Vehicle and control method thereof

Abstract

A vehicle comprises: a communication device configured to request first data related to automatic driving of an adjacent vehicle from an adjacent vehicle and receive the first data from the adjacent vehicle when the vehicle is traveling; a sensor device configured to sense second data related to a user status of the vehicle and detect third data related to driving information of the adjacent vehicle; and a controller configured to classify the risk of the vehicle into a plurality of levels according to a preset standard based on the first data, the second data, and the third data based on a classification level.

Description

Technical Field

[0001] The present invention relates to an automatically driven vehicle based on inter-vehicle communication, a vehicle equipped with a driver assistance system and a control method thereof. Background Art

[0002] With the recent development of autonomous vehicles and driver assistance systems, technologies for measuring the risk of a moving vehicle are being developed. Conventional methods for measuring the risk of a vehicle may include, for example, detecting the surrounding environment of the vehicle through sensors disposed in the vehicle, detecting the status of a user in the vehicle, or determining the risk of the vehicle alone.

[0003] On the other hand, as autonomous vehicles become more popular, technologies for acquiring information about the surrounding environment through communication between vehicles are being developed. Sometimes, the acquired information about the surrounding environment may include factors that pose a threat to the moving vehicle. This information may include not only fixed factors but also non-fixed factors such as other moving vehicles.

[0004] Therefore, it is necessary to develop a technology for a traveling vehicle that collects information of surrounding vehicles by using inter-vehicle communication and measures risk by combining the information of the traveling vehicle and the collected information of the surrounding vehicles.

[0005] The information included in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an admission or any form of suggestion that this information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The present invention provides a vehicle and a control method thereof, which are capable of performing inter-vehicle communication with surrounding vehicles and scoring the risk of the vehicle based on a combination of information related to a user status in the vehicle and a surrounding condition of the vehicle.

[0007] The present invention also provides a vehicle and a control method thereof, which can warn a user when the vehicle is in a dangerous area and pull the vehicle out of the dangerous area based on a score.

[0008] According to one aspect of the present invention, a vehicle may include a communication device for requesting first data related to automatic driving of surrounding vehicles from surrounding vehicles and receiving first data from surrounding vehicles when the vehicle is driving; a sensor device for sensing second data related to the user status of the vehicle and sensing third data related to driving information of surrounding vehicles; and a controller for classifying the danger degree of the vehicle into levels according to predetermined criteria based on the first data, the second data and the third data, and scoring the danger based on the classified levels.

[0009] The controller including the first data includes information on whether the vehicle has at least one of a highway driving assist function for surrounding vehicles, a lane keeping assist function, a smart cruise function, and an automatic emergency braking function.

[0010] The controller may be further configured to alert a user based on the second data.

[0011] The controller may be configured to determine at least one of a relative speed of surrounding vehicles and a relative distance of surrounding vehicles from the vehicle based on the third data, and predict expected paths of the surrounding vehicles to score the risk of the vehicle.

[0012] The controller may be further configured to compare the risk of the vehicle with a preset value, and determine whether the vehicle is in a safe zone, a warning zone, or a dangerous zone based on a preset standard based on a comparison result of comparing the risk of the vehicle with the preset value.

[0013] The vehicle may also include at least one of a steering device and an acceleration / deceleration device, wherein the controller controls the drive device based on a determination result of whether the vehicle is in a safe zone, a warning zone or a dangerous zone and based on a state of a user so that the vehicle leaves the dangerous zone.

[0014] The vehicle may include a display indicating vehicle danger; and also include a warning device, which is configured to warn the user of the vehicle based on the risk, and the controller also includes: controlling the display and the warning device to display the danger zone to the user of the vehicle through the display based on the classification level based on the scoring result from the risk scoring, and warning through the warning device.

[0015] The controller may be further configured to control the display to prompt the user of the vehicle to drive to a safe zone based on the scoring result.

[0016] According to another aspect of the present invention, a vehicle control method includes: requesting first data related to automatic driving of surrounding vehicles from surrounding vehicles through a communication device while driving and receiving first data from the surrounding vehicles; detecting second data related to the user status of the vehicle through a sensor device, and detecting third data related to driving information of surrounding vehicles; and classifying the dangerousness of the vehicle into levels according to a first preset standard by a controller based on the first data, the second data and the third data, and scoring the risk according to the classification level.

[0017] The control method may further include: wherein the first data is a control method of a vehicle, the control method of the vehicle including information on whether surrounding vehicles are in at least one of a highway driving assist function, a lane keeping assist function, a smart cruise function, and an automatic emergency braking function.

[0018] The control method may further include alerting a user based on the second data.

[0019] The control method may further include: determining at least one of a relative speed of surrounding vehicles and a relative distance of surrounding vehicles from the vehicle based on third data; and predicting predicted paths of the surrounding vehicles to score the risk of the vehicle.

[0020] The control method may further include comparing the risk of the vehicle with a preset value, and determining whether the vehicle is in a safe zone, a warning zone, or a dangerous zone based on a preset standard based on a comparison result of comparing the risk of the vehicle with the preset value.

[0021] The control method may further include controlling the vehicle to leave the danger zone based on a determination result of determining whether the vehicle is in the safety zone, the warning zone, or the danger zone and based on a state of a user.

[0022] The control method may further include displaying the risk of the vehicle; warning the user of the vehicle based on the risk; and the controller controls to display and warn the user of the vehicle of the danger zone based on a scoring result of scoring the risk based on the classification level.

[0023] The control method may further include instructing to urge the user of the vehicle to drive to a safe zone based on the scoring result. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] These and / or other aspects of the present invention will become apparent and more easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A vehicle according to an exemplary embodiment of the present invention is shown;

[0026] Figure 2 is a control block diagram of a vehicle according to an exemplary embodiment of the present invention;

[0027] Figure 3 A vehicle communicating with other vehicles according to an exemplary embodiment of the present invention is shown;

[0028] Figure 4 A flowchart showing a process of notifying a user of a vehicle of a danger zone according to an exemplary embodiment of the present invention;

[0029] Figure 5 A flowchart showing a process of determining a risk score using first data of a vehicle according to an exemplary embodiment of the present invention;

[0030] Figure 6A flowchart illustrating a method for determining a risk score based on second data and third data of a vehicle according to an exemplary embodiment of the present invention; and

[0031] Figure 7 Detailed description is a flowchart illustrating a process of controlling a vehicle to escape from a danger zone according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following detailed description is provided to help the reader gain a comprehensive understanding of the methods, apparatuses, and / or systems described herein. Therefore, various changes, modifications, and equivalents of the methods, apparatuses, and / or systems described herein will be suggested to those of ordinary skill in the art. The progress of processing operations described is an example; however, except for operations that must occur in a specific order, the order of operations is not limited to the order set forth herein and may be changed as known in the art. In addition, for increased clarity and brevity, corresponding descriptions of well-known functions and structures may be omitted.

[0033] In addition, exemplary embodiments will now be described more fully below with reference to the accompanying drawings. However, exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. These embodiments are provided so that the present invention will be thorough and complete and the exemplary embodiments will be fully communicated to those of ordinary skill in the art. The same reference numerals represent the same elements throughout.

[0034] It should be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. As used herein, the term "and / or" includes any and all combinations of one or more of the related listed items.

[0035] It should be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be intervening elements. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements.

[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0037] Reference will now be made in detail to the exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

[0038] Will refer to Figure 1 and Figure 2 A configuration of a vehicle 1 according to an exemplary embodiment of the present invention is described.

[0039] refer to Figure 1 and Figure 2 The vehicle 1 includes a communication device 100 , a sensor device 200 , and a controller 300 , and may further include a display 401 , a driving device 402 , or a warning device 403 .

[0040] Specifically, the communication device 100 is provided in the vehicle 1 to enable communication between vehicles (inter-vehicle communication). The communication device 100 can send a signal to request first data to an adjacent vehicle. The communication device 100 can also receive first data from the adjacent vehicle.

[0041] The first data includes information related to the autonomous driving function and information related to an advanced driver assistance system (ADAS) of a neighboring vehicle of the vehicle 1 .

[0042] The driver assistance functions constituting ADAS include highway driving assist (HDA), lane following assist (LFA), smart cruise control (SCC) and forward collision avoidance (FCA), but are not limited thereto. For example, the driver assistance functions may include other driver assistance functions constituting an advanced driver assistance system.

[0043] The communication module 100 may be a hardware device implemented by various electronic circuits (e.g., a processor) to send and receive signals via a wireless or wired connection. The communication device 100 may include one or more components that enable communication with an external device (e.g., at least one of a short-range communication module, a wired communication module, and a wireless communication module).

[0044] The short-range communication module may include various short-range communication modules that send or receive signals through a wireless communication network, such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, a near field communication (NFC) module or a Zigbee communication module.

[0045] The wired communication module can include not only various wired communication modules, such as a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module or a value-added network communication module, but also various cable communication modules, such as a universal serial bus (USB), a high-definition multimedia interface (HDMI), a digital video interface (DVI), a recommended standard 232 (RS-232), a power line communication or a plain old telephone service (POTS) module.

[0046] The wireless communication module may include a Wi-Fi module, a wireless broadband (Wibro) module, and various other wireless communication modules supporting Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), etc.

[0047] The wireless communication module may include a wireless communication interface with an antenna and a transmitter for sending signals related to vehicle information. The wireless communication module may also include a signal conversion module for converting a digital control signal output from the controller through the wireless communication interface into an analog wireless signal under the control of the controller.

[0048] The wireless communication module may include a wireless communication interface with an antenna and a receiver for receiving signals related to vehicle information. The wireless communication module may also include a signal conversion module for converting analog wireless signals received through the wireless communication interface into digital control signals under the control of the controller.

[0049] The sensor device 200 may include one or more sensors that detect the second data and the third data.

[0050] Specifically, the second data may be information related to the state of the user in the vehicle 1. Therefore, the sensor for detecting the second data may be provided on a steering wheel or a seat in the vehicle 1, for example.

[0051] In an exemplary embodiment of the present invention, the sensor for detecting the second data may be part of a driver attention warning (DAW). In this case, the second data may include the accumulated fatigue level of the user, whether the user is driving while drowsy, etc. However, the second data is not limited thereto, and may include information about other states of the user.

[0052] The third data includes information about the surrounding conditions of the vehicle 1. Specifically, the third data may include all information except the automatic driving function of the neighboring vehicles to the vehicle 1.

[0053] The third data according to an exemplary embodiment of the present invention may include a relative speed of the adjacent vehicle relative to the vehicle 1, a relative distance between the vehicle 1 and the adjacent vehicle, and a predicted path of the adjacent vehicle. Therefore, the sensor for sensing the third data may include a speed sensor, a light sensor, an ultrasonic sensor, or a laser sensor provided inside or outside the vehicle 1. However, the sensor for sensing the third data is not limited thereto, and may include other types of sensors.

[0054] The controller 300 of the vehicle 1 according to an exemplary embodiment of the present invention may be a processor (e.g., a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, etc.). The controller 300 may be implemented by a non-transitory memory and a processor, the non-transitory memory storing software instructions such as programs and reproduction algorithms that control the operation of various components of the vehicle 1 when executed, and the processor being configured to execute programs, software instructions of reproduction algorithms, etc., thereby performing various functions described below. Here, the memory and the processor may be implemented as separate semiconductor circuits. Alternatively, the memory and the processor may be implemented as a single integrated semiconductor circuit. The processor may be implemented as one or more processors.

[0055] As will be described later, the controller 300 scores the risk of the vehicle 1 based on the first data received by the communication device 100 , and the second data and third data sensed by the sensor device 200 .

[0056] Specifically, the controller 300 may control a display 401 , a driving device 402 , or a warning device 403 of the vehicle 1 .

[0057] Figure 2 Each component shown in refers to a software component and / or a hardware component, such as a field programmable gate array (FPGA) and an application specific integrated circuit (ASIC).

[0058] Figure 3 A vehicle 1 is shown communicating with other vehicles according to an exemplary embodiment of the present invention.

[0059] Specifically, the method by which the vehicle 1 communicates with other vehicles may be a vehicle-to-vehicle (V2V) method. The vehicle 1 may prevent safety accidents by communicating with other vehicles in the V2V method. At the same time, the available V2V range for preventing safety accidents of the vehicle 1 may be set within a safe distance between the vehicle 1 and the adjacent vehicle.

[0060] refer to Figure 3 , vehicle 1 can receive information about the first neighboring vehicle 2 using V2V communication, and when the first neighboring vehicle has collected information about the second neighboring vehicle 3, collect information about the second neighboring vehicle 3. This enables vehicle 1 to obtain as much information about neighboring vehicles as possible and to score risks more accurately by using information from surrounding vehicles.

[0061] However, the communication method is not limited to the V2V method, but may also include communication between vehicles and road infrastructure (V2I: Vehicle to Infrastructure), communication between vehicles and pedestrians (V2P: Vehicle to Pedestrians) to nomadic devices.

[0062] Figure 41 is a flow chart showing how the controller 300 scores the risk based on the first data, the second data and the third data and notifies the user of the vehicle 1 of the danger zone.

[0063] refer to Figure 4 The communication device 100 of the vehicle 1 requests the first data related to the automatic driving function and the driver assistance function of the adjacent vehicle from the adjacent vehicle, and obtains the first data from the adjacent vehicle. The communication device 100 sends the obtained first data to the controller 300, and the controller 300 receives the first data through the communication device 100 (301).

[0064] The sensor device 200 senses second data related to the state of the user in the vehicle 1 and third data including driving information in addition to the first data. The sensor device 200 transmits the second data and the third data to the controller 300, and the controller receives the second data and the third data (302, 303).

[0065] The controller 300 classifies the risk according to each data based on the received first data, second data, and third data ( 304 ).

[0066] The controller 300 determines a risk score based on the classified risk ( 305 ).

[0067] refer to Figure 5 and Figure 6 A specific example of classifying risks and determining risk scores is described in detail.

[0068] The controller 300 compares the determined score with a preset value (306). Specifically, in an exemplary embodiment of the present invention, when the score is equal to or greater than the preset value, the controller 300 determines that the vehicle 1 is in the danger zone. Otherwise, when the determined score is less than the preset value, the controller 300 determines that the vehicle 1 is not in the danger zone, and receives the first data, the second data, and the third data again.

[0069] When the score of the vehicle risk determined based on the first data, the second data, and the third data is equal to or greater than a preset value, the controller 300 displays a danger zone on the display 401 or issues a warning to the user through the warning device 403 (307).

[0070] Figure 5 2 is a flowchart showing a process in which the controller 300 determines a risk score of the vehicle 1 based on the first data. The process in which the controller 300 determines a risk score of the vehicle 1 based on the first data will now be described.

[0071] The controller 300 receives the first data through the communication device 100 (311). The controller 300 then determines whether the neighboring vehicle of the vehicle 1 has a fully autonomous driving function (312). When the neighboring vehicle of the vehicle 1 has a fully autonomous driving function, the controller 300 gives a score based on the autonomous driving level of the neighboring vehicle (317a).

[0072] The risk is classified into five stages according to the type and degree of the autonomous driving function provided by the vehicles around the vehicle 1. Specifically, when the neighboring vehicle of the vehicle 1 is provided with a connection system and the neighboring vehicle is able to reach the destination without driver intervention and park the vehicle 1 after reaching the destination, the controller 300 classifies the autonomous driving of the neighboring vehicle as level 1 and gives a score to level 1.

[0073] The score given to each level is preset, and the score values ​​in the above case are only examples. The score values ​​may differ depending on the user's definition.

[0074] If the neighboring vehicle of the vehicle 1 is not equipped with a fully autonomous driving function, the controller 300 determines the level of autonomous driving based on the autonomous driving function of the neighboring vehicle, and gives a score to the determined level based on a preset standard (313). An example of a method of determining a risk score based on a standard determined based on the autonomous driving function of the neighboring vehicle of the vehicle 1 according to an exemplary embodiment of the present invention will now be described.

[0075] According to an exemplary embodiment of the present invention, the autonomous driving level of another vehicle classified by the first data can be expressed as levels 1 to 5. In this case, since the surrounding vehicles are fully autonomous as described above, the case where the autonomous driving level is level 5 is omitted.

[0076] Level 1 of automated driving may be defined as the stage where driver assistance is required.

[0077] Specifically, when the driver of the neighboring vehicle of the vehicle 1 assists in steering, acceleration, and deceleration, the controller 300 determines the autonomous driving level of the neighboring vehicle as Level 5 and gives a score of 5 points to Level 5.

[0078] When the neighboring vehicle of the vehicle 1 is a full manual vehicle, the controller 300 may give a score of five points of level 5 corresponding to full manual driving.

[0079] Level 2 of automated driving may be defined as a stage in which neighboring vehicles of vehicle 1 perform partially automated driving.

[0080] Specifically, when an adjacent vehicle of vehicle 1 has a combination function of an autonomous driving function and an intelligent cruise control system or a steering assist system, and is thus able to maintain a distance from the vehicle in front and stay in the lane, but the driver of the adjacent vehicle needs to pay attention to the surrounding conditions, the controller 300 classifies the autonomous driving of the adjacent vehicle as level 4 and gives level 4 a score of 4 points.

[0081] Automated driving level 3 may be defined as a stage in which neighboring vehicles of vehicle 1 perform conditional automated driving.

[0082] Specifically, when a neighboring vehicle of vehicle 1 is equipped with ADAS and is therefore capable of autonomous driving in a specific area, but the driver of the neighboring vehicle needs to prepare for unexpected situations, the controller 300 classifies the autonomous driving of the neighboring vehicle as level 3 and assigns a score of 3 points to level 3.

[0083] The autonomous driving level 4 may be defined as a stage in which neighboring vehicles of the vehicle 1 perform highly automated driving.

[0084] Specifically, when a neighboring vehicle of vehicle 1 is equipped with a lidar system and is able to perform all safety controls under specific road conditions, the controller 300 classifies the autonomous driving of the neighboring vehicle as level 2 and gives a score of two points to level 2.

[0085] The score corresponding to each level is preset, and the above score value is just an example. For example, the number of points of the score may vary depending on the definition of the user.

[0086] The controller 300 determines the risk score of the vehicle 1 based on the information of the autonomous driving functions of the neighboring vehicles of the vehicle 1 , and determines the risk score of the vehicle 1 based on the ADAS ( 314 , 315 ).

[0087] On the other hand, when ADAS is not equipped in the neighboring vehicle of the vehicle 1 , the controller 300 gives a score based on a predetermined reference ( 317 a ).

[0088] A process in which the controller 300 scores the risk according to a preset reference based on the ADAS of the neighboring vehicles of the vehicle 1 will now be described.

[0089] As described above, ADAS includes HDA, LFA, SCC, and FCA functions. The driver assistance function is not limited thereto, and may include other various driver assistance functions constituting the ADAS.

[0090] In an exemplary embodiment of the present invention, when HDA is activated in the neighboring vehicle of vehicle 1, the controller 300 may issue five points to the neighboring vehicle. Otherwise, if HDA is not activated in the neighboring vehicle of vehicle 1, the controller 300 may issue three points to the neighboring vehicle. When the neighboring vehicle of vehicle 1 is driven by fully automatic driving, the controller 300 may issue zero points to the neighboring vehicle.

[0091] In an exemplary embodiment of the present invention, the LFA function of the neighboring vehicle of the vehicle 1 may be set to one of three levels according to the range of the area that the neighboring vehicle can detect.

[0092] In an exemplary embodiment of the present invention, the controller 300 may give three points to the neighboring vehicles of the vehicle 1 when the LFA function is at level 1, two points when at level 2, and one point when at level 3. In addition, when the neighboring vehicles of the vehicle 1 perform fully autonomous driving, the controller 300 may give zero points to the neighboring vehicles because the neighboring vehicles performing fully autonomous driving pose the lowest risk to the vehicle 1. On the other hand, if the neighboring vehicles of the vehicle 1 are not equipped with LFA, the controller 300 may give five points to the neighboring vehicles because the risk is the highest.

[0093] However, they are merely examples of predetermined scores, and the score intervals, values, or weights may vary according to the driver's preference or user's definition.

[0094] According to an exemplary embodiment of the present invention, the SCC function may be set to one of modes 1 to 4 for neighboring vehicles of the vehicle 1 .

[0095] Specifically, according to an exemplary embodiment of the present invention, the SCC function of the adjacent vehicle is set to one of modes 1 to 4 according to the distance between the adjacent vehicle and the vehicle in front of the adjacent vehicle. It can be estimated that the lower the mode number, the shorter the distance between the adjacent vehicles of the previous vehicle, and the higher the risk. Therefore, the controller 300 can assign three points to mode 1 of SCC, two points to mode 2 of SCC, and one point to mode 3 or 4. In addition, when the adjacent vehicle of vehicle 1 performs fully autonomous driving, the controller 300 can estimate the risk score of vehicle 1 and give it zero points. On the other hand, when SCC is not equipped in the adjacent vehicle of vehicle 1, the controller 300 determines that vehicle 1 is in the most dangerous condition and gives 5 points to vehicle 1 as a risk score.

[0096] However, this is merely an example of a predetermined score, and the score interval, score value, or weight may vary according to the driver's preference or the user's definition.

[0097] The controller 300 determines a risk score of the vehicle 1 according to the ADAS functions of neighboring vehicles of the vehicle 1 , and determines whether the vehicle 1 has an FCA function and whether the vehicle 1 is accelerating or decelerating (step 316 ).

[0098] When the controller 300 determines that the vehicle 1 does not have the FCA function and is not accelerating or decelerating, the controller 300 gives a risk score according to a preset reference ( 317 a ).

[0099] When the controller 300 determines that the vehicle 1 has FAC and is accelerating or decelerating, the controller 300 gives a risk score according to predetermined criteria based on whether the vehicle 1 has FAC, whether the vehicle is accelerating or decelerating, and the behavior of neighboring vehicles of the vehicle 1 (317).

[0100] Specifically, according to an exemplary embodiment of the present invention, the controller 300 may determine the risk level according to whether the vehicle 1 has FCA and the behavior of neighboring vehicles of the vehicle 1 .

[0101] Specifically, when the vehicle 1 is equipped with the FCA (forward collision avoidance) function and is accelerating, the controller 300 may give 4 points to the situation where there is a vehicle ahead, and add an additional 1 point when there is a vehicle behind the vehicle 1. In addition, when the vehicle 1 is equipped with the FCA function and is decelerating, the controller 300 may give 4 points to the situation where there is a vehicle behind the vehicle 1, and add an additional 1 point when there is a vehicle in front of the vehicle 1.

[0102] On the other hand, when the vehicle 1 is not equipped with the FCA function and is accelerating, the controller 300 may give five points when there is a vehicle in front of the vehicle 1, and add an additional two points when there is a vehicle behind the vehicle 1. Furthermore, when the vehicle 1 is not equipped with the FCA function and is decelerating, the controller 300 may give five points when there is a vehicle behind the vehicle 1, and add an additional two points when there is a vehicle in front of the vehicle 1. However, this is merely an example of a predetermined score, and the score interval, score value, or weight may vary according to the driver's preference or the user's definition.

[0103] The controller 300 determines a risk score based on the first data, and determines the risk score from the first data by summing all the determined scores ( 318 ).

[0104] Figure 6 Detailed description is a flow chart showing a method of determining a risk score of the vehicle 1 based on the second data and the third data.

[0105] refer to Figure 6 , the controller 300 determines a risk score based on the first data ( 321 ), and receives the second data and the third data ( 322 ).

[0106] The controller 300 determines whether the vehicle 1 is equipped with a DAW or DSW system based on the second data ( 323 ).

[0107] When the vehicle 1 is equipped with a DAW or DSW system, the controller 300 assigns a risk score based on a preset reference ( 323 a ).

[0108] Specifically, according to an exemplary embodiment of the present invention, the DAW or DSW system may classify risks into five levels substantially based on the uninterrupted driving time of the driver of the vehicle 1. For example, the risk may be classified as level 1 for a driver's driving time of 1 hour; level 2 for a driving time of 2 hours; level 3 for 3 hours; level 4 for 4 hours; and level 5 for 5 hours.

[0109] In addition, the risk level based on the DAW or DSW system may be set by considering changes in the lateral position of the vehicle 1 , the degree of lane violation by the vehicle 1 , and changes in the steering angle of the vehicle 1 in addition to the driving time of the driver of the vehicle 1 .

[0110] Therefore, according to an exemplary embodiment of the present invention, the controller 300 estimates and scores the risk based on the driver's status determined by the DAW or DSW system.

[0111] Specifically, according to an exemplary embodiment of the present invention, based on the DAW system, the controller 300 assigns 1 point to driver state 1; 1.5 points to driver state 2; 2 points to driver state 3; 2.5 points to driver state 4; and 10 points to driver state 5.

[0112] However, this is merely an example of a predetermined score, and the score interval, score value, or weight may be changed according to the driver's preference or the user's definition. In addition, the DAW system may be used in conjunction with or interchangeably with the DSW system.

[0113] The controller 300 determines the risk score of the vehicle 1 according to the second data, and further determines the risk score of the vehicle 1 based on the third data ( 324 , 325 , and 326 ).

[0114] How the controller 300 determines a risk score based on the third data according to an exemplary embodiment of the present invention will now be described.

[0115] According to an exemplary embodiment of the present invention, the controller 300 may also determine the risk based on the relative speed, relative distance, or expected travel path of the vehicle 1 relative to the adjacent vehicles, and score the risk.

[0116] Specifically, according to an exemplary embodiment of the present invention, the controller 300 assigns zero points for a relative speed of -10 kph or higher; 1 point for a relative speed of -10 kph to -15 kph; 3 points for a relative speed of -15 kph to -20 kph; 5 points for a relative speed of -20 kph to -25 kph; 7 points for a relative speed of -25 kph to -30 kph; or 10 points for a relative speed of -30 kph or lower.

[0117] However, this is merely an example of a predetermined score, and the score interval, score value, or weight may be changed according to the driver's preference or the user's definition.

[0118] According to an exemplary embodiment of the present invention, the controller 300 may assign -2 points for a relative distance of 100 m or more between the vehicle 1 and the adjacent vehicle; -1 point for 100 m; 1 point for 80 m; 2.5 points for 60 m; 4 points for 40 m; or 5 points for 20 m.

[0119] However, this is merely an example of a predetermined score, and the score interval, score value, or weight may be changed according to the driver's preference or the user's definition.

[0120] According to an exemplary embodiment of the present invention, the controller 300 may assign a risk score to the vehicle 1 between 1 and 5 points based on the expected driving routes of the neighboring vehicles of the vehicle 1. The score interval, score value, or weight based on the expected driving routes of the neighboring vehicles may vary according to the driver's preference or the user's definition.

[0121] As described above, when the controller 300 determines the risk score of the vehicle 1 based on the first data, the second data, and the third data, the controller 300 compares the determined score with the preset value (327). Specifically, according to an exemplary embodiment of the present invention, when the score is equal to or greater than the preset value, the controller 300 determines that the vehicle 1 is in the danger zone. Otherwise, when the determined score is less than the preset value, the controller 300 determines that the vehicle 1 is not in the danger zone and receives the first data, the second data, and the third data again.

[0122] When the risk score of the vehicle 1 determined based on the first data, the second data, and the third data is equal to or greater than a preset value, the controller 300 displays the danger zone on the display 401 or warns the user of the vehicle 1 of the danger zone ( 328 ).

[0123] An example of a process in which the controller 300 scores the risk of the vehicle 1 under a hypothetical situation will now be described.

[0124] Specifically, according to an exemplary embodiment of the present invention, when the controller 300 determines that the neighboring vehicle of the vehicle 1 is in a manual driving state by analyzing the first data, the controller 300 assigns a risk score of 5 points to the vehicle 1, and when the HDA is not working in the neighboring vehicle, the controller 300 assigns a risk score of 3 points. According to an exemplary embodiment of the present invention, when the controller 300 analyzes the first data and determines that the neighboring vehicle of the vehicle 1 is not equipped with the LFA function or the LFA function is disabled, the controller 300 assigns a risk score of five points, and when the SCC function is in mode 3, the controller 300 assigns a risk score of one point. According to an exemplary embodiment of the present invention, when the controller 300 analyzes the first data and determines that the vehicle 1 is equipped with the FCA function and is decelerating and there is a leading vehicle, the controller 300 additionally gives an additional 1 point. The controller 300 determines the total risk score of the vehicle 1 by combining all the risk scores determined as described above. In this case, the total risk score of the vehicle 1 determined based on the first data is 15 points.

[0125] In addition, according to an exemplary embodiment of the present invention, the controller 300 sets a weight based on the stage of the DAW system, and multiplies the weight by the risk score determined based on the first data based on the first data to obtain the risk score of the vehicle 1. For example, when the risk score of the vehicle 1 based on the first data is 15 points under the assumed situation and the stage of the DAW system is 4, the controller 300 determines the score of the DAW system as 2.5, and multiplies the score as the weight by the risk score of the vehicle 1 based on the first data. Therefore, the risk score of the vehicle 1 based on the first data and the second data under the assumed situation is determined to be 37.5 points.

[0126] In addition, according to an exemplary embodiment of the present invention, the controller 300 determines the final score by adding the score evaluated based on the third data to the risk score determined based on the first data and the second data. For example, when the relative speed of vehicle 1 relative to the adjacent vehicle is -10kph, the risk score based on the first data and the second data is 37.5 points, and the controller 300 assigns 0 points; and when the relative distance between vehicle 1 and the adjacent vehicle is 80m, the controller 300 assigns 1 point. In addition, when it is assumed that the risk score of vehicle 1 based on the expected driving path of the adjacent vehicle is 2 points, the total risk score of vehicle 1 is 40.5 points.

[0127] However, the disclosed exemplary embodiments are derived only from assumed situations, and depending on various driving environments of the vehicle 1 , there may be different environments, and depending on the definition of the user, there may also be other score determination methods.

[0128] Figure 71 is a flowchart illustrating a process in which the controller 300 controls a vehicle to escape from a regional danger zone according to an exemplary embodiment of the present invention.

[0129] refer to Figure 7 , the controller 300 determines the risk score of the vehicle 1 as described above (331). When the determined risk score is greater than a predetermined value, the controller 300 displays the danger zone on the display 401, or warns the user of the vehicle 1 of the danger zone through the warning device 403 (332, 333). Otherwise, when the determined risk score is less than the predetermined value, the controller 300 continues to evaluate the risk of the vehicle 1.

[0130] Even after the controller 300 displays the danger zone on the display 401 or warns the user of the danger zone through the warning device 403, when the user does not operate the vehicle 1 within a preset time period, the controller 300 can change the driving mode of the vehicle 1 to the automatic driving mode and control the drive device 402 to make the vehicle 1 escape from the danger zone.

[0131] According to various embodiments of the present invention, inter-vehicle communication is used by the vehicle to score the risk of the vehicle by combining the status of the user inside the vehicle with information about the environment surrounding the vehicle, and determine whether the vehicle is in danger based on the risk score, thereby ensuring the safety of the user.

[0132] In addition, the risk of the vehicle is evaluated as a score, and when it is determined that the vehicle is in danger based on the risk score, the vehicle can warn the user of the vehicle that the vehicle is in danger and perform autonomous driving to escape the dangerous situation.

[0133] At least one component may be added or deleted to correspond to the combination Figures 1 to 7 Functionality of the described system. Those skilled in the art will readily appreciate that the relative positions of the components of the system may be changed based on the performance or structure of the system.

[0134] Exemplary embodiments of the present invention have been described above. In the above exemplary embodiments, some components may be implemented as "modules". Here, the term "module" means but is not limited to software and / or hardware components that perform certain tasks, such as field programmable gate arrays (FPGAs) or application specific integrated circuits (ASICs). Modules may advantageously be configured to reside on an addressable storage medium and to be executed on one or more processors.

[0135] Thus, as examples, modules may include components, such as software components, object-oriented software components, class components and task components, processes, functions, attributes, programs, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays, and variables. The operations provided in the components and modules may be combined into fewer components and modules, or further divided into additional components and modules. In addition, the components and modules may be implemented so that they execute one or more CPUs in the device.

[0136] While the invention has been described above with respect to a limited number of embodiments, those skilled in the art having benefit of this disclosure will appreciate that other embodiments can be designed which do not depart from the scope of the invention disclosed herein. Accordingly, the scope should be limited only by the claims appended hereto.

Claims

1. A vehicle comprising: a communication device configured to request first data related to the autonomous driving of the adjacent vehicle from an adjacent vehicle and receive the first data from the adjacent vehicle when the vehicle is traveling, wherein the first data includes information on whether the adjacent vehicle has at least one of a highway driving assist function, a lane keeping assist function, a smart cruise function, and an automatic emergency braking function; a sensor device configured to sense second data related to a state of a user of the vehicle and detect third data related to driving information of the neighboring vehicle, wherein the second data includes at least one of a cumulative fatigue level of the user and whether the user is driving while drowsy, and the third data is related to at least one of a relative speed, a relative distance, and an expected driving path of the neighboring vehicle; and A controller is configured to classify the risk of the vehicle into multiple levels according to a first preset standard based on the first data, the second data and the third data, respectively, and score the risk based on the classified levels, and determine a final risk score by adding the risk score obtained based on the third data to the risk score obtained based on the first data and the second data.

2. The vehicle according to claim 1, wherein: The controller is further configured to issue a warning to a user based on the second data.

3. The vehicle according to claim 1, wherein: The controller is configured to score the risk of the vehicle by determining at least one of a relative speed of the neighboring vehicle and a relative distance of the neighboring vehicle from the vehicle based on the third data, and predict an expected travel path of the neighboring vehicle to score the risk of the vehicle.

4. The vehicle according to claim 1, wherein: The controller is also configured to compare the risk score of the vehicle with a preset value, and determine whether the vehicle is in at least one of a safe zone, a warning zone, and a danger zone based on a second preset standard based on a comparison result of comparing the risk score of the vehicle with the preset value.

5. The vehicle according to claim 4, further comprising at least one of a steering device and an acceleration / deceleration device, in, The controller is configured to control a driving device based on a determination result of whether the vehicle is in at least one of the safety zone, the warning zone, and the danger zone and based on a state of the user so that the vehicle escapes from the danger zone.

6. The vehicle of claim 1, further comprising: a display indicating the risk of said vehicle; as well as a warning device configured to warn a user of the vehicle based on the risk, The controller is configured to control the display to display a danger zone to a user of the vehicle and to control the warning device to give a warning based on a scoring result resulting from scoring the risk based on the classified level.

7. The vehicle according to claim 6, in, The controller is configured to control the display to display guidance for the user to drive the vehicle to a safe zone based on the scoring result.

8. A method for controlling a vehicle, comprising the following steps: requesting first data related to the autonomous driving of the neighboring vehicle from a neighboring vehicle, and receiving the first data from the neighboring vehicle, wherein the first data includes information on whether the neighboring vehicle has at least one of a highway driving assist function, a lane keeping assist function, a smart cruise function, and an automatic emergency braking function; detecting second data related to a state of a user of the vehicle, and detecting third data related to driving information of the neighboring vehicle, wherein the second data includes at least one of a cumulative fatigue level of the user and whether the user is driving while drowsy, and the third data is related to at least one of a relative speed, a relative distance, and an expected driving path of the neighboring vehicle; and Based on the first data, the second data and the third data, respectively, according to a first preset standard, the risk of the vehicle is classified into multiple levels, and the risk is scored based on the classified levels, and a final risk score is determined by adding the risk score obtained based on the third data and the risk score obtained based on the first data and the second data.

9. The method according to claim 8, further comprising the steps of: A user is alerted based on the second data.

10. The method according to claim 8, further comprising the steps of: Scoring the risk of the vehicle based on the third data by determining at least one of a relative speed of the neighboring vehicle and a relative distance of the neighboring vehicle from the vehicle; and predicting an expected travel path of the neighboring vehicle.

11. The method according to claim 8, further comprising the steps of: The risk score of the vehicle is compared with a preset value, and based on a comparison result of comparing the risk score of the vehicle with the preset value, it is determined whether the vehicle is in a safe zone, a warning zone, or a dangerous zone based on a second preset standard.

12. The method according to claim 11, further comprising the steps of: The vehicle is controlled to escape from the danger zone based on a determination result of whether the vehicle is in a safety zone, a warning zone, or a danger zone and based on the state of the user.

13. The method according to claim 8, further comprising the steps of: Display the risk of the vehicle; warning a user of the vehicle based on the risk; as well as A danger zone is displayed based on a scoring result resulting from scoring the risk based on the classified level, and the user is warned of the danger zone.

14. The method according to claim 13, further comprising the steps of: Based on the scoring result, guidance for driving the vehicle to a safe zone is displayed to the user of the vehicle.

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