VEHICLE AND METHOD FOR CONTROLLING THE SAME

Abstract

A vehicle device may include a processor and a memory that stores at least one instruction which, when executed by the processor communicating with the memory, is configured to cause the device to identify a vehicle ahead via a sensor of the vehicle, wherein the vehicle ahead corresponds to a target object that the vehicle is to follow during autonomous driving, to generate a virtual object associated with the vehicle ahead based on driving information from the identified vehicle ahead, to output a signal indicating the vehicle ahead and the generated virtual object, and, based on the signal, to control the autonomous driving of the vehicle.

Description

STATE OF THE ART

[0001] Several examples of the present disclosure relate to a technology for controlling the operation of the tracking of a vehicle ahead in a more efficient manner among the controls in a vehicle system. BACKGROUND

[0002] The facts described in this "Background" section serve only to provide a better understanding of the background of the disclosure and are not to be understood as an acknowledgment that they correspond to the prior art already known to those skilled in the art.

[0003] An autonomous driving system can include a function that allows a vehicle to follow a vehicle ahead in real time to maintain driving stability. This following function enables a safe distance between the vehicles to be maintained and the speed to be adjusted based on the driving information from the vehicle ahead.

[0004] However, a system of the vehicle ahead may be based on the assumption that the driving condition of the vehicle ahead is normal, and therefore may have the limitation that it is unable to react appropriately if the vehicle ahead exhibits abnormal behavior, such as rapid acceleration or sudden deceleration or irregular lane changes.

[0005] In such a system where an autonomous vehicle follows a vehicle ahead, driving stability can deteriorate due to repeated unnecessary acceleration and braking, or the risk of a collision can increase.

[0006] OVERVIEW The present disclosure is intended to solve the aforementioned problems and aims to detect abnormal behavior of a preceding vehicle and to provide a virtual object to replace the preceding vehicle whose abnormal behavior has been detected.

[0007] The problems that are to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

[0008] According to the present disclosure, a device of a vehicle may comprise a processor and a memory which stores at least one instruction which, when executed by the processor communicating with the memory, is configured to cause the device to identify a preceding vehicle via a sensor of the vehicle, wherein the preceding vehicle corresponds to a target object which the vehicle is to follow during autonomous driving, to generate a virtual object associated with the preceding vehicle based on driving information of the identified preceding vehicle, to output a signal indicating the preceding vehicle and the generated virtual object, and, based on the signal, to control the autonomous driving of the vehicle.

[0009] The device, wherein the at least one instruction, when executed by the processor communicating with memory, is configured to cause the device to generate the virtual object based on a determination that the vehicle ahead is behaving abnormally. The device, wherein the at least one instruction, when executed by the processor communicating with memory, is configured to cause the device to generate the virtual object based on a determination that the vehicle ahead is behaving abnormally for a predetermined time or longer.

[0010] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to control the vehicle in such a way that the vehicle ahead or the virtual object is followed by the vehicle, and to control a display of the vehicle in such a way that the vehicle ahead or the virtual object being followed by the vehicle and an indicator indicating that the vehicle ahead or the virtual object is a current target being followed by the vehicle, is displayed on the display.

[0011] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to steer the vehicle, based on the preceding vehicle located at a predetermined distance from the vehicle, in such a way that the vehicle follows the virtual object.

[0012] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to steer the vehicle, based on the preceding vehicle located within a predetermined distance from the vehicle, in such a way that the vehicle follows the preceding vehicle.

[0013] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to delete the virtual object based on the vehicle ahead, which is within a predetermined distance of the vehicle. The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to detect at least one of the following changes: a change in the speed of the vehicle ahead, a change in the acceleration of the vehicle ahead, or a change in the distance between the vehicle and the vehicle ahead, and, based on the at least one of the detected changes exceeding a preset value, to determine that the vehicle ahead is behaving abnormally.

[0014] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device, based on a determination that the vehicle is behaving abnormally, to issue a warning via a user interface of the vehicle. The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device, based on a determination that the vehicle is behaving abnormally, to highlight the vehicle ahead on a display of the vehicle.

[0015] The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to display the vehicle ahead and the virtual object simultaneously on a display of the vehicle. The device, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to display the vehicle ahead and the virtual object in different forms on a display of the vehicle.

[0016] The device, wherein the virtual object is configured to show a lesser movement of the vehicle ahead with respect to at least either a longitudinal movement or a lateral movement of the vehicle ahead. The device, wherein the virtual object is configured to show a lesser movement in a deceleration direction of the vehicle ahead than in an acceleration direction of the vehicle ahead.

[0017] According to the present disclosure, a method performed by a device of a vehicle may comprise: identifying a vehicle ahead via a sensor of the vehicle, wherein the vehicle ahead corresponds to a target object that the vehicle is to follow during autonomous driving; generating a virtual object associated with the vehicle ahead based on driving information of the identified vehicle ahead; outputting a signal indicating the vehicle ahead and the generated virtual object; and controlling the vehicle's autonomous driving based on the signal. The method may include generating the virtual object based on a determination that the vehicle ahead is behaving abnormally.

[0018] The method, wherein the creation of the virtual object may include generating the virtual object based on the determination that the vehicle ahead is behaving abnormally for a predetermined time or longer. The method may further include controlling the vehicle such that it follows either the vehicle ahead or the virtual object, and controlling a display on the vehicle such that the vehicle ahead or the virtual object being followed, and an indicator indicating that the vehicle ahead or the virtual object is a current target of the vehicle, are displayed on the screen.

[0019] According to the present disclosure, the device may comprise: a sensor configured to detect at least one external vehicle, a processor, and a memory that stores at least one instruction which, when executed by the processor communicating with the memory, is configured to cause the vehicle to identify a preceding vehicle via the sensor, which is autonomously followed by the vehicle; to determine, based on driving information from the preceding vehicle, whether the preceding vehicle exhibits driving behavior that fulfills a condition; to output a signal indicating a virtual vehicle object associated with the preceding vehicle, based on the driving behavior that fulfills the condition; and to switch the control of the vehicle's autonomous driving from following the preceding vehicle to following the virtual vehicle object, based on the signal.

[0020] The vehicle, wherein the virtual vehicle object is configured to exhibit less movement compared to at least one longitudinal or lateral movement of the vehicle ahead, such that the control of the autonomous driving of the vehicle to follow the virtual vehicle object results in less acceleration or deceleration of the vehicle. BRIEF DESCRIPTION OF THE FIGURES

[0021] The above and other items, features and advantages of the present disclosure will be made clearer to the person skilled in the art by the detailed description of examples with reference to the accompanying drawings in which they are illustrated: Fig. Figure 1 shows an example of a vehicle according to an example. Fig. Figure 2 shows an example of a process related to the creation and control of a virtual object according to an example. Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10 are illustrative views of display screens, shown according to various examples. Fig. 11 and Fig. Figure 12 shows examples of specific processes related to the creation and control of the virtual object according to the example. Fig. Figure 13 shows an example of a distance relationship between a vehicle driving ahead and a virtual object. Fig. Figure 14 shows an example of a display screen that is shown according to an example. Fig. Figure 15 shows an example of a computer system (e.g., a computer device in a vehicle or other device). DETAILED DESCRIPTION

[0022] Below, with reference to the accompanying drawings, some examples of the present disclosure are described in detail.

[0023] However, the technical idea of ​​the present disclosure is not limited to the few examples described, but can be implemented in various forms, and one or more of the components in the examples can be optionally combined or replaced and used without departing from the scope of the technical idea of ​​the present disclosure.

[0024] Furthermore, terms (including technical and scientific terms) used in the examples of this disclosure may be interpreted as having a meaning that can be generally understood by those skilled in the art in the field to which this disclosure belongs, unless they are expressly and specifically defined and described, and the meaning of terms that are generally used, such as terms defined in a dictionary, may be interpreted taking into account the contextual meaning of the related field.

[0025] Furthermore, the terms used in the examples of the present revelation serve to describe the examples and are not intended to limit the present revelation.

[0026] For the purposes of this application and the claims, the exemplary phrase "at least one of: A; B; or C" or "at least one of A, B or C" means "at least one A or at least one B or at least one C or any combination of at least one A, at least one B and at least one C". Furthermore, exemplary phrases such as "A, B or C", "at least one of A, B and C", "at least one of A, B or C", etc., as used herein, may mean any of the listed elements or all possible combinations of the listed elements. For example, "at least one of A or B" may refer to (1) at least one A; (2) at least one B; or (3) at least one A and at least one B.

[0027] Furthermore, terms such as “first”, “second”, “A”, ‘B’, “(a)” and “(b)” can be used to describe components in the examples of the present disclosure.

[0028] These terms are merely intended to distinguish the component from other components and do not restrict the type, order, or sequence of the component.

[0029] When a component is described as being "connected", "coupled", or "joined" to another component, this can include not only the case where the component is directly connected, coupled, or joined to the other component, but also the case where the component is "connected", "coupled", or "joined" to the other component by means of another component between the component and the other component.

[0030] Furthermore, when a component is described as being formed or arranged "on or under" another component, the term "on or under" includes not only the case where two components are in direct contact with each other, but also the case where one or more other components are formed or arranged between the two components. Moreover, the term "on or under" can mean not only an upward direction, but also a downward direction with respect to a component.

[0031] In various flowcharts of the present disclosure, at least some steps can be omitted or the order of the steps changed, and at least some of the various examples of the present disclosure can be executed at a certain time in each step of the flowchart. The various flowcharts of the present disclosure can be executed by at least one control device 100, one processor 130, and one vehicle 10. Furthermore, redundant content in the drawings of the present disclosure can be omitted.

[0032] The “autonomous driving system” or “driver control assistance system” mentioned in this disclosure refers to hardware and software that can help a driver continuously control the longitudinal and lateral movement of a vehicle. The driver control assistance system may be referred to as the “system” in this disclosure.

[0033] A “feature” mentioned in the present disclosure may be a function of a particular system that assists a driver in a particular traffic scenario, situation and at a particular system boundary.

[0034] The “dynamic control” mentioned in the present disclosure can mean the execution of operational and tactical functions required to move a vehicle in real time. This can include controlling the vehicle’s lateral and longitudinal movements, monitoring the road environment, handling traffic incidents, operational plans, signal transmission, and the like.

[0035] The “system limits” mentioned in this disclosure may mean verifiable or measurable limits or conditions set by a manufacturer, and conditions that affect a system to assist a driver, or functions of the system and the ability of the system to function as intended, or settings within the range of the conditions.

[0036] The examples are described in detail below with reference to the accompanying drawings; the same or corresponding components are designated with the same reference numbers in the drawings, and redundant descriptions are omitted.

[0037] The term "module" or "unit" as used in the specification refers to a software and / or hardware component, and the "module" or "unit" performs certain operations / functions / roles. However, the "module" or "unit" is not to be understood as being limited to software or hardware. The "module" or "unit" may be configured to reside in addressable main memory or to run one or more processors. Therefore, the "module" or "unit" may, for example, include at least one of the following components: Software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, or variables. The functions contained in the components, "modules," or "units" can be grouped into a smaller number of components, "modules," or "units," or divided into additional components, "modules," or "units."

[0038] In the present disclosure, the “module” or “unit” can be implemented as a processor and memory. The term “processor” should be interpreted broadly and include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller, a state machine, or the like. In some contexts, the “processor” may refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), or the like. For example, the “processor” may refer to a combination of processing devices such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such combination.Furthermore, the term "memory" should be broadly defined to encompass any electronic component capable of storing electronic information. "Memory" can refer to various types of processor-readable media, such as random-access memory (RAM), read-only memory (ROM), non-volatile random-access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage devices, and registers. If the processor can read information from and / or store information in memory, the memory can be in a state of electronic communication with the processor. Memory integrated into a processor is in electronic communication with the processor.

[0039] The functions described here can be provided as a computer program stored on a computer-readable recording medium for execution on a computer. The medium can either continuously store a computer-executable program or temporarily store the program for execution or download. Furthermore, the medium can be a variety of recording or main storage devices in the form of a single hardware device or several combined hardware devices, and it is not limited to media directly connected to a computer system but can also be distributed over a network.Examples of such media include magnetic media such as a hard drive, floppy disk, or magnetic tape; optical recording media such as a CD-ROM or DVD; magneto-optical media such as a floppy disk; and, among others, ROM, RAM, or flash memory configured to store program instructions. Further examples of such media include media or main memory managed by an app store that distributes applications, or by various other websites or servers that provide or distribute software.

[0040] In a hardware implementation, the processing units used to carry out the techniques may be implemented in one or more ASICs, DSPs, digital signal processing devices, programmable logic devices, field-programmable gate arrays, processors, controllers, microcontrollers, microprocessors, electronic devices or computers, or combinations thereof, designed to perform the functions described in the present disclosure.

[0041] The level of automation of an autonomous vehicle can be classified according to the American Society of Automotive Engineers (SAE) as follows. At Level 0 of autonomous driving, the SAE classification standard corresponds to "non-automation," where an autonomous driving system temporarily intervenes in emergency situations (e.g., automatic emergency braking) and / or only issues warnings (e.g., blind spot warning, lane keeping assist, etc.), and a driver is expected to operate the vehicle. At Level 1 of autonomous driving, the SAE classification standard corresponds to "driver assistance," where the system performs some driving functions (e.g., steering, accelerating, braking, lane centering, adaptive cruise control, etc.).), while the driver controls the vehicle during normal operation, and the driver is expected to determine the system's operating state and / or timing, perform other driving functions, and handle (e.g., resolve) emergency situations. At Level 2 of autonomous driving, the SAE classification standard may correspond to "partial automation," where the system performs steering, acceleration, and / or braking under the driver's supervision, and the driver is expected to determine the system's operating state and / or timing, perform other driving functions, and handle (e.g., resolve) emergency situations. At Level 3 of autonomous driving, the SAE classification standard may correspond to "conditional automation," where the system controls the vehicle under certain conditions (e.g.,Driving functions such as steering, accelerating, and / or braking are performed automatically, but the system transfers control to the driver if the necessary conditions are not met. The driver is expected to determine the system's operating state and / or timing and to take over control in emergencies, but otherwise does not control the vehicle (e.g., steer, accelerate, and / or brake). At Level 4 of autonomous driving, the SAE classification standard may correspond to "high automation," where the system performs all driving functions and the driver is only expected to take control of the vehicle in emergencies. At Level 5 of autonomous driving, the SAE classification standard may correspond to "full automation," where the system performs all driving functions without any assistance from the driver, even in emergencies, and the driver is not expected to perform any driving functions other than determining the system's operating state.Although the present disclosure may apply the SAE classification standard for the classification of autonomous driving, other classification methods and / or algorithms may be used in one or more of the configurations described herein.

[0042] One or more features associated with autonomous driving control can be activated based on configured autonomous driving control settings (e.g., based on at least one of the following features: an autonomous driving classification, a selection of an autonomous driving level for a vehicle, etc.). Vehicle operation can be controlled based on one or more of the features described herein (e.g., replacing an abnormally behaving vehicle ahead with a virtual vehicle). Vehicle control can include various operational controls associated with the vehicle (e.g., autonomous driving control, sensor control, brake control, braking time control, acceleration control, acceleration rate change control, alarm time control, forward collision warning time control, etc.).

[0043] One or more auxiliary devices (e.g. engine brake, exhaust brake, hydraulic retarder, electric retarder, regenerative brake, etc.) can also be controlled, e.g., based on one or more of the features described here (e.g., replacing an abnormally behaving vehicle ahead with a virtual vehicle).

[0044] One or more communication devices (e.g., a modem, a network adapter, a radio transceiver, an antenna, etc.) capable of communicating via one or more wired or wireless communication protocols, such as Ethernet, Wi-Fi, Near Field Communication (NFC), Bluetooth, Long-Term Evolution (LTE), 5G New Radio (NR), Vehicle-to-Everything (V2X), etc.) can also be controlled, for example, based on one or more of the features described herein (e.g., the feature of replacing an abnormally behaving vehicle ahead with a virtual vehicle).

[0045] Minimal-risk maneuvers (MRM) can also be controlled based on one or more of the features described herein (e.g., replacing an abnormally behaving vehicle ahead with a virtual vehicle). A minimal-risk maneuver (e.g., a minimal-risk maneuver) can be a maneuver performed by a vehicle to minimize (e.g., reduce) the risk of collision with surrounding vehicles in order to achieve a lowered (e.g., minimal) risk state. A minimal-risk maneuver can also be an operation that can be activated during autonomous driving when a driver is unable to respond to a prompt to intervene. During the minimal-risk maneuver, one or more of the vehicle's processors can control the vehicle's driving operations for a specified period of time.

[0046] One-sided driving operation(s) can also be controlled based on one or more of the features described herein (e.g., replacing a vehicle ahead that is not behaving normally with a virtual vehicle). A driving control device can perform one-sided driving control. To perform pre-steered driving, the driving control device can control the vehicle to travel in a lane by maintaining a lateral distance between the vehicle's center position and the center of the lane. For example, the driving control device can control the vehicle to remain in the lane but not in the center of the lane. The driving control device can detect or determine a preset lateral target distance for the preset driving control.For example, a preset lateral target distance can include an intentionally set lateral distance that a vehicle is to maintain from a reference point, such as the center of a lane or another vehicle, during maneuvers like lane changes. This adjustment can be made to improve the vehicle's stability, safety, and / or performance under various driving conditions. For instance, during a lane change, the vehicle control system can adjust the lateral distance to maintain a safe distance from adjacent vehicles, taking into account factors such as the vehicle's speed, road conditions, and / or the presence of obstacles.

[0047] One or more sensors (e.g., IMU sensors, camera, LiDAR, radar, blind spot monitoring sensor, lane departure warning sensor, parking sensor, light sensor, rain sensor, traction control sensor, anti-lock braking system sensor, tire pressure monitoring sensor, seat belt sensor, airbag sensor, fuel level sensor, emissions sensor, throttle position sensor, inverter, converter, engine control unit, power distribution unit, high-voltage cables and connectors, auxiliary power modules, charging interface, etc.) can also be controlled, for example, based on one or more features (e.g., the feature of replacing an abnormally behaving vehicle ahead with a virtual vehicle). An operational control system for autonomous driving of the vehicle can include various driving controls of the vehicle by the vehicle control device (e.g.,Acceleration, deceleration, steering, gear shifting, braking system, traction control, stability control, cruise control, lane keeping assist, collision avoidance system, emergency brake assist, traffic sign recognition, adaptive headlight control, etc.).

[0048] The level of autonomous driving and / or the activation / deactivation of autonomous driving can also be controlled based on one or more of the features described herein (e.g., replacing an abnormally behaving vehicle ahead with a virtual vehicle). A driving control device can perform control of the autonomous driving level (e.g., changing the autonomous driving level, changing the required user attention, etc.) or initiate the deactivation of autonomous driving operation. By changing the required user attention, the driver can, for example, be prompted to place their hands on the steering wheel more frequently (e.g., at least once in a certain period, such as five seconds, 30 seconds, one minute, etc.). By changing the required user attention, the driver can be prompted to look ahead more frequently (e.g.,at least once within a specific time period (e.g., five seconds, 30 seconds, one minute, etc.). Changing the level of autonomous driving may prevent one or more video elements from being displayed on the vehicle's screen.

[0049] Fig. Figure 1 shows an example of a vehicle 10 according to an example.

[0050] The vehicle 10 can comprise a control device 100, a communication unit 110, a main memory unit 120, a processor 130, an input / output interface 140, a sensor unit 150, and a drive unit 160. Each of these components in Fig. 1 can be implemented inside the vehicle.

[0051] The control device 100 can be integrated with the vehicle's internal components or implemented as an independent device separate from the other components within the vehicle 10 to communicate with the vehicle's internal components via various connection means (e.g., a CAN bus, a wireless network, and a wired connection). The control device 100 can include the communication unit 110, the main memory unit 120, and the processor 130 for controlling the vehicle. It can also include other components such as the input / output interface 140, the sensor unit 150, and the drive unit 160 to perform complex control functions depending on a driving situation (e.g., a sudden lane change by a nearby vehicle, an unexpected stop by a vehicle ahead, or the detection of abnormal acceleration patterns, etc.).

[0052] The Communication Unit 110 can communicate with other control devices within the vehicle to exchange system-wide data or to send and receive various types of information via a connection to the outside of the vehicle. The Communication Unit 110 can transmit control signals and data between internal components using various in-vehicle communication methods such as CAN communication and Ethernet, and integrate driving information and external data in real time by communicating with a user terminal, another vehicle (vehicle-to-vehicle (V2V)), the infrastructure (vehicle-to-infrastructure (V2I)), or an external server (e.g., traffic control centers, cloud-based driver assistance platforms, or HD map servers, etc.).

[0053] The Communication Unit 110 can perform short-range communication, GPS signal reception, vehicle-to-everything (V2X) communication, optical communication, broadcast transmission and reception, and communication functions for intelligent transportation systems (ITS). It can support stable short-range data transmission using wireless communication technologies such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), Wi-Fi, Wi-Fi Direct, and Wireless USB. Furthermore, the Communication Unit 110 can include a mobile communication module based on a cellular network (LTE, 5G, or 6G) and a wireless internet module for accessing the wireless internet to receive real-time data over long-range communication and improve the performance of the autonomous driving system in conjunction with a cloud (e.g., for cloud services).for receiving software updates, remote diagnostics or hazard warnings, etc.).

[0054] The main memory unit 120 can include various types of storage media capable of holding data and can be integrated into the control device 100 or the processor 130, or configured as a separate module. The main memory unit 120 can include non-volatile memory (e.g., a hard disk, flash memory, EEPROM, SRAM, FRAM, PRAM, or MRAM) and volatile memory (e.g., DRAM, SDRAM, or DDR-SDRAM), which can be combined to implement memory systems with varying capacities and performance levels (e.g., for storing current sensor readings, historical driving patterns, or rules for creating virtual objects, etc.).

[0055] For example, the main memory unit 120 can be configured to store driving information from the vehicle ahead, a criterion for creating a virtual object, and various types of data relating to the driving control of vehicle 10. The main memory unit 120 can store real-time collected driving data, such as speed, acceleration, deceleration frequency, steering angle, or lane-change frequency of the vehicle ahead, and provide criteria data required by the control device 100 to determine abnormal behavior of the vehicle ahead (e.g., irregular braking, sudden swerving, or frequent lane-change maneuvers, etc.).

[0056] Furthermore, the memory unit 120 can store setting values ​​and algorithms required for creating the virtual object. For example, the memory unit 120 can contain a threshold for abnormal behavior of the vehicle ahead, control parameters for determining the movement of the virtual object, and similar information. Such data can be used by the control device 100 to create a suitable virtual object depending on the driving situation and to control the driving of the vehicle 10 based on the appropriate virtual object (e.g., using a smoothed average of previous trajectories, applying motion damping in the deceleration direction, or adjusting the lateral offset patterns, etc.).

[0057] The processor 130 can communicate with the communication unit 110, the main memory unit 120, the input / output interface 140, the sensor unit 150, the drive unit 160, and various internal components of the vehicle 10 via electrical or operational connections, controlling the operation of each component and performing data processing. The processor 130 is a central processing unit for instruction execution and data calculation and can collect, process, and analyze data in real time to control the vehicle according to its driving environment (e.g., city traffic, highway driving, or merging situations, etc.).

[0058] The Processor 130 can be implemented as hardware, software, or a combination thereof, and can execute the vehicle control logic, for example, using a microcontroller, FPGA, or ASIC. Furthermore, the Processor 130 can establish a multiprocessor configuration for controlling complex autonomous driving and driver assistance systems. Such a processor configuration can support comprehensive control and stable vehicle performance by executing autonomous driving and assistance systems, processing sensor data, managing communication data, and making driving-related decisions (e.g., determining when to switch from real-world to virtual target tracking, or triggering lane-change logic to avoid unstable lead vehicles, etc.).

[0059] The input / output interface 140 is used to receive user input related to vehicle control and to transmit information about the vehicle control status and system operation to the user (e.g. via touchscreens, voice command interfaces or displays in the instrument cluster, etc.).

[0060] The input / output interface 140 can receive various inputs from the user and transmit the vehicle control status to the user. The input / output interface 140 can include one input device and one output device.

[0061] Input devices may include physical buttons, selection areas on a touch display, a voice recognition function, a gesture recognition function, a steering wheel-mounted control, and similar devices that allow the user to enter commands to, for example, request activation of the autonomous driving system, switch between functions, or set driving aids (e.g., activation of adaptive cruise control, adjustment of the safe following distance, or selection of the virtual object following mode, etc.).

[0062] The output devices include a display, an audio module (e.g. a speaker), a haptic module and similar devices, and can inform the user of the status of the autonomous driving system, a notification of a shift request, the activation or non-activation of a function and similar information in visual, acoustic or tactile form (e.g. flashing symbols, voice messages or steering wheel vibrations, etc.).

[0063] For example, the input / output interface 140 can include a display. The input / output interface 140 can visually output information about the vehicle ahead and the virtual object via the display (e.g., using different shapes, borders, or colors to distinguish between the real and the virtual target, etc.).

[0064] In addition, the input / output interface 140 can issue an acoustic warning via a loudspeaker or alert the driver to an unusual situation by means of a tactile feedback device through vibration of a seat cushion, gearshift knob or steering wheel.

[0065] Furthermore, the input / output interface can receive 140 driver inputs via a touchscreen, physical buttons such as switches, a voice recognition system, or similar devices. This allows the driver to, for example, send commands to the vehicle system to activate an autonomous driving function, change a warning setting, or release a warning (e.g., acknowledging a forward collision warning, deactivating lane keeping assist, or confirming a route change, etc.).

[0066] The Sensor Unit 150 can incorporate a variety of sensors that capture different types of driving and environmental information in real time to support the stable operation of an autonomous driving system or a driver assistance system. The Sensor Unit 150 can measure the distance and speed of a nearby object using long-range detection sensors such as RADAR (Radio Detection and Ranging) and LiDAR (Light Detection and Ranging), and detect objects near the vehicle 10 using an ultrasonic sensor (e.g., for parking assistance, blind spot detection, or close-range collision avoidance, etc.).

[0067] The Sensor Unit 150 can include a camera. The camera can be divided into an external and an internal camera. The external camera can detect the road and its surroundings (e.g., lane markings, traffic lights, pedestrians, or nearby vehicles, etc.), while the internal camera can capture the driver's state (e.g., eye movements or grip on the steering wheel) or the interior environment to provide a comprehensive view of the situation inside and outside the vehicle. The Sensor Unit 150 can also include a heart rate sensor, a pressure sensor, an infrared sensor, etc., to capture biometric data of the driver or various types of environmental data (e.g., cabin temperature, driver fatigue level, or fatigue detection, etc.).

[0068] For example, sensor unit 150 can detect the speed, acceleration, distance, relative speed, or lane-changing behavior of the vehicle ahead using devices such as radar, LiDAR, ultrasonic sensors, and cameras. The sensors can detect the position and driving status of the vehicle ahead and provide data that control unit 100 needs to determine if the vehicle ahead is exhibiting abnormal behavior. For example, the radar can detect the distance and relative speed between the vehicle ahead and vehicle 10, and the camera can detect if the vehicle ahead is changing lanes or accelerating / decelerating rapidly (e.g., sudden merging, frequent lane changes, or inconsistent speed spikes, etc.).

[0069] The drive unit 160 can contain various components that provide the drive power required to propel the vehicle 10 and control the vehicle's operation according to a command issued by the control unit 100. The drive unit 160 can consist of devices that generate and transmit energy for the vehicle, such as an internal combustion engine, a motor, a transmission, and a wheel drive system, as well as a control unit that controls the devices, and the acceleration, deceleration, and change of direction of the vehicle 10 can be effected by such components (e.g., front-wheel drive, rear-wheel drive, or all-wheel drive configurations, etc.).

[0070] The drive unit 160 is controlled to maintain driving safety by performing longitudinal control (acceleration and deceleration) and lateral control (maintaining and changing lanes) of the vehicle. For example, the drive unit 160 receives a command from the control device 100 and adjusts the engine power or the speed and direction of rotation of the wheels so that the vehicle can travel a certain distance (e.g., maintaining the center of the lane, merging into traffic, or adjusting speed to a virtual destination, etc.).

[0071] Furthermore, the drive unit 160 can include a braking system to reduce the vehicle's speed or to bring the vehicle to a stop while driving. The drive unit 160 can control the vehicle 10 based on control by an electric motor in the case of an electric vehicle, or based on engine power in the case of a vehicle with an internal combustion engine (e.g., hybrid, plug-in hybrid, or battery-electric configurations, etc.).

[0072] Fig. Figure 2 shows an example of a process related to the creation and control of a virtual object, as described in the example. Fig. 2 will be applied to the Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. 10 referred. Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. Figure 10 shows illustrative views of display screens, presented according to various examples. The sizes and shapes of the display screens in the Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. Depending on the input / output interface of the vehicle (e.g. cluster display, head-up display or central infotainment screen, etc.), the 10 can be changed into different sizes and shapes.

[0073] The control device 100 can activate a control function for tracking a vehicle ahead in accordance with an autonomous driving function of the vehicle 10 (S210).

[0074] More precisely, the control device 100 is capable of executing a following control logic to control the speed, direction, acceleration, deceleration, and braking state of the vehicle 10 in real time. The following control function can be activated when the vehicle 10's driving mode is set to autonomous driving mode, thus enabling the detection of a vehicle ahead that is to be followed.

[0075] For example, when vehicle 10 is operating in autonomous driving mode, the control unit 100 can detect a vehicle ahead (e.g., a vehicle traveling ahead) via the sensor unit 150, such as the vehicle's front radar and camera. The control unit 100 can confirm the speed of the vehicle ahead and the longitudinal distance between the vehicle ahead and vehicle 10, and then activate the following control function. When the control function is activated, the control unit 100 adjusts the speed of vehicle 10 according to the speed of the vehicle ahead and issues a braking command to maintain a safe distance if necessary (e.g., increasing the distance if irregular driving behavior is detected, or gently braking if the vehicle ahead slows down, etc.).

[0076] Next, the control device can confirm 100 driving information relating to a vehicle located in front of vehicle 10 (S230).

[0077] The control device 100 can capture and analyze the driving information of the vehicle ahead in real time by using the sensor unit 150 attached to the vehicle 10, such as at least one front camera, a radar and a LiDAR (e.g. a mono or stereo camera, a millimeter wave radar or a rotating / microelectromechanical LiDAR, etc.).

[0078] The confirmed driving information can include, but is not limited to, information about the position, speed, acceleration, distance, direction of travel, and lane-change status of the vehicle ahead. The control device 100 can process the collected data to determine the current state and movement of the vehicle ahead and to generate baseline data for creating a virtual object or for forward tracking of the vehicle 10 (e.g., using filtered velocity vectors, buffers for motion history, or projected trajectories, etc.).

[0079] Subsequently, the control device 100 can create the virtual object when a predetermined condition is met and display the created virtual object (S250).

[0080] For example, the control device can analyze driving information such as the behavioral state and driving environment of the vehicle ahead and create the virtual object when a predetermined condition is met. The virtual object can be created to provide a safe following target that replaces the vehicle ahead when stable driving control of vehicle 10 is difficult due to detected abnormal behavior of the vehicle ahead.

[0081] In one example, the predetermined condition could include a case where abnormal behavior of the vehicle ahead is detected (e.g., frequent hard braking, irregular lane changes, or oscillating stop-and-go patterns, etc.).

[0082] Abnormal behavior can be defined as an abnormal movement of the vehicle ahead that deviates from a normal driving pattern and impairs the stable driving control of the autonomous vehicle 10. Such abnormal behavior can affect the maintenance of a safe distance between vehicles and a predictable driving trajectory. The control device 100 can generate a criterion for determining the abnormal behavior by using driving data from previous vehicles that have driven on a road (e.g., via moving averages, variance thresholds, or frequency-based anomaly assessment, etc.).

[0083] The control device 100 can display the virtual object created according to the detection of abnormal behavior via a display included in the input / output interface 140 of the vehicle 10. Fig. 3 For example, vehicle 10, the vehicle 11 ahead and a virtual object 12 are displayed on the screen in distinguishable visual formats (e.g. solid or dashed outlines, color differences or symbol overlays, etc.).

[0084] The control device 100 can confirm the driving information of the vehicle 11 ahead via the sensor unit 150 and compare the confirmed driving information with a criterion for abnormal behavior stored in a memory of the storage unit 120. If it is determined that the vehicle 11 ahead meets the criterion for abnormal behavior, the control device 100 can activate the virtual object 12 of Fig. Create 3.

[0085] The control device 100 can establish the criterion for determining abnormal behavior through statistical analysis or a learning-based approach and, based on the driving information (longitudinal distance, lateral distance, speed, acceleration, etc.) of the vehicle ahead, determine whether the behavior is abnormal or not. For example, if a change in speed of the vehicle ahead exceeds a certain threshold compared to an average value, or if an acceleration pattern deviates from a statistical deviation, the behavior of the vehicle ahead can be classified as abnormal (e.g., sudden jumps, abrupt stops, or swaying movements, etc.).

[0086] For this purpose, the control device 100 can acquire data from the vehicle ahead in real time, periodically, or at any given time and compare this data with the criteria for identifying abnormal behavior. The control device 100 can analyze key indicators such as longitudinal distance, lateral distance, speed, and acceleration, and classify the vehicle ahead as exhibiting abnormal behavior if a specific condition is met (e.g., sustained deviation from the moving average, large variance peaks, or high-frequency oscillations, etc.). For example, if the vehicle ahead brakes rapidly, repeatedly changes lanes, or exhibits an irregular trajectory, the control device 100 can classify it as displaying abnormal behavior.in stop-and-go traffic, when changing lanes, or in case of braking problems, etc.).

[0087] For example, the control device 100 can acquire real-time driving information from the vehicle ahead and analyze this information based on an average value and standard deviation σ of previous driving data to determine abnormal behavior. The criterion for determining abnormal behavior can be defined as a case in which a predetermined value (for example, 1.5σ) is exceeded compared to an average value in the previous driving data. In this case, the analysis elements can include, but are not limited to, the velocity change magnitude, acceleration change magnitude, and acceleration change rate of the vehicle ahead (e.g., yaw rate shifts, jerk rates, or lateral deviation metrics, etc.).

[0088] For example, if the determination of abnormal behavior depends on the magnitude of the speed change, the threshold for abnormal behavior can be set at 14.5 km / h (10 + 1.5σ) if the average speed change is 10 km / h and the standard deviation σ in the previous driving data is 3 km / h. In this case, if the speed of the vehicle ahead increases from 0 km / h to 16 km / h within 5 seconds, the magnitude of the speed change exceeds 14.5 km / h, and thus the behavior of the vehicle ahead can be classified as abnormal.

[0089] For example, if abnormal behavior of the vehicle ahead is detected for a predetermined period of time or longer, the control device 100 can create a virtual object corresponding to the vehicle ahead (e.g., if irregular lane changes persist for 3 seconds or longer, or repeated start-stop cycles continue beyond a threshold window, etc.).

[0090] For example, if the vehicle ahead repeatedly stops and starts suddenly at short intervals of a predetermined time period (e.g., two seconds) or longer, or constantly changes lanes within a predetermined time period and thus exhibits an unstable trajectory, the control device 100 can classify the vehicle ahead as a vehicle behaving abnormally.

[0091] If such a pattern is not resolved within a predetermined time period, the control device 100 can generate a virtual object to replace the vehicle ahead. In this way, continuous, repetitive abnormal behavior can be detected, rather than temporary abnormal behavior (e.g., due to a brief obstacle or temporary deceleration, etc.).

[0092] For example, the control device 100 can issue a warning via the input / output interface 140 when abnormal behavior of the vehicle ahead is detected. This allows the driver to immediately recognize any abnormal movement of the vehicle ahead (e.g., sudden braking, swerving, or aggressive acceleration, etc.).

[0093] For example, if abnormal behavior of the vehicle ahead is detected, the control device 100 can issue a visual warning via a display on the vehicle 10. The visual warning can be issued in a way that highlights the vehicle ahead (e.g., as a flashing symbol) or by displaying a text message such as "Warning: Abnormal behavior of the vehicle ahead has been detected." (e.g., displayed in a red box, with a pulsating effect, or in the format of the upper bar display, etc.)

[0094] For example, if abnormal behavior of the vehicle ahead is detected, the control unit 100 can highlight the vehicle ahead on the display. If the vehicle ahead exhibits abnormal behavior, the control unit 100 can, for example, display the vehicle ahead as a flashing symbol on the display or place a flashing warning frame around the vehicle ahead to visually inform the driver (e.g., by a red outline, an animated halo, or a color inversion effect, etc.).

[0095] Furthermore, the warning can be issued via an audible signal. For example, a warning or notification tone can be emitted to alert the driver (e.g., a double beep, a rising tone sequence, or a synthetic voice output, etc.). An audible and a visual warning can be issued together or independently in a situation where the driver cannot directly acknowledge the display (e.g., if the driver is wearing sunglasses that obscure the HUD, or if they are looking away from the instrument cluster, etc.).

[0096] Furthermore, the warning can be issued via a vibration signal. For example, if abnormal behavior is detected, the control unit 100 can issue the warning via vibration through the steering wheel (e.g., a short buzzing pattern, pulsed tapping, or a haptic directional signal, etc.).

[0097] For example, the control device 100 can simultaneously display the vehicle ahead and the virtual object on the display.

[0098] For example, the control device 100 can display the current location and status of the vehicle 11 ahead on the display and simultaneously display the virtual object 12 that replaces the vehicle 11 ahead, as in Fig. 3 shown, display (e.g. side by side, partially overlapping or in staggered positions with labels, etc.).

[0099] For example, the virtual object displayed on the screen can be clearly distinguished from the vehicle driving ahead.

[0100] The virtual object can be displayed with a different color, size, shape, or transparency than the preceding vehicle. For example, the preceding vehicle 11 can be in Fig. 3 can be highlighted with a dotted border or a first color, while the virtual object 12 can be represented with a solid border or a second color (e.g. blue for the real vehicle and green for the virtual object, or semi-transparent vs. opaque symbols, etc.).

[0101] The control device 100 can display an indicator 14 indicating that the virtual object 12 is currently being followed. The indicator 14 can be used to intuitively convey to the driver the current tracking target of the vehicle 10 (e.g., an arrow pointing to the tracked object, a label such as "Target," or a lighting effect around the selected object, etc.). This indicator 14 can be represented with the same function in the drawings described below. This allows the driver to intuitively confirm the target (the vehicle ahead or the virtual object) that the vehicle 10 is currently following via the display.

[0102] The virtual object can be created based on the driving information of the vehicle ahead and set up to have a stable lateral or longitudinal movement that can replace the movement of the vehicle ahead (e.g. smoothed track line, deceleration-compensated track or damped curve radius, etc.).

[0103] For example, the virtual object can be designed to exhibit less movement compared to the longitudinal or lateral movement of the vehicle ahead. This makes it possible to reduce the influence of the abnormal behavior of the vehicle ahead on the driving stability of vehicle 10 and to perform predictable and safe driving control (e.g., by avoiding erratic stop-start reactions or lateral sway reactions, etc.).

[0104] For example, if the vehicle 11 ahead moves laterally by a distance d1, the virtual object 12 on the display can move in the same direction by a distance d2 (see Fig. 4) In this case, d2 can be a smaller distance than d1 (e.g. d1 = 1.2 m, d2 = 0.6 m, which corresponds to a filtered lane shift, etc.).

[0105] Furthermore, the virtual object can be set to move less in the direction of longitudinal deceleration than in the direction of longitudinal acceleration to prevent unnecessarily rapid acceleration and to maintain a safe distance (e.g. to avoid overshooting in the event of irregular braking by the lead vehicle or phantom stop signals, etc.).

[0106] For example, with reference to Fig. 5. If the vehicle 11 ahead accelerates in a longitudinal direction and covers the distance d1, the virtual object 12 can cover the distance d2 in the same direction on the display (e.g. with d2 80% of d1 to smooth out sudden acceleration peaks, etc.).

[0107] Then, in Fig. 6. If the vehicle 11 ahead decelerates longitudinally and moves again by a distance d1, the virtual object 12 on the display can move by a distance d3 in the same direction. In this case, the distance d3 can be Fig. 6 smaller than the distance d2 in Fig. 5 (e.g. d3 < d2 < d1, to prioritize safe following and minimize hard braking reactions, etc.).

[0108] The reduction in the virtual object's movement described above can be dynamically adjusted depending on the driving situation and environment. For example, the control device 100 can automatically or through user input apply a movement primarily based on deceleration in a busy section to adjust the virtual object (e.g., increasing damping factors in city traffic or stop-and-go conditions, etc.).

[0109] According to an example, if an area in which at least part of a preceding vehicle area and at least part of a virtual object area overlap appears on the display, the control device 100 can control the display so that an area of ​​a target that the vehicle 10 is currently following is preferentially displayed in the overlapping area (e.g. by highlighting the followed object with stronger contrast or overlay priority, etc.).

[0110] Furthermore, the control device 100 makes an area of ​​a target that the vehicle 10 is not following invisible (hidden) in the overlap area, so that the driver can recognize a current following target of the vehicle (e.g. hiding the unused path marker or hiding the unselected object, etc.).

[0111] For example, with reference to Fig. 7. A situation can be confirmed in which an overlap area occurs between the vehicle 11 ahead and the virtual object 12 on the display. In this case, the control device 100 can detect that the vehicle 10 is set to follow the virtual object 12 and control the display so that the virtual object 12 is preferentially displayed in the overlap area (e.g., with a lighter outline, thicker border, or a label such as "Target vehicle", etc.).

[0112] As another example, the control device 100 can process the display of the overlapping area by highlighting the virtual object 12 in the overlapping area on the display or by reducing the transparency of the virtual object 12 in the overlapping area to increase visibility (e.g. by a bold outline, pulsating glow or increased brightness, etc.).

[0113] On the other hand, an area of ​​the preceding vehicle 11 that is not the following target can be displayed with high transparency or completely hidden in the overlap area (e.g. dimmed to 20% opacity or removed from the render stack, etc.).

[0114] According to one example, the control device 100 can control the vehicle 10 so that the vehicle 10 follows the vehicle ahead when the vehicle ahead approaches vehicle 10 to within a predetermined distance. This is intended to minimize the risk of a collision between vehicle 10 and the vehicle 11 ahead and to maintain a safe distance (e.g., if a vehicle approaching unexpectedly brakes at close range, etc.).

[0115] For example, with reference to Fig. Figure 8 shows a minimum distance 13, which is defined as a predetermined distance to the vehicle 10. This minimum distance 13 is set as the minimum distance for safe driving of the vehicle 10 and may or may not be displayed on the screen (e.g., as a shaded buffer zone, as a numerical indicator of the distance, or as a dynamic circle around the ego vehicle, etc.).

[0116] If the rearmost area 11a of the vehicle 11 ahead is within the minimum distance 13, there is a risk of collision for vehicle 10 (e.g. due to sudden braking or abrupt entry of the vehicle ahead, etc.).

[0117] Therefore, in this situation, the control device 100 can terminate the tracking of the virtual object 12 and designate the preceding vehicle 11 as the target for controlling vehicle 10. If tracking control is activated for the preceding vehicle 11, the control device 100 can continuously monitor the longitudinal distance between vehicle 10 and the preceding vehicle 11 and issue the braking command as needed to maintain an intermediate distance (e.g., triggering adaptive cruise control, initiating gentle deceleration, or activating forward collision avoidance logic, etc.).

[0118] Although a case in which the vehicle in front 11 is within the minimum distance 13, in Fig. As described in section 8 as an example, in some cases a situation in which the virtual object 12 is within the minimum distance 13 can also be included as a condition for a subsequent target change to the vehicle 11 ahead (e.g. to synchronize with the actual road conditions or to cancel the virtual prediction delay, etc.).

[0119] According to one example, the control device 100 can control the display so that the display shows at least part of the vehicle ahead and at least part of the virtual object.

[0120] For example, it can be said that Fig. Confirming step 9 displays sub-area 11a of the preceding vehicle 11 and sub-area 12a of the virtual object 12 on the display. Sub-areas 11a and 12a can be, for example, the rearmost areas of the preceding vehicle 11 and the virtual object 12 (e.g., indicators for the rear edge, last detected points, or boundary fields at the vehicle endpoints, etc.).

[0121] Sub-areas 11a and 12a can function as minimum ranges that differentiate the respective positions of the vehicle 11 ahead and the virtual object 12, allowing the distance to vehicle 10 to be visually confirmed (e.g., based on boundary edges, rear bumpers, or last detected center of gravity markers, etc.). Sub-areas 11a and 12a can provide the driver with key data that vehicle 10 needs to reliably perceive the current situation while minimizing unnecessary information (e.g., by avoiding displaying the entire object when the display area is limited or at high speeds, etc.).

[0122] In this case, indicator 14 can also be set to point to a section of a target that vehicle 10 is currently following. If the virtual object 12 is a current tracking target, indicator 14 can be set as described in Fig. 9 in a manner that highlights or indicates the rearmost area 12a of the virtual object (e.g. by an animated arrow, a pulsating dot or a directional line with a label, etc.).

[0123] Furthermore, the control device can be 100 in Fig. 9. The sub-areas 11a and 12a of the two objects are displayed differently on the screen to distinguish the positions of the vehicle 11 ahead and the virtual object 12. For example, sub-areas 11a and 12a can be displayed in different colors or with different levels of transparency. Sub-area 11a of the vehicle 11 ahead can be shown with a solid border, and sub-area 12a of the virtual object 12 with a dotted border (e.g., a solid red line for the real vehicle vs. a dashed green line for the virtual object, etc.). Additionally, text information for the current tracking target can be displayed (e.g., "Currently following: Virtual object" or "Following now: Real vehicle").

[0124] Fig. Figure 10 shows an example where indicator 14 has a different form than in Fig. 9 has. As in Fig. As shown in 10, indicator 14 can be displayed in a straight form (e.g. as an arrow) to more easily indicate the distance to a control target (e.g. pointing from the ego vehicle to the rear of the followed object, with variable length indicating the distance in real time, etc.).

[0125] The virtual object can also be updated in real time after its creation and initial display, and the information shown on the display can be dynamically changed depending on the driving conditions of vehicle 10 and any changes in the state of the vehicle ahead. For example, if it is detected that the abnormal behavior of the vehicle ahead has been resolved and the vehicle ahead has returned to a normal driving state, the control device 100 can delete the virtual object from the display and reset the vehicle ahead as the next target (e.g., with a transition back to the real vehicle view with a short fade animation or an update of the status indicator, etc.).

[0126] The control device 100 can control the vehicle 10 so that the vehicle 10 follows the vehicle ahead or the virtual object (S270).

[0127] The control device 100 can dynamically determine the following objective based on the driving state of the vehicle ahead and the creation of the virtual object (e.g. switching from virtual to real when the vehicle ahead stabilizes, or vice versa when it becomes unpredictable again, etc.).

[0128] If the vehicle ahead is driving normally, the control unit 100 can, for example, control vehicle 10 so that it follows the vehicle ahead. The control unit 100 can control vehicle 10 to ensure smooth following by synchronizing its speed and direction while maintaining a safe distance from the vehicle ahead (e.g., using an adaptive cruise control system that adjusts to the real-time traffic flow, etc.). However, if the vehicle ahead exhibits abnormal behavior, the control unit 100 can create the virtual object, set the virtual object as the new tracking target, and control vehicle 10 accordingly (e.g., reducing acceleration aggressiveness or increasing the time advantage when tracking the virtual object, etc.).

[0129] During the following control process, the speed and acceleration of vehicle 10, as well as its lane position, can be adjusted in real time so that vehicle 10 can stably follow the target being tracked at a specific distance (e.g., a 2-3 second lead or 20-30 meters, depending on speed, etc.). For example, if the vehicle ahead or the virtual object decelerates, the control device 100 can reduce the speed of vehicle 10 to maintain a safe distance (e.g., by releasing the throttle, using regenerative braking, or issuing a light braking command, etc.). Conversely, if the following target accelerates, vehicle 10 can accelerate in such a way that it can follow the target without accelerating unnecessarily quickly (e.g., by applying a smooth acceleration profile or maintaining comfort-dependent acceleration thresholds, etc.).

[0130] For example, the control device 100 can assign visual priority to an object (e.g., the virtual object) that is a current tracking target. For instance, the virtual object that is the following target can be displayed with a brighter color, or with higher saturation or brightness than the vehicle ahead (e.g., a bright blue overlay compared to a faint gray silhouette, etc.). The virtual object that is the following target can also be highlighted in a flashing manner (e.g., with a pulsating outline or a fixed-speed flashing animation, etc.).

[0131] The control device 100 can also provide additional information so that the driver can identify a target that the vehicle 10 is currently following on the display. For example, the display can show text such as "Current following target: Virtual object" or "Current following target: Vehicle ahead" or additionally display a symbol on the following target between the two objects (e.g., a checkmark, a radar cone, or a trailing arrow symbol, etc.).

[0132] For example, the control device 100 can provide a selection option via the input / output interface 140 to set whether a virtual object should be followed as needed. For instance, the control device 100 can provide a selectable option such as "Enable tracking of a virtual object" or "Maintain tracking of a vehicle ahead" and control the vehicle 10 so that it follows a destination selected according to the driver's inputs (e.g., via touchscreen buttons, rotary knobs, or voice commands, etc.).

[0133] The Fig. 11 and Fig. Figure 12 shows examples of specific processes related to the creation and control of the virtual object according to the example. Contents from the Fig. 11 and Fig. 12, who dealt with those of Fig. 2. Intersecting steps can be omitted (e.g., the initial detection of driving, sensor activation, or the previously described determination steps, etc.).

[0134] The control device 100 can activate autonomous driving (S1110) and confirm the driving information of the vehicle ahead (S1120). The control device 100 can determine whether the vehicle ahead is exhibiting abnormal behavior (S1130) (e.g., based on thresholds for irregular lane changes, sudden stops, or fluctuating speed patterns, etc.).

[0135] If the vehicle ahead is not an abnormal vehicle (S1130: No), the control device 100 can control vehicle 10 so that vehicle 10 follows the vehicle ahead (S1140).

[0136] However, if the vehicle ahead is exhibiting abnormal behavior (S1130: Yes), the control device 100 can determine whether a destination-based route is set (S1150).

[0137] In a situation where a destination-based route is set, the primary objective of vehicle 10 is to reach a destination along a specific route. Therefore, if the abnormal behavior of the vehicle ahead affects the route, a suitable evasive action may be required (e.g., performing a lane change, moving into a faster lane, or issuing a diversion command, etc.). Thus, when the destination-based route is set (S1150: Yes), the control device 100 can control vehicle 10 to avoid the vehicle ahead (S1160).

[0138] If, however, no destination-based route is set (S1150: No), the control device 100 can create the virtual object and display the created virtual object (S1170). Furthermore, the control device 100 can control the vehicle 10 so that the vehicle 10 follows the virtual object (S1180).

[0139] The control device 100 can increase the safety distance time (S1190).

[0140] The safety distance time can refer to the minimum time period that allows the vehicle (10) to avoid a collision with the vehicle in front (e.g. 2 seconds, 3 seconds or more, depending on traffic speed, etc.).

[0141] Since the virtual object is set to exhibit even less movement compared to the vehicle ahead, the control device 100 can calculate the vehicle's right-of-way based on the safety distance time to the vehicle ahead or to the virtual object and a relative speed. In other words, the safety distance time can be adjusted for a more relaxed or gradual following control compared to the vehicle ahead.

[0142] For example, the control device 100 can reset a criterion for the minimum distance between vehicle 10 and the vehicle ahead in order to increase the safety distance time and thus adjust the control intensity for tracking the virtual object. The control device 100 maintains the safety distance by reducing the speed of vehicle 10 or executing the braking command (e.g., regenerative braking, activation of friction brakes, or reduction of engine torque, etc.). For example, the distance between vehicle 10 and the object ahead is typically set to a safety distance of two seconds, but this can be increased to three or four seconds in a situation where abnormal behavior is detected.

[0143] Referring to Fig. 12. The control device 100 can determine whether the distance between the vehicle ahead and the vehicle 10 is greater than or equal to a preset minimum distance during the following control operation with respect to the virtual object in Fig. 11 (S1210). The object ahead can be any vehicle ahead or the virtual object. That is, the control device 100 can determine whether the vehicle ahead is within the minimum distance based on an actual distance to the vehicle ahead, or whether the vehicle ahead is within the minimum distance based on an arbitrarily set distance to the virtual object (e.g., using map data, a route model, or vehicle-to-vehicle communication, etc.).

[0144] If the distance between the object ahead and vehicle 10 is not greater than the preset minimum distance (S1210: No), the control device 100 can change the control target of vehicle 10 to the vehicle ahead in order to ensure safety (S1220). In doing so, the control device 100 can adjust the display states of the vehicle ahead and the virtual object on the display so that the driver recognizes that the current tracking target has changed (e.g., through display overlays, icon changes, or system messages, etc.).

[0145] For example, if the vehicle ahead and the virtual object are displayed simultaneously, the control unit 100 can increase the transparency of the virtual object or delete it to indicate that it is no longer being followed. Conversely, the vehicle ahead, newly set as the tracking target, can be highlighted (e.g., by a highlighted border or light color, increased opacity, or flashing highlights, etc.) or displayed with low transparency, or the message "Current Tracking Target: Vehicle Ahead" can be displayed so that the driver can clearly see the current situation.

[0146] However, if the distance between the vehicle ahead and vehicle 10 is greater than or equal to the preset minimum distance (S1210: Yes), the control device 100 can maintain control of vehicle 10 so that vehicle 10 follows an existing virtual object (S1230).

[0147] Fig. Figure 13 shows an example of a distance relationship between a vehicle driving ahead and a virtual object.

[0148] In Fig. Figure 13 depicts a case where the vehicle ahead exhibits abnormal behavior, and vehicle 10 is assumed to be following the virtual object. In this case, the longitudinal distance between the vehicle ahead and the virtual object is graphically represented over time (e.g., on a time-distance axis, with different line styles for each object, etc.). This longitudinal distance can provide information about a distance relative to vehicle 10. The longitudinal distance of the vehicle ahead over time can be indicated by a dotted line, and the longitudinal distance of the virtual object over time can be indicated by a solid line (e.g., to visually distinguish between irregular and stabilized motion, etc.).

[0149] At time a, the vehicle ahead is displayed as being farther away from vehicle 10 than the virtual object. Subsequently, at times b and c, it is shown that the vehicle ahead is closer to vehicle 10 than the virtual object due to acceleration and deceleration (e.g., sudden braking, cutting the lane, or rear-ending the vehicle, etc.). Then, if the vehicle ahead is within the minimum distance at time d, the control device 100 can control vehicle 10 so that it stops following the virtual object and begins following the vehicle ahead.

[0150] Fig. Figure 14 shows an example of a display screen that is shown according to an example.

[0151] Fig. Figure 14 shows an example of a different screen than the display screens described above. Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. 10. As described above, in an example of the present disclosure, the vehicle 10, the preceding vehicle 11, and the virtual object 12 can be displayed in different forms, depending on the size, shape, or similar characteristics of the display (e.g., rectangular, circular, widescreen, or curved displays, etc.). For example, the displays in the Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 to Fig. The 10 displayed screens are output in such a way that they match the shape and size in Fig. 14 correspond. In Fig. Figure 14 shows a display screen in which the vehicle 10 follows sub-area 12a of the virtual object. When the vehicle 10 follows the preceding vehicle 11, the control device 100 can display indicator 14 such that the vehicle 10 follows a specific area of ​​the displayed area or sub-area 11a of the preceding vehicle 11, as shown in Figure 14. Fig. 9 described above (e.g. the rearmost bumper area, the center of the lane marking behind the vehicle or a calculated center of gravity, etc.).

[0152] Fig. Figure 15 shows an example of a computer system (e.g., a computer device in a vehicle or other device). One or more control units, processors, etc., described herein, such as one or more components of the vehicle 10 or other components and devices disclosed herein, may be by or in the Fig. The computer system shown in section 15 will be implemented.

[0153] A computer system 1000 can include at least one processor 1100, one memory 1300, one user interface input device 1400, one user interface output device 1500, one main memory 1600 and one network interface 1700, which are interconnected via a bus 1200.

[0154] The processor 1100 can be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or main memory 1600. Both memory 1300 and main memory 1600 can contain various types of volatile or non-volatile storage media. For example, memory 1300 can contain read-only memory (ROM) and random access memory (RAM).

[0155] Communication interface(s) (also referred to as communication device(s), communicator(s), communication module(s), communication unit(s), etc.), such as the Network Interface 1700, can enable the transmission of software and / or data between a device and one or more external devices and / or between one or more components of a device. The communication interface(s) may include a receiver, a transmitter, a transceiver, a modem, a network interface and / or a network adapter (e.g., an Ethernet adapter), a radio transmitter / receiver, an antenna, a communication port, a PCMCIA slot and a PCMCIA (Personal Computer Memory Card International Association) card, or similar components.Software and data transmitted via the communication interface(s) can be in the form of signals, which may be electronic, electromagnetic, optical, infrared, or other signals that can be received by the communication interface(s). These signals can be fed to the communication interface(s) via a communication path of a device, which may be implemented, for example, using wires or cables, fiber optics, a cellular connection, a radio frequency (RF) link, and / or other communication channels. The communication interface(s) can communicate using one or more communication protocols, such as...Ethernet, Wi-Fi, Near Field Communication (NFC), Infrared Data Association (IrDA), Bluetooth, Bluetooth Low Energy (BLE), Zigbee, Long-Term Evolution (LTE), 5G New Radio (NR), Vehicle-to-Everything (V2X), a Controller Area Network (CAN) or a Local Interconnect Network (LIN), etc.

[0156] Accordingly, the operations of the method or algorithm described in connection with the examples disclosed in the specification can be implemented directly with a hardware module, a software module, or a combination of both, executed by the 1100 processor. The software module can reside on a storage medium (e.g., the 1300 memory and / or the 1600 memory) such as RAM, flash memory, ROM, erasable and programmable ROM (EPROM), electrical EPROM (EEPROM), a register, a hard disk drive, a removable disk, or a compact disc ROM (CD-ROM).

[0157] The storage medium can be connected to the Processor 1100. The Processor 1100 can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium can be integrated into the Processor 1100. The processor and the storage medium can be implemented using an application-specific integrated circuit (ASIC). The ASIC can be housed in a user terminal. Alternatively, the processor and the storage medium can be implemented with separate components in the user terminal.

[0158] According to an example of the present disclosure, a control device is provided comprising a memory and a processor electrically or adaptively connected to the memory, wherein the processor is configured to acknowledge a preceding vehicle, wherein the preceding vehicle is a target of the following control of a vehicle during the driving control in an autonomous driving system of the vehicle, to generate a virtual object that is assigned to the preceding vehicle based on driving information of the acknowledged preceding vehicle, and to display the preceding vehicle and the generated virtual object via a display of the vehicle.

[0159] In the control device, according to some examples, the processor can be configured to create the virtual object when abnormal behavior of the vehicle ahead is detected.

[0160] In the control device, according to some examples, the processor can be configured to create the virtual object when abnormal behavior of the vehicle ahead is detected for a predetermined time or longer.

[0161] In the control device according to some examples, the processor can be configured to control the vehicle so that the vehicle follows the vehicle ahead or the virtual object, and to control the display so that the followed object is clearly shown on the display.

[0162] In the control device according to some examples, the processor can be configured to control the vehicle so that the vehicle follows the virtual object when the vehicle ahead is within a predetermined distance of the vehicle.

[0163] In the control device according to some examples, the processor can be configured to control the vehicle so that the vehicle follows the vehicle in front when the vehicle in front is within a predetermined distance of the vehicle.

[0164] In the control device according to some examples, the processor may be configured to delete the virtual object from the display when the vehicle ahead is within a predetermined distance of the vehicle.

[0165] In the control device according to some examples, the processor may be configured to confirm at least one change in speed, one change in acceleration, or one change in distance of the vehicle ahead, or to detect abnormal behavior of the vehicle ahead, if a confirmation result exceeds a preset value.

[0166] In the control device, according to some examples, the processor may be configured to issue a warning via an input / output interface of the vehicle when abnormal behavior of the vehicle ahead is detected.

[0167] In the control device, according to some examples, the processor may be configured to highlight the vehicle ahead via the display when abnormal behavior of the vehicle ahead is detected.

[0168] In the control device, according to some examples, the processor can be configured to display the vehicle ahead and the virtual object simultaneously on the display.

[0169] In the control device, according to some examples, the processor can be configured to display the vehicle ahead and the virtual object in various forms on the display.

[0170] In the control device according to some examples, the virtual object can be set up to exhibit less movement compared to the longitudinal or lateral movement of the vehicle ahead.

[0171] In the control device according to some examples, the virtual object can be set up so that it shows less movement in a deceleration direction than in an acceleration direction.

[0172] According to an example in the present disclosure, a method for controlling a vehicle with a display is provided, the method comprising: acknowledging a preceding vehicle, wherein the preceding vehicle is a target of the following control of a vehicle during the driving control in an autonomous driving system of the vehicle, generating a virtual object associated with the preceding vehicle based on driving information of the acknowledged preceding vehicle, and displaying the preceding vehicle and the generated virtual object via the vehicle's display.

[0173] In the procedure, according to some examples, the creation of the virtual object can include the creation of the virtual object when abnormal behavior of the vehicle ahead is detected.

[0174] In the procedure, according to some examples, the creation of the virtual object may involve creating the virtual object when abnormal behavior of the preceding vehicle is detected for a predetermined time or longer.

[0175] The procedure according to some examples may further include controlling the vehicle so that the vehicle follows the vehicle ahead or the virtual object, and controlling the display so that the followed object is clearly shown on the display.

[0176] The procedure, according to some examples, may also include issuing a warning via an input / output interface of the vehicle when abnormal behavior of the vehicle ahead is detected.

[0177] In the procedure according to some examples, the display of the preceding vehicle and the generated virtual object by the vehicle's display can include the display of the preceding vehicle and the virtual object in various forms on the display.

[0178] In the examples of the drawings described above, the driving state of the vehicle ahead can be analyzed in real time, and if abnormal behavior is detected, the virtual object that is to replace the vehicle ahead can be created so that the subsequent control of the vehicle can be carried out stably.

[0179] According to an example in the present disclosure, it is possible to improve the driving stability of the autonomously driving vehicle by detecting the abnormal behavior of the vehicle ahead in real time and creating the virtual object that replaces the vehicle ahead in order to stably perform the subsequent control of the vehicle.

[0180] The effects of this disclosure are not limited to the effects mentioned above, and other, unmentioned effects can be clearly understood by those skilled in the art from the description below.

[0181] Although the present disclosure has been described above with reference to preferred examples of the present disclosure, the person skilled in the art understands that various modifications and changes can be made to the present disclosure without departing from the spirit and scope of the present disclosure, as set out in the following claims.

Claims

[1] Device of a vehicle, comprising: a processor; and a memory which stores at least one instruction which, when executed by the processor communicating with the memory, is designed to cause the device to: Identifying a vehicle ahead via a sensor on the vehicle, where the vehicle ahead corresponds to a target object that the vehicle is to follow during autonomous driving. to create a virtual object based on driving information from the identified vehicle ahead, which is assigned to the vehicle ahead, Outputting a signal indicating the vehicle ahead and the generated virtual object, and Control, based on the signal, the autonomous driving of the vehicle. [2] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to generate the virtual object based on the determination that the vehicle ahead is behaving abnormally. [3] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to generate the virtual object based on the determination that the vehicle ahead is behaving abnormally for a predetermined time or longer. [4] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to: to control the vehicle in such a way that the vehicle either follows the vehicle in front or the virtual object, and to control a vehicle display in such a way that either the vehicle ahead or the virtual object that the vehicle is following, and an indicator that shows that the vehicle ahead or the virtual object is a current target of the vehicle, are displayed on the screen. [5] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device, based on the fact that the preceding vehicle is at a predetermined distance from the vehicle, to steer the vehicle in such a way that the vehicle follows the virtual object. [6] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to steer the vehicle in such a way that the vehicle follows the vehicle ahead, based on the fact that the vehicle ahead is within a predetermined distance from the vehicle. [7] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to delete the virtual object based on the fact that the preceding vehicle is within a predetermined distance from the vehicle. [8] Device according to claim 7, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to: to identify at least one of the following: a change in the speed of the vehicle in front, a change in the acceleration of the vehicle in front or a change in the distance between the vehicle and the vehicle in front, and to determine that the vehicle ahead is behaving abnormally based on at least one of the detected changes exceeding a preset value. [9] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to issue a warning via a user interface of the vehicle based on the fact that the vehicle is exhibiting abnormal behavior. [10] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device, based on the determination that the vehicle is behaving abnormally, to highlight the vehicle ahead on a display of the vehicle. [11] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to simultaneously display the vehicle ahead and the virtual object on a display of the vehicle. [12] Device according to claim 1, wherein the at least one instruction, when executed by the processor communicating with the memory, is configured to cause the device to display the vehicle ahead and the virtual object in different forms on a display of the vehicle. [13] Device according to claim 1, wherein the virtual object is configured to represent a reduced movement of the preceding vehicle with respect to at least one of the longitudinal movements or the lateral movements of the preceding vehicle. [14] Device according to claim 13, wherein the virtual object is configured to show less movement in a braking direction of the vehicle ahead than in an acceleration direction of the vehicle ahead. [15] Method carried out by a device of a vehicle, the method comprising: Identifying a vehicle ahead via a sensor on the vehicle, where the vehicle ahead corresponds to a target object that the vehicle is to follow during autonomous driving. to create a virtual object based on driving information from the identified vehicle ahead, which is assigned to the vehicle ahead; Outputting a signal indicating the vehicle ahead and the generated virtual object, and Control, based on the signal, the autonomous driving of the vehicle. [16] Method according to claim 15, wherein generating the virtual object based on the abnormal behavior of the vehicle ahead comprises generating the virtual object. [17] Method according to claim 15, wherein generating the virtual object, based on determining that the vehicle ahead behaves abnormally for a predetermined time or longer, comprises generating the virtual object. [18] The method of claim 15 further comprising: control the vehicle in such a way that the vehicle either follows the vehicle in front or the virtual object; and to control a vehicle display in such a way that either the vehicle ahead or the virtual object that the vehicle is following, and an indicator that shows that the vehicle ahead or the virtual object is a current target of the vehicle, are displayed on the screen. [19] Vehicle comprising the device: a sensor designed to detect at least one of the external vehicles; a processor; and a memory which stores at least one instruction which, when executed by the processor communicating with the memory, is designed to cause the vehicle to: Identifying, via the sensor, a preceding vehicle which the vehicle autonomously follows, Determine, based on the driving information of the vehicle ahead, whether the vehicle ahead exhibits driving behavior that meets a condition, based on the driving behavior that fulfills the condition to output a signal indicating a virtual vehicle object assigned to the vehicle ahead, and Switching the control of the autonomous driving of the vehicle from following the vehicle in front to following the virtual vehicle object based on the signal. [20] Vehicle according to claim 19, wherein the virtual vehicle object is configured to have reduced movement compared to at least either a longitudinal movement or a lateral movement of the vehicle ahead, so that the control of the autonomous driving of the vehicle to follow the virtual vehicle object results in reduced acceleration or deceleration of the vehicle.

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