Apparatus and method for controlling to activate an automatic driving system in a vehicle

Abstract

The present invention relates to an apparatus and method for controlling to start an automatic driving system in a vehicle. The apparatus includes: a sensor, an input device, an output device, and a control circuit, wherein the input device is configured to receive input from a vehicle driver; the output device is configured to output a notification in the vehicle; and the control circuit is configured to be electrically connected to the sensor, the input device, and the output device. The control circuit is configured to start the automatic driving control in response to the driver's input to the input device, detect an emergency situation of the vehicle using a sensor, output a notification of transfer of control rights using an output device in response to the detection of the emergency situation, and automatically restart the automatic driving control after temporarily releasing the automatic driving control when the emergency situation is resolved and the emergency situation corresponds to an emergency situation of a specified type.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2018-0163249, filed on December 17, 2018, which claims priority to and the benefit of U.S. 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 controlling to activate an autonomous driving system included in an autonomous driving vehicle. 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, automatic driving systems and driving assistance systems that facilitate partial automatic driving have been developed (for ease of description below, automatic driving and driving assistance are both referred to as "automatic driving"). The automatic driving system can provide different functions, such as setting speed maintenance, vehicle-to-vehicle distance maintenance, lane keeping, and lane change. The automatic driving system can perform automatic driving using different devices, such as sensors for sensing the external environment of the vehicle, sensors for sensing information about the vehicle, global positioning systems (GPS), detailed maps, driver status monitoring systems, steering actuators, acceleration / deceleration actuators, communication circuits, and control circuits (e.g., electronic control units (ECUs)). The automatic driving system can be started based on the driver's input. When a problem occurs or is predicted to occur, the automatic driving system can provide the driver with a notification of the transfer of control. When the driver takes over control, the automatic driving system can be released.

[0006] When the autonomous driving system is released due to an emergency, the driver should provide input for restarting the autonomous driving system after the emergency is resolved. Various emergency situations exist during autonomous driving. Whenever an emergency occurs, after the autonomous driving system is released, the driver may suffer inconvenience when the vehicle requests the driver to provide input for restarting the autonomous driving system. However, when the vehicle arbitrarily activates the autonomous driving system without the driver's input, the activation of the autonomous driving system may be against the driver's will. Summary of the invention

[0007] One aspect of the present invention provides an apparatus and method for selectively restarting an autonomous driving system after the autonomous driving system is disengaged due to an emergency situation when the emergency situation is resolved.

[0008] The technical problems to be solved by the inventive concept are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention belongs from the following description.

[0009] According to one aspect of the present invention, a device for controlling to start an automatic driving system in a vehicle may include: a sensor, an input device, an output device, and a control circuit, wherein the sensor is configured to sense information about the exterior and interior of the vehicle; the input device is configured to receive input from a vehicle driver; the output device is configured to output a notification in the vehicle; and the control circuit is configured to be electrically connected to the sensor, the input device, and the output device. The control circuit may be configured to start the automatic driving control in response to the driver's input to the input device, detect an emergency situation of the vehicle using the sensor, output a notification of control transfer using the output device in response to the detection of the emergency situation, and automatically restart the automatic driving control when the emergency situation is resolved after temporarily releasing the automatic driving control and the emergency situation corresponds to an emergency situation of a specified type.

[0010] According to some embodiments of the present invention, the control circuit can be configured to output a first type of notification using an output device when the emergency situation corresponds to a specified type of emergency situation, and to output a second type of notification using the output device when the emergency situation does not correspond to the specified type of emergency situation.

[0011] According to some embodiments of the present invention, the specified type of emergency situation may include: predicting at least a partial temporary deviation from the designed operating range (ODD) of the autonomous driving control, detecting driver distraction, detecting that the driver's steering control is less than or equal to a specified level, or detecting that the driver's acceleration control is less than or equal to a specified level.

[0012] According to some embodiments of the present invention, the control circuit may be configured to predict a temporary deviation based on the driving route information and the map information.

[0013] According to some embodiments of the present invention, the control circuit may be configured to detect driver distraction by monitoring, using a sensor, whether the driver is looking ahead of the vehicle.

[0014] According to some embodiments of the present invention, the control circuit may be configured to detect steering control by monitoring movement of a steering wheel included in the vehicle.

[0015] According to some embodiments of the present invention, the control circuit may be configured to detect acceleration control by monitoring movement of an accelerator pedal included in the vehicle.

[0016] According to some embodiments of the invention, the control circuitry may be configured to temporarily disengage autonomous driving control when the emergency situation corresponds to a specified type of emergency situation and control is transferred to the driver.

[0017] According to some embodiments of the present invention, the control circuit can be configured to output a first type of notification in response to detecting an emergency situation when the emergency situation corresponds to a specified type of emergency situation, and to output a second type of notification when control is not transferred to the driver within a specified time after outputting the first type of notification.

[0018] According to some embodiments of the present invention, the control circuit can be configured to disengage the autonomous driving control when the emergency situation does not correspond to a specified type of emergency situation, maintain the disengaged autonomous driving control state when the emergency situation is resolved, and restart the autonomous driving control only when the driver input to the input device is detected again.

[0019] According to some embodiments of the invention, the control circuitry may be configured to disengage automated driving control when the emergency situation does not correspond to a specified type of emergency situation and control is transferred to the driver.

[0020] According to some embodiments of the present invention, the control circuit may be configured to control the vehicle according to a predetermined minimum risk strategy (MRM) when control is not transferred to the driver within a specified time after outputting a notification of the transfer of control.

[0021] According to some embodiments of the present invention, a method for controlling to activate an autonomous driving system in a vehicle may include: initiating autonomous driving control in response to input from a vehicle driver to an input device included in the vehicle, detecting an emergency situation of the vehicle, outputting a notification of a transfer of control in the vehicle in response to detecting the emergency situation, and automatically restarting the autonomous driving control when the emergency situation is resolved after temporarily releasing the autonomous driving control and the emergency situation corresponds to an emergency situation of a specified type.

[0022] According to some embodiments of the invention, restarting may include temporarily releasing autonomous driving control when the emergency situation corresponds to a specified type of emergency situation and control is transferred to the driver.

[0023] According to some embodiments of the present invention, the method may further include: when the emergency situation does not correspond to an emergency situation of a specified type, releasing the automatic driving control, when the emergency situation is resolved, maintaining the state of releasing the automatic driving control, and restarting the automatic driving control only when the driver's input to the input device is detected again.

[0024] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order that the present invention may be better understood, various embodiments of the present invention will be described by way of example with reference to the accompanying drawings, in which:

[0026] Figure 1 is a block diagram showing a configuration of an apparatus for controlling to activate an automatic driving system in a vehicle according to one embodiment of the present invention;

[0027] Figure 2 is a block diagram showing a configuration of an apparatus for controlling to activate an automatic driving system in a vehicle according to one embodiment of the present invention;

[0028] Figure 3 is a diagram illustrating an exemplary operation of an apparatus for controlling to activate an automatic driving system in a vehicle according to an embodiment of the present invention;

[0029] Figure 4 is a flow chart showing a method for controlling to activate an automatic driving system in a vehicle according to one embodiment of the present invention;

[0030] Figure 5 is a flowchart showing a method for controlling to activate an automatic driving system in a vehicle according to one embodiment of the present invention; and

[0031] Figure 6 is a block diagram showing the configuration of a computing system according to one embodiment of the present invention.

[0032] 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

[0033] 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 throughout the drawings, corresponding reference numerals indicate the same or corresponding components and features.

[0034] When describing the elements of the embodiments of the present invention, the terms first, second, first, secondly, A, B, (a), (b) etc. may be used herein. These terms are only used to distinguish one element from another element, but do not limit the change or order of the corresponding elements that are irrelevant to the essence of the corresponding elements. Unless otherwise defined, all terms (including technical or scientific terms) used herein have the same meaning as the meaning generally understood by those skilled in the art to which the present invention belongs. These terms defined in commonly used dictionaries should be interpreted as having the same meaning as the contextual meaning in the relevant field, and should not be interpreted as having an ideal or overly formal meaning, unless clearly defined as having such meaning in the present invention.

[0035] Figure 1 is a block diagram showing a configuration of an apparatus for controlling to activate an automatic driving system in a vehicle according to some embodiments of the present invention.

[0036] refer to Figure 1 , a device 100 for controlling to start an automatic driving system in a vehicle according to some embodiments of the present invention may include a sensor 110 , an input device 120 , an output device, and a control circuit 140 . Figure 1 The device 100 for controlling to start the automatic driving system may be a part of the automatic driving system and may be loaded into a vehicle.

[0037] The sensor 110 may be configured to sense information about the exterior and interior of the vehicle. For example, the sensor 110 may include a radar, a laser radar (LiDAR), a camera, etc. for sensing the external environment of the vehicle, and may include a wheel speed sensor, a yaw rate sensor, an acceleration sensor, a torque sensor, etc. for sensing the vehicle state.

[0038] The input device 120 may be configured to receive input from a driver of the vehicle. For example, the input device 120 may be implemented as a button, a switch, a lever, a touch sensor, etc.

[0039] The output device 130 may be configured to output a notification in the vehicle. For example, the output device 130 may be implemented in a form such as a speaker, a haptic module, and a display, which is capable of outputting a notification perceptible to the driver.

[0040] The control circuit 140 may be electrically connected to the sensor 110, the input device 120, and the output device 130. The control circuit 140 may control the sensor 110, the input device 120, and the output device 130, 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 a vehicle.

[0041] According to some embodiments of the present invention, the control circuit 140 may initiate the autonomous driving control in response to the driver's input to the input device 120. When the driver provides input to the input device 120 to initiate the autonomous driving control, the control circuit 140 may initiate the autonomous driving control.

[0042] According to some embodiments of the present invention, the control circuit 140 can detect emergency situations of the vehicle using the sensor 110. Emergency situations may include, for example, leaving the designed operating range (ODD) of the autonomous driving control, driver distraction, driver's steering control, driver's acceleration control, driver's deceleration control, collision risk detection, system failure, etc.

[0043] According to some embodiments of the present invention, the control circuit 140 may output a notification of control transfer using the output device 130 in response to detecting an emergency situation. The control circuit 140 may output a notification to transfer control to the driver in response to an emergency situation. In some embodiments of the present invention, when the emergency situation corresponds to an emergency situation of a specified type, the control circuit 140 may output a first type of notification using the output device 130. When the emergency situation does not correspond to an emergency situation of a specified type, the control circuit 140 may output a second type of notification using the output device 130. The specified type of emergency situation may be a relatively low-risk situation, and the type of emergency situation other than the specified type may be a relatively high-risk situation.

[0044] According to some embodiments of the present invention, the control circuit 140 may determine whether the emergency situation corresponds to an emergency situation of a specified type. For example, the specified type of emergency situation may include: predicting that at least a portion (e.g., a toll booth) temporarily deviates from the ODD of the autonomous driving control, detecting that the driver is distracted, detecting that the driver's steering control is less than or equal to a specified level, or detecting that the driver's acceleration control is less than or equal to a specified level. For example, the control circuit 140 may predict a temporary deviation based on information about the route the vehicle is traveling and map information. For another example, the control circuit 140 may detect driver distraction by monitoring whether the driver is looking at the front of the vehicle using the sensor 110. For another example, the control circuit 140 may detect steering control by monitoring the movement of the steering wheel included in the vehicle. For another example, the control circuit 140 may detect acceleration control by monitoring the movement of the accelerator pedal included in the vehicle. The type of emergency situation other than the specified type may be another emergency situation other than the specified type of emergency situation. For example, emergency situations of types other than the specified type may include: when control is not transferred to the driver in response to the first stage notification, when it is predicted that the vehicle deviates from the ODD of the autonomous driving control when, for example, the vehicle enters a normal road, when the driver's drowsiness is detected, when the steering control performed by the driver is greater than or equal to a specified level, when the acceleration control performed by the driver is greater than or equal to a specified level, when the driver performs deceleration control, when a risk of an accident (e.g., a collision) is detected, when a system failure is detected, and the like.

[0045] According to some embodiments of the present invention, when the emergency situation corresponds to an emergency situation of a specified type, the control circuit 140 may temporarily release the autonomous driving control, and may automatically restart the autonomous driving control when the emergency situation is resolved. Specifically, when the emergency situation corresponds to an emergency situation of a specified type, the control circuit 140 may output a first type of notification in response to detecting the emergency situation. When the control is transferred to the driver while outputting the notification, the control circuit 140 may temporarily release the autonomous driving control. After releasing the autonomous driving control, when the emergency situation is resolved, the control circuit 140 may automatically restart the autonomous driving control. Therefore, in relatively low-risk situations, the autonomous driving control may be automatically started without driver input.

[0046] According to some embodiments of the present invention, when control is not transferred to the driver within a specified time after outputting the first type of notification, the control circuit 140 may output a second type of notification. When outputting the second type of notification, the control circuit 140 may continue subsequent processing the same as when the emergency situation does not correspond to an emergency situation of the specified type.

[0047] According to some embodiments of the present invention, when the emergency situation does not correspond to an emergency situation of a specified type, the control circuit 140 may release the automatic driving control and may maintain the state of releasing the automatic driving control when the emergency situation is resolved, so that the automatic driving control is restarted only when the driver's input to the input device 120 is detected again. Specifically, when the emergency situation does not correspond to an emergency situation of a specified type, the control circuit 140 may output a second type of notification. When the control is transferred to the driver while the notification is output, the control circuit 140 may release the automatic driving control. After releasing the automatic driving control, although the emergency situation is resolved, the control circuit 140 may maintain the state of releasing the automatic driving control without starting the automatic driving control. Only according to the driver's will, when the driver requests the vehicle to start the automatic driving control, the control circuit 140 may restart the automatic driving control.

[0048] According to some embodiments of the present invention, when the emergency situation does not correspond to a specified type of emergency situation and the control right is not transferred to the driver within a specified time after the notification of outputting the control right, the control circuit 140 may control the vehicle according to a predetermined MRM.

[0049] Figure 2 is a block diagram illustrating a configuration of an apparatus for controlling to activate an automatic driving system in a vehicle according to some embodiments of the present invention.

[0050] refer to Figure 2 , a driving automation system 200 according to some embodiments of the present invention may include a sensor device 210 , a determination device 220 , and an actuator device 230 .

[0051] The sensor device 210 can identify the driving environment. For example, the sensor device 210 may include sensors for identifying the vehicle's surroundings (e.g., radar, laser radar (LiDAR), camera, etc.) and vehicle sensors for measuring the internal state of the vehicle (e.g., wheel speed sensor, yaw rate sensor, etc.). The sensor device 210 may include a detailed map for performing destination search and accurate position estimation, etc.

[0052] The determining device 220 can calculate different determinations and control command values ​​for operating the driving automation system 200. The determining device 220 can be, for example, an ECU. The determining device 220 can perform driving determination and control, determination of emergency situations, warnings of transfer of control rights, determination of driver intervention, etc. For example, the determining device 220 can determine an unavoidable emergency situation based on the identification situation around the vehicle and the calculated control command value. For another example, the determining device 220 can determine the warning stage for transfer of control rights. The warning can include a first stage warning and a second stage warning. The warning can be configured to be perceptibly identifiable by the driver. For another example, the determining device 220 can identify driver intervention and can determine whether to release the driving automation system 200.

[0053] The actuator device 230 can control the behavior of the vehicle. The actuator device 230 may include an ECU for controlling a motor capable of automatically controlling a steering wheel of the vehicle, and an ECU for controlling a motor capable of automatically controlling a throttle and brake of the vehicle. The actuator device 230 may include actuators for controlling a steering wheel, a throttle, and a brake.

[0054] Figure 3 is a diagram illustrating exemplary operations of an apparatus for controlling to activate an automatic driving system in a vehicle according to some embodiments of the present invention.

[0055] refer to Figure 3 , according to the embodiment, the vehicle 310 can perform automatic driving control. When performing automatic driving control, the vehicle 310 can detect a first type of emergency situation. The first type of emergency situation can be a situation with relatively low risk. The vehicle 310 can output a notification (first stage notification) for transferring control to its driver. When steering input, accelerator pedal input, and decelerator pedal input occur, the vehicle 310 can determine that driver intervention is detected. When driver intervention is detected, the vehicle 310 can temporarily release the automatic driving control. Subsequently, when the emergency situation is released, the vehicle 310 can automatically restart the automatic driving control.

[0056] The vehicle 320 according to some embodiments of the present invention can perform automatic driving control. When performing automatic driving control, the vehicle 320 can detect a second type of emergency. The second type of emergency can be a situation with relatively high risk. The vehicle 320 can output a notification (second stage notification) for transferring control to its driver. When steering input, acceleration input, and deceleration input occur, the vehicle 320 can determine that driver intervention is detected. When driver intervention is detected, the vehicle can release the automatic driving control. When the second stage notification is output, the vehicle 320 can maintain the state of releasing the automatic driving control despite the emergency being released at a later time. In this case, the automatic driving control can be restarted only by the driver's input.

[0057] Figure 4 is a flow chart illustrating a method for controlling to activate an automatic driving system in a vehicle according to some embodiments of the present invention.

[0058] In the following, it is assumed that Figure 1 The vehicle of the device 100 for controlling to start the automatic driving system is executed Figure 4 In addition, Figure 4 In the description, the steps described as being performed by the vehicle may be understood to be controlled by the control circuit 140 of the apparatus 100 for controlling to start the automatic driving system.

[0059] refer to Figure 4 In step 410, the vehicle may initiate autonomous driving control in response to input from its driver. For example, the vehicle may initiate autonomous driving control when receiving input from the driver to a vehicle button.

[0060] The vehicle may detect an emergency situation of the vehicle in step 420. For example, the vehicle may detect an emergency situation based on data generated by its sensors and information obtained from within the vehicle.

[0061] In step 430, the vehicle may output a notification of the transfer of control. For example, the vehicle may output a perceptible notification to transfer control to the driver.

[0062] In step 440, the vehicle may determine whether the emergency situation corresponds to a specified type of emergency situation. For example, the vehicle may determine whether the emergency situation corresponds to a specified situation with a relatively low risk.

[0063] When the emergency situation corresponds to an emergency situation of a specified type, the vehicle may automatically restart the autonomous driving control when the emergency situation is resolved in step 450. For example, when control is transferred to the driver, after releasing the autonomous driving control, the vehicle may automatically restart the autonomous driving control for the convenience of the driver when the emergency situation is resolved.

[0064] When the emergency situation does not correspond to an emergency situation of the specified type, the vehicle may remain in the state of disengaging the autonomous driving control while the emergency situation is resolved in step 460. For example, after disengaging the autonomous driving control, when control is transferred to the driver, the vehicle may not initiate the autonomous driving control to ensure the driver's safety even though the emergency situation is resolved.

[0065] Figure 5 is a flow chart illustrating a method for controlling to activate an automatic driving system in a vehicle according to some embodiments of the present invention.

[0066] In the following, it is assumed that Figure 1 The vehicle execution of the device 100 for controlling to start the automatic driving system Figure 5 In addition, Figure 5 In the description, the steps described as being performed by the vehicle may be understood to be controlled by the control circuit 140 of the apparatus 100 for controlling to start the automatic driving system.

[0067] refer to Figure 5 In step 505, the vehicle may receive input from its driver. For example, the vehicle may receive input from the driver to a button for activating a driving automation system. In step 510, the vehicle may activate the autonomous driving system. The autonomous driving system may be activated in consideration of activation conditions of the system (e.g., when the system is available on a restricted access road while the vehicle is traveling on the restricted access road). In step 515, the vehicle may determine an emergency situation. The vehicle may detect a situation that cannot be controlled by the autonomous driving system. In step 520, the vehicle may determine whether the detected emergency situation corresponds to an emergency situation of a specified type.

[0068] When the detected emergency situation corresponds to an emergency situation of a specified type, the vehicle may output a first stage notification of the transfer of control in step 525. In step 530, the vehicle may detect driver intervention. When driver intervention is detected, the vehicle may temporarily disengage the automatic driving system in step 535. In step 540, the vehicle may determine whether the emergency situation is resolved. When the emergency situation is resolved, the vehicle may return to step 510 to automatically start the automatic driving system.

[0069] When the detected emergency situation does not correspond to an emergency situation of a specified type or there is no driver intervention after the first stage notification occurs, the vehicle may output a second stage notification of the transfer of control in step 545. In step 550, the vehicle may detect driver intervention. When driver intervention is not detected, the vehicle may perform MRM in step 555. When driver intervention is detected, the vehicle may disengage the automatic driving system in step 560. After step 560, the vehicle may not automatically start the automatic driving system, and may start the automatic driving system only when receiving a driver input to a vehicle button or the like.

[0070] Figure 6 is a block diagram illustrating the configuration of a computing system according to some embodiments of the present invention.

[0071] refer to Figure 6 , 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 , which are connected to each other via a bus 1200 .

[0072] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include different 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).

[0073] Therefore, the operation of the method or algorithm described in some embodiments of the present invention disclosed in this specification can be directly implemented using a hardware module, a software module, or a combination thereof executed by the processor 1100. The software module can reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), for example, a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrical EPROM (EEPROM), a register, a hard disk, a removable disk, or a compact disk ROM (CD-ROM). An exemplary storage medium can be coupled 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 exist in an application specific integrated circuit (ASIC). The ASIC can exist in a user terminal. Alternatively, the processor and the storage medium can be used as separate components of the user terminal.

[0074] Apparatus and methods according to some embodiments of the present invention can reduce driver inconvenience caused by the release of an autonomous driving system, and can reduce risks caused by automatically starting the system by automatically restarting the autonomous driving control taking into account the type of emergency situation.

[0075] In addition, various effects directly or indirectly determined by the present invention can be provided.

[0076] The description of the present invention is only exemplary, and therefore, variations that do not deviate from the essence of the present invention are intended to fall within the scope of the present invention. Such variations should not be regarded as departing from the spirit and scope of the present invention.

Claims

1. A device for controlling to start an automatic driving system in a vehicle, the device comprising: a sensor configured to sense information about an exterior of the vehicle and an interior of the vehicle; an input device configured to receive input from a driver of the vehicle; an output device configured to output a notification in the vehicle; a control circuit configured to be electrically connected to the sensor, the input device, and the output device, Wherein, the control circuit is configured as follows: In response to the received input, initiating automated driving control; Detect vehicle emergency situations through sensors; In response to the detected emergency situation, outputting a notification through an output device to transfer control authority; automatically re-initiating the autonomous driving control when the emergency situation is resolved after temporarily releasing the autonomous driving control, wherein the emergency situation corresponds to an emergency situation of a specified type; When the emergency situation does not correspond to a specified type of emergency situation, the automated driving control is disengaged, and when the emergency situation is resolved, the automated driving control remains disengaged, and the automated driving control is re-enable when input is detected again.

2. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The control circuit is configured as follows: outputting a first type of notification through an output device when the emergency situation corresponds to an emergency situation of a specified type; When the emergency situation does not correspond to an emergency situation of a specified type, a notification of a second type is output through the output device.

3. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The specified type of emergency situation includes at least one of the following situations: Predict temporary departures from the designed operating range of automated driving control; Detection of driver distraction; detecting that the driver's steering control is less than or equal to a specified level; or The driver's acceleration control is detected to be less than or equal to a specified level.

4. The device for controlling to start an automatic driving system in a vehicle according to claim 3, wherein: The control circuit is configured as follows: Temporary deviation is predicted based on driving route information and map information.

5. The device for controlling to start an automatic driving system in a vehicle according to claim 3, wherein: The control circuit is configured as follows: Detects driver distraction by using sensors to monitor whether the driver is looking ahead of the vehicle.

6. The device for controlling to start an automatic driving system in a vehicle according to claim 3, wherein: The control circuit is configured as follows: Steering control is detected by monitoring the movement of the steering wheel.

7. The device for controlling to start an automatic driving system in a vehicle according to claim 3, wherein: The control circuit is configured as follows: Acceleration control is detected by monitoring the movement of the accelerator pedal.

8. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the emergency situation corresponds to a specified type of emergency situation and control is transferred to the driver, the automated driving control is temporarily released.

9. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The control circuit is configured as follows: when the emergency situation corresponds to an emergency situation of a specified type, outputting a notification of a first type in response to the detected emergency situation; When control is not transferred to the driver within a predetermined amount of time after the first type of notification is output, a second type of notification is output.

10. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the emergency situation does not correspond to a specified type of emergency situation and control is transferred to the driver, automated driving control is released.

11. The device for controlling to start an automatic driving system in a vehicle according to claim 1, wherein: The control circuit is configured as follows: When control is not transferred to the driver within a predetermined amount of time after the notification to transfer control is output, the vehicle is controlled based on a predetermined minimum risk strategy.

12. A method for controlling to activate an automatic driving system in a vehicle, the method comprising: initiating automated driving control using control circuitry included in the vehicle in response to input from a vehicle operator to an input device included in the vehicle; detecting an emergency situation of the vehicle using sensors included in the vehicle; In response to the detected emergency situation, outputting a notification of transfer of control of the vehicle using an output device included in the vehicle; automatically re-initiating the autonomous driving control using the control circuit when the emergency situation is resolved after temporarily releasing the autonomous driving control, wherein the emergency situation corresponds to an emergency situation of a specified type; The control circuit is used to release the autonomous driving control when the emergency situation does not correspond to a specified type of emergency situation, the control circuit is used to maintain the release of the autonomous driving control when the emergency situation is resolved, and the control circuit is used to restart the autonomous driving control when the driver's input is detected again.

13. The method according to claim 12, wherein: Restarting the autopilot control also includes: When the emergency situation corresponds to a specified type of emergency situation and control is transferred to the driver, the control circuit is used to temporarily release the automatic driving control.

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