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

Abstract

The present disclosure relates to an autonomous driving control device, a vehicle having the device, and a method for controlling the vehicle. The vehicle comprises: a communication device configured to receive current position information; a plurality of devices for identifying obstacles; a memory for storing strategy information corresponding to a failure of each of the plurality of devices; and an autonomous driving control device configured to diagnose a failure of the plurality of devices during autonomous driving, identify the strategy information corresponding to the at least one device stored in the memory when at least one device fails, and perform a limit control on at least one of the driving speed, lane change, or backward movement of the autonomous driving based on the strategy information, wherein the plurality of devices include a plurality of image acquirers, a first distance detector including a plurality of radars, and a second distance detector including a plurality of laser radars.

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving control device, a vehicle having the autonomous driving control device, and a method for controlling the vehicle to improve the stability of autonomous driving. Background Art

[0002] A vehicle is a machine that moves on the road with driven wheels. The vehicle is equipped with various devices for passenger protection, driver assistance and a comfortable ride.

[0003] In recent years, there has been active research into autonomous driving control devices that automatically recognize a road environment, determine a driving condition, and control the driving of a vehicle according to a planned route to automatically drive the vehicle to a destination.

[0004] The autonomous driving control device recognizes obstacles and lane changes and generates a route for collision-avoiding driving in real time. In this case, it is important to determine possible collisions with surrounding fixed or moving obstacles so that autonomous driving can be performed more stably on actual roads.

[0005] The autonomous driving control device predicts the existence and behavior of obstacles around the vehicle by using various sensors provided in the vehicle during autonomous driving control, and reflects the predicted existence and behavior of the surrounding obstacles in autonomous driving. In this case, if the existence and behavior of the surrounding obstacles cannot be predicted due to a malfunction of at least one sensor or the like, and therefore the existence and behavior of the surrounding obstacles cannot be reflected in the autonomous driving control, the autonomous driving control device makes the driving of the vehicle unstable and causes a collision accident with the obstacle.

[0006] The information included in this Background section is only for enhancement of understanding of the general background of the disclosure and is not to 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

[0007] According to one aspect of the present disclosure, an autonomous driving control device can diagnose faults of a plurality of devices for autonomous driving, identify a movement restriction area corresponding to an identification area of ​​the device diagnosed as having a fault, and control autonomous driving based on strategy information corresponding to the identified movement restriction area. A vehicle having such an autonomous driving control device and a method for controlling the vehicle are also disclosed herein.

[0008] According to another aspect of the present disclosure, when a fault of at least one device is diagnosed, the autonomous driving control device can search for a service center for repairing the device diagnosed as faulty based on the current location information of the vehicle and the information of the passengers getting off the vehicle, and control guidance to the searched service center. A vehicle having such an autonomous driving control device and a method for controlling the vehicle are also disclosed herein.

[0009] According to one aspect of the present disclosure, an autonomous driving control device may include: a communication device configured to communicate with an external device and multiple devices for obstacle recognition and receive current position information; a memory storing strategy information corresponding to a fault of each of the multiple devices; and a controller configured to: diagnose the fault of the multiple devices during autonomous driving, and when at least one of the multiple devices fails, identify the strategy information corresponding to the at least one device stored in the memory; and based on the identified strategy information, limit control of at least one of the driving speed, lane change or backward movement of the autonomous driving.

[0010] The controller may be further configured to search for a service center for repairing the at least one device based on current location information received through the communication device to control autonomous driving to the service center as a destination and send a service request to the service center.

[0011] When searching for the service center, the controller may be further configured to acquire route information based on information on getting off of the vehicle personnel received through the communication device, and search for the service center based on the route information.

[0012] The memory may further store information about a movement restriction area of ​​the vehicle corresponding to a failure of each of the plurality of devices.

[0013] The controller may be further configured to change the driving mode to a manual driving mode when the movement restriction area corresponding to the at least one device is at least one of a front long distance area or a front short distance area of ​​the vehicle.

[0014] The controller may be further configured to determine whether the type of the road is a highway based on the received current location information. When the type of the road is a highway, and when the movement restriction area corresponding to the at least one device is at least one of a front long distance area, a right area, or a left area, the controller may limit the driving speed or lane change.

[0015] When the movement restriction area corresponding to the at least one device is a front long distance area, the controller may limit the driving speed. When the movement restriction area corresponding to the at least one device is at least one of the right area or the left area, the controller may limit lane change.

[0016] The controller may be further configured to determine whether the type of the road is an urban road based on the received current location information. When the type of the road is an urban road, and when the movement restriction area corresponding to the at least one device is at least one of the left front area, the right front area, the left rear area, or the right rear area, the controller may control the autonomous driving to move forward and backward, and control the lane change based on the manipulation information of the steering wheel received from the user.

[0017] According to another aspect of the present disclosure, a vehicle includes: a communication device configured to receive current position information; multiple devices for identifying obstacles; a memory for storing strategy information corresponding to a fault of each of the multiple devices; an autonomous driving control device configured to: diagnose the fault of the multiple devices during autonomous driving, and when at least one of the multiple devices fails, identify the strategy information corresponding to the at least one device stored in the memory; and based on the identified strategy information, limit control of at least one of the driving speed, lane change or backward movement of the autonomous driving, wherein the multiple devices include multiple image acquirers, a first distance detector including multiple radars, and a second distance detector including multiple lidars.

[0018] The autonomous driving control device may also be configured to search for a service center for repairing the at least one device based on the received current location information, to control autonomous driving to the searched service center as a destination, and to send a service request to the service center.

[0019] The vehicle may also include an input terminal for receiving information about whether a person on the vehicle is about to get off the vehicle, wherein, when searching for the service center, the autonomous driving control device may also be configured to obtain route information based on the information about whether a person on the vehicle is about to get off the vehicle received through the input terminal, and search for the service center based on the route information.

[0020] The memory also stores information about a movement restriction area of ​​the vehicle corresponding to a failure of each of the plurality of devices, the movement restriction area including a front long distance area, a front short distance area, a right front area, a left front area, a right area, a left area, a right rear area, a left rear area, a rear long distance area, and a rear short distance area.

[0021] The autonomous driving control apparatus may be further configured to change the driving mode to a manual driving mode when the movement restriction area corresponding to the at least one device is at least one of a front long distance area or a front short distance area of ​​the vehicle.

[0022] The autonomous driving control device may also determine whether the type of the road is an expressway based on the received current position information. When the type of the road is the expressway and when the movement restriction area corresponding to the at least one device is at least one of a front long distance area, a right area, or a left area, the autonomous driving control device limits the driving speed or the lane change.

[0023] When the movement restriction area corresponding to the at least one device is the front long distance area, the autonomous driving control device limits the driving speed. When the movement restriction area corresponding to the at least one device is at least one of the right area or the left area, the autonomous driving control device limits the lane change.

[0024] The autonomous driving control device may also be configured to determine whether the type of the road is an urban road based on the received current position information. When the type of the road is the urban road, and when the movement restriction area corresponding to the at least one device is at least one of the left front area, the right front area, the left rear area, or the right rear area, the autonomous driving control device controls the autonomous driving to move forward and backward, and controls the lane change based on the manipulation information of the steering wheel received from the user.

[0025] The vehicle may further include: a display for displaying information corresponding to the restriction control.

[0026] According to another aspect of the present disclosure, a vehicle control method may include: searching for a route based on current location information received by a communication device and destination information input through an input terminal, performing autonomous driving based on the route, diagnosing faults of multiple devices to identify obstacles during the autonomous driving, identifying strategy information corresponding to at least one device among the multiple devices determined to have failed, and controlling at least one of a driving speed, lane change, or backward movement of the autonomous driving based on the strategy information.

[0027] The control method may further include searching for a service center for repairing the at least one device based on the current location information and the route, and sending a service request to the service center.

[0028] Searching for a service center may include: when receiving information about a person on board getting off the vehicle, acquiring route information based on the information about the person on board getting off the vehicle. Searching for a service center may also include searching for the service center based on the path information.

[0029] The control method may further include changing the driving mode to a manual driving mode when the policy information corresponding to the at least one device indicates preventing driving at a speed higher than a first predetermined driving speed or preventing driving at a speed lower than a second predetermined driving speed.

[0030] The control method may further include determining whether the type of the road is a highway based on the current location information, and when the type of the road is a highway, determining whether the strategy information corresponding to the at least one device indicates preventing driving at a speed higher than a first predetermined driving speed or changing lanes.

[0031] The control method may further include determining whether a road type is an urban road based on the current position information, and when the road type is an urban road, determining whether strategy information corresponding to the at least one device indicates that a lane change needs to be performed manually. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] These and / or other aspects of the present disclosure will become more apparent and more easily understood through the following description of embodiments in conjunction with the accompanying drawings.

[0033] Figure 1 is an appearance of a vehicle (passenger car) according to an exemplary embodiment of the present disclosure;

[0034] Figure 2 is an appearance of a vehicle (truck) according to an exemplary embodiment of the present disclosure;

[0035] Figure 3A , 3B and 3C show Figure 2 Identification area of ​​the device equipped in the truck shown;

[0036] Figure 4 shows a movable area of ​​a vehicle, such as a truck, according to an exemplary embodiment of the present disclosure;

[0037] Figure 5 shows information about a movement restriction area of ​​a vehicle (eg, a truck) for each fault device stored in the truck according to an exemplary embodiment of the present disclosure;

[0038] Figure 6 shows policy information for each movement restriction area of ​​a vehicle (e.g., a truck) stored in a truck according to an exemplary embodiment of the present disclosure;

[0039] Figure 7 is a control block diagram of a vehicle, such as a truck, according to an exemplary embodiment of the present disclosure; and

[0040] Fig. 8A and Figure 8B is a flowchart illustrating an example of a control method of a vehicle, such as a truck, according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] In the following description, the same reference numerals refer to the same elements throughout the specification. Well-known functions or configurations are not described in detail because they would obscure one or more exemplary embodiments with unnecessary detail.

[0042] Terms such as "unit", "module" and "device" may be embodied as hardware or software. Depending on the implementation, multiple "units", "modules" and "devices" may be implemented as a single component, or a single "unit", "module" and "device" may include multiple components.

[0043] It will be understood that when an element is referred to as being “connected” to another element, it may be directly or indirectly connected to the other element, where an indirect connection includes a connection via a wireless communication network.

[0044] In addition, when a component “includes” or “comprises” an element, unless there is a specific description to the contrary, the component may further include other elements, rather than excluding other elements.

[0045] It will 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 associated listed items.

[0046] 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.

[0047] For ease of description, identification codes are used, but are not intended to show the order of each step. Unless the context clearly indicates otherwise, each step may be implemented in an order different from the order shown.

[0048] Reference will now be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings.

[0049] Vehicles are divided into passenger vehicles used for private use and for transportation purposes, and commercial vehicles used for business use and for transporting goods or people.

[0050] Examples of commercial vehicles are trucks, dump trucks, vans, forklifts, special vehicles, and buses and taxis for transporting people.

[0051] A trailer without a power source can be driven on the road while being connected to the rear of a vehicle and being towed by the vehicle.

[0052] A trailer is designed to transport people or cargo and can be detachably connected to a vehicle.

[0053] Examples of trailers connectable to passenger cars are caravans and small cargo trailers, and examples of trailers connectable to trucks are trailers, trolleys, bus trailers, and semi-trailers.

[0054] A vehicle according to one aspect of the present disclosure is an autonomous driving vehicle and includes an autonomous driving control device. The autonomous vehicle includes various devices for detecting and identifying obstacles around the vehicle for autonomous driving. The number and installation positions of the various devices may vary according to the type and size of the vehicle, and the recognition areas for identifying obstacles by the devices may be different from each other.

[0055] Will refer to Figure 1 and Figure 2 Describe this.

[0056] Figure 1 is a diagram showing an external appearance of a vehicle (passenger car) according to the exemplary embodiment.

[0057] The passenger vehicle 1 includes: an image acquirer 110 for ensuring a field of view toward the front of the vehicle 1; and an obstacle detector 120 for detecting obstacles in front, behind, on the left or on the right of the vehicle 1, i.e., an obstacle recognition area, and recognizing a distance to the detected obstacle.

[0058] The image acquirer 110 may include a front camera 111 mounted on a front windshield of the vehicle 1 .

[0059] The front camera 111 may obtain an image in a recognition area F1 corresponding to a forward field of view.

[0060] The front camera 111 may capture the front of the vehicle 1 and obtain image data in front of the vehicle 1. The image data in front of the vehicle 1 includes position information about at least one of another vehicle, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and streetlights located in front of the vehicle 1.

[0061] The front camera 111 includes a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes are arranged in a two-dimensional matrix.

[0062] The front camera 111 may transmit image data of the front of the vehicle to the controller.

[0063] The distance detector 120 may include a front radar 121 and a plurality of corner radars 122 .

[0064] The front radar 121 has a field of view directed toward the front of the vehicle 1 , and detects obstacles in a recognition area F2 corresponding to the field of view.

[0065] The front radar 121 may be installed in a grille or a bumper of the vehicle 1 .

[0066] The front radar 121 may include: a transmitting antenna (or a transmitting antenna array) that radiates transmission radio waves to the front of the vehicle 1; and a receiving antenna (or a receiving antenna array) that receives reflected radio waves reflected from obstacles.

[0067] The front radar 121 may obtain forward radar data from transmission radio waves transmitted by a transmission antenna and reflected radio waves received by a reception antenna.

[0068] The forward radar data may include position information and speed information about other vehicles, pedestrians, or cyclists located in front of the vehicle 1 .

[0069] The front radar 121 may calculate a relative distance to an obstacle based on a phase difference (or time difference) between transmitted radio waves and reflected radio waves, and may calculate a relative speed of the obstacle based on a frequency difference between transmitted radio waves and reflected radio waves.

[0070] Multiple corner radars 122 include: a first corner radar 122a, which is installed on the right front side of the vehicle 1; a second corner radar 122b, which is installed on the left front side of the vehicle 1; a third corner radar 122c, which is installed on the right rear side of the vehicle 1, and a fourth corner radar 122d, which is installed on the left rear side of the vehicle 1.

[0071] The first corner radar 122a may include a field of view directed toward the right front side of the vehicle 1 and may detect obstacles in the recognition area S1 corresponding to the field of view. The first corner radar 122a may be installed on the right side of the front bumper of the vehicle 1.

[0072] The second corner radar 122b may include a field of view directed toward the left front side of the vehicle 1 and may detect obstacles in the recognition area S2 corresponding to the field of view. The second corner radar 122b may be installed on the left side of the front bumper of the vehicle 1.

[0073] The third corner radar 122c may include a field of view directed toward the right rear side of the vehicle 1 and may detect obstacles in the recognition area S3 corresponding to the field of view. The third corner radar 122c may be installed on the right side of the rear bumper of the vehicle 1.

[0074] The fourth corner radar 122 d may have a field of view directed toward the left rear side of the vehicle 1 and may detect obstacles in a recognition area S4 corresponding to the field of view, and may be installed on the left side of the rear bumper of the vehicle 1 .

[0075] Each of the first, second, third, and fourth corner radars 122a, 122b, 122c, and 122d may include a transmitting antenna and a receiving antenna.

[0076] The first, second, third and fourth corner radars 122a, 122b, 122c and 122d may obtain first, second, third and fourth corner radar data, respectively.

[0077] The first corner radar data may include distance information and speed information about other vehicles, pedestrians, or cyclists (hereinafter referred to as “obstacles”) located on the right front side of the vehicle.

[0078] The second corner radar data may include distance information and speed information of an obstacle located on the left front side of the vehicle.

[0079] The third and fourth corner radar data may include distance information and speed information of obstacles located at the right rear side and the left rear side of the vehicle, respectively.

[0080] Figure 2 is a diagram showing an external appearance of a vehicle (truck) according to an exemplary embodiment of the present disclosure. Figure 3A , 3B and 3C show Figure 2 Identification area of ​​the device equipped in the truck shown in . Figure 4 Shows Figure 2 The identification area of ​​the truck shown in .

[0081] The truck 2 may be a machine driven on a road by driving wheels to transport goods. The truck 2 may include a tractor 2a having power and a trailer 2b detachably connected to the tractor 2a to transport goods.

[0082] The tractor 2a can tow the trailer 2b, and includes a main body having an interior and an exterior, and a chassis which is the remaining part except the main body and in which mechanical devices required for driving are installed.

[0083] The exterior of the body may include a hood, left and right doors mounted in the front of the body, window glass, and a plurality of west coast mirrors to provide a rear view of the truck 2 to the user.

[0084] The trailer 2b can be loaded with various goods. The goods loaded in the trailer 2b can include people and articles.

[0085] The trailer 2b can be moved by the power of the tractor 2a to transport the cargo loaded therein.

[0086] The interior of the truck 2 may include seats on which passengers sit, an instrument panel, an instrument panel (ie, an instrument panel), a center console, a head unit, input terminals, and a display.

[0087] The chassis of the truck 2 may further include a driving device for applying driving force and braking force to the front, rear, left and right wheels, such as a power generation device, a power transmission device, a steering device, a braking device, a suspension device and a transmission device.

[0088] The truck 2 may include an accelerator pedal depressed by the user according to the user's acceleration intention, a brake pedal depressed by the user according to the user's braking intention, and a steering wheel of a steering device for enabling the user to change the driving direction.

[0089] Hereinafter, the same components between the passenger car 1 and the vehicle 2, ie, the truck 2, will have the same reference numerals.

[0090] The truck 2 includes: an image acquirer 110 that ensures a field of view to the front, left, right, and rear of the vehicle 2; and first and second distance detectors 120 and 130 that are provided at the front, left, right, and rear of the exterior of the vehicle 2 to detect obstacles in front, rear, on the left, or on the right of the vehicle 2, i.e., in an identification area of ​​the obstacle and to identify the distance to the detected obstacle.

[0091] The image acquirer 110 may include a front camera 111 , a plurality of side cameras 112 , and a rear camera 113 .

[0092] The front camera 111 may be installed in the front windshield of the vehicle 2 .

[0093] The front camera 111 may capture the front of the vehicle 2 and may obtain image data in front of the vehicle 2. The image data in front of the vehicle 2 may include position information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and streetlights located in front of the vehicle.

[0094] A plurality of side cameras 112 (112a, 112b, 112c, and 112d) are provided at the left and right doors of the tractor 2a, and include first and second side cameras having forward photographing directions, and third and fourth side cameras having rearward photographing directions.

[0095] The first side camera 112a and the second side camera 112b photograph the left front side and the right front side of the vehicle 2, and the third side camera 112c and the fourth side camera 112d photograph the left rear side and the right rear side of the vehicle 2. The first side camera 112a and the second side camera 112b obtain image data of the left front side and the right front side of the vehicle 2. The third side camera 112c and the fourth side camera 112d obtain image data of the left rear side and the right rear side of the vehicle 2. The image data of the left front side and the right front side and the image data of the left rear side and the right rear side may include position information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and street lights located in the left and right directions in front of the vehicle and in the left and right directions behind the vehicle.

[0096] The rear camera 113 may be installed at the rear of the trailer 2 b of the vehicle 2 .

[0097] The rear camera 113 may capture an area behind the vehicle 2 and obtain image data from the area behind the vehicle 2. The image data from the area behind the vehicle 2 may include position information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and streetlights located behind the vehicle.

[0098] like Figure 3A As shown, the front camera 111 can acquire images in the identification area F1 corresponding to the field of view of the front camera 111, the first side camera 112a can acquire images in the identification area FS1 corresponding to the field of view of the first side camera 112a, the second side camera 112b can acquire images in the identification area FS2 corresponding to the field of view of the second side camera 112b, the third side camera 112c can acquire images in the identification area FS3 corresponding to the field of view of the third side camera 112c, the fourth side camera 112d can acquire images in the identification area FS4 corresponding to the field of view of the fourth side camera 112d, and the rear camera 113 can acquire images in the identification area R1 corresponding to the field of view of the rear camera 113.

[0099] Each camera of the image acquirer 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

[0100] Each camera of the image acquirer 110 may be electrically connected to the controller 172. For example, each camera may be connected to the controller 172 via a vehicle communication network (NT), connected to the controller 172 via a hard wire, or connected to the controller 172 via a printed circuit board (PCB).

[0101] Each camera may transmit image data in a corresponding direction to the controller 172 .

[0102] The first distance detector 120 and the second distance detector 130 are devices having different obstacle detection methods. For example, the first distance detector 120 may include a radar (radio detection and ranging), and the second distance detector 130 may include a laser radar (light detection and ranging).

[0103] The radar may include a transmitting antenna (or a transmitting antenna array) that emits transmitted radio waves and a receiving antenna (or a receiving antenna array) that receives reflected radio waves reflected from obstacles.

[0104] Radar is a device that detects the location of obstacles using reflected waves generated by radio wave radiation when transmission and reception are performed at the same location.

[0105] Radar can use the Doppler effect to change the frequency of transmitted radio waves over time, or output pulse waves as transmitted radio waves, to prevent the transmitted and received radio waves from overlapping.

[0106] LiDAR is a non-contact distance detection sensor that uses the laser radar principle.

[0107] A laser radar may include a transmitter for emitting laser light and a receiver for receiving laser light reflected from surfaces of obstacles present in the field of view.

[0108] LiDAR has higher accuracy than radar in lateral sensitivity, which improves the accuracy of the process of determining whether there is a passage ahead.

[0109] The first distance detector 120 may include a front radar 121 and a plurality of corner radars 122 .

[0110] The front radar 121 may have a field of view toward the front of the vehicle 2 , and may detect obstacles in a recognition area F2 corresponding to the field of view.

[0111] The front radar 121 may be installed at the front of the tractor 2a.

[0112] The front radar 121 may obtain front radar data from transmission radio waves transmitted by the transmission antenna and reflected radio waves received by the reception antenna.

[0113] Front radar data may include position and speed information about other vehicles, pedestrians, or cyclists located in front of the vehicle.

[0114] The front radar 121 calculates the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the obstacle based on the frequency difference between the transmitted wave and the reflected wave.

[0115] The front radar 121 may be connected to the controller 172 through, for example, the vehicle communication network NT, a hard wire, or a printed circuit board. The front radar 121 may send the front radar data to the controller 172.

[0116] The plurality of corner radars 122 include a first corner radar 122a provided on the right front side of the vehicle, a second corner radar 122b provided on the left front side of the vehicle, a third corner radar 122c provided on the right rear side of the vehicle, and a fourth corner radar 122d provided on the left rear side of the vehicle.

[0117] The first corner radar 122a may have a field of view toward the right front side of the vehicle, may detect obstacles in a recognition area S1 corresponding to the field of view, and may be installed on the right side of the front portion of the tractor 2a.

[0118] The second corner radar 122b may have a field of view toward the left front side of the vehicle, may detect obstacles in the recognition area S2 corresponding to the field of view, and may be installed on the left side of the front side of the tractor 2a.

[0119] The third corner radar 122c may have a field of view toward the right rear side of the vehicle, may detect obstacles in the recognition area S2 corresponding to the field of view, and may be installed on the right side of the rear side of the trailer 2b.

[0120] The fourth corner radar 122d may have a field of view toward the left rear side of the vehicle, may detect obstacles in the recognition area S2 corresponding to the field of view, and may be installed on the left side behind the trailer 2b.

[0121] The first, second, third and fourth corner radars 122a, 122b, 122c and 122d may obtain first corner radar data, second corner radar data, third corner radar data and fourth corner radar data, respectively.

[0122] The first-angle radar data may include distance information and speed information about other vehicles, pedestrians, or cyclists (hereinafter referred to as “obstacles”) located on the right side in front of the vehicle.

[0123] The second corner radar data may include distance information and speed information of an obstacle located on the left side in front of the vehicle.

[0124] The third corner radar data and the fourth corner radar data may include distance information and speed information of obstacles located on the right and left sides behind the vehicle, respectively.

[0125] Each of the first, second, third and fourth corner radars 122a, 122b, 122c and 122d can be connected to the controller 172 through the vehicle communication network NT, hard wiring or printed circuit board. The first, second, third and fourth corner radars 122a, 122b, 122c and 122d can send first, second, third and fourth corner radar data to the controller, respectively. The controller 172 can be a controller provided in the vehicle 2, or can be a controller of the autonomous driving control device 170.

[0126] like Figure 3B As shown, the front radar 121 can obtain obstacle information in the identification area F2 corresponding to the field of view of the front radar 121, and the first corner radar 122a can obtain obstacle information in the identification area S1 corresponding to the field of view of the first corner radar 122a, the second corner radar 122b can obtain obstacle information in the identification area S2 corresponding to the field of view of the second corner radar 122b, the third corner radar 122c can obtain obstacle information in the identification area S3 corresponding to the field of view of the third corner radar 122c, and the fourth corner radar 122d can obtain obstacle information in the identification area S4 corresponding to the field of view of the fourth corner radar 122d.

[0127] The obstacle information is information obtained from the corner radar data and may include existence information of an obstacle, distance and speed information of the obstacle, and direction information of the obstacle.

[0128] The second distance detector 130 may include first and second front laser radars 131 a and 131 b , first and second rear laser radars 132 a and 132 b , and first and second side laser radars 133 a and 133 b . The second distance detector 130 may further include a third front laser radar 134 .

[0129] The third front laser radar 134 may be a high-resolution laser radar having a higher resolution h than the first and second front laser radars 132a and 131b, the first and second rear laser radars 132a and 132b, and the first and second side laser radars 133a and 133b.

[0130] In the direct pulse method, the lidar transmits a single pulse of laser light and then measures the time it takes for the laser light to be reflected and return from an obstacle to obtain distance information about the relative distance to the obstacle.

[0131] In the continuous wave method, the lidar transmits laser light that is continuously modulated at a specific frequency, and then measures the amount of phase change of the laser signal reflected from an obstacle to obtain time and distance information about the relative distance to the obstacle.

[0132] The first front laser radar 131 a may have a field of view toward the front and right sides of the vehicle 2 , and may detect obstacles in the recognition area B1 corresponding to the field of view.

[0133] The first front laser radar 131a may be installed on the right side of the front portion of the tractor 2a.

[0134] The first front laser radar 131a can obtain laser data of the right front based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0135] The right front laser data may include distance information about an obstacle located on the right front side of the vehicle, and may also include speed information.

[0136] The second front laser radar 131b may have a field of view toward the front and left sides of the vehicle 2, and may detect obstacles in a recognition area B2 corresponding to the field of view.

[0137] The second front laser radar 131b may be installed on the left front side of the tractor 2a.

[0138] The second front laser radar 131b can obtain laser data of the left front based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0139] The left front laser data may include distance information about an obstacle located in the left front of the vehicle, and may also include speed information.

[0140] The first rear laser radar 132a may have a field of view toward the rear and right side of the vehicle 2, and may detect obstacles in the recognition area B3 corresponding to the field of view.

[0141] The first rear laser radar 132a can be installed on the right rear side of the trailer 2b.

[0142] The first rear laser radar 132a can obtain laser data of the right rear based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0143] The rear right laser data may include distance information about obstacles located to the rear and right of the vehicle, and may also include speed information.

[0144] The second rear laser radar 132b may have a field of view toward the rear and left side of the vehicle 2, and may detect obstacles in the recognition area B4 corresponding to the field of view.

[0145] The second rear laser radar 132b can be installed on the left rear side of the trailer 2b.

[0146] The second rear laser radar 132b can obtain laser data of the left rear based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0147] The left rear laser data may include distance information about obstacles located behind and to the left of the vehicle 2 , and may also include speed information.

[0148] The first side laser radar 133 a may have a field of view toward the right side of the vehicle 2 , and may detect obstacles in the recognition area C1 corresponding to the field of view.

[0149] The first side laser radar 133a may be installed on the right side of the side of the tractor 2a.

[0150] The first side laser radar 133a can obtain laser data in the right direction based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0151] The laser data in the right direction may include distance information about an obstacle located in the right direction of the vehicle, and may also include speed information.

[0152] The second side laser radar 133b may have a field of view toward the left side of the vehicle 2, and may detect obstacles in the recognition area C2 corresponding to the field of view.

[0153] The second side laser radar 133b may be installed on the left side of the side of the tractor 2a. The side of the tractor may be a position adjacent to a door.

[0154] The second side laser radar 133b can obtain laser data in the left direction based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0155] The left-direction laser data may include distance information about an obstacle located in the left direction of the vehicle 2 , and may also include speed information.

[0156] The third front laser radar 134 may have a field of view toward the front of the vehicle 2 and may detect obstacles in the recognition area F3 corresponding to the field of view.

[0157] The field of view of the third front laser radar 134 may be narrower than that of the front radar 121. That is, the front distance that the third front laser radar 134 can detect may be shorter than the front distance that the front radar 121 can detect.

[0158] The third front laser radar 134 can be installed on the roof of the tractor 2a or on the upper part of the front windshield.

[0159] The third front laser radar 134 may obtain front laser data based on the transmission laser emitted by the transmitter and the reception laser received by the receiver.

[0160] The laser data in front of the vehicle may include distance information about obstacles located in front of the vehicle, and may also include speed information.

[0161] like Figure 3C As shown, the first front laser radar 131a can obtain obstacle information in the identification area B1 corresponding to the field of view of the first front laser radar 131a, the second front laser radar 131b can obtain obstacle information in the identification area B2 corresponding to the field of view of the second front laser radar 131b, the first rear laser radar 132a can obtain obstacle information in the identification area B3 corresponding to the field of view of the first rear laser radar 132a, and the second rear laser radar 132b can obtain obstacle information in the identification area B4 corresponding to the field of view of the second rear laser radar 132b.

[0162] The first side laser radar 133a can obtain obstacle information in the identification area C1 corresponding to the sensing field of view of the first side laser radar 133a, the second side laser radar 133b can obtain obstacle information in the identification area C2 corresponding to the field of view of the laser radar 132b, and the third front laser radar 134 can obtain obstacle information in the identification area F3 corresponding to the field of view of the third front laser radar 134.

[0163] The obstacle information is obtained from the laser data and may include obstacle existence information, obstacle distance and speed information, and obstacle direction information.

[0164] In addition, display Figure 3A , box h in 3B and 3C to compare the distances of various identified regions.

[0165] like Figure 4 As shown, the vehicle 2 uses at least one of the front radar 121, the front camera 111, and the third front laser radar 134 to identify an obstacle in front of the vehicle 2. Identifying the obstacle may include obtaining obstacle information.

[0166] The front radar 121 recognizes an obstacle at a long distance in front of the vehicle 2, and the front camera 111 and the third front laser radar 134 recognize an obstacle at a short distance in front of the vehicle.

[0167] That is, the front radar 121 can identify an obstacle in front of the vehicle 2 that is farther away than obstacles that can be identified by the front camera 111 and the third front laser radar 134 .

[0168] The front of the vehicle 2 may be the center in a direction in which the vehicle 2 moves forward.

[0169] The vehicle 2 may identify an obstacle on the right front side (ie, on the right front side) of the vehicle 2 by using at least one of the first front laser radar 131 a , the first side camera 112 a , and the first corner radar 122 a .

[0170] The vehicle 2 may identify an obstacle on the left front (ie, on the left front side) by using at least one of the second front laser radar 131 b , the second side camera 112 b , and the second corner radar 122 b .

[0171] The vehicle 2 may identify an obstacle in the right direction of the vehicle 2 (ie, on the right side) by using at least one of the third side camera 112c and the first side lidar 133a.

[0172] The vehicle 2 may identify obstacles in the left direction of the vehicle 2 (ie, on the left side) using at least one of the fourth side camera 112d and the second side lidar 133b.

[0173] The vehicle 2 may identify an obstacle on the right rear (ie, on the right rear side) of the vehicle 2 using at least one of the third corner radar 122 c and the first rear lidar 132 a .

[0174] Vehicle 2 may use at least one of fourth corner radar 122d and second rear lidar 132b to identify obstacles on the left rear (ie, on the left rear side) of the vehicle.

[0175] The vehicle 2 may identify an obstacle behind (ie, at the rear) the vehicle 2 by using at least one of the third corner radar 122 c , the fourth corner radar 122 d , and the rear camera 113 .

[0176] The rear camera 113 may identify an obstacle at a short distance behind the vehicle 2 , and the third corner radar 122 c and the fourth corner radar 122 d may identify an obstacle at a long distance behind the vehicle 2 .

[0177] That is, the third corner radar 122 c and the fourth corner radar 122 d may identify an obstacle behind the vehicle that is farther from the vehicle 2 than an obstacle that may be identified by the rear camera 113 .

[0178] Here, areas in the front, left front, right front, right, left, right rear, left rear, and rear directions are movable areas to which the vehicle 2 can move relative to obstacle information recognized by each device of the vehicle.

[0179] When an obstacle in each movable area is identified during autonomous driving control, a device for obstacle identification is determined. Information about each device for obstacle identification in the movable area is stored in the vehicle.

[0180] like Figure 5As shown, the vehicle may store information regarding movement restriction areas where vehicle movement is restricted based on a faulty device.

[0181] The vehicle may store strategy information for limiting at least one piece of control information for autonomous driving when each of a plurality of devices for obstacle recognition fails during autonomous driving control.

[0182] That is, the vehicle may store strategy information for autonomous driving corresponding to a failure of each device.

[0183] like Figure 6 As shown, the vehicle may store movement restriction areas in the movable area and policy information corresponding to each movement restriction area, in which movement of the vehicle is restricted due to a failure of at least one device.

[0184] The types of roads on which autonomous driving can be controlled based on the recognition area of ​​each device may be different. The road type may be stored together with policy information corresponding to each movement restriction area.

[0185] Figure 7 is a control block diagram of a vehicle (truck) according to an exemplary embodiment of the present disclosure.

[0186] The vehicle includes a device OD, a speed detector 140 , a passenger detector 150 , a terminal 160 , an autonomous driving control apparatus 170 , an electronic control unit 180 (ECU), and a driving device 185 .

[0187] The device OD detects an obstacle existing on a road to identify the obstacle, and outputs obstacle information about the detected obstacle.

[0188] The device OD transmits the obstacle information to the autonomous driving control apparatus 170 .

[0189] The device OD includes an image acquirer 110, a first distance detector 120 and a second distance detector 130. Figures 2 to 6 The image acquirer 110 , the first distance detector 120 , and the second distance detector 130 are described, and thus will not be repeated below.

[0190] The speed detector 140 detects a driving speed of the vehicle and transmits speed information regarding the detected driving speed to the autonomous driving control apparatus 170 .

[0191] The speed detector 140 includes a plurality of wheel speed sensors that output detection information (ie, wheel speed information) corresponding to the rotation speed of the front, rear, left, and right wheels 131 of the vehicle.

[0192] The speed detector 140 may include an acceleration sensor that outputs detection information corresponding to the acceleration of the vehicle (ie, acceleration information).

[0193] The speed detector 140 may include both a plurality of wheel speed sensors and an acceleration sensor.

[0194] The vehicle may further include an illumination sensor to detect external illumination, a temperature sensor to detect external air temperature, and a rain sensor to detect whether it is raining and the amount of rain.

[0195] The passenger detector 150 detects a passenger at each seat and outputs the detected passenger information so as to identify whether there are passengers in the vehicle and the number of passengers.

[0196] The passenger detector 150 may be provided on at least one of a seat and a seat belt of the vehicle.

[0197] For example, the passenger detector 150 may include at least one of a weight detector, a pressure detector, a capacitance detector, and a seat belt fastening detector.

[0198] The passenger detector 150 may also include a camera provided inside the vehicle.

[0199] The terminal 160 displays information about functions operated in the vehicle or functions operable in the vehicle, and displays information input by the user.

[0200] For example, when at least one of the navigation mode, DMB mode, audio mode, video mode, telephone mode and radio mode is selected, the terminal 160 performs a function for at least one selected mode and can display operation information of the function being performed, and when the autonomous driving mode is selected, the terminal 160 can display map information matching the route and display the front, rear, left and right images of the vehicle.

[0201] The terminal 160 may include a display 162 , and may further include an input terminal 161 .

[0202] When the display 162 and the input terminal 161 are simultaneously provided in the terminal, the terminal may be a touch screen in which the input terminal 161 and the display 162 are integrated.

[0203] When only the display 162 is provided in the terminal, the input terminal 161 may be provided in a head unit or a center instrument panel of the vehicle and may include buttons, switches, keys, a touch panel, a jog dial, a pedal, a keyboard, a mouse, a trackball, various levers, handles, or joysticks.

[0204] In this embodiment, it is assumed that the terminal 160 includes an input terminal 161 and a display 162 .

[0205] The input terminal 161 of the terminal 160 receives an operation command of a navigation mode, and receives information on a destination when the navigation mode is executed.

[0206] The input terminal 161 may receive information regarding selection of a plurality of routes searched for a destination from a current location.

[0207] The input 161 may receive information about the number of passengers.

[0208] The input terminal 161 receives one of a manual driving mode in which the driver drives the vehicle by himself and an autonomous driving mode in which the driver lets the vehicle drive autonomously, and transmits the received input to the autonomous driving control device 170. The input terminal 161 may receive information about a destination, receive a selection of highway driving, local road driving, etc., or receive a driving speed in the autonomous driving mode.

[0209] The input 161 may receive information about whether a passenger is about to get off the bus, and also receive information about the stop at which the passenger is about to get off the bus.

[0210] Display 162 displays the driving mode of the vehicle.

[0211] The display 162 may display failure information of at least one device for obstacle recognition, and display strategy information for autonomous driving when at least one device fails.

[0212] When the navigation mode is executed, the display 162 displays a map matching the route to the destination.

[0213] When there are multiple routes to the destination, the display 162 may display the driving time and driving distance corresponding to each route.

[0214] When the malfunction occurs, the display 162 may display information about a destination for repairing the malfunctioning device.

[0215] The display 162 may display a message for asking whether the passenger will get off the vehicle when the device fails.

[0216] The display 162 may display information requesting input of a station where a passenger gets off, and may display a map matching a route that changes with stations, or, when a passenger does not get off, a map matching a route to a destination for repairing a malfunctioning device.

[0217] The autonomous driving control device 170 automatically recognizes the road environment, determines the driving conditions, and controls the vehicle to travel to the destination along the planned route.

[0218] The autonomous driving control device 170 recognizes obstacles and lanes in the autonomous driving mode, and controls the travel of the vehicle while avoiding the obstacles based on information about the recognized obstacles and lanes.

[0219] The autonomous driving control apparatus 170 includes a communication device 171 , a controller 172 that controls autonomous driving, and a memory 173 that stores strategy information corresponding to information about device failure.

[0220] The communication device 171 communicates with various devices provided in the vehicle.

[0221] Here, various devices provided in the vehicle may be devices related to autonomous driving.

[0222] For example, the communication device 171 communicates with a plurality of devices for obstacle recognition, and communicates with a speed detector, a passenger detector, and a terminal.

[0223] The communication device 171 may perform communication between devices in the vehicle.

[0224] The communication device 171 can perform CAN communication, USB communication, Wi-Fi communication, and Bluetooth communication, and can also perform broadcast communication such as TPEG, SXM, RDS, and DMB, as well as 2G, 3G, 4G, and 5G communications.

[0225] The communication device 171 may include one or more components configured to allow communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

[0226] The external device may be a device provided in a service center, such as a terminal or a server.

[0227] The short-range communication module may include various short-range communication modules configured to send and receive signals using a short-range wireless communication network, such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local area network (WLAN) communication module, a near field communication (NFC) module, and a ZigBee communication module.

[0228] The wired communication module may include 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, and a value-added network (VAN) module or 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), and a plain old telephone service (POTS).

[0229] The wireless communication module may include a wireless communication module supporting various wireless communication methods, such as Radio Data System Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), Wi-Fi module, wireless broadband module, Global Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Multiple Access (TDMA) and Long Term Evolution (LTE).

[0230] The communication device 171 includes a global positioning system (GPS) receiver (or position receiver) 171 a that communicates with a plurality of satellites and identifies the current position of the vehicle based on information provided from the plurality of satellites.

[0231] That is, the position receiver 171 a receives a signal from a satellite, identifies the current position of the vehicle, and transmits current position information regarding the identified current position to the controller 172 .

[0232] When the navigation mode is selected, the controller 172 identifies the current location information received by the location receiver 171a, and controls the display 162 to display a map within a predetermined range from the current location based on the identified current location information.

[0233] When destination information is input after the navigation mode is selected, the controller 172 searches for a route from the current location to the destination based on the input destination information and the current location information received by the location receiver 171a, and controls the display 162 to display a map matching the route.

[0234] When searching for multiple routes, the controller 172 controls the display to display the multiple routes, and the travel time and travel distance of each route, and when a route is selected through the input terminal 161, controls the display 162 to display a map matching the selected route.

[0235] The controller 172 recognizes the current position in real time while driving, and outputs road guide information through the display and the sound output unit (not shown) while displaying the recognized current position in real time on a map displayed on the display.

[0236] When the manual driving mode is input, the controller 172 transfers the control authority to a controller for the manual driving mode provided in the vehicle.

[0237] In the manual driving mode, the controller 172 may also control driving based on operation information such as a brake pedal, an accelerator pedal, a gear lever, and a steering wheel.

[0238] When the autonomous driving mode is input, the controller 172 can control the autonomous driving based on the input information of the input terminal 161, the image information of the image acquirer 110, the distance information of the obstacles of the first and second distance detectors 120 and 130, the driving speed information of the speed detector 160 and the current position information of the position receiver 171a.

[0239] When the autonomous driving mode is input, the controller 172 may search for a route to the destination based on illumination, temperature, whether it is raining, and the amount of rain.

[0240] The controller 172 controls acceleration and deceleration of the vehicle so that the driving speed of the vehicle follows a predetermined target driving speed or a target driving speed set by a user during an autonomous driving mode.

[0241] When receiving an image from the image acquirer during the autonomous driving mode, the controller 172 recognizes lines of a road by performing image processing on the received image, recognizes a lane based on position information of the recognized line, and controls autonomous driving along the lane.

[0242] The controller 172 identifies at least one of the position of the obstacle and the moving speed of the obstacle based on the obstacle information detected by the image acquirer and the first distance detector and the second distance detector, determines the movable area based on the identified position of the obstacle, controls the movement to the determined movable area, and controls the driving speed based on the identified position of the obstacle and the moving speed of the obstacle.

[0243] The location of the obstacle may include the direction of the obstacle and the distance from the vehicle to the obstacle.

[0244] The controller 172 may obtain the driving speed of the vehicle based on detection information output from a plurality of wheel speed sensors.

[0245] The controller 172 may obtain the driving speed of the vehicle based on detection information output from the acceleration sensor.

[0246] The controller 172 may obtain the driving speed of the vehicle based on both the detection information output from the plurality of wheel speed sensors and the detection information output from the acceleration sensor.

[0247] The controller 172 may obtain the driving speed based on the information on the change of the current location provided from the location receiver.

[0248] The controller 172 may control the operation of the display 162 of the terminal to display the location information of the obstacle in the navigation mode or the autonomous driving mode.

[0249] The controller 172 may display the image of the front, rear, left, or right direction of the vehicle acquired from the image acquirer 110 .

[0250] When the autonomous driving mode is executed, the controller 172 diagnoses faults in multiple devices for obstacle recognition, and when it is determined that there is a device in which the fault occurs, the controller 172 identifies the recognition area of ​​the obstacle recognized by the device and limits the movement of the vehicle to the recognized recognition area.

[0251] When identifying the recognition area of ​​the obstacle identified by the fault device, the controller 172 may also identify a movement restriction area of ​​the vehicle corresponding to the identified recognition area and restrict the movement of the vehicle to the identified movement restriction area.

[0252] The controller 172 may identify strategy information corresponding to the identified movement restriction area, and control autonomous driving based on the identified strategy information.

[0253] When executing the autonomous driving mode, the controller 172 may identify strategy information corresponding to the faulty device and control the autonomous driving based on the identified strategy information.

[0254] The controller 172 may control the display 162 to display information about at least one device diagnosed as having a fault and corresponding policy information.

[0255] When the controller 172 determines that a failure of at least one device has occurred, the controller 172 searches for a service center for repairing the at least one faulty device based on the current location information, sets the location of the searched service center as a new destination, searches for a route based on the set destination information and the current location information, and controls autonomous driving to the new destination based on the route information on the searched route.

[0256] When searching for a service center, the controller 172 may control the communication device 171 to transmit information related to a reservation for a maintenance service to a server (not shown) or a terminal (not shown) of the searched service center.

[0257] In this case, the information about the scheduled maintenance service may include information of the faulty device, time to arrive at the service center, information of the vehicle, and the like.

[0258] When receiving the repair approval information from one of the plurality of service centers, the controller 172 may set the service center that sent the approval information as a final destination.

[0259] When the service center is determined, the controller 172 may also control the display 162 to display information on the determined service center.

[0260] The controller 172 may receive passenger presence and passenger disembarkation information via a communication device. The passenger disembarkation information may include whether the passenger will disembark and the station the passenger will arrive at. The controller 172 may obtain information about the station based on the passenger disembarkation information.

[0261] When it is determined that at least one device fails, the controller 172 identifies the passenger, and when the passenger exists separately from the driver, controls output of information asking whether the passenger will get off. When receiving information approving getting off through the input terminal 161, the controller 172 controls output of information requiring input of a station, and when receiving station information through the input terminal 161, searches for a service center for repairing the failed device based on the station information, the current location information, and the original destination information, sets the searched service center as a new destination, searches for a route based on information about the set destination, the station, the original destination, and the current location, and controls autonomous driving to the destination based on information about the searched route.

[0262] The controller 172 can determine whether the strategy information corresponding to at least one fault device indicates a change to the manual driving mode, and when it is determined that the strategy information corresponding to the fault device does not indicate a change to the manual driving mode, control information asking the driver whether to get off the vehicle is output, and control information requesting input of the station where the driver is to get off is output.

[0263] When information of refusing to get off the vehicle is received through the input terminal 161, the controller 172 searches for a service center for repairing the faulty device based on information about the current location and the original destination, sets the searched service center as the new destination, searches for a route based on information about the new destination, the original destination and the current location, and controls autonomous driving to the new destination based on information about the searched route.

[0264] When it is determined that the site is closer to the current location than the service center, the controller 172 controls autonomous driving to the site, and then controls autonomous driving to the service center.

[0265] When it is determined that the station is farther from the current location than the service center, the controller 172 may control autonomous driving from the current location to the service center.

[0266] When it is determined that the site is farther from the current position than the service center, the controller 172 determines the distance between the site and the service center, and when the distance is less than a predetermined distance, controls autonomous driving to the service center after controlling autonomous driving to the waypoint.

[0267] The controller 172 checks information about the current road based on the current position information, and when it is determined from the information that the type of the current road is a city road, diagnoses a fault in a device required for autonomous driving control in the city road. When it is determined that at least one device is faulty, the controller 172 may limit autonomous driving on the city road.

[0268] Limiting autonomous driving on urban roads includes limiting lane changes and handing control over to the driver to change lanes manually.

[0269] Limiting autonomous driving on urban roads involves changing to manual driving mode.

[0270] The devices required for autonomous driving control on urban roads may include a front camera, a third front lidar, first and second front lidars, first and second side cameras, first, second, third and fourth corner radars, and first and second rear lidars.

[0271] When it is determined from information about the current road that the type of the current road is a highway road, and the fault device is at least one of the front radar, the third and fourth side cameras, and the first and second side lidars, the controller 172 may limit autonomous driving on the highway road.

[0272] For example, when it is determined from the information about the current road that the type of the current road is a highway road and the fault device is a front radar, the controller 172 may control the driving speed of the vehicle to be less than or equal to a predetermined driving speed. When it is determined from the information about the current road that the type of the current road is a highway road and the fault device is at least one of the third side camera and the first side laser radar, the controller 172 may limit the change from the current lane of the vehicle to the right lane. When it is determined from the information about the current road that the type of the current road is a highway road and the fault device is at least one of the fourth side camera and the second side laser radar, the controller 172 may limit the change from the current lane of the vehicle to the left lane.

[0273] The predetermined driving speed may be approximately 60 kph.

[0274] When it is determined from the information about the current road that the road type is a highway road and the fault device is at least one of devices that recognize obstacles in the front short distance area, the controller 172 may restrict low-speed driving. When it is determined from the information about the current road that the road type is a highway road and the fault device is at least one of devices that recognize obstacles in the left front area, the right front area, the left rear area, and the right rear area, the controller 172 may restrict lane changes.

[0275] A low speed may be a speed below a predetermined driving speed.

[0276] When it is determined that the malfunctioning device is a device for recognizing obstacles in the rear short-distance area and the rear long-distance area, the controller 172 controls the autonomous driving mode to be maintained to the service center.

[0277] When it is determined that the fault device is a device for identifying obstacles in at least one of the front long-distance area, the left area, and the right area, the controller 172 obtains road information based on information about the current position, and when the type of the road is determined from the road information to be a highway road, the autonomous driving mode is maintained, but restricted control is performed on the highway.

[0278] Restriction controls on motorway roads may include driving speed limits and lane change restrictions.

[0279] When it is determined that the faulty device is a device for identifying an obstacle in one of the left front area, the right front area, the left rear area, and the right rear area, the controller 172 acquires road information based on information about the current position, and when it is determined from the road information that the road type is an urban road, the autonomous driving mode is maintained, but the control of changing lanes is handed over to the driver. For example, the controller 172 may control the display to display control authority takeover information for lane changes so that the driver can make lane changes without autonomously controlling the lane changes.

[0280] In this case, the vehicle can change lanes based on information related to the steering wheel operated by the driver.

[0281] When the failed device is a device for identifying an obstacle in one of the front long distance area or the front short distance area, the controller 172 changes the autonomous driving mode to the manual driving mode and hands over the control authority of braking, acceleration, deceleration and vehicle steering to the driver. For example, the controller 172 may control the display to display the control authority takeover information for the manual driving mode.

[0282] When the faulty device is a device for identifying an obstacle in a front short distance area, the controller 172 may obtain road information based on information about the current position, and when it is determined from the road information that the type of the road is a city road, change the autonomous driving mode to the manual driving mode.

[0283] When a plurality of devices for recognizing an obstacle exist in one of the movable areas of the vehicle, the controller 172 may perform autonomous driving based on information about the obstacle recognized by the other devices except for the faulty device in the autonomous driving control.

[0284] For example, when it is determined that the third side camera is faulty, the controller 172 detects obstacles in the right area using the first side lidar, and controls movement to the right area based on information about the detected obstacles.

[0285] When a plurality of devices for recognizing obstacles exist in one of the movable areas of the vehicle and some of the devices fail in autonomous driving control, the controller 172 may control autonomous driving based on the strategy information.

[0286] For example, when it is determined that the third side camera is faulty, the controller 172 may identify strategy information corresponding to the right area and control autonomous driving based on the identified strategy information (eg, indicating no change to the right lane).

[0287] When a plurality of devices for recognizing an obstacle exist in one of the movable areas of the vehicle and all of the plurality of devices fail, the controller 172 may control autonomous driving based on the strategy information.

[0288] For example, when it is determined that the third side camera and the first side lidar have failed, the controller 172 may identify strategy information corresponding to the right area and control autonomous driving based on the identified strategy information (e.g., indicating no change to the right lane).

[0289] The controller 172 may be a controller provided in the vehicle.

[0290] The controller 172 of the device 170 according to an exemplary embodiment of the present disclosure may be a processor (e.g., a computer, a microprocessor, a CPU, an ASIC, a circuit, a logic circuit, etc.). The controller 172 may be implemented by a non-transitory memory storing, for example, a program, a software instruction reproduction algorithm, etc., which, when executed, controls the operation of various components of the vehicle 1, and a processor configured to execute the program, the software instruction reproduction algorithm, etc. Here, the memory and the processor may be implemented as separate semiconductor circuits (e.g., chips). Alternatively, the memory and the processor may be implemented as a single integrated semiconductor circuit. The processor may embody one or more processors.

[0291] The memory 173 may store map information.

[0292] The storage 173 may store location information of the service center.

[0293] The memory 173 may store a program for executing the autonomous driving mode and a program for executing the navigation mode.

[0294] The memory 173 may store information on a movement restriction area of ​​each device having a fault for obstacle recognition, in which movement of the vehicle is restricted.

[0295] The memory 173 may store a recognition area of ​​each device for obstacle recognition.

[0296] The movement restriction area of ​​the vehicle of each device may be determined based on the recognition area of ​​the device.

[0297] The memory 173 may store strategy information of control information for controlling autonomous driving of each movement restriction area of ​​the vehicle.

[0298] The memory 173 may store strategy information of control information for controlling autonomous driving when a device for each obstacle recognition fails.

[0299] The memory 173 may be a memory implemented as a separate chip from the processor as described above with respect to the controller 172 , or may be implemented in a single chip together with the processor.

[0300] The memory 173 may be implemented using at least one of the following: a nonvolatile storage element such as a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory; a volatile storage element such as a random access memory (RAM); or a storage medium such as a hard disk drive (HDD) and a CD-ROM. The implementation of the memory is not limited thereto.

[0301] The vehicle 1 includes an electronic control unit (ECU) 180 that controls operations of a driving device, various safety devices, and various detection devices.

[0302] Here, the ECU 180 may be provided to each device, or may be provided as one ECU that comprehensively controls a plurality of electronic devices.

[0303] The driving device 185 can be a device for applying driving force and braking force to the front wheels, rear wheels, left wheels and right wheels, such as a power generation device, a power transmission device, a steering device, a braking device, a suspension device, a speed change device, a fuel device, etc.

[0304] Fig. 8A and Figure 8B is a flowchart illustrating an example of a control method of a vehicle according to an exemplary embodiment of the present disclosure.

[0305] When the autonomous driving mode is selected, the vehicle determines the current location, determines the destination input through input terminal 161, searches for a route from the current location to the destination based on the destination information and the current location information, matches the route with a map, and displays the map matching the route through the display screen.

[0306] When autonomous driving mode is selected, the vehicle can automatically activate navigation mode.

[0307] When receiving an image from the image acquirer 110 during autonomous driving, the vehicle performs image processing on the received image to recognize lines on a road, recognizes a lane based on information about the positions of the recognized lines, and controls autonomous driving along the recognized lane.

[0308] During autonomous driving, the vehicle recognizes the presence of an obstacle and the position of the obstacle in the image obtained from the image acquirer 110, recognizes at least one of the moving speed of the obstacle and the position of the obstacle based on the obstacle information detected by the first and second distance detectors 120 and 130, determines a movable area based on the recognized position of the obstacle, and moves to the determined movable area.

[0309] The vehicle autonomously drives while performing at least one of acceleration and deceleration of the vehicle so that the driving speed of the vehicle follows a predetermined target driving speed or a target driving speed set by a user.

[0310] A vehicle diagnoses a fault in a plurality of devices 110, 120, and 130 for obstacle recognition (202) during autonomous driving (201), and when at least one device is determined to be faulty (203), identifies a movement restriction area of ​​the vehicle corresponding to the at least one faulty device (204).

[0311] The vehicle may recognize a recognition area of ​​an obstacle recognized by at least one device having a malfunction, and also recognize a movement restriction area of ​​the vehicle corresponding to the recognized recognition area.

[0312] When it is determined that at least one device has failed, the vehicle determines the presence of a passenger, and when it is determined that there is a passenger in addition to the driver, the vehicle outputs information asking the passenger whether to get off the vehicle.

[0313] The information asking whether the passenger wants to get off the vehicle may be output through at least one of a display and a sound output unit (not shown).

[0314] When it is determined that there are passengers in addition to the driver, the vehicle can automatically search for the station where the passenger will get off and output information asking whether the passenger will get off at the station. For example, the station where the passenger gets off may be a place where public transportation can be used.

[0315] When it is determined that there are passengers in addition to the driver, the vehicle can also automatically set the stop where the passenger will get off.

[0316] The vehicle determines whether the passenger wants to get off based on the received approval to get off (205). Here, the received permission to get off can be input through the input terminal 161.

[0317] When it is determined that the passenger is getting off, the vehicle outputs information requesting an input station, and when information about the station is received through the input terminal 161 (206), a route is searched based on information about the station, the current location and the destination (207), multiple service centers located near the route are searched based on the route information (208), and based on the location information of the multiple service centers, a service center around the route among the multiple service centers is determined (the route starts from the current location and passes through the station), and a service request is sent to the service center (209).

[0318] Searching for a service center includes searching for a service center that can provide quick repair service for the faulty device.

[0319] When it is determined that there is no service center along the route starting from the current position and passing through the station, the vehicle finds one of the service centers closest to the station near the route and sends a service request to the service center.

[0320] The vehicle can search for a service center to repair a faulty device based on information about the site, current location, and original destination, and can search for a route based on information about the location of the searched service center (ie, new destination), the site, original destination, and current location.

[0321] When it is determined that the passenger has not gotten off the vehicle based on the refusal to get off received through the input 161, the vehicle searches for a route based on information about the current location and the original destination.

[0322] In this case, the searched route may be the same as the original route.

[0323] The vehicle searches for multiple service centers located near the route based on the route information (211), determines the location information of each of the multiple service centers, and determines the service center located in the route between the current location and the destination based on the location information of the multiple service centers, and sends a service request to the service center (212).

[0324] When it is determined that there is no service center in the route between the current location and the destination, the vehicle may determine one of the service centers closest to the current location adjacent to the route between the current location and the destination and send a service request to the service center.

[0325] The vehicle determines whether the movement restriction area corresponding to the faulty device is a rear short distance area and a rear long distance area (213), and when it is determined that the movement restriction area is at least one of the rear short distance area and the rear long distance area, maintains autonomous driving to a service center (214).

[0326] Determining whether the movement restriction area is the rear short distance area includes determining a malfunction of the rear camera.

[0327] Determining whether the movement-restricted area is a rear long-range area includes determining a malfunction of at least one of the third and fourth corner radars.

[0328] Determining that the movement-restricted region is a rear long distance region may include determining that rearward movement is not possible.

[0329] When it is determined that the movement restriction area corresponding to the faulty device is not the rear short distance area and the rear long distance area, the vehicle determines whether the movement restriction area is at least one of the front long distance area, the left area, and the right area (215). When it is determined that the movement restriction area is at least one of the front long distance area, the left area, and the right area, the vehicle limits at least one of the driving speed and the lane change, and travels to the service center in the autonomous driving mode.

[0330] When the movement restriction area is the front long distance area, the vehicle performs autonomous driving by limiting the driving speed of the vehicle to be less than or equal to a predetermined driving speed.

[0331] Determining whether the restricted movement area is the front long range area includes determining a malfunction of the front radar.

[0332] When it is determined that the movement restriction area is the left area, the vehicle restricts the change to the left lane and controls autonomous driving. When it is determined that the movement restriction area is the right area, the vehicle restricts the change to the right lane and controls autonomous driving.

[0333] Determining that the movement restricted area is a left area includes determining at least one fault in the fourth side camera and the second side lidar.

[0334] Determining that the movement restricted area is the right side area includes determining a failure of at least one of the third side camera and the first side lidar.

[0335] When it is determined that the movement restriction area corresponding to the fault device is not the rear short-distance area and the rear long-distance area but at least one of the front long-distance area, the left area and the right area, the vehicle obtains road information based on the current position information, and when it is determined from the road information that the type of road is a highway road, the autonomous driving mode is maintained, but restriction control is performed on the highway.

[0336] Restricted controls on highways may include driving speed limits and lane change restrictions.

[0337] When it is determined that the movement restriction area corresponding to the fault device is not at least one of the front long distance area, the left area and the right area, the vehicle determines whether the movement restriction area corresponding to the fault device is at least one of the left front area and the right front area, the left rear area and the right rear area (217).

[0338] Determining whether the movement-restricted area is a left front area includes determining a failure of at least one of a second front laser radar, a second side camera, and a second corner radar.

[0339] Determining whether the movement restriction area is the right front area includes determining a failure of at least one of the first front laser radar, the first side camera, and the first corner radar.

[0340] Determining whether the movement restricted area is the left rear area includes determining a malfunction of at least one of the fourth corner radar and the second rear laser radar.

[0341] Determining whether the movement restricted area is the right rear side area includes determining a failure of at least one of the third corner radar and the first rear laser radar.

[0342] When it is determined that the movement restriction area is at least one of the left front area, the right front area, the left rear area, and the right rear area, the vehicle controls forward and backward movement by autonomous driving and manually controls lane change (218).

[0343] At this point, the vehicle hands over control of the lane change to the user.

[0344] In other words, the lane change is not performed automatically but manually based on information about the steering wheel manipulated by the user.

[0345] At this time, the vehicle outputs information about the lane change taking over the vehicle through a display or a sound output unit.

[0346] When it is determined that the movement restricted area is at least one of the left front area, the right front area, the left rear area and the right rear area, the vehicle obtains road information based on the current position information, and when it is determined from the road information that the type of road is a city road, controls autonomous driving and transfers control authority of lane change to the driver.

[0347] In other words, the vehicle does not autonomously control lane changes on urban roads, but rather lane changes are performed manually by the driver.

[0348] When it is determined that the movement restriction area is not at least one of the left front area, the right front area, the left rear area, and the right rear area, the vehicle determines that the movement restriction area is the front area and changes the autonomous driving mode to the manual driving mode (219).

[0349] At this time, the vehicle transfers the control authority of the vehicle's driving, braking, acceleration, deceleration and steering to the driver, and displays the takeover information of the control authority for the manual driving mode on the display.

[0350] When it is determined that the movement restriction area is the front area, the vehicle may output an instruction to stop driving.

[0351] When it is determined that the movement restriction area is the front short distance area, the vehicle may obtain road information based on the current position information, and when it is determined from the road information that the type of the road is a city road, the autonomous driving mode is changed to the manual driving mode.

[0352] As is apparent from the above description, the vehicle according to the exemplary embodiment of the present disclosure can store strategy information for autonomous driving control corresponding to the identification area of ​​the fault device during autonomous driving control. Therefore, the vehicle can ensure the stability and reliability of autonomous driving by limiting and controlling autonomous driving based on the strategy information corresponding to the fault device.

[0353] Therefore, the vehicle according to the exemplary embodiment of the present disclosure can prevent a collision with another vehicle or an obstacle by limiting autonomous driving based on the movement restriction area and the strategy information of the vehicle corresponding to the identification area of ​​the faulty device.

[0354] In addition, according to an exemplary embodiment of the present disclosure, the vehicle can avoid accident risks in advance by handing over the driving control authority of the vehicle to the user based on the identification area of ​​the faulty device.

[0355] According to an exemplary embodiment of the present disclosure, a vehicle can search for a service center for repairing a faulty device based on information about the current location, destination, and site, thereby easily driving to the service center, providing convenient and fast repair service for the faulty device, sending information related to the appointment for the repair service to the searched service center, and maintaining autonomous driving to the searched service center.

[0356] According to an exemplary embodiment of the present disclosure, a vehicle may stably perform autonomous driving by controlling autonomous driving based on a movement restriction area of ​​the vehicle corresponding to a fault device and a road type.

[0357] According to the exemplary embodiments of the present disclosure, the quality and marketability of an autonomous driving control apparatus and a vehicle may be improved, and user convenience and product competitiveness may be ensured.

[0358] At the same time, some embodiments of the present disclosure may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, a program module may be generated to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

[0359] The computer-readable recording medium includes various recording media in which instructions decodable by a computer are stored, such as ROM, RAM, magnetic tapes, magnetic disks, flash memory, and optical data storage devices.

[0360] Although some embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. An autonomous driving control device, comprising: a communication device configured to communicate with an external device and a plurality of devices for obstacle recognition, and receive current position information; a memory configured to store information about a movement restriction area of ​​a vehicle corresponding to a failure of each of a plurality of devices, and policy information corresponding to the movement restriction area of ​​the vehicle; and The controller is configured as: diagnosing failures of the plurality of devices during autonomous driving, When at least one of the plurality of devices fails, identifying the movement restriction area and policy information corresponding to the at least one device stored in the memory, and controlling movement restriction of the vehicle based on the identified movement restriction area; as well as Based on the identified strategy information, at least one of the driving speed, lane change or backward movement of the autonomous driving is limited and controlled, Wherein, the controller is configured to determine whether the type of road is an urban road based on the received current position information, and when the type of the road is an urban road, and when the movement restriction area corresponding to the at least one device is at least one of the left front area, the right front area, the left rear area or the right rear area of ​​the movement restriction area of ​​the vehicle, the controller controls the autonomous driving to move forward and backward, and controls the lane change based on the steering wheel manipulation information received from the user.

2. The autonomous driving control device according to claim 1, wherein: The controller is configured to search for a service center for repairing the at least one device based on current location information received through the communication device, to control autonomous driving to the service center as a destination, and to send a service request to the service center.

3. The autonomous driving control device according to claim 2, wherein: When searching for the service center, the controller is configured to acquire route information based on information on alighting of a person on board the vehicle received through the communication device, and search for the service center based on the route information.

4. The autonomous driving control device according to claim 1, wherein: The controller is configured to change the driving mode to a manual driving mode when the movement restriction area corresponding to the at least one device is at least one of a front long distance area or a front short distance area of ​​the vehicle among movement restriction areas of the vehicle.

5. The autonomous driving control device according to claim 1, wherein: The controller is configured to determine whether the type of road is a highway based on the received current location information, and Wherein, when the type of the road is a highway, and when the movement restriction area corresponding to the at least one device is at least one of a front long distance area, a right area, or a left area, the controller limits the driving speed or lane change.

6. The autonomous driving control device according to claim 5, wherein: When the movement restriction area corresponding to the at least one device is the front long distance area, the controller limits the driving speed, and The controller restricts lane change when the movement restriction area corresponding to the at least one device is at least one of the right area or the left area.

7. A vehicle comprising: a communication device configured to receive current location information; multiple devices for identifying obstacles; a memory configured to store information about a movement restriction area of ​​a vehicle corresponding to a failure of each of a plurality of devices, and policy information corresponding to the movement restriction of the vehicle; and The autonomous driving control device is configured to: diagnosing failures of the plurality of devices during autonomous driving, When at least one of the plurality of devices fails, identifying the movement restriction area and policy information corresponding to the at least one device stored in the memory, and controlling movement restriction of the vehicle based on the identified movement restriction area, and Based on the identified strategy information, at least one of the driving speed, lane change or backward movement of the autonomous driving is limited and controlled, The plurality of devices include a plurality of image acquirers, a first distance detector including a plurality of radars, and a second distance detector including a plurality of laser radars. Wherein, the autonomous driving control device is configured to determine whether the type of road is an urban road based on the received current position information. When the type of the road is an urban road, and when the movement restriction area corresponding to the at least one device is at least one of the left front area, the right front area, the left rear area or the right rear area of ​​the movement restriction area of ​​the vehicle, the autonomous driving control device controls the autonomous driving to move forward and backward, and controls the lane change based on the steering wheel manipulation information received from the user.

8. The vehicle according to claim 7, wherein: The autonomous driving control apparatus is configured to search for a service center for repairing the at least one device based on the received current location information, to control autonomous driving to the searched service center as a destination, and to send a service request to the service center.

9. The vehicle according to claim 8, further comprising an input terminal for receiving information about whether a person on the vehicle is about to get off the vehicle, in, When searching for the service center, the autonomous driving control device is configured to obtain route information based on the information received through the input terminal regarding whether the person on the vehicle is about to get off the vehicle, and search for the service center based on the route information.

10. The vehicle according to claim 7, wherein: The autonomous driving control apparatus is configured to change a driving mode to a manual driving mode when the movement restriction area corresponding to the at least one device is at least one of a front long distance area or a front short distance area of ​​the vehicle among movement restriction areas of the vehicle.

11. The vehicle according to claim 7, wherein: The autonomous driving control device determines whether the type of the road is an expressway based on the received current position information, and When the type of the road is a highway, and when the movement restriction area corresponding to the at least one device is at least one of a front long distance area, a right area, or a left area among the movement restriction areas of the vehicle, the autonomous driving control device limits the driving speed or the lane change.

12. The vehicle of claim 11, wherein: When the movement restriction area corresponding to the at least one device is the front long distance area, the autonomous driving control device limits the driving speed, and The autonomous driving control apparatus restricts the lane change when the movement restriction area corresponding to the at least one device is at least one of the right area or the left area.

13. The vehicle according to claim 7, further comprising a display for displaying information corresponding to the restriction control.

14. A vehicle control method, the control method comprising: searching for a route based on current location information received by the communication device and destination information input through an input terminal, Autonomous driving based on the route, diagnosing malfunctions of a plurality of devices to identify obstacles during said autonomous driving, identifying a movement restriction area and policy information of a vehicle corresponding to at least one of the plurality of devices determined to be malfunctioning, controlling a movement restriction of the vehicle based on the identified movement restriction area, and controlling at least one of a driving speed, a lane change, or a backward motion of the autonomous driving based on the strategy information, The control method further comprises: Based on the received current position information, it is determined whether the type of the road is an urban road, and when the type of the road is an urban road, and when the movement restriction area corresponding to the at least one device is at least one of the left front area, the right front area, the left rear area, or the right rear area of ​​the movement restriction area of ​​the vehicle, the autonomous driving is controlled to move forward and backward, and the lane change is controlled based on the steering wheel manipulation information received from the user.

15. The control method according to claim 14, further comprising: searching for a service center for repairing the at least one device based on the current location information and the route, and A service request is sent to the service center.

16. The control method according to claim 14, wherein: Search service centers include: When receiving information about the person on the vehicle getting off, obtaining route information based on the information about the person on the vehicle getting off, and The service center is searched based on the route information.

17. The control method according to claim 14, further comprising: When the strategy information corresponding to the at least one device indicates preventing driving at a speed higher than a first predetermined driving speed or preventing driving at a speed lower than a second predetermined driving speed, the driving mode is changed to the manual driving mode.

18. The control method according to claim 14, further comprising: determining whether the type of the road is a highway based on the current location information, and When the type of the road is a highway, it is determined whether the policy information corresponding to the at least one device indicates preventing driving at a speed higher than a first predetermined driving speed or changing lanes.

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