Systems and methods for supporting autonomous vehicles

Abstract

The present invention relates to a system and method for supporting an autonomous driving vehicle. The system includes: a server and a controller, wherein the server is configured to search and provide a driving route in response to a request from a vehicle; the controller is configured to perform autonomous driving based on the autonomous driving level of a road included in the driving route, identify whether a change condition of the autonomous driving level of the vehicle is satisfied, and adjust the autonomous driving level of the vehicle when the change condition of the autonomous driving level of the vehicle is satisfied.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2018-0153948 filed in the Korean Intellectual Property Office on December 3, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to systems and methods for supporting driving of an autonomous vehicle. Background Art

[0004] An autonomous vehicle is a vehicle that can identify the driving environment, determine hazards, plan a driving route, and drive automatically without the need for driver input. According to the guidelines (J3016) provided by the Society of Automotive Engineers (SAE), the automation level of such autonomous vehicles is generally divided into six levels, from Level 0 to Level 5.

[0005] In recent years, vehicle manufacturers have released vehicles with functions that achieve Level 2 autonomous driving, and efforts have been made to realize limited autonomous driving vehicles (Level 3) that can autonomously drive in designated road environments such as highways, parking lots, etc. In addition, in order to overcome the limitations of technology that recognizes driving environments such as road and traffic conditions, research continues on operating systems that cooperate with vehicles and road systems to respond to road conditions in real time. Summary of the invention

[0006] The present invention is proposed to solve the above-mentioned problems arising in the prior art, while completely retaining the advantages achieved by the prior art.

[0007] One aspect of the present invention provides a system and method for supporting an autonomous driving vehicle, the system being capable of collecting autonomous driving status information from the autonomous driving vehicle, calculating the autonomous driving level of each road section, and constructing road information by reflecting the calculated autonomous driving level of each road section to provide road information to the autonomous driving vehicle.

[0008] In addition, another aspect of the present invention provides a system and method for supporting autonomous driving vehicles. When requesting a route search for an autonomous driving vehicle, the system can search and provide a driving route by taking into account the autonomous driving level supported by the corresponding vehicle.

[0009] In addition, another aspect of the present invention provides an autonomous driving vehicle, which is capable of performing autonomous driving based on road information reflecting the autonomous driving level of each road section, and adjusting the autonomous driving level of the vehicle based on whether the autonomous driving level of the vehicle is different from the autonomous driving level of the driving road.

[0010] The technical problems to be solved by the inventive concept are not limited to the above-mentioned problems, and those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein through the following description.

[0011] According to one aspect of the present invention, a system for supporting an autonomous driving vehicle may include: a server and a controller; the server is configured to search and provide a driving route in response to a request from a vehicle; the controller is configured to perform autonomous driving based on the autonomous driving level of roads included in the driving route, identify whether a condition for changing the autonomous driving level of the vehicle is met, and adjust the autonomous driving level of the vehicle when the condition for changing the autonomous driving level of the vehicle is met.

[0012] The server may collect the vehicle's autonomous driving state information including the vehicle's position and the vehicle's autonomous driving level from at least one vehicle capable of performing autonomous driving, and determine the autonomous driving level of each road section based on the collected vehicle's autonomous driving state information.

[0013] The server may search for a driving route based on an autonomous driving support level included in the autonomous driving status information of the vehicle transmitted after the vehicle is started.

[0014] The controller may determine whether the change condition is met based on whether the autonomous driving is released.

[0015] When autonomous driving is disengaged, the controller can initialize the vehicle's autonomous driving level.

[0016] The controller may identify whether the autonomous driving level of the vehicle and the autonomous driving level of the road differ from each other by a reference level or more.

[0017] When the vehicle's autonomous driving level is higher than the road's autonomous driving level, the controller can output a warning.

[0018] When the vehicle's autonomous driving level is higher than the road's autonomous driving level, the controller may adjust the vehicle's autonomous driving level to the road's autonomous driving level.

[0019] When the vehicle's autonomous driving level is lower than the road's autonomous driving level and the vehicle's autonomous driving support level is higher than or equal to the road's autonomous driving level, the controller may adjust the vehicle's autonomous driving level to the road's autonomous driving level.

[0020] The controller may output a notification informing the vehicle of a change in the level of autonomous driving.

[0021] According to another aspect of the present invention, a method for supporting autonomous driving vehicles may include the following steps: sending the vehicle's autonomous driving status information to a server and requesting a route search through a controller; receiving the driving route found by the server through the controller; performing autonomous driving through the controller based on the autonomous driving level of the roads included in the driving route; when performing autonomous driving, identifying through the controller whether a change condition for the vehicle's autonomous driving level is met; and adjusting the vehicle's autonomous driving level through the controller when the change condition is met.

[0022] The method may further include: collecting, through a server, autonomous driving status information of the vehicle from at least one vehicle capable of performing autonomous driving; and determining, before requesting a route search, an autonomous driving level for each road section based on the collected autonomous driving status information of the vehicle.

[0023] Requesting a route search may include: after the vehicle is started, sending the vehicle's autonomous driving status information including the vehicle's location information and autonomous driving support level through the vehicle; based on the autonomous driving support level, searching for a driving route through a server; and sending the driving route to the vehicle through the server.

[0024] Identifying whether a condition for changing the autonomous driving level is satisfied may include identifying, by the vehicle, whether the autonomous driving is released.

[0025] Adjusting the vehicle's autonomous driving level may include initializing the vehicle's autonomous driving level through the vehicle when autonomous driving is disengaged.

[0026] Identifying whether the change condition of the autonomous driving level is satisfied may include identifying, by the vehicle, whether the autonomous driving level of the vehicle and the autonomous driving level of the road differ from each other by a reference level or more.

[0027] Identifying whether a change condition of the autonomous driving level is satisfied may include outputting a warning through the vehicle when the autonomous driving level of the vehicle is higher than the autonomous driving level of the road.

[0028] Adjusting the autonomous driving level of the vehicle may include: when the autonomous driving level of the vehicle is higher than the autonomous driving level of the road, adjusting the autonomous driving level of the vehicle to the autonomous driving level of the road by the vehicle.

[0029] Adjusting the vehicle's autonomous driving level may include: when the vehicle's autonomous driving level is lower than the road's autonomous driving level and the vehicle's autonomous driving support level is higher than or equal to the road's autonomous driving level, adjusting the vehicle's autonomous driving level to the road's autonomous driving level through the vehicle.

[0030] The method may further include notifying, through the vehicle, a change notification of the vehicle's autonomous driving level after adjusting the vehicle's autonomous driving level.

[0031] According to another aspect of the present invention, an autonomous driving vehicle includes: a communication device and a controller; the communication device communicates with a server; the controller performs autonomous driving based on the autonomous driving level of roads included in a driving route provided from the server, identifies whether a condition for changing the autonomous driving level of the vehicle is met, and adjusts the autonomous driving level of the vehicle when the condition for changing the autonomous driving level of the vehicle is met. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0033] Figure 1 A schematic diagram showing a system for supporting an autonomous driving vehicle according to an embodiment of the present invention;

[0034] Figure 2 A block diagram showing an autonomous driving vehicle according to an embodiment of the present invention;

[0035] Figure 3 A flowchart showing a method for constructing autonomous driving support road information according to an embodiment of the present invention;

[0036] Figure 4 A flowchart showing a method for supporting an autonomous driving vehicle according to an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram showing a screen for outputting an automatic driving level warning of a vehicle according to an embodiment of the present invention;

[0038] Figure 6 is a schematic diagram showing a screen for outputting a notification of a change in an automatic driving level of a vehicle according to an embodiment of the present invention;

[0039] Figure 7 and Figure 8 is a schematic diagram showing a screen for outputting route search results according to an embodiment of the present invention; and

[0040] Fig. 9 The present invention is a block diagram showing a computer system for executing a method for supporting an autonomous driving vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals will always be used to refer to the same or equivalent elements. In addition, the detailed description of well-known features or functions will be excluded so as not to unnecessarily obscure the subject matter of the present invention.

[0042] When describing the components of the present invention, terms such as first, second, "A", "B", (a) and (b) may be used. These terms are only used to distinguish one component from another, and these terms do not limit the nature, order or sequence of the constituent components. In addition, unless otherwise defined, all terms (including technical or scientific terms) used herein have the same meaning as those commonly understood by technicians in the field to which the present invention belongs. Terms defined in commonly used dictionaries should be interpreted as having the same meaning as in the context of the relevant field, and should not be interpreted as having an idealized or overly formal meaning unless clearly defined as having such a meaning in this application.

[0043] Figure 1 A schematic diagram showing a system for supporting an autonomous driving vehicle according to an embodiment of the present invention. Figure 2 A block diagram of an autonomous driving vehicle according to an embodiment of the present invention is shown.

[0044] like Figure 1 As shown, the system for supporting an autonomous driving vehicle includes a vehicle 100 and a server 200 .

[0045] The vehicle 100 is a vehicle capable of automatic driving. The vehicle 100 transmits automatic driving state information of the vehicle 100 to the server 200 in real time during driving. In addition, the vehicle 100 adjusts the automatic driving level of the vehicle 100 based on the automatic driving support information (e.g., driving route, map information, road information, etc.) transmitted from the server 200.

[0046] like Figure 2 As shown, the vehicle 100 includes a communication device 110 , a position measurement device 120 , a storage device 130 , a user input device 140 , a display 150 , a detector 160 , a vehicle controller 170 , and a controller 180 .

[0047] The communication device 110 communicates with the server 200. The communication device 110 can communicate with the surrounding vehicles and / or road infrastructure as well as the server 200. The communication device 110 can utilize communication technologies such as wireless Internet, mobile communication, vehicle-to-everything (V2X), etc. As wireless Internet technology, wireless LAN (WiFi), wireless broadband (Wibro), global interoperability for microwave access (Wimax), etc. can be used. As mobile communication technology, code division multiple access (CDMA), global system for mobile communications (GSM), long term evolution (LTE), LTE-Advanced can be used. As V2X communication technology, vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-nomadic devices (V2N), in-vehicle network (IVN), etc. can be applied.

[0048] The position measuring device 120 measures the current position of the vehicle. The position measuring device 120 may measure the vehicle position using at least one of position measuring technologies such as global positioning system (GPS), dead reckoning (DR), differential GPS (DGPS), carrier phase differential GPS, etc.

[0049] The storage device 130 may store software that programs the controller 180 to perform specified operations, and may store input / output data. In addition, the storage device 130 may store accurate maps in the form of a database. Accurate maps may be automatically updated at a specified transmission cycle or manually updated by a user. In addition, the storage device 130 may store map information and road information mapped to a driving route provided from the server 200. The map information includes accurate maps and road information. Road information includes: information about the level of autonomous driving for each road section (road segment), road attributes, traffic signals, traffic conditions, road conditions, traffic signs, major buildings, surrounding vehicle driving conditions, etc.

[0050] The storage device 130 may store vehicle identification information and the highest autonomous driving level (autonomous driving support level) that the vehicle can support. The storage device 130 may store a reliability calculation algorithm and software programmed to perform a designated control function to perform autonomous driving of the vehicle.

[0051] The storage device 130 can be implemented using at least one of the following storage media, for example: flash memory, hard disk, secure digital (SD) card, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable programmable ROM (EEPROM), erasable programmable ROM (EPROM), register, removable disk, network storage device, etc.

[0052] The user input device 140 generates input data (e.g., automatic driving mode operation or release) in response to a user's operation. The user input device 140 may be implemented using a keyboard, a keypad, a button, a switch, a touch pad, a touch screen, etc. For example, the user input device 140 generates a signal indicating a designated control function to be activated (e.g., lane keeping, obstacle avoidance, collision avoidance, lane change, acceleration / deceleration control, etc.) in response to a user input.

[0053] The display 150 displays the progress status and operation results of the controller 180 in the form of visual information. The display 150 may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light emitting diode (OLED) display, a flexible display, a 3D display, a transparent display, a head-up display (HUD), a touch screen, and a combined instrument panel.

[0054] The display 150 may include a sound output module (such as a speaker capable of outputting audio data) and a tactile signal output module (e.g., a vibrator). For example, the display 150 may display a message indicating that the current autonomous driving level is different from the autonomous driving level of the road on which the vehicle is traveling, and may also output a voice signal (audio signal) through the speaker.

[0055] In addition, the display 150 may be implemented with a touch screen coupled with a touch sensor and may be used as an input device as well as an output device. As the touch sensor, a touch film, a touch pad, etc. may be used.

[0056] The detector 160 detects the driving environment information of the road on which the vehicle is driving and the vehicle state information. The detector 160 obtains the driving environment information through various sensors such as a camera, a radio detection and ranging (radar), a light detection and ranging (LiDAR), an ultrasonic sensor, and the like.

[0057] The detector 160 extracts shape information and distance information from the image information obtained by the camera, such as lanes, speed limits, traffic signs, surrounding vehicles, pedestrians, and traffic lights. In addition, the detector 160 can obtain distance and spatial information of omnidirectional objects (vehicles, pedestrians, obstacles, etc.) through radar, LiDAR, and ultrasonic sensors.

[0058] The detector 160 obtains vehicle information from one or more sensors and / or electronic control units (ECUs) installed in the vehicle. The one or more sensors may include: an impact sensor, a speed sensor, a steering angle sensor, and an acceleration sensor. The detector 160 may obtain vehicle information (e.g., airbag deployment, door opening, door closing, etc.) from various electronic control units (ECUs) connected via IVN. The IVN is implemented as a controller area network (CAN), a media oriented system transport (MOST) network, a local interconnect network (LIN), and / or a wire control (Flexray).

[0059] The vehicle controller 170 controls the steering, acceleration / deceleration and / or braking of the vehicle in response to commands sent from the controller 180. The vehicle controller 170 includes a driving controller 171, a braking controller 172, a steering controller 173 and a shift controller 174.

[0060] The drive controller 171 is a device for controlling the vehicle engine, which controls the acceleration of the vehicle. The drive controller 171 is implemented as an engine management system (EMS). The drive controller 171 controls the driving torque of the engine based on the accelerator pedal position information. In addition, the drive controller 171 controls the engine output to follow the target driving torque requested by the controller 180.

[0061] The brake controller 172 controls the deceleration of the vehicle. The brake controller 172 controls the brake pressure based on the position of the brake pedal or under the control of the controller 180.

[0062] The steering controller 173 controls the steering of the vehicle, which is achieved by using motor drive power steering (MDPS). The steering controller 173 controls the steering angle of the vehicle under the control of the controller 180 .

[0063] The shift controller 174 performs a shift (transmission) function of the vehicle and is implemented using an electronic shifter or shift-by-wire (SBW).

[0064] The controller 180 controls the vehicle controller 170 based on the driving environment information and the vehicle state information detected by the detector 160 to control the operation (steering, acceleration / deceleration and / or braking) of the vehicle. The controller 180 can be implemented using at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a microcontroller, and a microprocessor.

[0065] The controller 180 may include at least one designated control function corresponding to the vehicle's autonomous driving support level (support level). The designated control function may include: smart cruise control (SCC), advanced smart cruise control (ASCC), navigation smart cruise control (NSCC), electronic stability control (ESC), lane departure warning (LDW), lane keeping assist (LKA), collision avoidance (CAS), driver status monitoring (DSM), highway driving assist (HDA), blind spot detection (BSD), autonomous emergency braking (AEB), traffic jam assist (TJA), etc.

[0066] After the vehicle is started, the controller 180 transmits the vehicle's autonomous driving state information to the server 200 through the communication device 110. The vehicle's autonomous driving state information may include: vehicle identification information, autonomous driving support level, current autonomous driving level (autonomous driving level of the vehicle), operation control function (startup control function), vehicle location, whether the autonomous driving level has changed, reason for the level change, etc. In this case, the autonomous driving support level as the autonomous driving level of the vehicle 100 is the highest autonomous driving level that the vehicle 100 can support.

[0067] When the destination is set, the controller 180 may request the server 200 to perform a route search. The controller 180 may send the vehicle's autonomous driving support level together with the route search request. Meanwhile, the controller 180 may perform a route search by utilizing map information stored in the storage device 130.

[0068] The controller 180 receives information about the driving route to the destination from the server 200 and starts the automatic driving. The driving route information searched by the server 200 includes road information including map information and an automatic driving level for each road section (road segment).

[0069] When the autonomous driving starts, the controller 180 may set the current autonomous driving level of the vehicle to a preset autonomous driving level (default level) or an autonomous driving level of a road section mapped to the current position of the vehicle.

[0070] The controller 180 starts at least one designated control function corresponding to the current autonomous driving level of the vehicle to perform the corresponding control function. For example, when the current autonomous driving level of the vehicle is level 2, the SCC and LKA functions are started. The controller 180 sends a command to the vehicle controller 170 based on the judgment result of the started designated control function.

[0071] The controller 180 identifies whether the automatic driving is released. When the automatic driving cannot be maintained due to an error in a designated control function, failure to recognize the driving environment, an accident in front of the vehicle, an accident in the vehicle, etc., the controller 180 releases the automatic driving mode.

[0072] The controller 180 performs the automatic driving and identifies whether the current automatic driving level of the vehicle 100 is different from the automatic driving level of the road. The automatic driving level of the road is the automatic driving level that can be executed in the road section, and refers to the automatic driving level of each road section. That is, when the current automatic driving level of the vehicle 100 is different from the automatic driving level of the road section (road section) on which the vehicle 100 is traveling, the controller 180 outputs a notification to the display 150.

[0073] When the current autonomous driving level of the vehicle is higher than the autonomous driving level of the road, the controller 180 lowers the autonomous driving level of the vehicle. In addition, when the current autonomous driving level of the vehicle is lower than the autonomous driving level of the road, the controller 180 raises the autonomous driving level of the vehicle. In this case, the autonomous driving level of the vehicle is raised only when the autonomous driving level of the road is equal to or lower than the autonomous driving support level of the vehicle.

[0074] When an event such as adjusting the vehicle's autonomous driving level or releasing the vehicle's autonomous driving occurs, the controller 180 sends the vehicle's autonomous driving state information to the server 200 to notify that the vehicle's autonomous driving level has changed. In this case, the controller 180 also notifies the server 200 of the reason for the change in the autonomous driving level.

[0075] As an intelligent transportation system (ITS) that constructs and provides information about roads to support autonomous driving, the server 200 may be implemented using a collaborative ITS (C-ITS), an autonomous ITS (A-ITS), etc. The server 200 stores and manages map information including road information in a database (DB).

[0076] The server 200 can collect vehicle information (road information collected by vehicle-mounted sensors, driver status information, etc.), road information (status information about roads, lanes, sudden obstacles, road auxiliary facilities, etc.), traffic information (driving status information of individual vehicles, traffic condition information of each road section, etc.), climate information, etc. in real time through at least one vehicle 100 capable of performing autonomous driving, installed roadside infrastructure, etc.

[0077] The server 200 receives the automatic driving state information from at least one vehicle 100 that is performing automatic driving. The server 200 maps the received automatic driving state information to the map information to calculate the automatic driving level and reliability of each road section. The server 200 maps the road section (road section) where the vehicle 100 is traveling on the map based on the vehicle position included in the automatic driving state information, and identifies the current automatic driving level of the vehicle 100. The server 200 maintains the current automatic driving level of the vehicle 100 and monitors whether the vehicle 100 is traveling on the mapped road section. The server 200 evaluates the reliability of each road section based on the monitoring results.

[0078] The server 200 may calculate the reliability using a reliability calculation algorithm. The server 200 maintains a designated autonomous driving level higher than the autonomous driving level of the road section, and when the number of vehicles traveling stably is equal to or greater than the set number of vehicles, the reliability of the corresponding road section is increased by a designated value (%). When a set number of vehicles traveling at a designated autonomous driving level on the corresponding road section release the autonomous driving mode, the server 200 reduces the reliability of the designated road section by a designated value (%). Alternatively, the server 200 subtracts the reliability of the designated road section by a designated value corresponding to the autonomous driving level of the vehicle that had an accident during autonomous driving on the designated road.

[0079] For example, when a total of ten vehicles remain in level 3 autonomous driving on a designated road section without any specific reason, the server 200 increases the reliability of the corresponding road section by 20%. When two vehicles traveling in level 4 autonomous driving release the autonomous driving mode, the server 200 decreases the reliability of the corresponding road section by 10%. When an accident occurs to a vehicle traveling in level 4 autonomous driving on a designated road section, the server 200 changes (initializes) the reliability of the corresponding road section to 10%.

[0080] The server 200 may calculate the reliability and may assign the autonomous driving level based on the corresponding reliability based on the following information, including: information about the autonomous driving level of the vehicle 100 traveling on each road section, the number of vehicles released from the autonomous driving mode, information about the change in the autonomous driving level of the vehicle, the autonomous driving level of the accident vehicle at the time of the accident, the difference between the actual road information collected by the vehicle 100 and the road information stored in the DB, the vehicle type, the weather, the time zone, etc. For example, the server 200 may give the autonomous driving level corresponding to the reliability as shown in Table 1.

[0081] (Table 1)

[0082] Automated driving level reliability Level 4 95％ Level 3 75％ Level 2 50％ Level 1 20％

[0083] The server 200 updates the autonomous driving level of each road section based on the data collected in real time to construct road information. When the server 200 receives a route search request from the vehicle 100, the server 200 searches for a driving route in consideration of the autonomous driving support level of the vehicle 100. For example, when the autonomous driving support level of the vehicle 100 is level 3, the server 200 searches for a driving route in which the vehicle 100 travels only below level 3. In addition, when the target autonomous driving level and the specified requirements are received from the vehicle 100, the server 200 searches for a driving route based on the target autonomous driving level and the specified requirements. In this case, the server 200 may search for a driving route including such a road section on which the vehicle can travel at the target autonomous driving level, at a specified ratio or a greater ratio. In addition, the server 200 may search for a driving route including a road section that meets the highest requirements. The server 200 sends the searched driving route to the vehicle 100.

[0084] Although not shown, the server 200 includes a communication module for communicating with the vehicle 100 , a processor for controlling the overall operation of the server 200 , and a memory for storing software programmed to perform a specified operation instructed by the processor.

[0085] Figure 3 The present invention is a flowchart showing a method for constructing automatic driving support road information according to an embodiment of the present invention.

[0086] In step S110, the server 200 receives the automatic driving state information from at least one vehicle 100 capable of performing automatic driving. The automatic driving state information may include: vehicle identification information, automatic driving support level, current automatic driving level, operation control function, vehicle position, information on whether the automatic driving level has changed, reason for level change, etc.

[0087] In step S120, the server 200 determines the autonomous driving level of each road section based on the received autonomous driving state information. The server 200 matches the road section to the map based on the vehicle position included in the autonomous driving state information, and calculates the reliability of the matched road section in consideration of the current autonomous driving level. The server 200 determines the autonomous driving level of the corresponding road section based on the calculated reliability of the road section.

[0088] In step S130, the server 200 updates the road information by reflecting the autonomous driving level determined for each road section. That is, the server 200 updates the autonomous driving level for each road section to construct the road information.

[0089] In step S140, the server 200 provides each vehicle with an automatic driving level of the road section based on the updated road information. For example, when the automatic driving level of a specified road section changes, the server 200 sends the changed automatic driving level of the road to the vehicle 100 traveling on the corresponding road section.

[0090] Figure 4 A flowchart showing a method for supporting an autonomous driving vehicle according to an embodiment of the present invention.

[0091] After the vehicle 100 is started in step S210, in step S220, the vehicle 100 sends its autonomous driving state information to the server 200. The autonomous driving state information may include: vehicle identification information, autonomous driving support level, current autonomous driving level (autonomous driving level of the vehicle), operation control function, vehicle location, information on whether the autonomous driving level has changed, reasons for the level change, etc.

[0092] Then, in step S230, when the destination is set, the vehicle 100 requests a route search from the current position of the vehicle to the destination from the server 200. When requesting the route search, the vehicle 100 may also transmit the vehicle's autonomous driving support level information together.

[0093] In step S240, the server 200 searches for a driving route to a destination in response to a route search request of the vehicle 100. The server 200 searches for the driving route in consideration of the autonomous driving support level of the vehicle.

[0094] In step S250 , the server 200 transmits the found driving route to the vehicle 100 .

[0095] In step S260 , the vehicle 100 performs automatic driving based on the driving route provided from the server 200 .

[0096] In step S270, the vehicle 100 identifies whether a change condition of the vehicle's autonomous driving level is satisfied while autonomous driving. The vehicle 100 may determine whether the level change condition is satisfied based on whether the autonomous driving of the vehicle 100 is released. For example, when it is determined that the autonomous driving is released due to an accident or an unexpected event during autonomous driving, or when an autonomous driving release command is received from the user input device 140, the vehicle 100 determines that the level change condition is satisfied. In addition, the vehicle 100 determines whether a change condition of the vehicle's autonomous driving level is satisfied based on whether the vehicle's autonomous driving level is different from the road's autonomous driving level. When the difference between the vehicle's autonomous driving level and the road's autonomous driving level is equal to or higher than a preset benchmark (e.g., level 2), the vehicle 100 determines that the level change condition is satisfied.

[0097] In step S280, when the level change condition is met, the vehicle 100 adjusts the vehicle's autonomous driving level. When the vehicle's autonomous driving level is higher than the road's autonomous driving level, the vehicle 100 may adjust the vehicle's autonomous driving level to the road's autonomous driving level. When the vehicle's autonomous driving level is lower than the road's autonomous driving level and the road's autonomous driving level is equal to or lower than the vehicle's autonomous driving support level, the vehicle 100 may adjust the vehicle's autonomous driving level to the road's autonomous driving level. When autonomous driving is released, the vehicle 100 may initialize the vehicle's autonomous driving level (level 1).

[0098] In step S290, when the autonomous driving level of the vehicle is adjusted, the vehicle 100 transmits the autonomous driving state information of the vehicle to the server 200. When the current autonomous driving level of the vehicle 100 changes, the vehicle 100 transmits the autonomous driving state information of the vehicle to the server 200, which includes information about the changed current autonomous driving level and the reason for the change.

[0099] In step S300, after transmitting the vehicle's automatic driving state information, the vehicle 100 identifies whether the driving is completed. In step S310, when the driving is completed, the vehicle 100 ends the automatic driving. When the vehicle position and the destination are consistent with each other within the error range, the vehicle 100 determines that the driving is completed.

[0100] When the driving is not completed, in step S260, the vehicle 100 maintains automatic driving.

[0101] Figure 5 is a schematic diagram showing a screen for outputting an automatic driving level warning of a vehicle according to an embodiment of the present invention.

[0102] like Figure 5As shown, when the current autonomous driving level is level 4 (Lv4) and the autonomous driving level of the road section where the vehicle 100 is traveling is level 3 (Lv3), the vehicle 100 outputs a warning indicating that the current autonomous driving level is higher than the autonomous driving level of the road section. The vehicle 100 outputs a warning message to the display 150, such as "the current autonomous driving level is higher than the autonomous driving level of the traveling road".

[0103] Figure 6 is a diagram showing a screen for outputting a notification of a change in an autonomous driving level of a vehicle according to an embodiment of the present invention.

[0104] Reference Figure 6 , when the current autonomous driving level is level 4 (Lv4) and the autonomous driving level of the road section on which the vehicle 100 is traveling is level 3 (Lv3), the vehicle 100 adjusts the autonomous driving level of the vehicle from level 4 to level 3. The vehicle 100 outputs a notification message such as “changed to the autonomous driving level suitable for the current road” to the display 150 to notify that the autonomous driving level of the vehicle has changed.

[0105] Figure 7 and Figure 8 is a schematic diagram showing a screen for outputting route search results according to an embodiment of the present invention.

[0106] The server 200 searches for a driving route at the request of the vehicle 100 and transmits the search result to the vehicle 100. The vehicle 100 displays the driving route provided from the server 200. In this case, the vehicle 100 may display the ratio of the road section for each autonomous driving level in the driving route. Figure 7 As shown, when the road section in the driving route that can be driven with "Level 3" autonomous driving is 45%, the road section that can be driven with "Level 2" autonomous driving is 20%, and the road section that can be driven with "Level 1" autonomous driving is 35%, the vehicle 100 can display different colors and bar lengths corresponding to the autonomous driving level and road section ratio.

[0107] In addition, the server 200 may perform route search in consideration of the autonomous driving support level of the vehicle 100 (i.e., the highest autonomous driving level that the vehicle can support). For example, when the autonomous driving support level of the vehicle 100 is level 3, the server 200 searches for and provides a driving route consisting only of road sections whose autonomous driving levels are level 1 to level 3. Figure 8 As shown, the vehicle 100 guides a driving route that includes only road sections where the vehicle performs autonomous driving.

[0108] Fig. 9 The present invention is a block diagram showing a computer system for executing a method for supporting an autonomous driving vehicle according to an embodiment of the present invention.

[0109] refer to Fig. 9 , the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected to each other through a bus 1200 .

[0110] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes instruction processing stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0111] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly in hardware, in a software module executed by the processor 1100, or in a combination of the two. The software module may be present in a storage medium (i.e., memory 1300 and / or storage device 1600), such as a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a register, a hard disk, a mobile hard disk, a compact disk ROM (CD-ROM), etc. An exemplary storage medium is connected to the processor 1100 so that the processor 1100 can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium may be integrated into the processor 1100. The processor and the storage medium may be present in an ASIC. The ASIC may be present in a user terminal. Alternatively, the processor and the storage medium may be present in a user terminal as separate components.

[0112] According to an embodiment of the present invention, autonomous driving status information can be collected by using an autonomous driving vehicle as a detection vehicle, the autonomous driving level of each road section can be calculated, and road information can be constructed by reflecting the calculated autonomous driving level of each road section to be provided to the autonomous driving vehicle, so that the vehicle can maintain autonomous driving more reliably.

[0113] In addition, according to an embodiment of the present invention, when an autonomous driving vehicle requests a route search, a driving route is searched and provided in consideration of the autonomous driving level supported by the corresponding vehicle, thereby improving the utilization rate of autonomous driving.

[0114] In addition, according to an implementation scheme of the present invention, autonomous driving is performed based on road information reflecting the autonomous driving level of each road section, and the autonomous driving level of the vehicle is adjusted based on whether the autonomous driving level of the vehicle is different from the autonomous driving level of the driving road, thereby improving the driving safety of the autonomous driving vehicle.

[0115] Although the present invention has been described above with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto, and various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

Claims

1. A system for supporting an autonomous vehicle, the system comprising: a server configured to search for and provide a driving route in response to a request from a vehicle; as well as The controller is configured as: performing autonomous driving based on an autonomous driving level of a road included in the driving route; Identify whether a condition for changing the autonomous driving level of the vehicle is met; When a condition for changing the autonomous driving level of the vehicle is met, adjusting the autonomous driving level of the vehicle; sending the adjusted autonomous driving level of the vehicle to the server to notify that the autonomous driving level of the vehicle has changed; When the vehicle's autonomous driving level is lower than the road's autonomous driving level and the vehicle's autonomous driving support level is higher than or equal to the road's autonomous driving level, adjusting the vehicle's autonomous driving level to the road's autonomous driving level; Wherein, the server configuration is: Give the level of autonomous driving corresponding to reliability; When the number of vehicles running stably is equal to or greater than the set number of vehicles, the reliability of the corresponding road section is increased by a specified value; When a set number of vehicles traveling at a specified automatic driving level on a corresponding road section release the automatic driving mode, the reliability of the corresponding road section is reduced by a specified value.

2. The system for supporting an autonomous vehicle according to claim 1, wherein: The server configuration is: collecting, from at least one vehicle capable of performing autonomous driving, autonomous driving state information of the vehicle including a vehicle position and an autonomous driving level of the vehicle; The autonomous driving level of each road section is determined based on the collected vehicle's autonomous driving status information.

3. The system for supporting an autonomous driving vehicle according to claim 1, wherein: The server is configured to search for a driving route based on an autonomous driving support level included in autonomous driving state information of the vehicle transmitted after the autonomous driving vehicle is started.

4. The system for supporting an autonomous driving vehicle according to claim 1, wherein: The controller is configured to determine whether a change condition is satisfied based on whether the autonomous driving is released.

5. The system for supporting an autonomous driving vehicle according to claim 4, wherein: The controller is configured to initialize the vehicle's autonomous driving level when autonomous driving is released.

6. The system for supporting an autonomous driving vehicle according to claim 1, wherein: The controller is configured to identify whether an autonomous driving level of the vehicle and an autonomous driving level of the road differ from each other by a reference level or more.

7. The system for supporting an autonomous driving vehicle according to claim 6, wherein: The controller is configured to output a warning when the autonomous driving level of the vehicle is higher than the autonomous driving level of the road.

8. The system for supporting an autonomous driving vehicle according to claim 6, wherein: The controller is configured to adjust the vehicle's autonomous driving level to the road's autonomous driving level when the vehicle's autonomous driving level is higher than the road's autonomous driving level.

9. The system for supporting an autonomous vehicle according to claim 1, wherein: The controller is configured to output a notification informing the vehicle of a change in the autonomous driving level.

10. A method for supporting an autonomous vehicle, the method comprising the following steps: The vehicle's autonomous driving status information is sent to the server through the controller and a route search is requested; Receiving the driving route found by the server through the controller; executing, by a controller, autonomous driving based on an autonomous driving level of a road included in the driving route; When executing the autonomous driving, identifying, by the controller, whether a condition for changing the autonomous driving level of the vehicle is satisfied; When the change condition is met, adjusting the autonomous driving level of the vehicle through the controller; Sending the adjusted autonomous driving level of the vehicle to the server through the controller to notify that the autonomous driving level of the vehicle has changed; When the autonomous driving level of the vehicle is lower than the autonomous driving level of the road and the autonomous driving support level of the vehicle is higher than or equal to the autonomous driving level of the road, adjusting the autonomous driving level of the vehicle to the autonomous driving level of the road by the controller; The server provides an autonomous driving level corresponding to the reliability; When the number of vehicles running stably is equal to or greater than the set number of vehicles, the reliability of the corresponding road section is increased by a specified value through the server; When a set number of vehicles traveling at a specified autonomous driving level on a corresponding road section cancel the autonomous driving mode, the reliability of the corresponding road section is reduced by a specified value through the server.

11. The method according to claim 10, further comprising the steps of: collecting, by a server, autonomous driving state information of a vehicle from at least one vehicle capable of performing autonomous driving; Before requesting a route search, the server determines the autonomous driving level of each road section based on the collected vehicle's autonomous driving status information.

12. The method according to claim 10, wherein: The steps to send and request include the following steps: After the autonomous driving vehicle is started, the autonomous driving state information of the vehicle including the position information of the vehicle and the autonomous driving support level is sent to the server through the controller; Based on the level of autonomous driving support, the server searches for driving routes; The driving route is sent to the vehicle via the server.

13. The method according to claim 10, wherein: The step of identifying whether the change condition of the automated driving level is satisfied comprises the following steps: The controller identifies whether the autonomous driving is released.

14. The method according to claim 13, wherein: The steps for adjusting the vehicle's autonomous driving level include the following steps: When the autonomous driving is released, the vehicle's autonomous driving level is initialized through the controller.

15. The method according to claim 10, wherein: The step of identifying whether the change condition of the automated driving level is satisfied comprises the following steps: It is identified by the controller whether the autonomous driving level of the vehicle and the autonomous driving level of the road differ from each other by a reference level or more.

16. The method according to claim 15, wherein: The step of identifying whether the change condition of the automated driving level is satisfied further includes the following steps: When the vehicle's autonomous driving level is higher than the road's autonomous driving level, a warning is output through the controller.

17. The method according to claim 15, wherein: The steps for adjusting the vehicle's autonomous driving level include the following steps: When the vehicle's autonomous driving level is higher than the road's autonomous driving level, the vehicle's autonomous driving level is adjusted to the road's autonomous driving level through the controller.

18. The method according to claim 10, further comprising the following steps after the step of adjusting the automatic driving level of the vehicle: A notification is outputted by the controller informing the vehicle of a change in the autonomous driving level.

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