Automatic driving control device, vehicle having the device, and method for controlling the device

Abstract

The present invention discloses an automatic driving control device, a vehicle having the device, and a method for controlling the device. The automatic driving control device for a vehicle may include: a communication control unit configured to communicate with at least one electronic control unit included in the vehicle and an external server; and a controller configured to: diagnose the at least one electronic control unit; transmit the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receive selectable function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the selectable function information indicating one or more selectable functions; use the one or more selectable functions to perform automatic driving control of the vehicle.

Description

Technical Field

[0001] An embodiment of the present invention relates to an automatic driving control device, a vehicle including the device and a method for controlling the device, and more specifically, to an automatic driving control device that performs automatic driving control without driver intervention by automatically diagnosing each electronic control unit (ECU) of the vehicle. Background Art

[0002] Modern vehicles can perform various functions aimed at enhancing user convenience related to audio, video, navigation, air conditioning, seat control, lighting control, etc. In such vehicles, an audio / video / navigation (AVN) system is often provided to integrate functions related to navigation, audio, and video.

[0003] Additionally, many modern vehicles include automated driving control capabilities, which involve automatically driving the vehicle to a destination using automated driving functions related to navigation, lane recognition, obstacle recognition, etc.

[0004] Automated driving control is generally divided into five stages. The first stage involves controlling the vehicle using driver assistance functions, automatic braking, and speed control. The second stage involves partial automated driving, in which two or more automated functions are performed simultaneously while the driver is driving the vehicle. The third stage involves conditional automated driving, in which limited automated driving can be performed by artificial intelligence in the vehicle, but in special circumstances, driver intervention is required. The fourth stage involves advanced automated driving, in which no driver intervention or monitoring is required in special circumstances. The fifth stage involves a fully automated stage, in which no driver intervention is required in any environment.

[0005] The third, fourth, and fifth stages of autonomous driving involve situations where the vehicle needs to automatically determine the state without driver intervention. However, safe autonomous driving is only possible when multiple ECUs present in the vehicle operate in a normal state. Summary of the invention

[0006] One aspect of the present invention is to determine whether autonomous driving is possible without driver intervention by automatically determining the status of multiple electronic control units (ECUs) present in a vehicle ("multiple vehicle ECUs").

[0007] Another aspect of the present invention is to provide a vehicle that is capable of autonomous driving without driver intervention by automatically determining the states of a plurality of vehicle ECUs.

[0008] Still another aspect of the present invention is to provide a vehicle capable of automatic driving without driver intervention by automatically diagnosing a plurality of vehicle ECUs and executing selectable controls based on the diagnostic information.

[0009] Another aspect of the present invention is to provide a vehicle capable of safely controlling automatic driving without driver intervention.

[0010] Additional aspects of the invention will be set forth in part in the description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosed invention.

[0011] According to an embodiment of the present invention, an automatic driving control device for a vehicle may include: a communication control unit configured to communicate with at least one electronic control unit included in the vehicle and an external server; and a controller configured to: diagnose the at least one electronic control unit; transmit the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receive optional function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the optional function information indicating one or more optional functions; and perform automatic driving control of the vehicle using the one or more optional functions.

[0012] The controller may determine whether automatic driving of the at least one electronic control unit is enabled before the vehicle is driven, and may be configured to determine whether automatic driving of the at least one electronic control unit continues while the vehicle is driven.

[0013] When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven, the controller may determine whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

[0014] When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal, the controller may request operation in a driving mode selected by a driver of the vehicle.

[0015] When the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven, the controller may determine whether it is possible to automatically drive the vehicle using a function included in the one or more selectable functions.

[0016] The at least one electronic control unit may include a driving controller configured to control a driving operation of the vehicle, or a braking controller configured to control a braking operation of the vehicle.

[0017] The controller can determine whether a preset target performance is met when performing automatic driving of the vehicle using a function included in one or more selectable functions, and can request the vehicle to operate in a driving mode selected by the driver of the vehicle when the preset target performance is not met.

[0018] When the selectable function information includes a plurality of prioritized selectable functions, the controller may sequentially apply the plurality of prioritized selectable functions to meet a preset target performance.

[0019] In addition, according to an embodiment of the present invention, a vehicle may include: a communication control unit, which is configured to communicate with at least one electronic control unit included in the vehicle and an external server; and an automatic driving control device, which is configured to: diagnose the at least one electronic control unit; transmit the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receive optional function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the optional function information indicating one or more optional functions; and use the one or more optional functions to perform automatic driving control of the vehicle.

[0020] The automatic driving control device can determine whether automatic driving of the at least one electronic control unit is possible before the vehicle is driven, and is configured to determine whether automatic driving of the at least one electronic control unit continues while the vehicle is driven.

[0021] When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven, the automatic driving control device can determine whether it is possible to automatically drive the vehicle using a function included in one or more selectable functions.

[0022] When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal, the automatic driving control device can request operation in a driving mode selected by a driver of the vehicle.

[0023] When the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven, the automatic driving control device may determine whether it is possible to automatically drive the vehicle using a function included in one or more selectable functions.

[0024] The at least one electronic control unit may include a driving controller configured to control a driving operation of the vehicle, or a braking controller configured to control a braking operation of the vehicle.

[0025] The automatic driving control device can determine whether a preset target performance is met when performing automatic driving of the vehicle using a function included in one or more selectable functions, and can request the vehicle to operate in a driving mode selected by the driver of the vehicle when the preset target performance is not met.

[0026] When the optional function information includes multiple prioritized optional functions, the automatic driving control device can apply the multiple prioritized optional functions sequentially to meet pre-set target performance.

[0027] In addition, according to an embodiment of the present invention, a method for controlling a vehicle may include: establishing a communication session with at least one electronic control unit included in the vehicle and an external server through a communication control unit of the vehicle; diagnosing the at least one electronic control unit through a controller of the vehicle; transmitting the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receiving, through the communication control unit, optional function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the optional function information indicating one or more optional functions; and performing automatic driving control of the vehicle through the controller using the one or more optional functions.

[0028] The diagnosis of the at least one electronic control unit may include: determining, by the controller, whether automatic driving of the at least one electronic control unit is possible before the vehicle is driven; and determining, by the controller, whether automatic driving of the at least one electronic control unit can continue while the vehicle is being driven.

[0029] The method may further include requesting, by the controller, operation in a driving mode selected by a driver of the vehicle when the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal.

[0030] The method may further include determining, by the controller, whether it is possible to automatically drive the vehicle using a function included in one or more selectable functions when the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven.

[0031] The method may further include: determining, by the controller, whether a preset target performance is met when executing automatic driving of the vehicle using a function included in one or more selectable functions; and requesting, by the controller, that the vehicle operate in a driving mode selected by a driver of the vehicle when the preset target performance is not met.

[0032] The method may further include: when the selectable function information includes a plurality of prioritized selectable functions, applying, by the controller, the plurality of prioritized selectable functions sequentially to meet a preset target performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] These and / or other aspects of the present invention will become apparent and more readily understood from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is an internal configuration diagram of a vehicle provided with an automatic driving control device according to an embodiment of the present invention;

[0035] Figure 2 is a detailed internal configuration diagram of a vehicle provided with an automatic driving control device according to an embodiment of the present invention;

[0036] Figure 3 is a schematic diagram showing various electronic devices of a vehicle provided with an automatic driving control device according to an embodiment of the present invention;

[0037] Figure 4 and Figure 5 is a view showing a method of determining whether a selectable function is executed by an electronic control unit (ECU) by an automatic driving control device according to an embodiment;

[0038] Figure 6 is a flowchart showing a method of controlling automatic driving of a vehicle including an automatic driving control device; and

[0039] Figure 7 and Figure 8 is a flowchart illustrating a method of controlling autonomous driving of a vehicle including an autonomous driving control device and a server.

[0040] It should be understood that the drawings mentioned above are not necessarily to scale, showing slightly simplified drawings of various preferred features that illustrate the basic principles of the present invention. The specific design features of the present invention (including, for example, specific size, orientation, location and shape) will be determined in part by the specific target application and use environment. DETAILED DESCRIPTION

[0041] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. It will be appreciated by those skilled in the art that various modifications may be made to the described embodiments without departing from the spirit or scope of the present application. In addition, throughout the specification, the same reference numerals represent the same elements.

[0042] The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the application. As used herein, the singular forms "one", "an" and "the" are intended to also include plural forms, unless the context clearly states otherwise. It will also be understood that when the terms "comprising" and / or "including" are used in this specification, the presence of the features, values, steps, operations, elements and / or components is indicated, but the presence or addition of one or more other features, values, steps, operations, elements, components and / or their groups are not excluded. As described herein, the term "and / or" includes any and all combinations of one or more related enumerated items.

[0043] It should be understood that the term "vehicle" or "vehicular" or other similar terms used herein generally include motor vehicles, such as passenger automobiles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, ships including various boats, marine vessels, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum energy sources). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.

[0044] In addition, it should be understood that one or more of the following methods, or aspects thereof, may be performed by at least one controller. The term "controller" may refer to a hardware device comprising a memory and a processor. The memory is configured to store program instructions, and the processor is specifically programmed to execute program instructions to perform one or more processes further described below. The controller may control the operation of a unit, module, component, device, etc., as described herein. In addition, it should be understood that, as will be understood by one of ordinary skill in the art, the following methods may be performed by a device comprising a controller in combination with one or more other components.

[0045] In addition, the controller of the present invention can be implemented as a non-transitory computer readable medium, which includes executable program instructions executed by a processor. Examples of computer readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer readable recording medium can also be distributed throughout a computer network so that the program instructions are stored and executed in a distributed manner, such as through a telematics server or a controller area network (CAN).

[0046] Referring now to the embodiments of the present invention, Figure 1 is an internal configuration diagram of a vehicle provided with an automatic driving control device according to an embodiment of the present invention, Figure 2 is a detailed internal configuration diagram of a vehicle provided with an automatic driving control device according to an embodiment of the present invention.

[0047] The vehicle 100 includes a plurality of electronic control units (ECUs) 210 and a communication control unit (CCU) 230 .

[0048] Each of the plurality of ECUs 210 is electrically, mechanically, and communicatively connected to at least one of a plurality of devices provided in the vehicle, and controls the operation of the at least one device based on any one of the function execution commands.

[0049] Here, the plurality of devices may include an acquisition device that acquires information required to perform at least one function, and an output device that performs the at least one function.

[0050] For example, the acquisition device may include various detectors and image acquisition devices. The output device may include speakers, displays, fans and compressors of air conditioning systems, electric starters (hot wires), fans of ventilation equipment, engines and motors of power units, motors of steering devices, motors and valves of brakes, opening or closing devices of doors or back doors, lights, vehicle terminals (audio / video / navigation (AVN)), etc. Reference will be made to Figure 3 An example describing each ECU in detail.

[0051] The plurality of ECUs may perform communication with the acquisition device and the output device by using at least one of controller area network (CAN) communication, Ethernet, low voltage differential signaling (LVDS) communication, and local interconnect network (LIN) communication.

[0052] Multiple ECU210 can determine whether a function needs to be executed based on the information acquired by the acquisition device. When ECU210 determines that a function needs to be executed, it can control the operation of the output device that executes the corresponding function, and can control the operation amount based on the acquired information.

[0053] Multiple ECU210 can control the operation of the output device that performs the corresponding function based on the function execution command (input through the input part), and can check the set amount corresponding to the information input through the input part, and control the operation of the output device that performs the corresponding function based on the checked set amount.

[0054] Each of the ECUs 210 may independently control any one function, or may control any one function while being connected with another ECU.

[0055] For example, when the distance to the object detected by the distance detector is within the range of the reference distance, the ECU of the collision prevention apparatus may enable the speaker to output an alarm sound regarding the collision with the obstacle.

[0056] ECU210 of the automatic driving control device connected to the ECU of the vehicle-mounted terminal, the ECU of the image acquirer, and the ECU of the collision avoidance device can receive navigation information, road image information, and information on the distance to obstacles, and can control the power unit, brakes, and steering device by using the received information items to perform automatic driving.

[0057] The CCU 230 is electrically, mechanically, and communicatively connected to a plurality of ECUs, and performs communication with each of the plurality of ECUs.

[0058] In other words, the CCU 230 may directly perform communication with a plurality of ECUs provided in the vehicle, may communicate with an external server, and may communicate with an external terminal through an interface.

[0059] Here, the CCU may communicate with a plurality of ECUs 210 via Gigabit Ethernet, may communicate with a server via an antenna (not shown) and radio frequency (RF) communication, and may communicate with an interface via CAN communication.

[0060] Moreover, the CCU 230 may communicate with the server 250 via wireless communication. Here, wireless communication may be performed between the CCU 230 and the server 250 via various wireless communication methods, such as a global system for mobile communications (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), universal mobile telecommunications system (UMTS), time division multiple access (TDMA), long term evolution (LTE), etc., in addition to a wireless fidelity (WiFi) module and a wireless broadband (WiBro) module.

[0061] The CCU 230 communicates and receives information and data with a plurality of ECUs, and may be formed as an ECU.

[0062] Accordingly, reference will be made to Figure 2 The control configuration of the plurality of ECUs 210 and CCU 230 of the vehicle 100 is described in detail.

[0063] here, Figure 2 is provided with the ECU 210 according to the embodiment and is displayed at Figure 1 The detailed interior configuration diagram of the vehicle in Figure 2 2 , the first to eighth ECUs 211 to 218 are shown, but the vehicle 100 may include a greater number N of ECUs 210 .

[0064] like Figure 2 As shown, the same components common to the plurality of ECUs will be described. In addition, since the plurality of ECUs 210 include the same components, only the control components of the first ECU 211 will be described.

[0065] Here, the first ECU 211 may be an automatic driving control device, and may be an automatic driving control device that performs highway driving assist (HDA). HDA will be described as an example.

[0066] like Figure 2 As shown, the first ECU 211 may include a first controller 211 a and a first memory 211 b .

[0067] The first controller 211a integrally controls the operation of the first ECU 211. When the first ECU 211 is an automatic driving control device, the first controller 211a may operate in connection by communicating with an ECU controlling an image acquirer, an ECU controlling a distance detector, and an ECU controlling a vehicle terminal.

[0068] The first controller 211a receives image information, distance information to obstacles, location information, map information, and destination information, generates control signals regarding autonomous driving based on the received information, generates control signals for controlling various units being driven during autonomous driving, controls the transmission of the generated control signals to the various units, and controls communication with the domain control device 221 and other ECUs for connected operations.

[0069] Here, various units driven during automatic driving include a power unit, a braking unit, a steering unit, and may include a vehicle-mounted terminal that outputs navigation information and driving information.

[0070] The first controller 211a manages the built-in memory, and when receiving new data related to the automatic driving control function, stores the received new data in the built-in memory, or controls the transmission of the received new data to store the received new data in a memory set in another ECU.

[0071] Here, the first controller 211 a may include a software diagnosis manager capable of diagnosing the function of the first ECU 211 based on communication in the vehicle.

[0072] For example, when the first ECU 211 is an automatic driving control device, the first controller 211a can automatically determine whether automatic driving is possible, whether to continue automatic driving, and whether to execute an optional function in an automatic driving environment by using the diagnostic information from the server 250. The optional function may be included in one or more optional functions indicated by the optional function information generated by the server 250 based on the diagnostic result of the ECU.

[0073] Next, the first memory 211 b stores software for controlling the autonomous driving, and stores software for managing the memory.

[0074] The first memory 211 b may store data for controlling autonomous driving, and may store data for managing the memory.

[0075] In other words, the software storage area of ​​the first memory 211 b may be an area storing software for controlling autonomous driving and software for managing memory.

[0076] Also, the data storage area of ​​the first memory 211 b may be an area for storing data required for controlling autonomous driving and managing the memory, or may be an area for storing new data.

[0077] Examples of data required to control autonomous driving may include image data for identifying obstacles, image data for identifying lanes, distance data for generating alarms based on approaching obstacles, image data for identifying objects (such as traffic lights and signs on the road), etc.

[0078] The first memory 211 b may store new data under the control of the first controller 211 a , and may delete pre-stored data under the control of the first controller 211 a .

[0079] The remaining amount of information of the first memory 211 b may be an amount of an area capable of additionally storing data in the data storage area.

[0080] The first memory 211b includes a readable and writable non-volatile memory. The first memory a12 may include a flash memory.

[0081] In addition, the first memory 211 b may be an erasable programmable read-only memory (EPROM) or an electrically erasable programmable read-only memory (EEPROM).

[0082] The first ECU 211 may further include a first communication unit (not shown) which communicates with the CCU 230 in addition to the first controller 211 a and the first memory 211 b and can communicate in the vehicle.

[0083] As described above, the ECU 210 may include a microprocessor, a memory, and a communication unit that perform operations corresponding to a device or a function that is an object to be controlled.

[0084] Depending on the device or function to be controlled, the controllers of the multiple ECUs may include different operation logics and control logics, and depending on the device or function to be controlled, the memories of the multiple ECUs may include different storage software and data.

[0085] Furthermore, the communicators of the plurality of ECUs may include different communication methods according to the devices to be controlled, and may include a plurality of communication methods.

[0086] In other words, depending on the devices of multiple ECUs, the operating logic and control logic of the controller, the software and data stored in the memory, the voltage regulated by the power supply, and the hardware driver set in the driver, the communication method of the communicator, etc. may be different from each other.

[0087] For example, Figure 3 is a schematic diagram showing various electronic devices of a vehicle 100 provided with an automatic driving control device according to an embodiment of the present invention;

[0088] like Figure 3 As shown, various ECUs 210 included in the vehicle 100 can communicate with each other through a communication network NT for the vehicle. The communication network NT for the vehicle can adopt a communication protocol with a maximum communication speed of 24.5 megabits per second (Mbps) (such as Media Oriented Systems Transport (MOST)), FlexRay with a maximum communication speed of 10Mbps, CAN with a communication speed of 125 kilobits per second (kbps) to 1Mbps, LIN with a communication speed of 20kbps, etc. The above-mentioned communication network NT can adopt not only one of the communication protocols such as MOST, FlexRay, CAN, LIN, etc., but also a plurality of communication protocols.

[0089] Moreover, except Figure 3 In addition to the various ECUs 210 shown in FIG. 1 , the vehicle 100 may further include various ECUs.

[0090] For example, the AVN system 130 is a device that outputs music or video according to the driver's control command. In detail, the AVN system 130 can play music or video, or can guide a path to a destination according to the driver's control command.

[0091] For example, the input and output control system 140 receives the driver's control command through a button and displays information corresponding to the driver's control command. The input and output control system 140 may include a cluster display, a wheel button module, etc. The cluster display is set on the dashboard to display vehicle speed, engine speed, fueling amount, transmission overheating status information, etc.; the wheel button module is installed on the steering wheel.

[0092] For example, the engine control system 150 controls fuel injection, mileage feedback, lean burn, ignition timing, and idling revolutions per minute, etc. The engine control system 150 may be not only a single device but also a plurality of devices connected by communication.

[0093] For example, the transmission control system 160 controls shift points, damping clutches, pressure to open / close friction clutches, and engine torque during transmission, etc. The transmission control system 160 may be not only a single device but also a plurality of devices connected by communication.

[0094] For example, the brake control device 170 may control brakes of the vehicle 100 , and may representatively include an anti-lock brake system (ABS) or the like.

[0095] For example, the steering control apparatus 180 assists the driver in manipulating the steering by the driver by reducing the steering force in low-speed driving or parking and increasing the steering force in high-speed driving.

[0096] For example, the driving assistance system 190 can assist the driving of the vehicle 1 and can perform a forward collision avoidance function, a lane departure warning (LDW) function, a blind spot detection (BSD) function, a rear monitoring function, and the like.

[0097] For example, the driving assistance system 190 may include a plurality of devices connected by communication. For example, the driving assistance system 190 may include a forward collision warning (FCW) system, an advanced emergency braking system (AEBS), an adaptive cruise control (ACC) system, a LDW system (LDWS), a lane keeping assist system (LKAS), a BSD system, a rear collision warning (RCW) system, etc.

[0098] Also, although not shown in the drawing, the ECU 210 included in the vehicle may further include an exterior light control device to turn on or off various lights included in the vehicle and adjust brightness.

[0099] Furthermore, an automatic driving control device 195 according to an embodiment of the present invention may also be included.

[0100] In the above, various components of a vehicle including an automatic driving control device have been described.

[0101] Hereinafter, the operation of the vehicle will be described in detail.

[0102] As an example, Figure 4 is a view exemplarily showing an optional functional performance determination method when one ECU is an external lamp controller.

[0103] The exterior light controller is one of a plurality of ECUs included in the vehicle 100 and is assumed to be Figure 4 Furthermore, as described above, it is assumed that the first ECU 211 is an automatic driving control device.

[0104] Accordingly, the automatic driving control device 211 may include a first controller 211a and a first memory 211b storing various processors and the like, and the first controller 211a controls the automatic driving control device 211 as a whole. Also, although not shown in the drawings, the automatic driving control device 211 may include a first communicator for communicating with another ECU 210 or CCU 230 of the vehicle.

[0105] Furthermore, the exterior light controller 212 may include a second controller 212a and a second memory 212b storing various processors and the like, and the second controller 212a controls the exterior light controller 212 as a whole. Furthermore, although not shown in the drawings, the exterior light controller 212 may include a second communicator that communicates with another ECU 210 or CCU 230 of the vehicle.

[0106] The lights of the vehicle controlled by the second controller 212 a of the exterior light controller 212 may include brake lights, tail lights, daytime running lights (DRL), and turn lights.

[0107] Here, the first controller 211a of the first ECU 211 diagnoses the state of each lamp of the external lamp controller, and can determine whether automatic driving is possible according to the state of each lamp. Moreover, the first controller 211a of the first ECU 211 can transmit the diagnostic state of each lamp to the CCU 230 through the vehicle's network, and the CCU 230 can transmit the corresponding information to the server 250.

[0108] As an example, when the first controller 211a of the first ECU 211 diagnoses the state of the brake light and diagnoses the state of the brake light as normal as a diagnosis result, it is determined that automatic driving is possible. Accordingly, although the corresponding information is transmitted to the server 250 through the CCU 230, the server 250 only receives the corresponding information and does not need to determine whether to execute the optional function.

[0109] Moreover, as an example, when the first controller 211a of the first ECU 211 diagnoses the state of the taillight, and the taillight is diagnosed as abnormal due to being disconnected ("first fault code"), it is determined that the optional function of automatic driving needs to be set. Therefore, the corresponding information is transmitted to the server 250 through the CCU 230, and the server 250 provides the vehicle 100 with information about the components to be operated instead of the taillights. Here, when multiple components are to be operated instead of the taillights, information about their priorities can also be provided. For example, information about "operating the flashing turn signal as priority 1" and "operating the fog lights as priority 2" among the components to be operated instead of the taillights can be provided.

[0110] Moreover, as an example, when the first controller 211a of the first ECU 211 diagnoses the state of the DRL, and the DRL is diagnosed as abnormal due to a short circuit ("second fault code"), it is determined that the optional function of the automatic driving needs to be set. Therefore, the corresponding information is transmitted to the server 250 through the CCU 230, and the server 250 provides the vehicle 100 with information about the components to be operated instead of the DRL. Here, when multiple components are to be operated instead of the DRL, information about their priorities can also be provided. For example, information about "operating the headlights upward as priority 1" and "operating the fog lights as priority 2" among the components to be operated instead of the DRL can be provided.

[0111] Moreover, as an example, when the first controller 211a of the first ECU 211 diagnoses the state of the turn signal lamp, and the turn signal lamp is diagnosed as abnormal as a specific Nth fault code, it is determined that the optional function of the automatic driving needs to be set. Therefore, the corresponding information is transmitted to the server 250 through the CCU 230, and the server 250 provides the vehicle 100 with information about the component to be operated in place of the turn signal lamp. Here, when the component to be operated in place of the turn signal lamp does not exist, the first controller 211a can provide information that the optional component does not exist and a determination result that the automatic driving is possible when there is no optional component and the automatic driving is possible.

[0112] In other words, the first controller 211a of the first ECU 211 can confirm through communication with the server 250 whether a component (e.g., brake lights, tail lights, and DRLs) requires an optional function to be selected for it, or whether a component (e.g., turn signals) cannot have an optional function selected for it but autonomous driving needs to be started optionally.

[0113] Accordingly, the diagnostic information of the first controller 211 a of the first ECU 211 may be transmitted to and stored in the cloud server 250 , and a command regarding execution of a selectable function may be executed through communication-based message update.

[0114] Accordingly, Figure 4 An embodiment of a method for confirming whether to execute a selectable function and confirming whether driving is possible through diagnostic information before driving the vehicle 100 is shown.

[0115] Next, Figure 5 An embodiment is shown regarding a method of determining whether to execute an optional function and whether to continue driving through diagnostic information during driving of the vehicle 100. However, when it is impossible to execute an optional function through diagnostic information during driving, it may be determined that automatic driving is not possible.

[0116] As an example, Figure 5 is a view exemplarily showing an optional functional performance determination method when one ECU is a brake controller.

[0117] The brake controller is one of a plurality of ECUs included in the vehicle 100 and is assumed to be Figure 5 The third ECU 213 in FIG. 21. Moreover, as described above, it is assumed that the first ECU 211 is an automatic driving control device.

[0118] Accordingly, the automatic driving control device 211 may include a first controller 211a that controls the automatic driving control device 211 as a whole, a first memory 211b that stores various processors, etc., and a first communication unit that communicates with another ECU 210 or the CCU 230 of the vehicle, although the first communication unit is not shown in the accompanying drawings.

[0119] Furthermore, the brake controller 213 may include a third controller 213a that controls the brake controller 213 as a whole, and a third memory 213b storing various processors and the like. Furthermore, although not shown in the drawings, the brake controller 213 may include a third communication unit that communicates with another ECU 210 or CCU 230 of the vehicle.

[0120] Functions of the vehicle controlled by the third controller 213 a of the brake controller 213 may include controlling braking and sliding, and may perform more functions in addition thereto.

[0121] Here, the first controller 211a of the first ECU 211 diagnoses each control function of the brake controller, and can determine whether automatic driving is possible according to the operation of each control function. Moreover, the first controller 211a of the first ECU 211 can transmit the diagnostic status of each control function to the CCU 230 through the vehicle network, and the CCU 230 can transmit the corresponding information to the server 250.

[0122] As an example, when the first controller 211a of the first ECU 211 determines that the braking performance is deteriorated and abnormal, it is determined that the optional function of the automatic driving needs to be set. Accordingly, the corresponding information is transmitted to the server 250 through the CCU 230, and the server 250 provides the vehicle 100 with information about the component to be operated in place of the brake controller. Here, when multiple components are to be operated in place of the brake controller, information about their priorities can also be provided.

[0123] For example, when the brake is insufficient compared to the target value due to performance degradation, information about "operating the parking brake as priority 1", "accelerating as priority 2" and "controlling the engine as priority 3" can be provided as optional functions for speed reduction.

[0124] Here, according to the priority provided, the vehicle 100 can control a plurality of functions sequentially at the same time. When the braking is insufficient compared to the target value after executing a plurality of such selectable functions, the driver can receive a warning of a state in which the automatic driving cannot be performed, and the vehicle 100 can be forced to change to a driving mode selected by the driver of the vehicle 100.

[0125] Moreover, as an example, when the first controller 211a of the first ECU 211 diagnoses the state of the slip control, and the result of the diagnosis is that the state of the slip control is diagnosed as normal, it is determined that automatic driving is possible. Accordingly, although the corresponding information is transmitted to the server 250 through the CCU 230, the server 250 only receives the corresponding information and does not need to determine whether to execute the optional function.

[0126] In other words, if Figure 5 In the embodiment shown in , when it can be determined whether the automatic driving is controllable during driving and at the beginning of driving, the vehicle 100 and the server 250 determine whether the automatic driving is possible and whether the optional functions are settable. Unlike determining the control of the automatic driving before driving, when the automatic driving control is determined after driving, the automatic driving is controllable only when the automatic driving corresponding to the predetermined target value (threshold) is controllable. When the vehicle 100 provides various optional functions that do not reach the target value, it is necessary to change to the driving mode selected by the driver of the vehicle 100.

[0127] Accordingly, various implementation schemes for controlling the automatic driving according to the settings of the optional functions obtained from the server based on the information of the various ECUs 210 diagnosed by the automatic driving control device have been described above.

[0128] Hereinafter, a general method of determining whether the vehicle 100 including the automatic driving control device can be automatically driven and controlling the setting of selectable functions will be described.

[0129] first, Figure 6 is a flowchart illustrating a method of controlling autonomous driving of a vehicle including an autonomous driving control device.

[0130] like Figure 6 As shown, the automatic driving control device 195 according to the embodiment of the present invention determines whether automatic driving is possible or continues according to whether the current state of the vehicle 100 is before driving (600) or during driving (630).

[0131] Specifically, when the current state of the vehicle 100 is before the driving of the vehicle 100 ("Yes" in 600), the automatic driving control device 195 determines whether automatic driving is possible with respect to a plurality of ECUs 210 included in the vehicle (610). Here, whether the current state of the vehicle 100 is before the driving of the vehicle refers to the case where the vehicle is stopped at the time of starting.

[0132] When the vehicle is driving ("Yes" in 630), it is determined whether to continue the automatic driving with respect to the plurality of ECUs 210 included in the vehicle (640). Here, whether the vehicle is driving may include a case where the speed of the vehicle is greater than or equal to a threshold value.

[0133] Thereafter, the automatic driving control device 195 performs normal control, control through optional functions, or driver control (620) based on the result of determining whether automatic driving is possible (610) or the result of determining whether to continue automatic driving (640).

[0134] Figure 7 and Figure 8 is a flowchart showing a method of controlling the automatic driving of a vehicle including an automatic driving control device and a server. In particular, Figure 7 is a flowchart showing a method of determining whether automatic driving is possible in a state before a vehicle is driven, and Figure 8 The present invention is a flowchart showing a method for determining whether automatic driving can be continued in a state where a vehicle is being driven.

[0135] First, if Figure 7 As shown, the vehicle 100 collects diagnostic information about whether automatic driving is possible (700). Specifically, the automatic driving control device 195 included in the vehicle 100 can collect diagnostic information about multiple ECUs 210.

[0136] Here, when the diagnostic information collected from a specific one of the ECUs 210 is abnormal (“Yes” in 710) and the corresponding function determined to be abnormal is a forced function (“Yes” in 720), the corresponding information is transmitted to the server 250. Here, the vehicle 100 may transmit the corresponding information to the server 250 through the CCU 230.

[0137] Although the subject of determining whether a function is mandatory is Figure 7 The vehicle 100 is shown in FIG. 1 , but the subject that determines whether the forcing function is determined to be abnormal may be the server 250 depending on the situation.

[0138] Accordingly, when the server 250 determines based on the received diagnostic information whether the corresponding function determined to be abnormal is settable, and the optional function is settable ("Yes" in 770), the priority of the multiple optional functions that can be executed is set, and the corresponding information is transmitted to the vehicle to execute the optional function. Similarly, the server 250 can transmit the corresponding information to the vehicle 100 through the CCU 230. Accordingly, the vehicle 100 can complete the setting of the automatic driving with the optional function including the priority (750), and finally, the corresponding setting information can be transmitted to the server 250.

[0139] When the server 250 determines, based on the received diagnostic information, whether an optional function of the corresponding function determined to be abnormal can be set, and the optional function cannot be set ("No" in 770), the corresponding information can be transmitted to the vehicle 100, and the vehicle 100 can request to operate in the driving mode selected by the driver of the vehicle 100 (730), and a warning indicating that automatic driving is not possible can be displayed to the driver (740).

[0140] Next, if Figure 8 As shown, the vehicle 100 collects diagnostic information about whether the vehicle 100 can be driven automatically during driving (800). The ECU 210 that collects diagnostic information about whether the vehicle 100 can be driven automatically during driving may correspond to a driving controller configured to control the driving operation of the vehicle or a brake controller configured to control the braking operation of the vehicle, but is not limited thereto.

[0141] Here, when the diagnostic information collected from a specific one of the ECUs 210 is abnormal ("Yes" in 810), the corresponding information is transmitted to the server 250. The server 250 receiving the information determines whether the optional function of the corresponding function determined to be abnormal is settable based on the received diagnostic information. When the optional function is settable ("Yes" in 880), the server 250 sets the priority of the plurality of optional functions that can be executed, and transmits the corresponding information to the vehicle 100 to execute the optional function (890).

[0142] Accordingly, the vehicle 100 performs the automatic driving through the selectable functions including the priority (850).

[0143] However, when the performance of the vehicle 100 is not satisfactory when performing autonomous driving using an optional function ("No" in 860), the vehicle 100 may request operation in a driving mode selected by the driver of the vehicle 100 (820), and may display a warning to the driver indicating that autonomous driving is not possible (830).

[0144] It is obvious from the above description that it is possible to determine whether the automatic driving of the vehicle can be controlled without driver intervention by automatically determining the states of multiple ECUs present in the vehicle.

[0145] Furthermore, it is possible to provide a vehicle that is capable of autonomous driving without driver intervention by automatically determining the states of a plurality of ECUs equipped in the vehicle.

[0146] Furthermore, it is possible to provide a vehicle capable of autonomous driving without driver intervention by automatically diagnosing a plurality of ECUs and executing selectable control based on diagnostic information.

[0147] Therefore, a vehicle capable of safely controlling autonomous driving without driver intervention can be provided.

[0148] Although certain embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined in the claims and their equivalents. The disclosed embodiments are exemplary and should not be construed as limiting the scope of the present invention.

Claims

1. An automatic driving control device for a vehicle, comprising: a communication control unit configured to communicate with at least one electronic control unit included in the vehicle and an external server; as well as a controller configured to: diagnose the at least one electronic control unit; transmit the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receive selectable function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the selectable function information indicating one or more selectable functions; and perform automatic driving control of the vehicle using the one or more selectable functions, Wherein, when the selectable function information includes a plurality of prioritized selectable functions, the controller is configured to sequentially apply the plurality of prioritized selectable functions to meet a preset target performance.

2. The automatic driving control device for a vehicle according to claim 1, wherein: The controller is configured to determine whether automatic driving of the at least one electronic control unit is enabled before the vehicle is driven, and is configured to determine whether automatic driving of the at least one electronic control unit continues while the vehicle is driven.

3. The automatic driving control device for a vehicle according to claim 2, wherein: When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven, the controller is configured to determine whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

4. The automatic driving control device for a vehicle according to claim 2, wherein: When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal, the controller is configured to request operation in a driving mode selected by a driver of the vehicle.

5. The automatic driving control device for a vehicle according to claim 2, wherein: When the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven, the controller is configured to determine whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

6. The automatic driving control device for a vehicle according to claim 5, wherein: The at least one electronic control unit includes a driving controller configured to control a driving operation of the vehicle, or a braking controller configured to control a braking operation of the vehicle.

7. The automatic driving control device for a vehicle according to claim 5, wherein: The controller is configured to determine whether a preset target performance is met when performing automatic driving of the vehicle using a function included in one or more selectable functions, and is configured to request the vehicle to operate in a driving mode selected by the driver of the vehicle when the preset target performance is not met.

8. A vehicle comprising: a communication control unit configured to communicate with at least one electronic control unit included in the vehicle and an external server; as well as An automatic driving control device, configured to: diagnose the at least one electronic control unit; transmit the diagnosis result of the at least one electronic control unit to the external server through the communication control unit; receive selectable function information generated by the external server based on the diagnosis result of the at least one electronic control unit, the selectable function information indicating one or more selectable functions; perform automatic driving control of the vehicle using the one or more selectable functions, When the selectable function information includes a plurality of prioritized selectable functions, the automatic driving control device is configured to sequentially apply the plurality of prioritized selectable functions to meet a pre-set target performance.

9. The vehicle according to claim 8, wherein: The automatic driving control device is configured to determine whether automatic driving of the at least one electronic control unit is possible before the vehicle is driven, and is configured to determine whether automatic driving of the at least one electronic control unit continues while the vehicle is driven.

10. The vehicle according to claim 9, wherein: When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven, the automatic driving control device is configured to determine whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

11. The vehicle according to claim 9, wherein: When the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal, the automatic driving control device is configured to request operation in a driving mode selected by a driver of the vehicle.

12. The vehicle according to claim 11, wherein: When the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven, the automatic driving control device is configured to determine whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

13. The vehicle of claim 12, wherein: The at least one electronic control unit includes a driving controller configured to control a driving operation of the vehicle, or a braking controller configured to control a braking operation of the vehicle.

14. The vehicle of claim 12, wherein: The automatic driving control device is configured to determine whether a preset target performance is met when performing automatic driving of the vehicle using a function included in one or more selectable functions, and is configured to request the vehicle to operate in a driving mode selected by the driver of the vehicle when the preset target performance is not met.

15. A method of controlling a vehicle, comprising: establishing, by a communication control unit of the vehicle, a communication session with at least one electronic control unit included in the vehicle and an external server; diagnosing, by a controller of the vehicle, the at least one electronic control unit; transmitting, via the communication control unit, a diagnosis result of the at least one electronic control unit to the external server; receiving, via the communication control unit, selectable function information generated by the external server based on a diagnosis result of the at least one electronic control unit, the selectable function information indicating one or more selectable functions; performing, by the controller, autonomous driving control of the vehicle using the one or more selectable functions, Wherein, when the selectable function information includes a plurality of prioritized selectable functions, the controller is configured to sequentially apply the plurality of prioritized selectable functions to meet a preset target performance.

16. The method for controlling a vehicle according to claim 15, wherein: Diagnosis of the at least one electronic control unit, comprising: Before the vehicle is driven, determining, by the controller, whether automatic driving of the at least one electronic control unit is possible; and When the vehicle is driving, the controller determines whether the automatic driving of the at least one electronic control unit can be continued.

17. The method for controlling a vehicle according to claim 16 further comprises, when the at least one electronic control unit is diagnosed as abnormal before the vehicle is driven and a mandatory function of the at least one electronic control unit is determined to be abnormal, requesting, through the controller, to operate in a driving mode selected by a driver of the vehicle.

18. The method for controlling a vehicle according to claim 16, further comprising: When the at least one electronic control unit is diagnosed as abnormal while the vehicle is being driven, it is determined by the controller whether the vehicle can be automatically driven using a function included in the one or more selectable functions.

19. The method for controlling a vehicle according to claim 16, further comprising: determining, by the controller, whether a preset target performance is satisfied when the automatic driving of the vehicle is performed using a function included in the one or more selectable functions; as well as By the controller, operation of the vehicle in a driving mode selected by a driver of the vehicle is requested when the predetermined target performance is not met.

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