KR102765686B1 - Method for forced disengagement of autonomous driving and driving control apparatus using the same - Google Patents

Abstract

The present invention relates to a method for forcibly disabling autonomous driving and a vehicle driving control device applying the same. The vehicle driving control device according to the present invention includes: an autonomous driving processing unit which generates an autonomous driving control command by recognizing the environment around a vehicle in an autonomous driving mode; a driver operating unit which generates a driver operating command according to a driver's operation; and a driving control unit which controls driving according to the driver operating command in a manual driving mode, controls driving according to the autonomous driving control command in the autonomous driving mode, determines whether the driver operating command received from the driver operating unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced disabling pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operating command corresponds to the predetermined autonomous driving forced disabling pattern.

Description

{METHOD FOR FORCED DISENGAGEMENT OF AUTONOMOUS DRIVING AND DRIVING CONTROL APPARATUS USING THE SAME}

The present invention relates to a driving control device for an automobile and a method of operating the same.

Autonomous vehicles have a function that allows the autonomous driving system to be overridden during normal driving depending on the driver's operation or to be deactivated in stages due to failures, etc. In other words, the autonomous driving system performs functions such as smooth autonomous driving and transferring driver control depending on environmental conditions, driver status, and autonomous driving system operation status.

The autonomous driving system operates in a way that it temporarily reflects the driver's intention and controls it according to general driver overrides (such as accelerator pedal operation, brake pedal operation, and steering input), but then returns to autonomous driving and drives. If autonomous driving is unintentionally released, it can cause danger to the driver, so the autonomous driving system performs overrides according to general driver operation, but if the driver does not release autonomous driving, it operates in a way that it returns to autonomous driving mode.

However, if it is difficult to perform autonomous driving-related calculations due to a state transition or software error in the autonomous driving system, autonomous driving cannot be disengaged in a normal manner, which may lead to a risk of malfunctions such as unintended acceleration or steering of the vehicle.

Republic of Korea Patent Publication No. 10-2016-0044592

The present invention aims to solve the above problems by providing a method for forcibly disabling autonomous driving and switching to manual driving through forcibly disabling the autonomous driving function under additional operating conditions other than a general override, thereby ensuring the safety of the vehicle, and a vehicle driving control device applying the method.

More specifically, the present invention provides a method for forcibly disabling autonomous driving through driver operation even when autonomous driving cannot be disabling through the autonomous driving system, by causing a steering, braking, and driving-related controller in charge of autonomous driving actuators of a vehicle to perform the driver's operation command without executing the autonomous driving system's command when the driver has expressed an active driving operation intention through a specific operation pattern in order to secure the safety of the driver and passengers, and a vehicle driving control device applying the same.

In order to achieve the above object, a vehicle driving control device having an autonomous driving forced release function according to one embodiment of the present invention includes: an autonomous driving processing unit which generates an autonomous driving control command by recognizing an environment around a vehicle in an autonomous driving mode; a driver operating unit which generates a driver operating command according to a driver's operation; and a driving control unit which controls driving according to the driver operating command in a manual driving mode, controls driving according to the autonomous driving control command in the autonomous driving mode, determines whether the driver operating command received from the driver operating unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operating command corresponds to the predetermined autonomous driving forced release pattern.

The driving control unit may include a speed control unit that controls speed in a manual driving mode according to an acceleration/deceleration command included in the driver operation command, and in an autonomous driving mode according to an acceleration/deceleration command included in the autonomous driving control command, and determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern; and a steering control unit that controls steering in the manual driving mode according to a steering command included in the driver operation command, and in the autonomous driving mode according to a steering command included in the autonomous driving control command, and determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern.

In addition, the driving control unit may include a speed control unit that controls speed according to an acceleration/deceleration command included in the driver operation command in the manual driving mode and controls speed according to the acceleration/deceleration command included in the autonomous driving control command in the autonomous driving mode; a steering control unit that controls steering according to a steering command included in the driver operation command in the manual driving mode and controls speed according to the steering command included in the autonomous driving control command in the autonomous driving mode; and an autonomous driving forced release unit that determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern and switches the speed control unit and the steering control unit from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern.

The above autonomous driving forced release pattern may be composed of an operation pattern of at least one of a steering wheel, an accelerator pedal, a deceleration pedal, a hazard light button, and a turn signal lever, or a combination of the above operation patterns.

The above autonomous driving forced release pattern is characterized by being different from the override operation of the vehicle.

And, according to one embodiment of the present invention, a vehicle driving control device having an autonomous driving forced release function includes: a driver operating unit which generates a driver operating command according to an operation of a vehicle driver; and a driving control unit which controls driving according to the driver operating command in a manual driving mode, controls driving according to the autonomous driving control command in an autonomous driving mode, determines whether the driver operating command received from the driver operating unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operating command corresponds to the predetermined autonomous driving forced release pattern.

The driving control unit may include a speed control unit that controls speed in a manual driving mode according to an acceleration/deceleration command included in the driver operation command, and in an autonomous driving mode according to an acceleration/deceleration command included in the autonomous driving control command, and determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern; and a steering control unit that controls steering in the manual driving mode according to a steering command included in the driver operation command, and in the autonomous driving mode according to a steering command included in the autonomous driving control command, and determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to a manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern.

The driving control unit may include a speed control unit that controls speed according to an acceleration/deceleration command included in the driver operation command in a manual driving mode and controls speed according to an acceleration/deceleration command included in the autonomous driving control command in an autonomous driving mode; a steering control unit that controls steering according to a steering command included in the driver operation command in a manual driving mode and controls speed according to a steering command included in the autonomous driving control command in an autonomous driving mode; and an autonomous driving forced release unit that determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern and switches the speed control unit and the steering control unit from the autonomous driving mode to a manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern.

The above autonomous driving forced release pattern may be composed of an operation pattern of at least one of a steering wheel, an accelerator pedal, a deceleration pedal, a hazard light button, and a turn signal lever, or a combination of the above operation patterns.

The above autonomous driving forced release pattern is characterized by being different from the override operation of the vehicle.

And, a method for forcibly disabling autonomous driving according to one embodiment of the present invention includes a step in which a driving control device waits for input of a driver operation command; a step in which a driver of a vehicle inputs the driver operation command to the driving control device; a step in which the driver operation command matches a predetermined autonomous driving forced disabling pattern; and a step in which the autonomous driving mode is disabling if the driver operation command matches the predetermined autonomous driving forced disabling pattern; wherein the autonomous driving forced disabling pattern is characterized in that it is different from an override operation of the vehicle.

The above autonomous driving forced release pattern may be composed of an operation pattern of at least one of a steering wheel, an accelerator pedal, a deceleration pedal, a hazard light button, and a turn signal lever, or a combination of the above operation patterns.

According to one embodiment of the present invention, when smooth transfer of control is not possible or normal autonomous driving performance is difficult due to a failure of the autonomous driving system in an autonomous vehicle, the system recognizes additional operating conditions of the driver (such as turning on the hazard lights, steering input, acceleration/deceleration input, etc.) and forcibly switches an external controller (steering control unit, speed control unit) linked to the autonomous driving system to a manual driving mode, thereby allowing the vehicle to be driven according to the driver's operations, thereby ensuring the safety of the driver and passengers.

Figure 1 is a block diagram showing the configuration of a vehicle driving control device according to one embodiment of the present invention.
FIGS. 2A and 2B are block diagrams showing the configuration of a vehicle driving control device according to one embodiment of the present invention.
Figure 3 is a flowchart illustrating a method for forcibly disabling autonomous driving according to one embodiment of the present invention.

The advantages and features of the present invention, and the methods for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments are provided to make the disclosure of the present invention complete, and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the invention, and the present invention is defined only by the scope of the claims. Meanwhile, the terminology used in this specification is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated in the phrase. The terms "comprises" and/or "comprising" as used in the specification do not exclude the presence or addition of one or more other components, steps, operations, and/or elements mentioned.

In describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description is omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. In order to facilitate overall understanding in describing the present invention, the same reference numbers will be used for the same means regardless of the drawing numbers.

The autonomous driving forced disengagement method according to the present invention and the vehicle driving control device applying the same are characterized in that, when normal autonomous driving performance is difficult due to a failure of the autonomous driving system and autonomous driving disengagement cannot be achieved using a conventional method, an emergency autonomous driving disengagement means is provided that can forcibly disengage autonomous driving and switch the autonomous driving vehicle to a manual driving mode only when a driver operation according to a unique pattern that is distinct from general driver override conditions (e.g., two rapid left-right reciprocating operations of the steering wheel or two deceleration (brake) pedal operations with the turn signal on) is recognized.

The reason for differentiating the driver override condition and the autonomous driving forced release condition in the present invention is that even when the autonomous driving system is operating normally in autonomous driving mode, the driver may momentarily steer or accelerate or decelerate. In this case, autonomous driving will resume once the driver's operation is complete, so that autonomous driving will not be forcibly released even when the driver has no intention of forcibly releasing it.

A vehicle driving control device according to an embodiment of the present invention, when an autonomous vehicle is in autonomous driving mode and normal autonomous driving is not released due to a failure of the autonomous driving system, recognizes a driver's operation according to a specific pattern to release the autonomous driving mode and switch the autonomous vehicle to a manual driving mode to enable normal driving by the driver.

Figure 1 is a block diagram showing the configuration of a vehicle driving control device according to one embodiment of the present invention. The vehicle driving control device according to one embodiment of the present invention is configured to include a driver operation unit (100) and a driving control unit (200). The vehicle driving control device according to one embodiment of the present invention may further include an autonomous driving processing unit (300).

The driver control unit (100) generates a driver control command according to the driver's operation. The driver control unit (100) is configured to include an accelerator pedal (110), a deceleration pedal (brake pedal, 120), and a steering wheel (130), and may additionally include a turn signal button and a hazard light button. The driver control unit (100) may further include an input device mounted on the vehicle or directly/indirectly connected to the vehicle via wire/wireless. The input device may be a device having at least one of mechanical/electrical/electronic/acoustic/optical/chemical input means. The driver control command includes a speed control command generated through the accelerator pedal and the deceleration pedal for a predetermined period of time, and a steering control command generated through the steering wheel for the predetermined period of time. The driver control unit (100) transmits the driver control command to the driving control unit (200).

The driving control unit (200) identifies whether the autonomous vehicle is currently in autonomous driving mode or not and performs speed control and steering control functions accordingly. The driving control unit (200) controls driving according to a driver operation command in the manual driving mode, and controls driving according to an autonomous driving control command transmitted from the autonomous driving processing unit (300) in the autonomous driving mode. When the driving control unit (200) receives a driver operation command from the driver operation unit (100) in the autonomous driving mode, the driving control unit (200) determines whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to a predetermined autonomous driving forced release pattern. That is, when the driving control unit (200) recognizes a predetermined autonomous driving forced release pattern according to the driver operation, the autonomous driving mode is forcibly disabled and the autonomous vehicle is switched to the manual driving mode.

A characteristic of the present invention is that even when autonomous driving mode is not released according to a normal autonomous driving release method, the autonomous driving mode can be released by recognizing a forced autonomous driving release pattern. For reference, the 'normal autonomous driving release method' in the present invention refers to any one of the following cases: ① immediate release by the driver, ② temporary release due to recognition of the driver's override operation, and ③ gradual release such as slow parking on the shoulder when the autonomous driving system recognizes a failure in a sensor or driving logic.

However, the above-described 'normal autonomous driving release methods' are possible when the core part of the autonomous driving system operates normally, and when normal operation is difficult due to fixation of the autonomous driving state transition module of the autonomous driving system, hardware defect, etc., the normal autonomous driving release function may not be performed, and thus the driving control may not be transferred. In such a case, the speed control unit (210) and the steering control unit (220) are set to a state in which they only follow the control commands of the autonomous driving processing unit (300) that is in a faulty state, so there is a high possibility that autonomous driving may not work properly.

Therefore, the vehicle driving control device according to one embodiment of the present invention further includes a forced release method for forcibly transferring driving control to the driver by recognizing a predetermined driver operation pattern (autonomous driving forced release pattern). The forced release method of ④ is implemented in a form in which the speed control unit (210) and the steering control unit (220) of the driving control unit (200) determine whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern, and if it corresponds to the forced release pattern, switch from autonomous driving mode to manual driving mode. The vehicle driving control device according to another embodiment of the present invention, which will be described later with reference to FIGS. 2A and 2B, is implemented in a form in which the driving control unit (500) includes an autonomous driving forced release unit (530) to determine whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern, and if it corresponds to the forced release pattern, switch from autonomous driving mode to manual driving mode.

If normal autonomous driving performance is difficult due to a failure in the autonomous driving system and autonomous driving is not deactivated in a normal manner, the driving control unit (200) recognizes additional driver operation (autonomous driving forced deactivation pattern) and performs autonomous driving forced deactivation.

The autonomous driving forced disengagement pattern should be different from the general (normal) driver override operation. This is because the general driver override operation should not cause unintended autonomous driving disengagement. The autonomous driving forced disengagement pattern can be implemented by the operation of at least one of the steering wheel, the accelerator pedal, the deceleration pedal, the hazard light button, and the turn signal lever, or a combination of the operations. In addition, the driving control unit (200) safely switches to the driver's manual driving mode by considering the risk minimization operation that operates in the event of a failure of the autonomous driving system when the autonomous driving forced disengagement pattern is applied.

Examples of autonomous driving forced release patterns are shown in [Table 1]. The autonomous driving forced release pattern can be transmitted from the driver control unit (100) to the driving control unit (200) by the driver's operation. For example, in case (a), if the driver moves the steering wheel while pressing the hazard light button and simultaneously presses the accelerator pedal and the deceleration pedal, the driving control unit (200) recognizes the autonomous driving forced release pattern and switches the autonomous vehicle from autonomous driving mode to manual driving mode. In addition, in case (b), if the number of operations in which the ratio of the actual input steering torque to the maximum steering torque that the driver can input through the steering wheel is 50% or more within a certain period of time occurs three or more times, the driving control unit (200) recognizes that it corresponds to the autonomous driving forced release pattern and switches from autonomous driving mode to manual driving mode. In cases of (c) to (e), based on the torque applied to the accelerator pedal or the deceleration pedal, the driving control unit (200) determines whether the driving control unit (200) corresponds to a previously stored autonomous driving forced release pattern based on the number of times that the ratio of the actual input torque to the maximum torque that the driver can input for a certain period of time is equal to or greater than a predetermined ratio, and switches from the autonomous driving mode to the manual driving mode based on the determination result. In addition, as in (a) or (e), it is possible to determine whether or not the autonomous driving forced release pattern corresponds to a combination of the operating states of buttons other than the steering wheel, accelerator pedal, and deceleration pedal.

Meanwhile, the autonomous driving forced release pattern (driver operation form) exemplified in [Table 1] can be replaced with another operation form in which the driver strongly expresses his/her intention to drive manually.

Since the driving control unit (200) exists outside the autonomous driving processing unit (300), it is not affected by the operation of the autonomous driving processing unit (300), and even in a situation where normal autonomous driving is not released due to a hardware defect as well as a defect in the software portion of the autonomous driving processing unit (300), the autonomous vehicle can be switched to a manual driving mode according to the autonomous driving forced release pattern.

When a driver operation command is transmitted from the driver control unit (100) to the driving control unit (200), the driving control unit (200) determines whether the driver operation command matches the autonomous driving forced release pattern, and if it does not match, it enters a standby state, and if it matches, it forcibly releases the autonomous driving mode and switches the autonomous driving vehicle to manual driving mode. That is, when the driving control unit (200) recognizes the autonomous driving forced release pattern, it ignores the autonomous driving control command (speed control command and steering control command) of the autonomous driving processing unit (300) and controls the speed and steering according to the driver operation command transmitted by the driver control unit (100).

The driving control unit (200) is configured to include a speed control unit (210) and a steering control unit (220). The speed control unit (210) identifies whether the autonomous vehicle is currently in autonomous driving mode and performs a speed control function accordingly. When in manual driving mode, the speed control unit (210) controls the speed of the vehicle according to an acceleration/deceleration command included in a driver operation command, and when in autonomous driving mode, it controls the speed of the vehicle according to an acceleration/deceleration command included in an autonomous driving control command transmitted from an autonomous driving processing unit (300). Meanwhile, the speed control unit (210) controls the speed in cooperation with a braking controller and a driving controller (engine controller) mounted on the autonomous vehicle.

When a driver operation command is transmitted from the driver control unit (100) during autonomous driving mode, the speed control unit (210) determines whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern, and if the driver operation command corresponds to a predetermined autonomous driving forced release pattern, switches from the autonomous driving mode to the manual driving mode. Since the autonomous driving forced release pattern can be input through the steering wheel (130), the speed control unit (210) must receive not only acceleration/deceleration commands from the driver control unit (100), but also driver operation commands (steering commands) generated through the steering wheel (130) to determine whether there is an autonomous driving forced release pattern (c01).

The steering control unit (220) identifies whether the autonomous vehicle is currently in autonomous driving mode or not and performs a steering control function accordingly. When in manual driving mode, the steering control unit (220) controls steering according to a steering command included in a driver operation command, and when in autonomous driving mode, it controls speed according to a steering command included in an autonomous driving control command transmitted from an autonomous driving processing unit (300). For example, the steering control unit (220) receives a steering control command (e.g., steering angle and steering torque command, etc.) from an autonomous driving processing unit (300) during autonomous driving through a motor-based steering torque support system (MDPS) and automatically controls steering.

The steering control unit (220) determines whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern when it receives a driver operation command from the driver operation unit (100) in autonomous driving mode, and switches from the autonomous driving mode to the manual driving mode when the driver operation command corresponds to a predetermined autonomous driving forced release pattern. Since the autonomous driving forced release pattern can be input through at least one of the accelerator pedal (110) and the deceleration pedal (120), the steering control unit (220) must not only receive a steering command from the driver operation unit (100), but also receive a driver operation command generated through at least one of the accelerator pedal (110) and the deceleration pedal (120) in order to determine whether or not the autonomous driving forced release pattern is in effect (c01).

The autonomous driving processing unit (300) switches the vehicle to autonomous driving mode according to predetermined autonomous driving entry conditions, and performs autonomous driving through recognition of the surrounding environment in the autonomous driving mode. The autonomous driving processing unit (300) generates an autonomous driving control command through recognition of the surrounding environment in the autonomous driving mode and transmits it to the driving control unit (200). The autonomous driving control command includes a speed control command and a steering control command. Among the autonomous driving control commands, the speed control command is transmitted to the speed control unit (210), and the steering control command is transmitted to the steering control unit (220) (c02).

The autonomous driving processing unit (300) switches to autonomous driving mode according to predetermined autonomous driving entry conditions, performs autonomous driving by recognizing the surrounding environment, and switches to manual driving mode while ensuring safety when the autonomous driving mode is released according to one of the following methods: ① immediate release by the driver, ② temporary release according to recognition of the driver's override operation, ③ gradual release according to a failure of the autonomous driving system sensor or driving logic (in the present invention, ①②③ are referred to as 'normal autonomous driving release methods'). The autonomous driving processing unit (300) includes an autonomous driving introduction module (310), an autonomous driving execution module (320), and an autonomous driving termination module (330).

The autonomous driving introduction module (310) determines whether the autonomous driving entry conditions are appropriate and switches to autonomous driving mode based on the determination result. That is, if the autonomous driving entry conditions are met, the autonomous driving introduction module (310) switches the autonomous driving vehicle to autonomous driving mode. In order to enter autonomous driving, the operational design domain (ODD: Operational Design Domain) according to the autonomous driving level must be satisfied, there must be no malfunction in the vehicle, and the driver's seat belt must be fastened, the vehicle door must be closed, etc. must be performed normally.

The autonomous driving execution module (320) performs autonomous driving by recognizing the surrounding environment in the autonomous driving mode. The autonomous driving execution module (320) calculates control values for speed and steering based on the recognition of the surrounding environment, transmits a speed control command to the speed control unit (210), and transmits a steering control command (e.g., a steering angle and steering torque command) to the steering control unit (220), thereby performing autonomous driving.

Typically, the autonomous driving execution module (320) releases the autonomous driving mode under certain conditions (autonomous driving release conditions), including ① immediate release by the driver, ② temporary release due to recognition of the driver's override operation, and ③ gradual release such as slow parking on the shoulder when the autonomous driving system recognizes a failure in a sensor or driving logic.

The autonomous driving execution module (320) recognizes the driver's direct autonomous driving deactivation action (e.g., pressing the autonomous driving button to turn it OFF) and immediately deactivates the autonomous driving mode and switches to manual driving mode.

In addition, the autonomous driving execution module (320) performs an override according to general driver operations (e.g., accelerator pedal operation, deceleration pedal (brake pedal) operation, steering input, etc.). That is, it temporarily reflects the driver's intention according to general driver operations to perform steering and acceleration/deceleration control, and then returns to autonomous driving mode.

In addition, the autonomous driving execution module (320) monitors whether the autonomous driving system is malfunctioning, and if a malfunction is detected, controls autonomous driving to be released in stages. That is, if normal driving is difficult due to a malfunction in the sensor or driving logic of the autonomous driving system, the autonomous driving execution module (320) releases autonomous driving in stages under certain conditions so that control is transferred to the driver. An example of the gradual release of autonomous driving is to gradually reduce the risk by reducing the speed according to the level of malfunction, display an alarm for transferring control to the driver, and automatically reduce the speed to stop or position the vehicle on the shoulder to stop if there is no response from the driver. The autonomous driving execution module (320) controls the transition of stages in the gradual release of autonomous driving, and the autonomous driving termination module (330) is in charge of the control (driving assistance operation function) according to each stage.

For reference, in advanced autonomous driving, a risk minimization operation (MRM) function is configured to safely operate the vehicle for a certain period of time (several minutes) even in the event of a system failure, identify the cause of the failure, and perform backup (redundancy) or supplementary functions to ensure that the vehicle operates normally as much as possible.

The autonomous driving termination module (330) performs a driving assistance operation function according to the autonomous driving release stage set by the autonomous driving execution module (320) in the event that normal driving is difficult due to a failure of the autonomous driving system's sensor or driving logic, and terminates autonomous driving normally. That is, the autonomous driving termination module (330) performs autonomous driving release step by step (release method of ③ described above). That is, the autonomous driving termination module (330) performs a driving assistance function to ensure safety until the control is transferred to the driver and the driver's operation is performed normally. An example of the autonomous driving release stage is to gradually reduce the risk by reducing the speed according to the failure level of the autonomous driving system, display an alarm for transfer of control to the driver, and automatically reduce the speed to stop or position the vehicle on the shoulder to stop if there is no response from the driver. The autonomous driving termination module (330) transmits a speed control command and a steering control command to the speed control unit (210) and the steering control unit (220) in order to perform such autonomous driving release step by step.

FIGS. 2A and 2B are block diagrams showing the configuration of a vehicle driving control device according to an embodiment of the present invention. The vehicle driving control device according to an embodiment of the present invention is configured to include a driver operation unit (400) and a driving control unit (500). The vehicle driving control device according to an embodiment of the present invention may further include an autonomous driving processing unit (600). The embodiment of the vehicle driving control device illustrated in FIGS. 2A and 2B is characterized in that, compared to the embodiment of the vehicle driving control device illustrated in FIG. 1, the driving control unit (500) further includes an autonomous driving forced release unit (530).

The driver control unit (400) illustrated in FIGS. 2a and 2b includes an accelerator pedal (410), a deceleration pedal (420), and a steering wheel (430), and the configuration and function of the driver control unit (400) are the same as the driver control unit (100) described above with reference to FIG. 1. The driving control unit (500) illustrated in FIGS. 2a and 2b includes a speed control unit (510), a steering control unit (520), and an autonomous driving forced release unit (530). The autonomous driving processing unit (600) illustrated in FIGS. 2a and 2b includes an autonomous driving introduction module (610), an autonomous driving execution module (620), and an autonomous driving termination module (630), and the configuration and function of the autonomous driving processing unit (600) are the same as the autonomous driving processing unit (300) described above with reference to FIG. 1. Therefore, the differences between the driving control unit (500) and the driving control unit (200) will be described below with reference to FIGS. 2a and 2b.

In the embodiment illustrated in FIGS. 2A and 2B, the basic functions of the speed control unit (510) and the steering control unit (520) are the same as the functions of the speed control unit (210) and the steering control unit (220). That is, the speed control unit (510) controls the speed according to the acceleration/deceleration command included in the driver operation command (c04) in the manual driving mode, and controls the speed according to the speed control command (c05) included in the autonomous driving control command in the autonomous driving mode. In addition, the steering control unit (520) controls the steering according to the steering command included in the driver operation command (c04) in the manual driving mode, and controls the speed according to the steering control command (c05) included in the autonomous driving control command in the autonomous driving mode.

However, the autonomous driving forced release unit (530) is responsible for recognizing the autonomous driving forced release pattern in the driving control unit (500). When the autonomous driving forced release unit (530) receives a driver operation command from the driver control unit (100) during autonomous driving mode (c04), it determines whether the driver operation command corresponds to a predetermined autonomous driving forced release pattern, and if the driver operation command corresponds to a predetermined autonomous driving forced release pattern, it switches the speed control unit (510) and the steering control unit (520) from the autonomous driving mode to the manual driving mode (c06). That is, the autonomous driving forced release unit (530) forcibly releases the autonomous driving mode by recognizing a predetermined driver operation pattern (autonomous driving forced release pattern). When normal autonomous driving is difficult to perform due to a failure of the autonomous driving system and autonomous driving is not released in a normal manner, the autonomous driving forced release unit (530) recognizes an additional driver operation (autonomous driving forced release pattern) and performs autonomous driving forced release. The description of the autonomous driving forced release pattern is the same as the description referring to FIG. 1 and [Table 1].

Since the driving control unit (500) to which the autonomous driving forced release unit (530) belongs exists outside the autonomous driving processing unit (600), it is not affected by the operation of the autonomous driving processing unit (600), and even in a situation where normal autonomous driving is not released due to a hardware defect as well as a defect in the software portion of the autonomous driving processing unit (600), the autonomous vehicle can be switched to a manual driving mode according to the autonomous driving forced release pattern.

When a driver operation command is transmitted from the driver control unit (400) to the autonomous driving forced release unit (530), the autonomous driving forced release unit (530) determines whether the driver operation command matches the autonomous driving forced release pattern, enters a standby state if it does not match, and if it does match, forces the autonomous driving mode to be released and switches the autonomous driving vehicle to a manual driving mode. That is, when the autonomous driving forced release unit (530) recognizes the autonomous driving forced release pattern, it transmits a command to the speed control unit (510) and the steering control unit (520) to ignore the speed control command and the steering control command from the autonomous driving processing unit (600) and control the steering and speed according to the driver operation command.

The speed control unit (510) and the steering control unit (520) operate according to the driver operation commands (acceleration/deceleration commands and steering commands) transmitted from the driver operation unit (100). For example, when the driver moves the steering wheel (430), the driver operation unit (400) issues a steering command to the steering control unit (520), and when the driver steps on the accelerator pedal (410), the driver operation unit (400) issues an acceleration command to the speed control unit (510).

The driver operation command transmitted from the driver control unit (400) may be directly transmitted to the speed control unit (510) or the steering control unit (520) (FIG. 2a, c04), but may also be transmitted to the speed control unit (510) or the steering control unit (520) via the autonomous driving forced release unit (530) (FIG. 2b, c04 and c06).

Meanwhile, the vehicle driving control device according to one embodiment illustrated in FIGS. 1, 2a, and 2b can release the autonomous driving mode and switch to the manual driving mode if the driving control unit (200, 500) recognizes a forced autonomous driving release pattern in the driver operation command, regardless of whether the autonomous driving processing unit (300, 600) can release the autonomous driving mode in a normal manner. However, in order for the driver to quickly recognize the status of the autonomous driving processing unit (300, 600), the vehicle driving control device according to one embodiment illustrated in FIGS. 1, 2a, and 2b may further include an autonomous driving monitoring unit (700). The autonomous driving monitoring unit (700) monitors the status of the autonomous driving processing unit (300, 600), and if the autonomous driving processing unit (300, 600) is in a state where autonomous driving cannot be released in a normal manner due to a state transition or software error, the unit can warn the driver of this using at least one of visual/auditory/olfactory/tactile means, thereby supporting the driver to forcibly release autonomous driving by operating the steering wheel, acceleration/deceleration pedal, hazard lights, etc. according to the autonomous driving forced release pattern.

FIG. 3 is a flowchart illustrating a method for forcibly disabling autonomous driving according to an embodiment of the present invention. The method for forcibly disabling autonomous driving according to an embodiment of the present invention includes steps S810 to S840. The method for forcibly disabling autonomous driving according to an embodiment of the present invention is based on the premise that a vehicle is in autonomous driving mode, and is a method for forcibly disabling autonomous driving by recognizing an additional driver operation (autonomous driving forced disabling pattern) when normal autonomous driving performance is difficult due to a failure of the autonomous driving system and autonomous driving is not disabling in a normal manner.

Step S810 is the step where the driving control device waits for input of a driver operation command.

Step S820 is a step in which a driver inputs a driver operation command to a driving control device. The driver can input the driver operation command to the driving control device by operating an input device mounted on the vehicle or directly/indirectly connected to the vehicle by wire/wireless. The input device may be at least one of a button, a pedal, or a lever mounted on the vehicle, and may be a device having at least one of mechanical/electrical/electronic/acoustic/optical/chemical input means. For example, the driver inputs the driver operation command to the driving control device by pressing the hazard light button, turning the turn signal on, operating the accelerator pedal or the deceleration pedal, or a combination of each operation.

Step S830 is a step for determining whether the driver operation command matches a predetermined autonomous driving forced release pattern. If it matches the autonomous driving forced release pattern, step S840 is performed, and if it does not match, step S810 is performed. The autonomous driving forced release pattern can be implemented by at least one operation of the steering wheel, the accelerator pedal, the deceleration pedal, the hazard light button, and the turn signal lever, or a combination of the operations. Examples of autonomous driving forced release patterns are as described with reference to [Table 1] and [Table 1]. The autonomous driving forced release pattern (driver operation form) exemplified in [Table 1] can be replaced with another operation form in which the driver strongly expresses his or her intention to drive manually.

The autonomous driving force disengagement pattern must be different from the typical (normal) driver override operation, because the typical driver override operation must not result in unintended autonomous driving disengagement.

Step S840 is the step of disengaging autonomous driving mode. The autonomous vehicle switches from autonomous driving mode to the driver's manual driving mode. After that, the autonomous vehicle is manually controlled by the driver's operation, steering and speed.

For reference, components according to embodiments of the present invention may be implemented in the form of software or hardware such as a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC), and may perform predetermined roles.

However, 'components' are not limited to software or hardware, and each component may be configured to be on an addressable storage medium or configured to execute one or more processors.

Thus, as an example, components include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

Components and the functionality provided within those components may be combined into a smaller number of components or further separated into additional components.

At this time, it will be understood that each block of the flowchart drawings and combinations of the flowchart drawings can be performed by computer program instructions. These computer program instructions can be loaded onto a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment, so that the instructions executed by the processor of the computer or other programmable data processing equipment create a means for performing the functions described in the flowchart block(s). These computer program instructions can also be stored in a computer-readable memory or a computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement the function in a specific manner, so that the instructions using the computer or stored in the computer-readable memory can also produce a manufactured article including an instruction means for performing the functions described in the flowchart block(s). Since the computer program instructions may be installed on a computer or other programmable data processing apparatus, a series of operational steps may be performed on the computer or other programmable data processing apparatus to produce a computer-executable process, so that the instructions executing the computer or other programmable data processing apparatus may also provide steps for executing the functions described in the flowchart block(s).

Additionally, each block may represent a module, segment, or portion of code that contains one or more executable instructions for performing a particular logical function(s). It should also be noted that in some alternative implementation examples, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may in fact be performed substantially concurrently, or the blocks may sometimes be performed in reverse order, depending on the functionality they perform.

Here, the term 'part' or 'module' used in the present embodiment means software or hardware components such as FPGAs or ASICs, and the 'part' or 'module' performs certain roles. However, the 'part' or 'module' is not limited to software or hardware. The 'part' or 'module' may be configured to be in an addressable storage medium and may be configured to reproduce one or more processors. Accordingly, as an example, the 'part' or 'module' includes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within a plurality of components, 'parts' or 'modules' may be combined into a smaller number of components, 'parts' or modules, or further separated into additional components and 'parts' or 'modules'. In addition, the components, 'parts' and 'modules' may be implemented to regenerate one or more CPUs within the device or the secure multimedia card.

The above-described autonomous driving forced release method has been described with reference to the flow chart shown in the drawings. For simplicity, the method has been depicted and described as a series of blocks; however, the present invention is not limited to the order of the blocks, and some blocks may occur in a different order or simultaneously with other blocks than depicted and described herein, and various other branches, flow paths, and orders of blocks may be implemented that achieve the same or similar results. Furthermore, not all of the blocks depicted may be required to implement the method described herein.

Hereinafter, the configuration of the present invention has been described in detail with reference to the attached drawings, but this is only an example, and it is obvious that those with ordinary knowledge in the technical field to which the present invention pertains can make various modifications and changes within the scope of the technical idea of the present invention. Therefore, the protection scope of the present invention is determined by the claims described below rather than the detailed description above, and all changes or modified forms derived from the scope of the claims and their equivalent concepts should be interpreted as being included in the technical scope of the present invention.

100, 400: Driver Controls
110, 410: Accelerator pedal
120, 420: Deceleration pedal (brake pedal)
130, 430: steering wheel
200, 500: Driving Control Unit
210, 510: Speed control unit
220, 520: Steering Control Unit
530: Autonomous Driving Force Release Unit
300, 600: Autonomous driving processing unit
310, 610: Autonomous Driving Introduction Module
320, 620: Autonomous Driving Execution Module
330, 630: Autonomous driving termination module
700: Autonomous Driving Monitoring Unit

Claims (12)

An autonomous driving processing unit that generates autonomous driving control commands by recognizing the environment around the vehicle in autonomous driving mode;
A driver control unit that generates driver operation commands according to driver operations; and
A driving control unit that controls driving according to the driver operation command in the manual driving mode, controls driving according to the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern;
Including,
The above autonomous driving forced release pattern is,
Unlike the override operation of the above vehicle, it is characterized by a pattern in which the accelerator pedal input and the deceleration pedal input occur simultaneously while the hazard lights or turn signals are on.
A vehicle driving control device equipped with an autonomous driving forced release function. In the first paragraph, the driving control unit,
A speed control unit that controls the speed in accordance with the acceleration/deceleration command included in the driver operation command in the manual driving mode, and controls the speed in accordance with the acceleration/deceleration command included in the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern; and
A steering control unit that controls steering according to a steering command included in the driver operation command in the manual driving mode, controls speed according to a steering command included in the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern;
A vehicle driving control device having an autonomous driving forced release function. In the first paragraph, the driving control unit,
A speed control unit that controls speed in accordance with acceleration/deceleration commands included in the driver operation commands in manual driving mode and controls speed in accordance with acceleration/deceleration commands included in the autonomous driving control commands in autonomous driving mode;
A steering control unit that controls steering according to a steering command included in the driver operation command in the manual driving mode and controls speed according to a steering command included in the autonomous driving control command in the autonomous driving mode; and
A self-driving forced release unit that determines whether the driver operation command received from the driver operation unit in the self-driving mode corresponds to a predetermined self-driving forced release pattern, and switches the speed control unit and the steering control unit from the self-driving mode to the manual driving mode if the driver operation command corresponds to the predetermined self-driving forced release pattern;
A vehicle driving control device having an autonomous driving forced release function. delete delete A driver control unit that generates driver operation commands based on the vehicle driver's operations; and
A driving control unit that controls driving according to the driver operation command in the manual driving mode, controls driving according to the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern;
Including,
The above autonomous driving forced release pattern is,
Unlike the override operation of the above vehicle, it is characterized by a pattern in which the accelerator pedal input and the deceleration pedal input occur simultaneously while the hazard lights or turn signals are on.
A vehicle driving control device equipped with an autonomous driving forced release function. In the sixth paragraph, the driving control unit,
A speed control unit that controls the speed in accordance with the acceleration/deceleration command included in the driver operation command in the manual driving mode, and controls the speed in accordance with the acceleration/deceleration command included in the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern; and
A steering control unit that controls steering according to a steering command included in the driver operation command in the manual driving mode, controls speed according to a steering command included in the autonomous driving control command in the autonomous driving mode, determines whether the driver operation command received from the driver operation unit in the autonomous driving mode corresponds to a predetermined autonomous driving forced release pattern, and switches from the autonomous driving mode to the manual driving mode if the driver operation command corresponds to the predetermined autonomous driving forced release pattern;
A vehicle driving control device having an autonomous driving forced release function. In the sixth paragraph, the driving control unit,
A speed control unit that controls speed in accordance with acceleration/deceleration commands included in the driver operation commands in manual driving mode and controls speed in accordance with acceleration/deceleration commands included in the autonomous driving control commands in autonomous driving mode;
A steering control unit that controls steering according to a steering command included in the driver operation command in the manual driving mode and controls speed according to a steering command included in the autonomous driving control command in the autonomous driving mode; and
A self-driving forced release unit that determines whether the driver operation command received from the driver operation unit in the self-driving mode corresponds to a predetermined self-driving forced release pattern, and switches the speed control unit and the steering control unit from the self-driving mode to the manual driving mode if the driver operation command corresponds to the predetermined self-driving forced release pattern;
A vehicle driving control device having an autonomous driving forced release function. delete delete A step in which the driving control device waits for input of a driver operation command;
A step in which a vehicle driver inputs said driver operation command into said driving control device;
The step of the driving control device determining whether the driver operation command matches a predetermined autonomous driving forced release pattern; and
The driving control device includes a step of releasing the autonomous driving mode when the driver operation command matches a predetermined autonomous driving forced release pattern;
The above autonomous driving forced release pattern is,
Unlike the override operation of the above vehicle, it is characterized by a pattern in which the accelerator pedal input and the deceleration pedal input occur simultaneously while the hazard lights or turn signals are on.
How to disable autonomous driving.
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