition of a surrounding area such as a current location, a destination, a moving route, etc. of the autonomous vehicle 100.

For example, the road situation information may include the current position, destination, road condition information, traffic condition information, traffic accident information, road construction information, traffic enforcement information, and attention section information of the road around the autonomous driving vehicle 100. (E.g., ice caution sections, sharp curve sections, pedestrian sections, child protection areas, etc.).

The surrounding area information may include information indicating a situation in a surrounding area such as a current location, a destination, a movement route, etc. of the autonomous vehicle 100.

For example, nearby area information may include nearby facility information (e.g., sewage treatment plants near your destination), surrounding landscape information, nearby building information (e.g., school information for the deaf, located nearby), or nearby performance information (e.g. Singer concert information), and the like.

The news information may include news information related to the aforementioned weather information, road situation information surrounding area information, and the like.

For example, news information may include the sudden cancellation of a concert for a famous singer in the surrounding area, the news of a sudden crowd of protesters, the congestion of a road, the news that some roads were damaged, and the road was controlled, and a parade on some road segments. May include news information related to the driving of the autonomous vehicle 100, such as news that progress is made, news that a fire has occurred in a specific building, and the like.

In operation S520, the autonomous vehicle 100 may receive information from the external device 1000. The autonomous vehicle 100 may receive information from the external device 1000 without a request for the external device 1000.

For example, the autonomous vehicle 100 may drive the event information, occupant information (for example, schedule information, and the like), driving environment information (for example, weather information, road condition information, and surrounding area) described above in step S510 from the external device 1000. Information, news information, etc.) can be received.

In operation S530, the autonomous vehicle 100 obtains information related to the first cost. The autonomous vehicle 100 may obtain information about the first cost, which is an estimated cost when driving the first route. For example, when the autonomous vehicle 100 travels in the manual driving mode in the event section of the first route and in the autonomous driving mode in the section other than the event section, the autonomous vehicle 100 Information can be obtained. As another example, the autonomous vehicle 100 may acquire information about an expected driving time, a driving distance, and a consumed fuel amount when driving the first route in the autonomous driving mode.

In operation S540, the autonomous vehicle 100 obtains information related to the second cost. The autonomous vehicle 100 may obtain information about a second cost, which is an estimated cost when driving the second route. For example, the autonomous vehicle 100 may include information about an expected driving time, a driving distance, a consumed fuel amount, etc. when driving in the second route.

The autonomous vehicle 100 compares the first cost and the second cost in step S550, and determines a driving route in step S560.

For a method of determining a route to travel by comparing the first cost and the second cost, reference may be made to the above-described details in step S430.

In operation S570, the autonomous vehicle 100 may travel according to the driving route determined in operation S560. The processor 290 may control the autonomous vehicle 100 to travel in the driving route and / or driving mode determined in operation S560.

For example, the processor 290 may control the autonomous vehicle 100 to drive the first route in the autonomous driving mode. As another example, the processor 290 may control the autonomous vehicle 100 to drive the second route in the autonomous driving mode. As another example, the processor 290 may control the autonomous vehicle 100 to travel in the manual driving mode in the event section of the first route, and to travel in the autonomous driving mode in the section other than the event section.

In addition, the autonomous vehicle 100 may determine whether to switch manually during driving and may be controlled according to the determination result. Hereinafter, a method in which the autonomous vehicle 100 is controlled when a manual driving switching section occurs.

The autonomous vehicle 100 may travel in an autonomous driving mode along a path composed of autonomous driving sections.

The plurality of sections configuring the plurality of routes from the starting point to the destination may include an autonomous driving enabled section or a manual driving switching section. For example, the first route may consist of only a plurality of autonomous driving sections. As another example, the second path may include a plurality of autonomous driving sections and a single manual driving switching section. As another example, the third route may include a plurality of autonomous driving sections, but one of the plurality of autonomous driving sections included in the third route may be changed to a manual driving switching section during the driving of the autonomous vehicle 100. Can be.

The autonomous vehicle 100 may determine whether to drive the manual driving switching section according to the driving mode setting information when the manual driving switching section occurs in the route.

The manual driving switching section may include a section in which the autonomous vehicle 100 runs in autonomous driving or manual driving according to the driving mode setting information. For example, the manual driving switching section may include the event section 110 described above with reference to FIG. 1.

When the manual driving switching section occurs while the autonomous vehicle 100 is driving in the autonomous driving mode, the autonomous driving vehicle 100 maintains driving in the manual driving switching segment or changes the driving route to another route according to the driving mode setting information. You can decide. In detail, a method of determining a driving route according to event or driving mode setting information will be described below with reference to FIG. 9.

The driving mode setting information may include information indicating how to set the driving mode in each case. For example, the driving mode setting information may include information indicating whether to maintain autonomous driving according to the type of event occurring in the event section 110. As another example, the driving mode setting information may include information indicating whether to maintain the current route according to the type of event occurring in the event section 110.

The autonomous vehicle 100 may be controlled according to a determination result of driving of the manual driving switching section.

For example, when the autonomous vehicle 100 determines to drive the manual driving switching section according to the driving mode setting information, the autonomous driving vehicle 100 changes the driving mode to the manual driving mode and sets the manual driving switching section. I can drive. As another example, when the autonomous vehicle 100 determines not to drive the manual driving switching section according to the driving mode setting information, the autonomous driving vehicle 100 maintains the autonomous driving mode, while detouring the manual driving switching section. You can travel by route. As another example, when the autonomous vehicle 100 determines to drive the manual driving switching section in the autonomous driving mode according to the driving mode setting information, the autonomous driving vehicle 100 maintains the autonomous driving mode and maintains the manual driving switching section. I can drive.

The autonomous vehicle 100 may communicate with the server 600 via the cloud network 660. For example, the autonomous vehicle 100 may communicate with the notification server 610 via the cloud network 660.

Server 600 may include one or more servers. For example, the server 600 may include a notification server 610, a city server 620, a construction server 630, a weather server 640, another server 650, and the like.

The notification server 610 may transmit notification information to the autonomous vehicle 100. For example, the notification server 610 may transmit event information to the autonomous vehicle 100 through the cloud network 660. The event information may include information about the event zone.

The city server 620 refers to information related to a city, the construction server 630 refers to information related to a construction, and the weather server 640 refers to a server that handles information related to weather.

The city server 620, the construction server 630, the weather server 640, the other server 650, and the like may communicate with the notification server 610. For example, the city server 620 may transmit traffic enforcement information to the notification server 610, the construction server 630 may transmit information about the construction section to the notification server 610, the weather server The 640 may transmit information about a heavy rain region, a strong wind region, and the like to the notification server 610. As another example, the construction server 630 may transmit construction information of the area around the current autonomous vehicle 100 to the API 611 of the notification server 610.

The notification server 610 may include an application program interface (API) 611, a database 612, and software 613. Various event information may be uploaded to the API 611. In addition, the information uploaded to the API 611 may be stored in the database 612. The software 613 may transmit the control information of the autonomous vehicle 100 according to the information stored in the database 612 through the cloud network 660 or directly to the autonomous vehicle 100.

An event zone may be located around the autonomous vehicle 100. The deaf school district 670 and the construction zone 680 may be located around the autonomous vehicle 100. The autonomous vehicle 100 may receive information about the school zone 670 and the construction zone 680 from the hearing-impaired person from the notification server 610.

The autonomous vehicle 100 may be controlled according to the information received from the notification server 610. The autonomous vehicle 100 receives information about the hearing-impaired school zone 670 and the location of the construction zone 680 from the notification server 610, and determines that the hearing-impaired school zone 670 or the construction zone 680 is located. Adjacent areas can be driven in low speed autonomous driving modes. Alternatively, the autonomous vehicle 100 may drive a second route that bypasses an adjacent area of the hearing impaired school zone 670 or the construction zone 680 in the autonomous driving mode.

Information received by the autonomous vehicle 100 from the server 600 may be determined based on information transmitted by the autonomous vehicle 100 to the server. In more detail, the autonomous vehicle 100 transmits the information acquired through the sensor included in the autonomous vehicle 100 to the notification server 610, and the server 600 from the autonomous vehicle 100. The autonomous vehicle control information determined according to the obtained information may be transmitted to the autonomous vehicle 100. For example, a case in which the autonomous vehicle 100 transmits image information to the notification server 610 will be described. The autonomous vehicle 100 may acquire an image of a road sign on a driving path, and the image sensor 228 may transmit an image of the acquired road sign to the notification server 610. . The notification server 610 may transmit information corresponding to the road sign image received from the autonomous vehicle 100 to the autonomous vehicle 100. For example, the notification server 610 may transmit information indicating the meaning of the road sign image to the autonomous vehicle 100, and transmit autonomous vehicle control information according to the analysis of the road sign image. Can also be sent to.

For example, when the autonomous vehicle 100 transmits a sign image indicating that the autonomous vehicle is under construction obtained through a camera included in the autonomous vehicle 100 on the currently driving route to the notification server 610, the notification server 610. ) May transmit information to the autonomous vehicle 100 indicating that the image received from the autonomous vehicle 100 is under construction or control information indicating to slow down because it is a section under construction.

The event information may include information about the road sign 710.

The autonomous vehicle 100 may acquire information on the road sign 710 on a route currently being driven. For example, the autonomous vehicle 100 may acquire an image of a road sign 710 on a currently running route through the image sensor 228 provided in the autonomous vehicle 100.

The image sensor 228 may include a camera and may be attached inside or outside the autonomous vehicle 100. For example, the image sensor 228 may include a vehicle black box provided in the autonomous vehicle 100, or one or more cameras installed at various positions of the autonomous vehicle 100.

The image sensor 228 may acquire images from all directions including the front, rear, left, and right of the autonomous vehicle 100. For example, the image sensor 228 may acquire an image of the road sign 710 located in front of the autonomous vehicle 100 that is autonomous driving without additional manipulation of the occupant 720.

The autonomous vehicle 100 may store a plurality of images representing a plurality of zones. For example, blind zone 810, construction zone 820, railroad zone 830, school zone 840, tollgate zone 850, deaf zone 860, dead end zone 870, bypass A plurality of images corresponding to each of the zone 880 may be stored in the autonomous vehicle 100.

The autonomous driving vehicle 100 may obtain event information on a current driving route by determining an image matching an image acquired through the image sensor 228 among a plurality of previously stored images. For example, if the image acquired through the image sensor 228 is matched with one of a plurality of images included in the construction zone 820, the autonomous vehicle 100 may have a construction zone on the current driving route. Event information that is present.

The autonomous vehicle 100 may determine an image matching the image of the road sign acquired through the image sensor 228 from among the plurality of pre-stored images.

For example, the autonomous vehicle 100 may determine the image of the road sign acquired as the railroad sign according to the shape of the road sign image acquired through the image sensor 228. When the image of the acquired road sign is determined as the railroad sign, the autonomous vehicle 100 may determine the current location as a railway adjacent area, and switch the driving mode to the manual driving mode.

As another example, the autonomous vehicle 100 may determine that the image of the road sign acquired through the camera matches the image of Toll_booth003.jpg. Toll_booth003.jpg Since the image is an image representing the tollgate area, the autonomous vehicle 100 may determine the current location as an adjacent tollgate area. When the current location is determined to be adjacent to the tollgate, the autonomous vehicle 100 may switch the driving mode to the manual mode after 10 seconds.

The autonomous vehicle 100 may replace the first route, which is a currently traveling route, when the image of the road sign acquired through the image sensor 228 matches one of a plurality of pre-stored images representing an event. 2 paths can be obtained. The second route may include a route that bypasses the event zone indicated by the acquired road sign image. A method of determining a second path of one of the plurality of paths will be described later with reference to FIG. 15.

In addition, the embodiments described above with reference to FIG. 8 may be performed by the external device 1000. For example, the external device 1000 may store a plurality of images representing a plurality of zones, and the autonomous vehicle 100 may provide information necessary for controlling the autonomous vehicle 100 using the plurality of stored images. Can be sent to.

The autonomous vehicle 100 may obtain weather information on a first route, which is a route currently being driven. For example, the autonomous vehicle 100 may receive information about temperature, humidity, snow or rain, fine dust, air pollution, etc. around the first path through the external device 1000 or the sensing device 230. . As another example, the autonomous vehicle 100 may obtain information indicating that a shower is coming from the event zone 910 on the first route from the server 600.

The autonomous vehicle 100 may determine whether to acquire a second route that bypasses the event zone 910 according to the acquired weather information. For example, when heavy rain is falling in the event zone 910, the autonomous vehicle 100 determines that the event in the event zone 910 is a significant event and bypasses the event zone 910. Can be obtained. As another example, when the humidity in the event zone 910 is high, the autonomous vehicle 100 determines that the event in the event zone 910 is an insignificant event and obtains a second route that bypasses the event zone 910. You can't.

The autonomous vehicle 100 may acquire road situation information around a first route, which is a route currently being driven. For example, the autonomous vehicle 100 may drive road surface condition information, traffic condition information, traffic accident information, road construction information, traffic enforcement information, and attention around the first route through the external device 1000 or the sensing device 230. Section information may be received. As another example, the autonomous vehicle 100 may obtain information indicating that a traffic accident has occurred in the event zone 1010 on the first route from the server 600.

The autonomous vehicle 100 may determine whether to acquire a second route bypassing the event zone 1010 according to the obtained road situation information. For example, if a traffic accident occurs in the event zone 1010 and a heavy traffic jam occurs, the autonomous vehicle 100 determines that the event in the event zone 1010 is a significant event and the event zone 1010. It is possible to obtain a second path bypassing the). As another example, when the event zone 1010 is a drowsy driving attention zone, the autonomous vehicle 100 determines that the event in the event zone 1010 is an insignificant event and bypasses the event zone 1010. May not be obtained.

The autonomous vehicle 100 may acquire information about the surrounding area around the first route, which is the route currently being driven. For example, the autonomous vehicle 100 may receive surrounding facility information, surrounding scenery information, surrounding building information, surrounding performance information, etc. around the first route through the external device 1000 or the sensing device 230. . As another example, the autonomous vehicle 100 has a performance by a famous singer in the first event zone 1110 in an area adjacent to the first route from the server 600, and the second event zone 1120 on the first route is auditory. Information indicating that schools with disabilities are in the immediate vicinity can be obtained.

The autonomous vehicle 100 may determine whether to acquire a second route that bypasses the first event zone 1110 or the second event zone 1120 according to the obtained road situation information. For example, when there is a concert of a famous singer in the first event zone 1110 and severe traffic congestion occurs, the autonomous vehicle 100 determines that the event in the first event zone 1110 is a significant event. A second path bypassing the first event zone 1110 may be obtained. As another example, when the second event zone 1120 is an area around the sewage treatment plant, the autonomous vehicle 100 determines that the event of the second event zone 1120 is an insignificant event and the second event zone 1120 is selected. It may not obtain a second path bypassing.

The autonomous vehicle 100 may acquire news information around a first route, which is a route currently being driven. For example, the autonomous vehicle 100 may receive news information related to weather information around a first route, area information around road condition information, and the like through the external device 1000 or the sensing device 230. As another example, the autonomous vehicle 100 is news information that the performance of a famous singer is canceled in the first event zone 1210 in the region adjacent to the first route from the server 600, the second event zone 1220 on the first route. ), News information indicating that a sinkhole occurred suddenly on the road or news information indicating that a protest movement occurred suddenly in the third event zone 1230.

The autonomous vehicle 100 may determine whether to acquire a second route that replaces the first route currently being driven according to the acquired news information.

The autonomous vehicle 100 may store location information on a plurality of areas representing a plurality of event zones. For example, the location information for the speed limit zone 1310 and the drinking control zone 1320 is in the city server 620, the location information for the bad weather zone 1330 is in the weather server 640, the construction zone 1340 ) Location information for construction server 630, blind area 1350 and school district 1360 location information for city server 620, location for tollgate area 1370 and patrol area 1380 The information may be stored on the other server 650.

When the current location is adjacent to the event zone stored in the autonomous vehicle 100, the autonomous vehicle 100 may provide a notification to a passenger of the autonomous vehicle 100. For example, the autonomous vehicle 100 receives the location information of the speed limit zone 1310 from the city server 620 and enters the speed limit zone when it is adjacent to an event zone called the speed limit zone 1310. The notification may be provided to the occupant of the autonomous vehicle 100.

The autonomous vehicle 100 receives the location information of the event zone from the server 600 and, when adjacent to the event zone, provides a notification to the occupant of the autonomous vehicle 100 to notify the occupant of the event zone, and receives from the occupant. Depending on the response, the vehicle may travel in a predetermined manner.

For example, when the autonomous vehicle 100 receives location information of the bad weather zone 1330 from the weather server 640 and is adjacent to an event zone called the bad weather zone 1330, the autonomous driving vehicle 100 changes the driving mode to the manual driving mode. The notification may be provided to the occupant of the autonomous vehicle 100. The autonomous vehicle 100 may drive in the manual driving mode when receiving a confirmation response from the occupant after providing a notification to the occupant, and 20 km / r than the speed limit when receiving the confirmation response from the occupant after providing the notification to the occupant. h You can drive in the autonomous driving mode where the low speed is set to the maximum speed.

As another example, when the autonomous vehicle 100 receives position information of the construction zone 1340 from the construction server 630 and is adjacent to an event zone called the construction zone 1340, the autonomous vehicle 100 notifies that the driving mode is changed to the manual driving mode. The notification may be provided to the occupant of the autonomous vehicle 100. When the autonomous vehicle 100 receives a confirmation response from the occupant within 10 seconds after providing a notification to the occupant, the autonomous vehicle 100 drives in the manual driving mode, and provides a notification to the occupant within a predetermined time (for example, within 10 seconds). If a confirmation response is not received from the occupant, the vehicle may stop in a preset manner.

As another example, when the autonomous vehicle 100 receives location information of the school zone 1360 from the city server 620 and is adjacent to an event zone called the school zone 1360, the autonomous vehicle 100 notifies that the driving mode is changed to the manual driving mode. The notification may be provided to the occupant of the autonomous vehicle 100. When the autonomous vehicle 100 receives a confirmation response from the occupant within 10 seconds after providing a notification to the occupant, the autonomous vehicle 100 may drive in the manual driving mode and fail to receive a confirmation response from the occupant within 10 seconds after providing the notification to the occupant. In this case, the second route bypassing the school zone 1360 may be driven in the autonomous driving mode.

In addition, the embodiments described above with reference to FIG. 13 may be performed by the external device 1000. For example, the external device 1000 may store location information on a plurality of areas representing a plurality of event zones, and autonomously drive information necessary for controlling the autonomous vehicle 100 using the stored location information. May transmit to the vehicle 100.

In operation S1410, the server 600 receives GPS data of the autonomous vehicle 100 from the autonomous vehicle 100. The server 600 may determine the position of the autonomous vehicle 100 using the GPS data of the autonomous vehicle 100.

In operation S1420, the server 600 determines whether data matching the GPS data received in operation S1410 exists in the server database. The server 600 may determine whether the position of the autonomous vehicle 100 determined according to the GPS data received in step S1410 corresponds to the event zone stored in the server 600. For example, the server 600 may determine whether the location of the autonomous vehicle 100 is within a predetermined distance from the location of the construction zone stored in the server 600.

In operation S1430, the server 600 controls the autonomous vehicle 100 to provide a notification to the occupant of the autonomous vehicle 100 when the data matching the GPS data received in operation S1410 is present in the server database. To the autonomous vehicle 100. For example, when the position of the autonomous vehicle 100 is within a predetermined distance from the construction zone position, the server 600 may provide a command for providing a passenger to the passenger that the driving mode is switched to the manual driving mode. 100).

When the occurrence of an event is monitored on a path currently being driven, the autonomous vehicle 100 may acquire a plurality of detour driving paths that bypass the event section, which is a section in which the monitored event occurs. For example, when the occurrence of an event called ice caution is monitored on the first path 1510 that is currently being driven, the autonomous vehicle 100 includes a plurality of bypass driving paths that bypass the monitored ice caution section 1540. A -1 path 1520 and a 2-2 path 1530 can be obtained. The plurality of detour driving paths replace paths of the first path 1510 and may include a path from a current location to a destination along the first path 1510.

The autonomous vehicle 100 may determine one path among the obtained plurality of detour driving paths as a second path according to a predetermined priority. For example, when the priority is distance or time, the autonomous vehicle 100 may determine one path having the shortest expected driving distance or estimated driving time among the plurality of detour driving paths as the second path. As another example, when the priority is the amount of fuel consumed, the autonomous vehicle 100 may determine one path having the smallest estimated fuel consumption among the plurality of detour driving paths as the second path.

The priority used to determine one of the plurality of detour driving routes may be determined at the time of leaving the vehicle, or may be determined based on a user input. For example, the priority is determined by time at the time of leaving the vehicle, but may be changed to a distance based on a user input.

The priority used to determine one of the plurality of detour driving paths may be determined without user input. The autonomous vehicle 100 uses the information stored in the storage device 270, the information obtained from the external device 1000, the information obtained from the sensing device 230, and the like to prioritize one of the plurality of priorities. Priority may be used to determine one of the two bypass driving routes. For example, when time information on a schedule of a user is stored in the storage device 270, the autonomous vehicle 100 may time the priority used to determine one of the plurality of detour driving routes. The second path may be determined as one path having the shortest estimated driving time among the plurality of detour driving paths. As another example, when the autonomous vehicle 100 obtains information indicating that the remaining fuel amount is less than or equal to a predetermined criterion, the autonomous vehicle 100 determines a priority used to determine one of the plurality of detour driving routes. The second fuel may be determined as the consumed fuel amount, and the second path may be determined as one path having the least estimated consumed fuel amount among the plurality of bypass driving paths. As another example, when the autonomous vehicle 100 obtains information indicating that the tire wear amount is greater than or equal to a predetermined criterion, the autonomous vehicle 100 determines a priority used to determine one of the plurality of detour driving routes. The second fuel may be determined as the consumed fuel amount, and the second path may be determined as one path having the least estimated consumed fuel amount among the plurality of bypass driving paths.

With reference to FIG. 16, the case where a 1st cost or a 2nd cost is a traveling time or a traveling distance is demonstrated.

The autonomous vehicle 100 may operate based on a difference between the driving time expected when driving the first path 1610 and the driving time expected when driving the second path 1620. For example, when the autonomous vehicle 100 travels in the first route 1610 and the difference in the estimated travel time when traveling on the second route 1620 is less than or equal to the threshold, the second travel time. The path 1620 may be determined as the driving route, and if the threshold value is exceeded, the first route 1610 may be determined as the driving route.

The threshold may be determined as a specific value or as a percentage of distance or time, as described above in FIG. 4.

The autonomous vehicle 100 may be controlled according to the magnitude difference between the threshold and the difference between the driving time expected when driving the first path 1610 and the driving time expected when driving the second path 1620. Can be.

For example, if the difference between the travel time expected when traveling on the first route 1610 and the travel time expected when traveling on the second route 1620 is less than or equal to the threshold, The two paths 1620 may travel in an autonomous driving mode.

As another example, the autonomous vehicle 100 will be described in the case where the difference between the driving time expected when driving the first route 1610 and the driving time expected when driving the second route 1620 is greater than or equal to a threshold. do. The autonomous vehicle 100 may provide a notification to the occupant of the autonomous vehicle 100 that the event section 1630 is on the first route 1610 or determine the first route 1610 as the driving route. have.

The difference between the first cost including the expected travel time when driving the first route 1610 and the second cost including the expected travel time when driving the second route 1620 is above or above the threshold. In the case of, the contents related to the notification provided to the occupant by the autonomous vehicle 100 will be described later with reference to FIGS. 26 to 29.

The method of determining the driving route by comparing the driving times described with reference to FIG. 16 may also be used when the driving route is determined by comparing the driving distances.

In step S1710, the autonomous vehicle 100 monitors an event generated on the first route while driving the first route in the autonomous driving mode.

In operation S1720, when the occurrence of the event is monitored in operation S1710, the autonomous vehicle 100 acquires a second route that may replace the first route.

In operation S1730, the autonomous vehicle 100 determines whether the difference between the expected travel time or travel distance when traveling on the first route and the expected travel time or travel distance when traveling on the second route is equal to or less than a threshold.

In operation S1740, when the autonomous vehicle 100 travels the first route, when the difference between the expected travel time or mileage and the expected travel time or mileage when the second route travels is less than or equal to the threshold value, the autonomous vehicle 100 may determine the second route. Drive in autonomous driving mode.

In operation S1750, when the autonomous vehicle 100 travels the first route when the difference between the expected driving time or driving distance and the expected driving time or driving distance when driving the second route is greater than the threshold, the first route Drive to

With reference to FIG. 18, the case where a 1st cost or a 2nd cost is a consumed fuel amount is demonstrated.

The autonomous vehicle 100 may operate based on a difference between the amount of fuel consumed when traveling on the first route and the amount of fuel consumed when driving on the second route. For example, the autonomous vehicle 100 determines the second route as the driving route when the difference between the amount of fuel consumed when driving on the first route and the amount of fuel consumed when driving on the second route is less than or equal to a threshold. If the threshold value is exceeded, the first route may be determined as the driving route.

The threshold may be determined as a specific value or as a percentage of the amount of fuel consumed, as described above in FIG. 4.

A detailed method of controlling the autonomous vehicle 100 in accordance with the magnitude difference between the amount of fuel consumed when driving the first route and the amount of fuel consumed when driving the second route and the threshold is described with reference to FIG. 16. See for details.

Steps S1910 and S1920 correspond to steps S1710 and S1720 described above, respectively, and thus detailed descriptions are omitted for simplicity.

In operation S1930, the autonomous vehicle 100 determines whether a difference between the amount of fuel consumed when driving the first route and the amount of fuel consumed when driving the second route is equal to or less than a threshold.

In operation S1940, the autonomous vehicle 100 runs the second path in the autonomous driving mode when a difference between the amount of fuel consumption expected when driving the first route and the amount of fuel consumption expected when driving the second route is less than or equal to a threshold. .

In operation S1950, the autonomous vehicle 100 travels along the first path when the difference between the amount of fuel consumed when the vehicle travels the first route and the amount of fuel consumed when the vehicle travels the second route exceeds the threshold.

The autonomous vehicle 100 may obtain schedule information of a passenger of the autonomous vehicle 100. For example, the autonomous vehicle 100 may receive schedule information of a passenger from a mobile terminal possessed by the passenger. Alternatively, the autonomous vehicle 100 may receive schedule information of the occupant from the server 600. Alternatively, the autonomous vehicle 100 may use schedule information stored in the storage device 270.

The autonomous vehicle 100 monitors the first route 2010, and when the event zone 2040 is monitored on the first route 2010, the second vehicle 2010 may replace the first route 2010. Obtain route 2020. The autonomous vehicle 100 may obtain an expected arrival time when driving on the second route 2020.

The autonomous vehicle 100 may determine whether to travel on the second route 2020 by comparing the scheduled time at the destination with the expected arrival time when driving on the second route 2020. For example, when the schedule time obtained from the schedule information is 6:00 pm and the expected arrival time when driving on the second route 2020 is 6:30 pm, the autonomous vehicle 100 may drive the first route ( 2010) may be determined as the driving route. As another example, when the schedule time obtained from the schedule information is 7:00 pm and the expected arrival time when driving in the second route 2020 is 6:30 pm, the autonomous vehicle 100 may use the second route 2020. ) Can be determined as a driving route. As another example, the scheduled time obtained from the schedule information is 7:00 pm, the expected arrival time when driving on the second route 2020 is 7:20 pm, and the allowable delay time set according to the user input is 30 minutes. In this case, the autonomous vehicle 100 may determine the second route 2020 as a driving route.

Steps S2110 and S2120 correspond to steps S1710 and S1720 described above, respectively, and thus detailed descriptions are omitted to simplify the overall description.

In operation S2130, the autonomous vehicle 100 obtains occupant information. For example, the autonomous vehicle 100 may obtain schedule information of the occupant. The schedule information of the occupant may include information about a schedule start time.

In operation S2140, the autonomous vehicle 100 determines whether the expected arrival time corresponds to the schedule information when driving the second route. The autonomous vehicle 100 may determine whether the expected arrival time is within the schedule start time according to the schedule information when driving the second route.

In operation S2150, the autonomous vehicle 100 runs the second route in the autonomous driving mode when the expected arrival time when driving the second route is within the schedule start time according to the schedule information.

In operation S2160, the autonomous vehicle 100 travels on the first route when the expected arrival time when driving the second route is after the schedule start time according to the schedule information.

The autonomous vehicle 100 may drive in a first path 2240 from the current location 2220 to the destination 2230. When the autonomous vehicle 100 monitors the event section 2210 on the first path 2240 while driving, the autonomous vehicle 100 may obtain information about the second path 2250 that replaces the first path 2240.

The autonomous vehicle 100 may determine the driving route by comparing the first cost that is expected when driving the first path 2240 and the second cost that is expected when driving the second path 2250. For example, when the second cost is greater than the first cost and the difference between the second cost and the first cost is greater than or equal to the threshold, the autonomous vehicle 100 may travel on the first route 2240. As another example, when the second cost is greater than the first cost and the difference between the second cost and the first cost is less than the threshold, the autonomous vehicle 100 may travel on the second route 2250. As another example, when the second cost is less than the first cost, the autonomous vehicle 100 may travel on the second path 2250.

The autonomous vehicle 100 may further determine the driving route by further considering the state of the occupant. The autonomous vehicle 100 may obtain occupant state information indicating a occupant state. The autonomous vehicle 100 may determine whether manual driving by the occupant is possible according to the occupant state information. For example, when it is recognized that the occupant is sleeping, the autonomous vehicle 100 may determine that manual driving by the occupant is impossible. The autonomous vehicle 100 may determine the driving route based on whether manual driving by the occupant is possible. If the first route includes an event section 2210 that must be driven in the manual driving mode, and it is determined that manual driving by the occupant is impossible, the autonomous vehicle 100 may be configured to compare the first cost with the second cost. Regardless, the second path 2250 may travel in the autonomous driving mode. For example, when the autonomous vehicle 100 determines that the occupant is sleeping, the autonomous vehicle 100 displays a message indicating that the passenger is traveling in a detour on the display unit 281, and the second route (regardless of the comparison result between the first cost and the second cost). 2250 may travel in an autonomous driving mode. A detailed method of determining a driving route according to a passenger's state will be described later with reference to FIG. 23.

The autonomous vehicle 100 may determine the driving route based on the type of event monitored in the first route. The autonomous vehicle 100 may monitor an event occurring on the first route and determine the type of the monitored event. The autonomous vehicle 100 may determine whether the monitored event section 2210 is a section in which driving is possible. When traffic is blocked because the event section 2210 is a construction section, the autonomous vehicle 100 may determine the event section 2210 as a section in which driving is impossible. Alternatively, when the event section 2210 is a fine dust warning section, the autonomous vehicle 100 may determine the event section 2210 as a section capable of driving in the autonomous driving mode. Alternatively, when the event section 2210 is an ice caution section, the autonomous vehicle 100 may determine the event section 2210 as a section capable of driving in a low speed autonomous driving mode or a manual driving mode. Alternatively, when the event section 2210 is included in a zone adjacent to the school for the hearing impaired, the autonomous vehicle 100 determines the event section 2210 as a section in which the driving section cannot be driven in the autonomous driving mode and can be driven in the manual driving mode. Can be. The autonomous vehicle 100 may determine a driving route according to whether the event section 2210 is a section capable of driving in the autonomous driving mode or the manual driving mode. When the autonomous vehicle 100 determines that the event section 2210 is a section (for example, a construction zone) where driving is impossible in any of the autonomous driving modes and the manual driving mode, a result of comparing the first cost and the second cost The second path 2250 may travel in the autonomous driving mode irrespective of this. Alternatively, when the event section 2210 is determined as a section capable of driving in the autonomous driving mode (for example, the section of Misen dust caution), the autonomous vehicle 100 may be based on or as a result of the comparison between the first cost and the second cost. The first path 2240 may travel in the autonomous driving mode regardless of the above. Alternatively, when the event section 2210 is determined as a section capable of traveling in a low speed autonomous driving mode or a manual driving mode (for example, a section of an icy road), the autonomous vehicle 100 may compare the first cost with the second cost. The first path 2240 or the second path 2250 may be driven in the autonomous driving mode depending on the result and whether manual driving by the occupant is possible. Alternatively, when the event section 2210 is determined to be a section in which the driving is not possible in the autonomous driving mode and the driving is possible in the manual driving mode (for example, a zone adjacent to the school for the hearing impaired), and it is determined that manual driving by the occupant is impossible, The traveling vehicle 100 may drive the second path 2250 in the autonomous driving mode regardless of the comparison result of the first cost and the second cost.

The autonomous vehicle 100 may obtain occupant status information. The autonomous vehicle 100 may determine the state of the occupant as one of a plurality of states based on the obtained occupant state information. For example, the autonomous vehicle 100 may not be able to drive manually in a passenger's condition (for example, when there is no passenger in the driver's seat, when driver's license information is not confirmed), or after a predetermined time elapses. (E.g. if the occupant is sleeping in the driver's seat), or if a manual drive is available immediately (e.g., if the occupant is reading in the driver's seat).

The autonomous vehicle 100 may determine the driving route based on the state of the occupant. A case in which the autonomous vehicle 100 determines the event section 2210 as a section to be driven in the manual driving mode will be described.

When there is no occupant in the driver's seat, the autonomous vehicle 100 may drive the second route 2250 in the autonomous driving mode regardless of a result of comparing the first cost and the second cost.

Alternatively, when the status of the occupant is determined to be in the driver's seat according to the occupant status information, and the response from the occupant is not received in response to the notification indicating that the driver is switched to the manual driving mode, the autonomous vehicle 100 may determine the first cost. The second path 2250 may travel in the autonomous driving mode regardless of the comparison result of the second cost.

Alternatively, when the driver's status is determined to be reading in the driver's seat according to the driver's status information and a response is received from the passenger in response to the notification indicating that the driver is switched to the manual driving mode, the autonomous vehicle 100 may control the first cost and the first. Regardless of the comparison result of the two costs, the vehicle may travel on the first route 2240. When driving on the first route 2240, the autonomous vehicle 100 may travel in the manual driving mode in the event section 2210 of the first route, and may drive in the autonomous driving mode in a section other than the event section 2210. have.

Since step S2410 and step S2420 correspond to step S1710 and step S1720 described above, detailed descriptions are omitted for simplicity.

In operation S2430, the autonomous vehicle 100 determines whether a difference between the first cost expected when driving the first route and the second cost expected when driving the second route is equal to or less than a threshold.

In operation S2440, when the difference between the first cost and the second cost exceeds the threshold, the autonomous vehicle 100 determines whether the occupant of the autonomous vehicle 100 can drive. The autonomous vehicle 100 may acquire occupant state information through the external device 1000 or the sensing device 230, and determine whether the occupant can drive based on the occupant state information.

In operation S2450, when the difference between the first cost and the second cost is greater than the threshold and the passenger can drive, the autonomous vehicle 100 may determine the first path as the driving path. The autonomous vehicle 100 may drive the entire first route in the manual driving mode, or may drive only a portion of the first route (for example, an event section) in the manual driving mode.

In operation S2460, when the difference between the first cost and the second cost is equal to or less than a threshold, or when the occupant of the autonomous vehicle cannot drive, the autonomous vehicle 100 runs in the autonomous driving mode.

A case in which the event section 2515 is determined as a section to be driven in the manual driving mode by the autonomous vehicle 100 will be described.

The autonomous vehicle 100 may monitor the first route 2510, which is a route currently being driven. When the event section 2515 is monitored on the first route 2510, the autonomous vehicle 100 may determine a second route 2520 that bypasses the event section 2515.

When the preset condition is satisfied, the autonomous vehicle 100 may drive the second path 2520 in an autonomous driving mode. For example, the autonomous vehicle 100 is a difference between the first cost expected when driving the first route 2510 and the second cost expected when driving the second route 2520 is below or below a threshold. The second path 2520 may travel in an autonomous driving mode. Alternatively, the autonomous vehicle 100 may determine whether manual driving by the occupant is possible according to the occupant state information, and may drive the second route 2520 in the autonomous driving mode when it is determined that manual driving by the occupant is impossible. Alternatively, the autonomous vehicle 100 provides a notification to the passenger that the driving mode is switched to the manual driving mode in order to continue driving on the first route 2510, and when the autonomous vehicle 100 does not receive a response corresponding to the provided notification, The second path 2520 may travel in an autonomous driving mode. Alternatively, the autonomous vehicle 100 may drive the second route 2520 in an autonomous driving mode when the event monitored on the first route 2510 is an event in which driving is impossible (for example, road blocking).

When the event section 2210 is monitored on the first route 2240 and the preset condition is met, the autonomous vehicle 100 bypasses the event section 2210 without providing a separate notification to the occupant. The route 2520 may travel in an autonomous driving mode.

For example, when the autonomous vehicle 100 travels the first travel path 2240 and the estimated travel time when driving the second path 2250 is within a threshold of 30 minutes, the difference is expected. The second route 2250 may travel in the autonomous driving mode without providing a separate notification to the occupant. Alternatively, when the autonomous vehicle 100 recognizes through the sensing device 230 that the occupant is sitting in the rear seat, the autonomous vehicle 100 drives the second route 2250 in the autonomous driving mode without providing a separate notification to the occupant. can do. Alternatively, when the vehicle cannot be substantially driven through the first route 2240 (eg, under construction), the autonomous vehicle 100 may move the second route 2250 to the autonomous driving mode without providing a separate notification to the occupant. I can drive.

When the autonomous vehicle 100 runs in the autonomous driving mode, the autonomous vehicle 100 may display, on the display 281, a delay time and an additional distance that occur when the autonomous driving mode is driven in the second route 2250. have.

FIG. 27 is a diagram illustrating an example of a notification provided to an occupant by the autonomous vehicle 100 according to an embodiment when an event section is monitored on a first route currently being driven.

When the event section is monitored on the first route, the autonomous vehicle 100 may display a notification on the display 281. For example, when approaching a construction zone, the autonomous vehicle 100 may display a notification informing that the driving mode may be switched to the manual driving mode. As another example, when approaching the child protection zone, the autonomous vehicle 100 may display a notification indicating that the vehicle to be driven at a speed lower than the speed limit. As another example, when approaching the section of the ice caution, the autonomous vehicle 100 may display a notification indicating that the autonomous vehicle is traveling at a certain level lower than the speed limit.

When the event section is monitored on the first route, the autonomous vehicle 100 may output a notification through the sound output unit 282. For example, when approaching a construction area, the autonomous vehicle 100 may notify that the driving mode may be switched to the manual driving mode, a notification indicating that the vehicle should be driven at a speed lower than the speed limit, or A voice notification may be output informing that the driver is autonomously traveling at a lower speed than the speed limit.

A case in which the event section 2210 is determined as a section to be driven in the manual driving mode by the autonomous vehicle 100 will be described.

If the difference between the expected first cost when driving the first route 2240 and the expected second cost when driving the second route 2250 exceeds a threshold and the second cost is greater than the first cost, As the autonomous vehicle 100 travels along the first route 2240, the autonomous vehicle 100 may provide the passenger with a notification 2810 for obtaining approval for switching the driving mode to the manual driving mode.

When a user input for receiving permission to drive the first route 2240 in the manual driving mode is received (for example, a touch input for a specific area 2820 of the display 281), the autonomous vehicle 100 may perform It may travel by one route 2240. For example, the autonomous vehicle 100 may travel in the manual driving mode in the event section of the first route, and may travel in the autonomous driving mode in the section other than the event section.

When a user input for accepting to drive the first route 2240 in the manual driving mode is not received (for example, when there is no touch input for a specific area 2820 of the display 281 for 30 seconds), autonomous driving The vehicle 100 may drive the second path 2250 in an autonomous driving mode.

Refer to FIG. 28 for a method in which the autonomous vehicle 100 provides a notification 2910 to the occupant and a case in which a user input for accepting to drive the first route 2240 in the manual driving mode is received. have.

When a user input for accepting to drive the first route 2240 in the manual driving mode is not received (for example, when there is no touch input for a specific area 2920 of the display 281 for 30 seconds), autonomous driving The vehicle 100 may stop in a predetermined manner. For example, an autonomous vehicle may stop at a stop capable area such as a rest area or a shoulder closest to the current position.

When the user input is not received, whether the autonomous vehicle 100 runs the second route 2250 in the autonomous driving mode or stops in a predetermined manner may be predetermined based on the user input.

The autonomous vehicle 100 includes a storage device 270, a communication device 250, a GPS 224, a processor 290, a display unit 281, a notification system 3020, a vision system 3030, and a vibration unit. 3040, speaker 3050, and additional components 3060. However, the autonomous vehicle 100 may further include other general purpose components in addition to the components illustrated in FIG. 30, or the autonomous vehicle 100 may not include some of the components illustrated in FIG. 30. It may be understood by those of ordinary skill in the art related to the present embodiment.

In addition, the storage device 270 may include basic software 3011, notification software 3012, and a vision database 3013.

The basic software 3011 may include instructions for performing basic operations of the autonomous vehicle 100. The base software 3011 may include an operating system (OS). The notification software 3012 may include instructions necessary for the operation of the notification system 3020. Vision database 3013 may include information used in vision system 3030.

The notification system 3020 may obtain notification related information received from the cloud network 1001 or may obtain and process notification related information from the vision system 3030. For example, when an event occurs, the notification system 3020 may transmit a command to the processor 290 to display a notification on the display 281. The notification system 3020 can operate according to the algorithm of the notification software 3012.

Vision system 3030 may include a system for processing images obtained from image sensor 228. For example, the vision system 3030 may recognize the shape of the image acquired from the image sensor 228 to determine the meaning indicated by the acquired image. For example, the vision system 3030 determines an image having a form most similar to an image obtained from the image sensor 228 among a plurality of images stored in the vision database 3013, and uses the information corresponding to the determined image. The meaning represented by the acquired image may be determined.

The vibrator 3040 may provide a vibration output. For example, the vibration unit 3040 may provide a vibration type notification to the occupant in response to a request received from the notification system 3020.

Speaker 3050 may provide sound output. For example, the speaker 3050 may provide a sound notification to the occupant in response to a request received from the notification system 3020. The speaker 3050 may be included in the sound output unit 282.

Additional component 3060 may include additional components in addition to those described above.

The autonomous vehicle 100 may communicate with the cloud network 1001 through the communication device 250. In addition, the autonomous vehicle 100 may communicate with the external device 1000 through the cloud network 1001.

In operation S3110, the autonomous vehicle 100 executes a routine of autonomous vehicle operation.

In step S3120, the autonomous vehicle 100 polls the notification software 3012 to identify whether the notification flag has been detected. The notification flag may indicate whether an event has been monitored. For example, the notification flag may be 1 if the event is monitored and 0 if the event is not monitored. As another example, the notification flag may be one of 0000 to 1023 according to the type of monitored event.

If the notification flag is not detected, the execution step may move to step S3110.

In operation S3130, when the autonomous driving vehicle 100 detects a notification flag, the autonomous vehicle 100 determines whether the detected notification flag matches a preset value. For example, the autonomous vehicle 100 may determine whether the notification flag is included in 0000 to 0511. As another example, the autonomous vehicle 100 may determine whether the monitored event is a preset type of event through the detected notification flag.

In operation S3140, when the detected notification flag matches the preset value, the autonomous vehicle 100 may execute a command corresponding to the detected notification flag. In addition, the execution step may be moved to step S3120.

In operation S3150, the autonomous vehicle 100 may determine whether the notification flag is related to the vision notification. The autonomous vehicle 100 may determine whether the detected notification flag matches the vision notification flag.

In operation S3160, when the autonomous vehicle 100 determines that the notification flag is related to the vision notification, the autonomous vehicle 100 may execute a command corresponding to the vision notification. In addition, the execution step may be moved to step S3120.

In operation S3170, when the autonomous vehicle 100 determines that the notification flag is not related to the vision notification, the autonomous vehicle 100 may determine whether the notification flag is related to a notification other than the vision notification.

In operation S3180, the autonomous vehicle 100 may execute a command corresponding to the notification related to the notification flag when the notification flag is related to a notification other than the vision notification.

In operation S3210, the autonomous vehicle 100 receives GPS data from the GPS 224.

In operation S3220, the autonomous vehicle 100 starts communication through an external notification network located outside the autonomous vehicle 100 and a cloud network.

In operation S3230, the autonomous vehicle 100 transmits GPS data to an external notification network.

In operation S3240, the autonomous vehicle 100 determines whether to provide a notification by using the received GPS data and event zone information. For example, the autonomous vehicle 100 may determine that a notification should be provided when a current location determined according to the received GPS data is within an event zone.

If it is determined in step S3250 that the autonomous vehicle 100 should provide a notification, it sets a notification flag. The notification flag value may be determined according to which event zone the location of the current autonomous vehicle 100 corresponds.

In operation S3260, the autonomous vehicle 100 polls the vision system to detect an image. For example, when the current position of the autonomous vehicle 100 corresponds to the event zone, the autonomous vehicle 100 may operate the vision system to acquire an image through the image sensor 228.

In operation S3270, the autonomous vehicle 100 determines whether the detected image is matched with the vision database 3013. For example, the autonomous vehicle 100 may match an image acquired through the image sensor 228 with one of a plurality of images stored in the vision database 3013. Alternatively, the autonomous vehicle 100 may determine whether there is an image matching the image acquired through the image sensor 228 among the plurality of images stored in the vision database 3013.

When there is an image matching the image acquired through the image sensor 228 among the plurality of images stored in the vision database 3013 in step S3280, the autonomous vehicle 100 may notify the notification command from the vision database 3013. Receive the associated vision flag.

The vision flag may indicate the type of acquired image. For example, the vision flag may be determined as one of 0000 to 1023 according to the type of the acquired image.

The notification command may mean a command determined according to the type of matching image. For example, when the matched image is an image of a road sign indicating a rockfall warning section, a command for controlling the autonomous vehicle 100 to travel corresponding to the rockfall warning section may be a notification command.

In operation S3290, the autonomous vehicle 100 may set a vision flag associated with the notification command.

In step S3291, the autonomous vehicle 100 may poll other systems other than the vision system.

In operation S3292, the autonomous vehicle 100 may set a notification command according to a system other than the vision system.

In operation S3293, the autonomous vehicle 100 may transmit all set notification commands to the basic software 3011 and operate by the basic software.

Hereinafter, another embodiment of controlling the autonomous vehicle 100 will be further described with reference to FIGS. 2 and 3. According to an embodiment of the present disclosure, the autonomous vehicle 100 may set a route to a destination and drive in an autonomous driving mode along the route. When an event section is detected through the interface 252 during driving, the processor 290 searches for another route to switch to the manual driving mode according to the driving mode setting information stored in the storage device 270, and performs driving in the autonomous driving mode. You can decide whether to continue.

The driving mode setting information may include information indicating how to determine the driving mode of the autonomous driving vehicle 100 when the event section is detected. For example, the driving mode setting information may include at least one of an autonomous driving priority mode, a conditional autonomous driving sustaining mode, and a manual driving priority mode. Of course, modifications to this or other setting information may be included in the driving mode setting information. Such driving mode setting information may be set in advance or set / change by a user.

Hereinafter, an embodiment when the event section is a section in which autonomous driving is impossible or a section requiring switching to the manual driving mode will be described in more detail.

The autonomous driving priority mode corresponds to a setting for guiding the autonomous vehicle to continue autonomous driving to the destination. When the driving mode setting information is set to the autonomous driving priority mode, when the interface 252 detects an event section, the processor 290 may search for a detour capable of driving in the autonomous driving mode through the navigation 241. The processor 290 may then control the autonomous vehicle 100 to continue autonomous driving along the detour. Here, the detour may include a section for allowing the autonomous vehicle 100 to bypass the event occurrence section and to join the original path again. Of course, in some embodiments, the detour may bypass the event occurrence section and may be connected to the original path at the destination of the original path.

The conditional autonomous driving sustain mode may include a route based driving mode and an occupant based driving mode.

When the driving mode setting information is set to the route-based driving mode, when an event section occurs, the processor 290 may search for a detour capable of driving in the autonomous driving mode through the navigation 241. If the cost (eg, increase in travel time or increase in travel distance) exceeds a threshold value when driving along the detour, the processor 290 may change the driving mode to the manual driving mode in the event occurrence section. However, if the cost for the detour is less than or equal to the threshold, the processor 290 may control the autonomous vehicle 100 to continue autonomous driving along the detour.

When the driving mode setting information is set to the occupant-based driving mode, when the event section occurs, the processor 290 may check the passenger state information and determine whether to search for a detour. If it is determined that the occupant is capable of manual driving based on the occupant state information, the processor 290 may switch the autonomous vehicle 100 to the manual driving mode in the event section without searching for a detour. However, when the occupant is in a difficult state of manual driving, the processor 290 searches for the detour capable of driving in the autonomous driving mode through the navigation 241 and controls the autonomous vehicle 100 to continue autonomous driving along the detour. can do.

When the driving mode setting information is set to the manual driving priority mode, the processor 290 may switch the autonomous vehicle 100 to the manual driving mode in the event section.

According to an embodiment of the present disclosure, the interface 252 may further obtain driving mode information according to the vehicle model in the event section. The driving mode information according to the vehicle type may include vehicle type information capable of driving in the autonomous driving mode in the event section. For example, the interface 252 may detect an event section, and may detect information that a truck may travel in an autonomous driving mode and other vehicles may travel in a manual driving mode during the event section. The driving mode information according to the vehicle model may be obtained by the communication device 250 receiving the wireless communication from the infrastructure or by the image sensor 228 capturing the contents displayed on the sign and harming them. When the driving mode information according to the event section and the vehicle type is acquired, the processor 290 compares the vehicle model of the autonomous driving vehicle 100 with the driving mode information according to the vehicle type, and the autonomous driving vehicle 100 moves from the event section to the autonomous driving mode. It is possible to determine whether to drive in the driving mode or the manual driving mode.

If the vehicle model of the autonomous vehicle 100 needs to travel in the manual driving mode in the event section, the processor 290 may control the autonomous vehicle 100 so that other embodiments such as the detour search described above are performed in association. Can be.

The device according to the embodiments described above includes a processor, a memory for storing and executing program data, a permanent storage such as a disk drive, a communication port for communicating with an external device, a touch panel, a key, a button, and the like. The same user interface device and the like. Methods implemented by software modules or algorithms may be stored on a computer readable recording medium as computer readable codes or program instructions executable on the processor. The computer-readable recording medium may be a magnetic storage medium (eg, read-only memory (ROM), random-access memory (RAM), floppy disk, hard disk, etc.) and an optical reading medium (eg, CD-ROM). ) And DVD (Digital Versatile Disc). The computer readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. The medium is readable by the computer, stored in the memory, and can be executed by the processor.

This embodiment can be represented by functional block configurations and various processing steps. Such functional blocks may be implemented in various numbers of hardware or / and software configurations that perform particular functions. For example, an embodiment may include an integrated circuit configuration such as memory, processing, logic, look-up table, etc. that may execute various functions by the control of one or more microprocessors or other control devices. You can employ them. Similar to the components that may be implemented as software programming or software elements, the present embodiment includes various algorithms implemented in C, C ++, Java (data structures, processes, routines or other combinations of programming constructs). It may be implemented in a programming or scripting language such as Java), an assembler, or the like. The functional aspects may be implemented with an algorithm running on one or more processors. In addition, the present embodiment may employ the prior art for electronic configuration, signal processing, and / or data processing. Terms such as "mechanism", "element", "means" and "configuration" can be used widely and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in conjunction with a processor or the like.

Specific implementations described in this embodiment are examples, and do not limit the technical scope in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings by way of example shows a functional connection and / or physical or circuit connections, in the actual device replaceable or additional various functional connections, physical It may be represented as a connection, or circuit connections.

In the present specification (particularly in the claims), the use of the term “above” and similar indicating terminology may correspond to both the singular and the plural. In addition, when a range is described, it includes the individual values which belong to the said range (if there is no description contrary to it), and it is the same as describing each individual value which comprises the said range in detailed description. Finally, if there is no explicit order or contrary to the steps constituting the method, the steps may be performed in a suitable order. It is not necessarily limited to the order of description of the above steps. The use of all examples or exemplary terms (eg, etc.) is for the purpose of describing technical concepts in detail and is not to be limited in scope by the examples or exemplary terms unless defined by the claims. In addition, one of ordinary skill in the art appreciates that various modifications, combinations and changes can be made depending on design conditions and factors within the scope of the appended claims or equivalents thereof.

Claims

Monitoring an event occurring on the first route while the autonomous vehicle is driving on the first route in an autonomous driving mode;

If the occurrence of the event is monitored, obtaining a second path; And

And determining whether to drive the second route in the autonomous driving mode by comparing the first cost expected when driving the first route with the second cost expected when driving the second route. Autonomous vehicle control method.
The method of claim 1,

Determining whether to drive the second route in the autonomous driving mode

If the difference between the first cost and the second cost is less than the threshold,

And determining to drive the second route in the autonomous driving mode.
The method of claim 1,

Determining whether to drive the second route in the autonomous driving mode

If the difference between the first cost and the second cost is above a threshold,

Autonomous vehicle control method for determining to drive in the manual driving mode of the event section, the event monitored section.
The method of claim 1,

Determining whether to drive the second route in the autonomous driving mode

If the difference between the first cost and the second cost is above a threshold, providing a notification indicative of the suspension of the autonomous driving mode; and

And when the response to the notification is received, determining to drive in the manual driving mode an event section which is the section where the event is monitored.
The method of claim 4, wherein

And when the response to the notification is not received, controlling to stop the autonomous vehicle in operation.
The method of claim 4, wherein

Determining whether to drive the second route in the autonomous driving mode

And determining to drive the second route in the autonomous driving mode when the response to the notification is not received.
The method of claim 1,

And controlling the vehicle to stop when the difference between the first cost and the second cost exceeds a threshold.
The method of claim 1,

The event is

An autonomous vehicle control method for indicating a situation in which a section determined to travel in the manual driving mode is on the first route.
The method of claim 1,

The monitoring step

And controlling the event by using a road sign on the first route acquired by a camera included in the autonomous vehicle.
The method of claim 1,

The monitoring step

And controlling the event by using driving environment information on the first route received from an external device.
The method of claim 1,

Acquiring the second path

And obtaining the second route, which is one of the plurality of bypass driving routes, according to a priority among the plurality of bypass driving routes replacing the first route.
The method of claim 1,

Determining whether to drive the second route in the autonomous driving mode

The difference between the first cost including the expected travel time or travel distance when traveling the first route and the second cost including the estimated travel time or travel distance when traveling the second route is less than or equal to a threshold. Occation,

And determining to drive the second route in the autonomous driving mode.
The method of claim 1,

Determining whether to drive the second route in the autonomous driving mode

When the difference between the first cost and the second cost is equal to or less than a threshold, and the expected driving distance when driving the second route is within a driving range,

And determining to drive the second route in the autonomous driving mode.
The method of claim 1,

Acquiring schedule information of a passenger of the autonomous vehicle;

Determining whether to drive the second route in the autonomous driving mode

If the difference between the first cost and the second cost is less than a threshold, and the expected arrival time when driving the second route is ahead of the time of the schedule information, to drive the second route in the autonomous driving mode. Autonomous vehicle control method to determine.
The method of claim 1,

Obtaining occupant status information indicating whether the occupant of the autonomous vehicle can drive;

The determining of whether to drive the second route in the autonomous driving mode may include determining whether to drive the second route in the autonomous driving mode by further considering the occupant state information.
An interface for monitoring an event generated on the first route while the autonomous vehicle is traveling on the first route in an autonomous driving mode; And

Obtaining the second route when the occurrence of the event is monitored, and comparing the first cost expected when driving the first route with the expected second cost when driving the second route; And a processor for determining whether to drive in the autonomous driving mode.
The method of claim 16,

The processor is

If the difference between the first cost and the second cost is less than the threshold,

An autonomous vehicle determining to drive the second route in the autonomous driving mode.
The method of claim 16,

The processor is

If the difference between the first cost and the second cost is above a threshold,

The autonomous vehicle determines to drive in the manual driving mode of the event section, the section where the event is monitored.
The method of claim 16,

The processor is

If the difference between the first cost and the second cost is above a threshold, provide a notification indicating the suspension of the autonomous driving mode,

And when the response to the notification is received, determines to drive the event section, which is the section where the event is monitored, in the manual driving mode.
The method of claim 19,

The processor is

And when the response to the notification is not received, controlling to stop the autonomous vehicle in operation.
The method of claim 19,

The processor is

And when the response to the notification is not received, determining to drive the second route in the autonomous driving mode.
The method of claim 16,

The processor is

And controlling the vehicle to stop when the difference between the first cost and the second cost exceeds a threshold.
The method of claim 16,

The event is

An autonomous vehicle indicative of a situation in which a section determined to drive in the manual driving mode is on the first route.
The method of claim 16,

The interface is

An autonomous vehicle monitoring the event by using a road sign on the first route acquired by a camera included in the autonomous vehicle.
The method of claim 16,

The interface is

The autonomous vehicle monitoring the event by using the driving environment information on the first route received from an external device.
The method of claim 16,

The processor is

And the second path being one of the plurality of bypass travel paths according to a priority among the plurality of bypass travel paths replacing the first path.
The method of claim 16,

The processor is

The difference between the first cost including the expected travel time or travel distance when traveling the first route and the second cost including the estimated travel time or travel distance when traveling the second route is less than or equal to a threshold. Occation,

An autonomous vehicle determining to drive the second route in the autonomous driving mode.
The method of claim 16,

The processor is

When the difference between the first cost and the second cost is equal to or less than a threshold, and the expected driving distance when driving the second route is within a driving range,

An autonomous vehicle determining to drive the second route in the autonomous driving mode.
The method of claim 16,

The processor is

Obtaining schedule information of a passenger of the autonomous vehicle,

If the difference between the first cost and the second cost is less than a threshold, and the expected arrival time when driving the second route is ahead of the time of the schedule information, to drive the second route in the autonomous driving mode. Autonomous vehicle control method to determine.
The method of claim 16,

The processor is

Obtaining occupant state information indicating whether the occupant of the autonomous vehicle can drive;

And determine whether to drive the second route in the autonomous driving mode by further considering the occupant state information.
A computer-readable recording medium having recorded thereon a program for executing the method of any one of claims 1 to 15.
Driving the vehicle in an autonomous driving mode along a path composed of autonomous driving sections;

Determining whether to travel in the manual driving switching section according to driving mode setting information when the manual driving switching section occurs in the path; And

And controlling the vehicle according to the determination result.