Apparatus and method for providing vehicle safety strategy

Abstract

The present invention relates to an apparatus and method for providing a vehicle safety strategy, the apparatus may include: a sensor configured to sense information about the outside of a vehicle; a memory storing road information; and a control circuit configured to be electrically connected to the sensor and the memory. The control circuit is configured to: generate a route toward a shoulder included in a road on which the vehicle is traveling when a request for transfer of control of the vehicle is ignored; adjust an operation condition of automatic lane change according to at least a portion of the vehicle speed, the speed of a rear vehicle on a target lane of the route, or the distance between the vehicle and the rear vehicle; and perform automatic lane change along the route toward the shoulder when the adjusted operation condition is satisfied.

Description

[0001] CROSS REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2018-0143881, filed on November 20, 2018, and this application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 655,831, filed on April 11, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an apparatus and method for providing a strategy for maintaining safety according to the state of a vehicle driver. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] With the development of the automobile industry, autonomous driving systems and driving assistance systems that facilitate partial autonomous driving (for ease of description, autonomous driving and driving assistance hereinafter refer to "autonomous driving") have been developed. The autonomous driving system can provide a variety of functions, such as setting speed maintenance, vehicle-to-vehicle distance maintenance, lane keeping, and lane changing. The autonomous driving system can perform autonomous driving using a variety of devices, such as sensors for sensing the external environment of the vehicle, sensors for sensing information about the vehicle, a global positioning system (GPS), detailed maps, a driver state monitoring system, a steering actuator, an acceleration / deceleration actuator, a communication circuit, and a control circuit (e.g., an electronic control unit (ECU)). The autonomous driving system can monitor the driver's state and can provide an appropriate minimum risk strategy (Minimum Risk Maneuver, MRM) based on the driver's state.

[0006] In the case where MRM is provided, it is difficult to provide safety for the driver when speed and lane keeping control is performed in the lane in which the vehicle is traveling or when deceleration or parking is controlled. Therefore, a system capable of providing automatic lane change function can provide a strategy to improve the driver's safety through lane change. In order to perform automatic lane change, specific operating conditions should be met (for example, the speed of the vehicle and the distance between the vehicle and the vehicle behind). However, in an emergency situation, it is difficult to meet the specific operating conditions. Summary of the invention

[0007] One aspect of the present invention is directed to providing an apparatus and method for providing a safety strategy, thereby providing safety for a driver by appropriately adjusting an operating condition of automatic lane change.

[0008] According to one aspect of the present invention, an apparatus for providing a vehicle safety strategy may include: a sensor configured to sense information about an exterior of a vehicle; a memory storing road information; and a control circuit configured to be electrically connected to the sensor and the memory. The control circuit may be configured to: generate a route toward a shoulder included in a road on which the vehicle is traveling when a request for transfer of control of the vehicle is ignored; adjust an operating condition of an automatic lane change according to at least a portion of a speed of the vehicle, a speed of a rear vehicle in a target lane of the route, or a distance between the vehicle and the rear vehicle; and perform an automatic lane change along the route toward the shoulder when the adjusted operating condition is satisfied.

[0009] According to one aspect of the present invention, the control circuit may be configured to generate the route when the driver of the vehicle does not respond to the control right transfer request within a specified time interval after the control right transfer request is generated.

[0010] According to one aspect of the present invention, the control circuit may be configured to: determine whether the road on which the vehicle is traveling includes a shoulder based on road information; and generate the route when the road on which the vehicle is traveling includes a shoulder.

[0011] According to one aspect of the present invention, the control circuit may be configured to control the vehicle to stop in a lane where the vehicle is traveling when the road where the vehicle is traveling does not include a shoulder.

[0012] According to one aspect of the present invention, the control circuit may be configured to control the vehicle to stop at the road shoulder when the vehicle enters the road shoulder.

[0013] According to one aspect of the present invention, the operating conditions may include a sensor sensing distance condition, an operating distance condition, and an operating speed condition.

[0014] According to one aspect of the present invention, the control circuit may be configured to adjust the operating condition so that when the sensor senses the rear vehicle, it is determined that the sensor sensing distance condition is satisfied.

[0015] According to one aspect of the present invention, the operating distance condition may be adjusted according to the speed of the vehicle and the relative speed between the vehicle and the rear vehicle.

[0016] According to an aspect of the present invention, the operating speed condition may be adjusted according to the speed of the rear vehicle and the distance between the vehicle and the rear vehicle.

[0017] According to one aspect of the present invention, the control circuit may be configured to adjust the operating condition when a predetermined operating condition is not met.

[0018] According to one aspect of the present invention, the control circuit may be configured to: calculate an expected time required to enter the road shoulder; and adjust the operating condition when the expected time is longer than a specified time.

[0019] According to another aspect of the present invention, a method for providing a vehicle safety strategy may include: generating a route toward a shoulder included in a road on which the vehicle is traveling when a request for transfer of control of the vehicle is ignored; adjusting operating conditions for automatic lane change based on at least a portion of the speed of the vehicle, the speed of a rear vehicle traveling in a target lane of the route, or a distance between the vehicle and the rear vehicle; and performing automatic lane change along the route toward the shoulder when the adjusted operating conditions are met.

[0020] According to one aspect of the present invention, generating the route may include generating the route when a driver of the vehicle does not respond to the control right transfer request within a specified time interval after the control right transfer request is generated.

[0021] According to one aspect of the present invention, generating a route may include: determining whether a road on which the vehicle is traveling includes a shoulder based on road information; and generating the route when the road on which the vehicle is traveling includes a shoulder.

[0022] According to one aspect of the present invention, the method may further include: when the road on which the vehicle is traveling does not include a shoulder, controlling the vehicle to stop in a lane on which the vehicle is traveling.

[0023] According to one aspect of the present invention, the method may further include: when the vehicle enters the road shoulder, controlling the vehicle to stop at the road shoulder.

[0024] According to one aspect of the present invention, the operating conditions may include a sensor sensing distance condition, an operating distance condition, and an operating speed condition.

[0025] According to an aspect of the present invention, adjusting the operating condition may include: adjusting the operating condition so that when a sensor of a vehicle senses the rear vehicle, it is determined that the sensor sensing distance condition is satisfied.

[0026] According to one aspect of the present invention, the operating distance condition may be adjusted according to the speed of the vehicle and the relative speed between the vehicle and the rear vehicle.

[0027] According to an aspect of the present invention, the operating speed condition may be adjusted according to the speed of the rear vehicle and the distance between the vehicle and the rear vehicle.

[0028] According to one aspect of the present invention, adjusting the operating condition may include: adjusting the operating condition when a predetermined operating condition is not satisfied.

[0029] According to one aspect of the present invention, adjusting the operating condition may include: calculating an expected time required to enter the road shoulder; and adjusting the operating condition when the expected time is longer than a specified time.

[0030] Through the description provided herein, more applicability will become apparent.It should be understood that these descriptions and specific examples are for illustrative purposes only and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to better understand the present invention, various embodiments of the present invention given in the form of examples will now be described with reference to the accompanying drawings, in which:

[0032] Figure 1 is a block diagram illustrating a configuration of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention;

[0033] Figure 2 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to one aspect of the present invention;

[0034] Figure 3 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to one aspect of the present invention;

[0035] Figure 4 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to one aspect of the present invention;

[0036] Figure 5 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to one aspect of the present invention;

[0037] Figure 6 is a flow chart illustrating a method for providing a vehicle safety strategy according to one aspect of the present invention;

[0038] Figure 7 is a flow chart illustrating a method for providing a vehicle safety strategy according to one aspect of the present invention;

[0039] Figure 8 is a flow chart illustrating a method for providing a vehicle safety strategy according to one aspect of the present invention; and

[0040] Fig. 9 is a block diagram illustrating the configuration of a computing system according to one aspect of the present invention.

[0041] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0042] The following description is merely exemplary in nature and is not intended to limit the invention, its application, or uses.It should be understood that corresponding reference numerals throughout the drawings indicate like or corresponding parts and features.

[0043] The present invention will be described in detail below with reference to the attached drawings. When adding reference numerals to the elements of each drawing, it should be noted that the same elements have the same reference numerals even though the same elements are shown in different drawings. In addition, when describing one aspect of the present invention, if it is determined that a detailed description of the related known configuration or function will obscure the main points of one aspect of the present invention, such description will be omitted.

[0044] When describing the elements of the present invention, the terms first, second, first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one element from another element, and regardless of the nature, order or sequence of the corresponding elements, these terms do not limit the corresponding elements. Unless otherwise defined, the meanings of all terms (including technical terms or scientific terms) used herein are the same as those commonly understood by those of ordinary skill in the art to which the present invention belongs. Terms defined in commonly used dictionaries should be interpreted as having the same meanings as in the context of the relevant field, and should not be interpreted as having idealized or overly formal meanings unless clearly defined as having such meanings in this application.

[0045] Figure 1 is a block diagram illustrating a configuration of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention.

[0046] Reference Figure 1 , an apparatus 100 for providing a security policy according to one aspect of the present invention may include a sensor 110 , a memory 120 , and a control circuit 130 . Figure 1 The device 100 for providing a safety strategy may be a part of an autonomous driving system and may be loaded into a vehicle.

[0047] The sensor 110 may sense information about the exterior of the vehicle. For example, the sensor 110 may sense information (e.g., position, speed, acceleration, etc.) related to a rear vehicle traveling in a lane adjacent to the lane in which the vehicle is traveling. The sensor 110 may sense the speed of the vehicle.

[0048] The memory 120 may store road information. The road information may include, for example, a map, etc. The road information may include information on whether a road on which the vehicle is traveling includes a shoulder.

[0049] The control circuit 140 may be electrically connected to the sensor 110 and the memory 120. The control circuit 140 may control the sensor 110 and the memory 120, and may perform various data processing and various arithmetic operations. The control circuit 140 may be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or a sub-controller loaded into the vehicle.

[0050] According to one aspect of the present invention, the control circuit 140 may provide a control right transfer request to the driver of the vehicle. For example, the control circuit 140 may output the control right transfer request using an output device (not shown).

[0051] The control transfer request may be ignored by the driver. For example, when the driver of the vehicle does not respond to the control transfer request within a specified time interval after the control transfer request is generated, the control circuit 130 may determine that the control transfer request is ignored.

[0052] According to one aspect of the present invention, when the control transfer request is ignored, the control circuit 130 may generate a route toward a shoulder of the road included in the vehicle. When the control transfer request is ignored, for the safety of the driver, the control circuit 130 may execute a minimum risk strategy (MRM). As one of the MRMs, the control circuit 130 may execute a strategy to stop the vehicle or a strategy to move the vehicle to the shoulder of the road. When executing the strategy to move the vehicle to the shoulder of the road, the control circuit 130 may generate a route toward the shoulder of the road.

[0053] According to one aspect of the present invention, the control circuit 130 can determine whether the road on which the vehicle is traveling includes a shoulder based on the road information. When the road on which the vehicle is traveling includes a shoulder, the control circuit 130 can generate a route toward the shoulder. The control circuit 130 can use the road information stored in the memory 120 to determine whether there is a shoulder and can execute a strategy to move the vehicle to the shoulder. According to one aspect of the present invention, when the road on which the vehicle is traveling does not include a shoulder, the control circuit 130 can control the vehicle to stop on the road on which the vehicle is traveling.

[0054] According to one aspect of the present invention, the control circuit 130 can adjust the operating conditions of the automatic lane change according to at least a portion of the speed of the vehicle, the speed of the rear vehicle traveling on the target lane of the route, or the distance between the vehicle and the rear vehicle. The operating conditions may, for example, include sensor sensing distance conditions, operating distance conditions, and operating speed conditions. The operating conditions may be set in advance. In the case of MRM, the predetermined operating conditions may be difficult to meet. Therefore, the control circuit 130 may move the vehicle to the shoulder of the road using automatic lane change in the MRM case by adjusting the operating conditions. For example, when the distance that the sensor 110 can sense is greater than or equal to 55m, the predetermined sensor sensing distance condition may be met. For example, when the sensor 110 senses the rear vehicle by adjusting the predetermined sensor sensing distance condition, the control circuit 130 may determine that the sensor sensing distance condition is met. The operating distance condition may, for example, be adjusted according to the speed of the vehicle and the relative speed between the vehicle and the rear vehicle. The operating speed condition may, for example, be adjusted according to the speed of the rear vehicle and the distance between the vehicle and the rear vehicle. Reference will be made to Figure 4 and Figure 5 The control circuit 130 can adjust the operating conditions according to the information collected by the sensor 110.

[0055] According to one aspect of the present invention, when the predetermined operating condition is not satisfied, the control circuit 130 can adjust the operating condition. When the strategy of moving the vehicle to the shoulder is selected but the predetermined operating condition is not satisfied, the control circuit 130 can relax the operating condition for executing the strategy.

[0056] According to one aspect of the present invention, the control circuit 130 can calculate the expected time required to enter the shoulder of the road and can adjust the operating conditions when the expected time is longer than a specified time. The control circuit 130 can calculate the expected time required to enter the shoulder of the road based on the generated route and the information collected by the sensor 110. When the expected time is longer than the specified time due to the speed of the vehicle, the speed of the rear vehicle and / or the speed of the approaching rear vehicle, the control circuit 130 can shorten the time required to enter the shoulder of the road by relaxing the operating conditions.

[0057] According to one aspect of the present invention, when the adjusted operating conditions are met, the control circuit 130 may perform an automatic lane change along the route toward the shoulder. When the vehicle enters the shoulder, the control circuit 130 may control the vehicle to stop at the shoulder.

[0058] As described above, the apparatus for providing a vehicle safety strategy may effectively perform MRM by relaxing the operating conditions of automatic lane changing when performing MRM.

[0059] Figure 2FIG. 1 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention.

[0060] Reference Figure 2 , in the case where the autonomous driving system is operating, when it is difficult to operate the autonomous driving system normally due to a malfunction of the autonomous driving system, the vehicle may generate a control transfer request to enable the driver of the vehicle to control the vehicle. When the driver does not respond to the control transfer request within a specified time interval, the vehicle may initiate the MRM. The vehicle may search for a shoulder on the road on which it is traveling.

[0061] The vehicle may first initiate normal MRM. When no shoulder is found on the road on which the vehicle is traveling, the vehicle may control its parking. For example, the vehicle may calculate the distance required before parking and may calculate the deceleration, thereby controlling its parking according to the calculated result.

[0062] When a shoulder is found on the road on which the vehicle is traveling, the vehicle can control itself to stop at the shoulder. For example, the vehicle can calculate the expected time T required LC For example, the expected time T required can be calculated by multiplying the number of lanes from the lane where the vehicle is currently traveling to the shoulder by 6 seconds and adding a time margin of 3 seconds to the multiplied value. LC When the expected time required is T LC Shorter than the specified time T NormalMRM The vehicle can initiate lane change control when

[0063] When the expected time required is T LC Longer than or equal to the specified time T NormalMRM The vehicle can initiate emergency MRM when the vehicle changes lanes. The vehicle can change the operating conditions for lane change. The vehicle can recalculate the expected time T required based on the changed operating conditions. LC When the expected time required is T LC Shorter than the specified time T EmergencyMRM When the expected time T LC Longer than or equal to the specified time T EmergencyMRM The vehicle can be controlled to stop.

[0064] Figure 3 FIG. 1 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention.

[0065] Reference Figure 3 , when MRM is activated, the vehicle 310 can generate a route 330 toward the shoulder of the road. The vehicle 310 can generate a driver warning and can turn on / off the malfunction signal light. In the case of MRM, the vehicle 310 can adjust the operating conditions of the automatic lane change.

[0066] For example, when the sensor of the vehicle 310 senses the rear vehicle 320, the vehicle 310 may determine that the sensor sensing distance condition is satisfied. When the critical distance calculated based on the speed of the vehicle 310 and the relative speed between the vehicle 310 and the rear vehicle 320 is less than the distance between the vehicle 310 and the rear vehicle 320, the vehicle 310 may determine that the operating distance condition is satisfied. When the operating speed calculated based on the speed of the rear vehicle 320 and the distance between the vehicle 310 and the rear vehicle 320 is lower than the speed of the vehicle 310, the vehicle 310 may determine that the operating speed condition is satisfied.

[0067] When the above conditions are met and the expected time required is shorter than the specified time, the vehicle 310 may perform lane change control toward the road shoulder. When the vehicle 310 moves to the road shoulder, the vehicle 310 may control its parking.

[0068] Figure 4 FIG. 1 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention.

[0069] Reference Figure 4 , the critical distance (operating distance condition) can be adjusted according to the speed of the vehicle and the relative speed between the vehicle and the vehicle behind. Figure 4 As shown in , the critical distance can be adjusted to increase with the increase of vehicle speed and with the increase of the relative speed between the vehicle and the rear vehicle. For example, when the speed of the vehicle is less than or equal to 60 kph, when the relative speed is less than or equal to 30 kph, and when the distance between the vehicle and the rear vehicle is greater than or equal to 40 m, the operating distance condition can be met.

[0070] Figure 5 FIG. 1 is a schematic diagram illustrating an exemplary operation of an apparatus for providing a vehicle safety strategy according to an aspect of the present invention.

[0071] Reference Figure 5 The reduced or minimum speed (operating speed condition) can be adjusted according to the speed of the vehicle behind and the distance between the vehicle and the vehicle behind. Figure 5 As shown in , the reduced or minimum speed can be adjusted to increase with increasing speed of the rear vehicle and decrease with increasing distance between the vehicle and the rear vehicle. For example, the operating speed condition can be met when the speed of the rear vehicle is less than or equal to 40 kph, when the distance between the vehicle and the rear vehicle is greater than or equal to 20 m, and when the speed of the vehicle is greater than or equal to 10 kph.

[0072] Figure 6 is a flow chart illustrating a method for providing a vehicle security strategy according to one aspect of the present invention.

[0073] In the following, it is assumed that Figure 1 The vehicle execution of the device 100 for providing a safety strategy Figure 6 In addition, Figure 6 In the description, the operations described as being performed by the vehicle may be understood to be controlled by the control circuit 130 of the apparatus 100 for providing a safety strategy.

[0074] Reference Figure 6 In step 610, the vehicle may provide the driver with a request to transfer control of the vehicle. For example, the vehicle may output a request to transfer control to the driver.

[0075] At step 620, the vehicle may determine whether the control transfer request is ignored. For example, when the driver does not accept the control transfer request within a specified time, the vehicle may determine that the control transfer request is ignored.

[0076] When the control transfer request is accepted, the vehicle may hand over control to the driver at step 630. For example, the vehicle may release control via the autonomous driving system.

[0077] When the control transfer request is ignored, the vehicle may generate a route toward a shoulder included in the road on which the vehicle is traveling in step 640. For example, the vehicle may execute a strategy as one of the MRMs to move the vehicle to the shoulder.

[0078] At step 650, the vehicle may adjust the operating condition of the automatic lane change based on at least a portion of the speed of the vehicle, the speed of the rear vehicle, or the distance between the vehicle and the rear vehicle. For example, a predetermined sensor sensing distance condition may be satisfied when the distance that the sensor of the vehicle can sense is greater than a specified distance. After the vehicle changes the predetermined sensor sensing distance condition, when the sensor senses the rear vehicle, the vehicle may determine that the sensor sensing distance condition is satisfied. The operating distance condition may be calculated based on the speed of the vehicle and the relative speed between the vehicle and the rear vehicle. The operating speed condition may be calculated based on the speed of the rear vehicle and the distance between the vehicle and the rear vehicle.

[0079] At step 660, the vehicle may determine whether the adjusted operating condition is satisfied. When the adjusted operating condition is satisfied, the vehicle may perform an automatic lane change along the generated route toward the shoulder of the road at step 670. When the adjusted operating condition is not satisfied, the vehicle may be controlled to stop in the lane in which the vehicle is traveling at step 680.

[0080] Figure 7 is a flow chart illustrating a method for providing a vehicle security strategy according to one aspect of the present invention.

[0081] In the following, it is assumed that Figure 1The vehicle execution of the device 100 for providing a safety strategy Figure 7 In addition, Figure 7 In the description, the operations described as being performed by the vehicle may be understood to be controlled by the control circuit 130 of the apparatus 100 for providing a safety strategy.

[0082] Reference Figure 7 , at step 705, the vehicle may perform autonomous driving. At step 710, the vehicle may determine whether its driver is looking in front of the vehicle. When the driver is not looking in front of the vehicle, at step 715, the vehicle may generate a warning. At step 720, the vehicle may determine whether the driver is engaged. When control is handed over to the driver after the driver is engaged, at step 725, the vehicle may release autonomous driving control.

[0083] When control is not transferred to the driver due to the driver's non-intervention, the vehicle may initiate MRM at step 730. At step 735, the vehicle may determine whether the operating conditions for lane change are met. When the conditions are not met, the vehicle may control its parking at step 740. When the conditions are met, the vehicle may determine whether normal MRM can be performed at step 745. When normal MRM can be performed, the vehicle may perform lane change under prescribed conditions at step 750.

[0084] When normal MRM cannot be performed, the vehicle may change the operating conditions of the lane change and may perform the lane change under the changed operating conditions in step 755. In step 760, the vehicle may control itself to stop at the shoulder of the road.

[0085] Figure 8 is a flow chart illustrating a method for providing a vehicle security strategy according to one aspect of the present invention.

[0086] In the following, it is assumed that Figure 1 The vehicle execution of the device 100 for providing a safety strategy Figure 8 In addition, Figure 8 In the description, the operations described as being performed by the vehicle may be understood to be controlled by the control circuit 130 of the apparatus 100 for providing a safety strategy.

[0087] Reference Figure 8 At step 810, the vehicle may provide a control transfer request to the driver. When the driver does not respond to the control transfer request within a specified time interval, the vehicle may initiate the MRM at step 820. At step 830, the vehicle may determine whether there is a shoulder based on map information. When there is a shoulder, at step 840, the vehicle may determine the expected time T required to move to the shoulder. LC Is it shorter than the specified time T? MRMWhen the expected time T LC Shorter than the specified time T MRM When the lane change condition is met, the vehicle may determine whether the lane change condition is met at step 850. When the lane change condition is met, the vehicle may perform lane change control at step 860. The vehicle may control itself to stop at the shoulder of the road at step 870. When there is no shoulder of the road, when the expected time T LC Longer than or equal to the specified time T MRM Alternatively, when the lane change condition is not met, in step 880, the vehicle may be controlled to stop without changing lanes.

[0088] Fig. 9 is a block diagram illustrating the configuration of a computing system according to one aspect of the present invention.

[0089] Reference Fig. 9 , the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0090] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for executing processing on instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0091] Therefore, the steps of the method or algorithm described in the specification can be directly implemented by a hardware module, a software module or a combination thereof executed by the processor 1100. The software module can be arranged on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electric EPROM (EEPROM), a register, a hard disk, a removable disk or a compact disk ROM (CD-ROM). An exemplary storage medium can be connected to the processor 1100. The processor 1100 can read information from the storage medium and can write information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor and the storage medium can be arranged in an application specific integrated circuit (ASIC). The ASIC can be arranged in a user terminal. Alternatively, the processor and the storage medium can be used as separate components of the user terminal.

[0092] According to one aspect of the present invention, an apparatus for providing a vehicle safety strategy can provide a safety strategy that can provide safety for the driver by adjusting the operating conditions of automatic lane change when predetermined operating conditions are not met in an emergency situation.

[0093] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0094] Although the present invention has been described above with reference to the examples and the accompanying drawings, the present invention is not limited thereto but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present invention.

Claims

1. A device for providing a vehicle safety strategy, the device comprising: a sensor configured to sense information about an exterior of the vehicle; a memory storing road information; as well as a control circuit configured to be electrically connected to the sensor and the memory, Wherein, the control circuit is configured as follows: generating a route toward a road shoulder included in a road on which the vehicle is traveling, when a control transfer request of the vehicle is ignored, wherein a transfer request is output to transfer control to a driver of the vehicle; Calculate the expected time required to enter the shoulder; When the expected time is longer than a specified time, adjusting an operation condition of the automatic lane change according to at least a portion of a speed of the vehicle, a speed of a rear vehicle on a target lane of the route, or a distance between the vehicle and the rear vehicle, the operation condition comprising a sensor sensing distance condition, an operation distance condition, and an operation speed condition; performing an automatic lane change along the route toward a shoulder when the adjusted operating conditions are met; Wherein, the control circuit is configured as follows: When the sensor senses a rear vehicle, determining that a sensor sensing distance condition is met; determining a critical distance based on the vehicle speed and the relative speed between the vehicle and the rear vehicle, and determining that the operating distance condition is satisfied when the distance between the vehicle and the rear vehicle is greater than the critical distance; determining an operating speed based on a rear vehicle speed and a distance between the vehicle and the rear vehicle, and determining that the operating speed condition is satisfied when the vehicle speed is higher than the operating speed; When the sensor sensing distance condition, the operation distance condition, and the operation speed condition are satisfied and the required expected time is shorter than a specified time, it is determined that the adjusted operation condition is satisfied.

2. The device for providing a vehicle safety strategy according to claim 1, wherein: The control circuit is configured as follows: The route is generated when the driver of the vehicle does not respond to the control transfer request within a specified time interval after the control transfer request is generated.

3. The device for providing a vehicle safety strategy according to claim 1, wherein: The control circuit is configured as follows: determining whether the road includes a shoulder according to the road information; The route is generated when a shoulder is included in the road.

4. The device for providing a vehicle safety strategy according to claim 1, wherein: The control circuit is configured as follows: When the vehicle enters the shoulder of the road, control the vehicle to stop on the shoulder.

5. The device for providing a vehicle safety strategy according to claim 1, wherein: The control circuit is configured as follows: When the predetermined operating condition is not met, the operating condition is adjusted.

6. A method for providing a vehicle safety strategy, the method comprising: generating, by a control circuit, a route toward a shoulder of a road included in a road on which the vehicle is traveling when a request for transfer of control of the vehicle is ignored, wherein a transfer request is output to transfer control to a driver of the vehicle; The expected time required to enter the shoulder is calculated by the control circuit; When the expected time is longer than the specified time, adjusting the operation condition of the automatic lane change by the control circuit according to information sensed by a sensor electrically connected to the control circuit, the information including the speed of the vehicle, the speed of a rear vehicle on the target lane of the route, or at least a part of the distance between the vehicle and the rear vehicle, the operation condition including a sensor sensing distance condition, an operation distance condition, and an operation speed condition; performing, by the control circuit, an automatic lane change along the route toward a shoulder of the road when the adjusted operating conditions are satisfied; Wherein, when the sensor senses the rear vehicle, the control circuit determines that the sensor sensing distance condition is met; determining, by a control circuit, a critical distance based on a vehicle speed and a relative speed between the vehicle and a rear vehicle; When the distance between the vehicle and the rear vehicle is greater than the critical distance, determining through the control circuit that the operating distance condition is satisfied; determining, by a control circuit, an operating speed based on a speed of the rear vehicle and a distance between the vehicle and the rear vehicle; When the vehicle speed is higher than the operating speed, determining through the control circuit that the operating speed condition is satisfied; When the sensor sensing distance condition, the operating distance condition and the operating speed condition are satisfied and the required expected time is shorter than a specified time, it is determined by the control circuit that the adjusted operating condition is satisfied.

7. The method for providing a vehicle safety strategy according to claim 6, wherein: The generated routes include: The route is generated when the driver of the vehicle does not respond to the control transfer request within a specified time interval after the control transfer request is generated.

8. The method for providing a vehicle safety strategy according to claim 6, wherein: The generated routes include: determining whether the road includes a shoulder according to the road information; The route is generated when a shoulder is included in the road.

9. The method for providing a vehicle safety strategy according to claim 6, further comprising: When the vehicle enters the shoulder of the road, control the vehicle to stop on the shoulder.

10. The method for providing a vehicle safety strategy according to claim 6, wherein: Adjusting operating conditions includes: When the predetermined operating condition is not met, the operating condition is adjusted.

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