Automatic driving controller, system including the same, and automatic driving control method

Abstract

The present invention discloses an automatic driving controller, which includes: a processor; a steering override reference value as a reference for determining an override mode based on the collected driving data collected while the vehicle is traveling; and a storage device storing the collected driving data and a set of instructions executed by the processor to calculate the steering override reference value. In particular, the processor controls the automatic driving by changing the steering override reference value based on the collected driving data or information about the driver of the vehicle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2019-0088489, filed on Jul. 22, 2019, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present disclosure relates to an automatic driving controller, a system including the automatic driving controller, and an automatic driving control method, and more particularly, to a technology for learning a driver's driving tendency to improve steering feel. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] Generally, an automatic driving controller is a device for assisting a driver in driving his vehicle, and is a system that instructs a steering actuator of the vehicle to continuously generate steering torque so that the vehicle travels in the center of a lane.

[0006] In other words, when the electric power steering system (MDPS) is used as an actuator, the steering torque is continuously generated. In this case, the steering torque of the system is transmitted to the driver's steering wheel to exert lane keeping performance. Therefore, the driver feels a steering heterogeneity.

[0007] Here, when the driver's steering intention measured by the torque sensor is a predetermined value or greater, when the current mode is changed from the lane keeping mode to the override mode, the steering torque is reduced or the required torque value becomes zero ("0") to hand over the control authority to the driver.

[0008] However, with the development of autonomous driving devices, the ratio of driving environment judgment and control responsiveness of the autonomous driving devices has increased, emphasizing the importance of precise control rather than steering assistance. Therefore, instead of steering torque, the steering angle has been used as a control input.

[0009] When the steering angle is used as a control input, since feedback control can be performed on the steering angle of the wheel which has a direct influence on the lateral behavior of the vehicle compared with the steering torque, it is more robust to disturbances.

[0010] However, because the automatic driving device based on the steering angle input should perform steering override according to specific conditions, the heterogeneous feeling becomes large. It has been found that even if learning the driver's driving tendency is not necessary for the torque to assist the steering torque override, it is desirable to consider the driver's driving tendency when controlling the steering angle to reduce the driver's unstable steering feeling. Summary of the invention

[0011] One aspect of the present disclosure provides an autonomous driving controller, a system including the autonomous driving controller, and an autonomous driving control method. The autonomous driving controller learns a driver's driving tendency, changes a steering override reference value based on the learned data and driver information, and applies the changed steering override reference value to autonomous driving control to improve driver satisfaction.

[0012] The technical problems to be solved by the present inventive concept are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure pertains from the following description.

[0013] According to one aspect of the present disclosure, an automatic driving controller may include: a processor that collects driving data when a vehicle is traveling, calculates a steering override reference value as a basis for determining an override mode based on the collected driving data, and controls automatic driving by changing the steering override reference value based on the collected driving data or information about a driver of the vehicle; and a storage device that stores the collected driving data and a set of instructions executed by the processor to enable the processor to calculate the steering override reference value.

[0014] In one form, the processor may determine an automatic driving mode or an override mode by comparing the steering angle and steering torque change values ​​of the vehicle with a changed steering override reference value, and may control the vehicle based on the determined automatic driving mode or override mode.

[0015] In another form, when the driver sits in the driver's seat of the vehicle, the processor may calculate the driver's weight as the driver information.

[0016] In another form, the processor may calculate the driver's weight upon receiving at least one of a signal instructing the driver to fasten their seat belt, a signal indicative of a change in length of the seat belt, and a signal indicative of a change in weight detected by a weight sensor of the vehicle.

[0017] In one form, the driving data may include at least one of a steering angle, a change in steering angle, a steering torque, and a change in torque.

[0018] In another form, when the driver is riding in the vehicle, the processor may identify the driver by comparing the driver's facial data with pre-stored driver information.

[0019] In one form, the processor may determine whether the autopilot mode is enabled, and when the autopilot mode is disabled, the processor may calculate a steering override reference value.

[0020] In another form, when the automatic driving mode is enabled, the processor can determine whether the driver's steering tendency is learned, and when the learning of the steering tendency is completed, the processor can calculate the steering override reference value based on the learned steering tendency data. And when the learning of the steering tendency is not completed, the processor can calculate the steering override reference value based on the driver's weight.

[0021] In one form, the autopilot controller may further include: a display that displays an autopilot control state based on the changed steering override reference value.

[0022] According to another aspect of the present disclosure, a vehicle system for a vehicle may include: a sensing device that senses driving data and information about a driver of the vehicle; and an automatic driving controller that collects driving data from the sensing device when the vehicle is traveling, calculates a steering override reference value as a basis for determining an override mode based on the collected driving data, and controls automatic driving by changing the steering override reference value based on the collected driving data or driver information.

[0023] In one form, the sensing means may comprise a weight sensor to measure the weight of a driver of the vehicle and a seat belt sensor to sense whether the driver is fastening his seat belt or whether the length of the seat belt has changed.

[0024] In another form, the automatic driving controller may determine whether the driver is sitting in the driver's seat in the vehicle based on input values ​​from the weight sensor and the seat belt sensor, and may calculate the driver's weight as the driver information.

[0025] In another form, the sensing device may include: a torque sensor that measures the steering torque of the vehicle; and a capacitive sensor that measures the amount of change in the steering torque of the vehicle.

[0026] In another form, the automatic driving controller can determine the automatic driving mode or the override mode by comparing the steering angle and steering torque change values ​​of the vehicle with the changed steering override reference value, and can control the vehicle based on the determined automatic driving mode or the override mode.

[0027] In another form, the automatic driving controller can determine whether the automatic driving mode is enabled, can calculate the steering override reference value when the automatic driving mode is disabled, can determine whether the driver's steering tendency is learned when the automatic driving mode is enabled, can calculate the steering override reference value based on the learned steering tendency data when the learning of the steering tendency is completed, and can calculate the steering override reference value based on the driver's weight when the learning of the steering tendency is not completed.

[0028] According to another aspect of the present disclosure, an automatic driving control method may include: collecting driving data when a vehicle is traveling; calculating a steering override reference value as a basis for determining an override mode based on the collected driving data; and controlling automatic driving by changing the steering override reference value based on the collected driving data or information about the driver of the vehicle.

[0029] In one form, a steering override reference value may be calculated when the autonomous driving mode is disabled.

[0030] In another form, controlling automatic driving by changing a steering override reference value may include: when the automatic driving mode is enabled, determining whether the driver's steering tendency is learned; when learning of the steering tendency is completed, calculating a steering override reference value based on the learned steering tendency data; and when learning of the steering tendency is not completed, calculating a steering override reference value based on the driver's weight.

[0031] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order that the present disclosure may be fully understood, various forms of the present disclosure given by way of example will now be described with reference to the accompanying drawings, in which:

[0033] Figure 1 is a block diagram showing a configuration of a vehicle system including an automatic driving controller;

[0034] Figure 2 is a diagram showing an example of installation of a sensor;

[0035] Figure 3 is a flow chart showing a method for driver identification and learning information processing for autonomous driving control;

[0036] Figure 4 is a flowchart showing a method for determining a reference value for automatic driving control; and

[0037] Figure 5 is a block diagram illustrating a computing system.

[0038] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0039] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0040] Furthermore, in describing exemplary forms of the present disclosure, detailed descriptions of well-known features or functions will be excluded to avoid unnecessarily obscuring the gist of the present disclosure.

[0041] When describing components of an exemplary form of the present disclosure, terms such as "first", "second", "A", "B", "(a)", "(b)", etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, order or sequence of the constituent components. Unless otherwise defined, all terms used herein, including technical terms or scientific terms, have the same meanings as those commonly understood by technicians in the field to which the present disclosure belongs. Terms such as those defined in general dictionaries will be interpreted as having the same meanings as the contextual meanings in the relevant field, and will not be interpreted as having such ideal or overly formal meanings unless expressly defined in this application as having such ideal or overly formal meanings.

[0042] One form of the present disclosure discloses the following technology: when judging the override mode of a driver in an autonomous driving vehicle based on a steering angle, learning the driver's driving tendency, changing a steering override reference value, and applying the changed steering override reference value to autonomous driving control in a manner suitable for the driver to minimize the heterogeneous feeling of the steering override.

[0043] In the following, reference will be made to Figures 1 to 5 The forms of the present disclosure are described in detail.

[0044] Figure 1 is a block diagram showing a configuration of a vehicle system including an autonomous driving controller according to one form of the present disclosure. Figure 2 is a diagram showing an installation example of a sensor according to one form of the present disclosure.

[0045] Reference Figure 1 A vehicle system according to one form of the present disclosure may include an automatic driving controller 100 , a sensing device 200 , a steering controller 300 , a braking controller 400 , an engine controller 500 , and a transmission controller 600 .

[0046] The automatic driving controller 100 may collect driving data from the sensing device 200 while the vehicle is traveling, may learn a steering override reference value as a reference for determining an override mode based on the collected driving data, and may control the automatic driving by changing the steering override reference value based on the learned data or driver information. In this case, the driving data may include at least one or more of a steering angle, a change in the steering angle, a steering torque, and a change in the torque.

[0047] The autonomous driving controller 100 may include a communication device 110 , a storage device 120 , a display 130 , and a processor 140 .

[0048] The communication device 110 may be a hardware device implemented using various electronic circuits and transmitting and receiving signals through wireless or wired connections. In one form of the present disclosure, the communication device 110 may perform inter-vehicle communication through controller area network (CAN) communication, local interconnect network (LIN) communication, etc., and may communicate with the sensing device 200, the steering controller 300, the brake controller 400, the engine controller 500, or the transmission controller 600.

[0049] The storage device 120 may store driving data obtained through the sensing result of the sensing device 200 and a set of instructions (e.g., a learning algorithm) executed by the processor 140 to cause the processor to calculate a steering override reference value, etc. The storage device 120 may include at least one type of storage medium, such as a flash memory, a hard disk memory, a micro memory, a card memory (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk, or an optical disk.

[0050] The display 130 may display an autonomous driving control state (e.g., autonomous driving mode, override mode, etc.). The display 130 may be implemented as a head-up display (HUD), a combination instrument, an audio video navigation (AVN), etc. In addition, the display 130 may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT-LCD), a light emitting diode (LED) display, an organic LED (OLED) display, an active matrix OLED (AMOLED) display, a flexible display, a curved display, or a three-dimensional (3D) display. Some of them may be implemented as a transparent display configured as a transparent type or a translucent type to view the outside. In addition, the display 130 may be implemented as a touch screen including a touch panel to be used as an input device in addition to being used as an output device.

[0051] The processor 140 may be electrically connected to the communication device 110, the storage device 120, the display 130, etc., and may electrically control each component. The processor 140 may be a circuit that executes software instructions, and may perform various data processing and calculations described below.

[0052] Processor 140 can collect driving data while the vehicle is traveling, can learn a steering override reference value as a basis for determining an override mode based on the collected driving data, and can control autonomous driving by changing the steering override reference value based on the learned data or driver information.

[0053] The processor 140 may compare the steering angle and steering torque change values ​​of the vehicle with the changed steering override reference value to determine the automatic driving mode or the override mode, and may control the vehicle based on the determined mode.

[0054] When it is judged that the driver is sitting on the driver's seat in the vehicle, the processor 140 can calculate the driver's weight as the driver information. The processor 140 can calculate the driver's weight when receiving at least one of a signal indicating that the driver fastens his seat belt, a signal indicating a change in the length of the seat belt, and a signal indicating a change in weight detected by a weight sensor in the vehicle.

[0055] When a driver rides in the vehicle, the processor 140 may compare the driver's facial data with pre-stored driver information to identify the driver.

[0056] The processor 140 may determine whether the autopilot mode is enabled. When the autopilot mode is disabled, the processor 140 may learn the steering override reference value.

[0057] When the automatic driving mode is enabled, the processor 140 may determine whether the driver's steering tendency is learned. When learning is completed, the processor 140 may calculate a steering override reference value based on the learned data. When learning is not completed, the processor 140 may calculate a steering override reference value based on the driver's weight.

[0058] In this way, one form of the present disclosure can learn the driver's override tendency through the steering angle control-based automatic driving controller 100, store the learned results in the storage device 120, determine the override reference value according to the learned driver's tendency to determine the override mode or the automatic driving mode, and control the vehicle according to the determined mode, thereby minimizing the driver's sense of heterogeneity.

[0059] The sensing device 200 may include a camera for photographing the driver's face, a torque sensor, a capacitive sensor, a weight sensor, a seat belt sensor, etc., and may transmit the sensing result value to the automatic driving controller 100. Figure 2As shown, the torque sensor 220 and the capacitive sensor 230 may be mounted on the steering wheel of the vehicle. The camera may include an infrared (IR) camera for use in dim light. The torque sensor 220 may sense the torque value of the vehicle. The capacitive sensor 230 may measure the amount of change in the steering torque of the vehicle. The weight sensor may measure the weight of the driver when the driver sits in the driver's seat. The seat belt sensor may sense whether the driver fastens his seat belt or the length of the seat belt.

[0060] The steering controller 300 may be configured to control a steering angle of a vehicle, and may include a steering wheel, an actuator linked to the steering wheel, and a controller for controlling the actuator. The steering controller 300 may be implemented as an electric power steering system (MDPS).

[0061] The brake controller 400 may be configured to control braking of a vehicle, and may include a controller for controlling a brake. The brake controller 400 may be implemented as an electronic stability control system (ESC).

[0062] The engine controller 500 may be configured to control engine driving of the vehicle, and may include a controller for controlling a speed of the vehicle. The engine controller 500 may be implemented as an engine management system (EMS).

[0063] The transmission controller 600 may be configured to control the speed change of the vehicle. The transmission controller 600 may be implemented as a shift-by-wire control unit (SCU) or the like, and may control a target speed gear (P / R / N / D).

[0064] In the following, reference will be made to Figure 3 and Figure 4 A method for controlling an autonomous driving system in accordance with one form of the present disclosure is described in detail. Figure 3 is a flow chart illustrating a method of driver identification and learning information processing for autonomous driving control according to one form of the present disclosure. Figure 4 is a flowchart illustrating a method for determining a reference value for autonomous driving control according to one form of the present disclosure.

[0065] Assumptions Figure 1 The automatic driving controller 100 executes Figure 3 and Figure 4 In addition, Figure 3 and Figure 4 In the description, the operations described as being performed by the device may be understood to be controlled by the processor 140 of the autonomous driving controller 100.

[0066] Reference Figure 3In S101, the device may determine whether the driver is sitting in the driver's seat by means of a seat belt sensor or a weight sensor, and may measure the weight of the driver. In other words, the device may determine whether the driver is sitting in the driver's seat (e.g., the driver's seat of a vehicle) by means of whether the driver fastens his seat belt, the length of the seat belt, or a weight sensor mounted on the bottom, backrest, or headrest portion of the driver's seat.

[0067] In S102, the device may identify the driver based on the IR camera of the vehicle equipped with the automatic driving controller 100. In this case, identifying the driver may be performed in various ways. For example, the device may extract feature points from facial image data taken by the IR camera, and may compare the extracted feature points with feature points of the driver's facial image stored in advance to identify the driver. In this case, using the IR camera to identify the driver is just an example. The embodiments of the present disclosure are not limited to this. For example, the driver can be identified in various ways such as fingerprint recognition and voice recognition. In this case, the device may store and manage weight and facial recognition information according to the identified driver.

[0068] In S103, the device may determine whether the driver is a registered driver or an unregistered driver based on the result of identifying the driver. When the driver is an unregistered driver, in S104, the device may perform a process of registering driver information. In this case, the device may register information such as the driver's name and facial image to perform a process of registering driver information.

[0069] When the driver is a registered driver or when the process of registering the driver information is completed, in S105, the device can determine whether to enable the automatic driving mode of the vehicle.

[0070] When the automatic driving mode of the vehicle is enabled, the apparatus may enter a process for determining a steering override reference value ( S200 ).

[0071] On the other hand, when the automatic driving mode of the vehicle is disabled, in S106, the device may obtain the driving data of the driver. In S107, the device may learn the steering angle and the amount of change of the steering angle based on the learning algorithm. In this case, the driving data of the driver may include various learning data, such as the maximum and minimum values ​​of the steering angle, the amount of change of the steering angle, the steering torque, and the amount of change of the torque. When the driver drives the vehicle, the device may use the torque sensor and the capacitive sensor installed on the steering wheel of the vehicle to learn the amount of torque used and the amount of change of the torque. In S108, the device may update the steering override reference value and may store the updated steering override reference value in the storage device 120. In this way, in a state where the automatic driving mode is disabled, the automatic driving controller 100 according to one form of the present disclosure may learn the steering tendency of the driver, that is, the steering angle and the amount of change of the steering angle, and may update the current steering override reference value. Thereafter, in S300, the device may display the updated steering override reference value on the display 130 so that the user recognizes the steering override reference value.

[0072] When the automatic driving mode is enabled in S105, refer to Figure 4 In S201, the device may determine whether the driver's steering tendency is learned based on the learning algorithm. When the learning of the driver's steering tendency is not completed, in S202, the device may apply the override reference value to the automatic driving control based on the driver's weight. When the learning of the driver's steering tendency is completed, in S203, the device may apply the override reference value to the automatic driving control based on the learned steering tendency data.

[0073] In this case, a learning algorithm may be defined to calculate an override reference value based on driver information and driver's torque usage history information.

[0074] In S301, the device may determine whether to convert the override mode according to the reference value, and may display the automatic driving mode on a human-machine interface (HMI) as the display 130, thereby performing automatic driving control. For example, when the steering angle is greater than the override reference value, the device may control the override mode (driver mode). When the steering angle is less than or equal to the override reference value, the device may control the vehicle in the automatic driving mode.

[0075] In this way, an autonomous driving controller 100 according to one form of the present disclosure may vary and control a steering override value according to driver information (eg, weight, inclination, etc.) during autonomous driving operation.

[0076] Figure 5 is a block diagram illustrating one form of a computing system according to the present disclosure.

[0077] Reference Figure 5, the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0078] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0079] Therefore, the operations of the methods or algorithms described in conjunction with the forms disclosed herein may be directly implemented as hardware or software modules executed by the processor 1100, or a combination of hardware and software modules. The software modules may reside in a storage medium (i.e., memory 1300 and / or storage device 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, and CD-ROMs.

[0080] An exemplary storage medium may be coupled to the processor 1100, and the processor 1100 may read information from the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor 1100 and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor 1100 and the storage medium may reside in a user terminal as separate components.

[0081] The present technology can learn the driver's steering tendency based on the vehicle's steering torque and the change in steering torque, change the steering override reference value based on the learned data and driver information and apply the changed steering override reference value to automatic driving control, thereby reducing the heterogeneous feeling of steering override in a manner suitable for the driver.

[0082] In addition, various effects directly or indirectly determined by the present disclosure can be provided.

[0083] Although the present disclosure is described above with reference to exemplary forms and drawings, the present disclosure is not limited thereto, but rather those skilled in the art to which the present disclosure belongs may make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0084] Therefore, the exemplary forms of the present disclosure are provided to explain the purpose and scope of the present disclosure, rather than to limit the purpose and scope of the present disclosure, so that the purpose and scope of the present disclosure are not limited by these forms. The scope of the present disclosure should be interpreted based on the attached claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. An automatic driving controller, comprising: a processor that collects driving data while the vehicle is traveling, calculates a steering override reference value as a reference for determining an override mode based on the collected driving data, and controls the automatic driving by changing the steering override reference value based on the collected driving data or information about a driver of the vehicle; as well as a storage device storing the collected driving data and a set of instructions executed by the processor to cause the processor to calculate the steering override reference value, Wherein, the processor: determining an automatic driving mode or an override mode by comparing the steering angle and steering torque change values ​​of the vehicle with the changed steering override reference value, controlling the vehicle based on the determined automatic driving mode or override mode, and When the driver sits on a driver's seat of the vehicle, calculating the weight of the driver as driver information, wherein the processor further: determining whether the automatic driving mode is enabled, and calculating the steering override reference value when the automatic driving mode is disabled, When the automatic driving mode is enabled, determining whether the driver's steering tendency is learned, When the learning of the steering tendency is completed, the steering override reference value is calculated based on the learned steering tendency data, and When the learning of the steering tendency is not completed, the steering override reference value is calculated based on the weight of the driver.

2. The automatic driving controller according to claim 1, wherein: The processor calculates the weight of the driver when receiving at least one of a signal indicating that the driver fastens a seat belt, a signal indicating a change in length of the seat belt, and a signal indicating a change in weight detected by a weight sensor of the vehicle.

3. The automatic driving controller according to claim 1, wherein: The collected driving data includes at least one of a steering angle, a change in steering angle, a steering torque, and a change in torque.

4. The automatic driving controller according to claim 1, wherein: When the driver rides in the vehicle, the processor identifies the driver by comparing facial data of the driver with pre-stored driver information.

5. The automatic driving controller according to claim 1, further comprising: A display displays an automatic driving control state based on the changed steering override reference value.

6. A vehicle system for a vehicle, comprising: a sensing device that senses driving data and information about a driver of the vehicle; as well as an automatic driving controller that collects the driving data from the sensing device when the vehicle is traveling, calculates a steering override reference value as a reference for determining an override mode based on the collected driving data, and controls the automatic driving by changing the steering override reference value based on the collected driving data or driver information, The autonomous driving controller: determining an automatic driving mode or an override mode by comparing the steering angle and steering torque change values ​​of the vehicle with the changed steering override reference value, controlling the vehicle based on the determined automatic driving mode or override mode, and When a driver sits on a driver's seat in the vehicle, calculating the driver's weight as the driver information, The autonomous driving controller further: Determine whether the autopilot mode is enabled. calculating the steering override reference value when the autonomous driving mode is disabled, determining whether the driver's steering tendency is learned when the automatic driving mode is enabled, When the learning of the steering tendency is completed, the steering override reference value is calculated based on the learned steering tendency data, and The steering override reference value is calculated based on the weight of the driver when the learning of the steering tendency is not completed.

7. The vehicle system according to claim 6, wherein: The sensing device comprises: a weight sensor to measure the weight of the driver; and A seat belt sensor senses whether the driver fastens the seat belt or whether the length of the seat belt changes.

8. The vehicle system according to claim 7, wherein: The automatic driving controller determines whether the driver is sitting on the driver's seat in the vehicle based on input values ​​from the weight sensor and the seat belt sensor.

9. The vehicle system according to claim 7, wherein: The sensing device comprises: a torque sensor to measure a steering torque of the vehicle; and A capacitive sensor measures a change in steering torque of the vehicle.

10. An automatic driving control method, comprising: While the vehicle is in motion, driving data is collected; calculating a steering override reference value as a reference for determining an override mode based on the collected driving data; as well as controlling the automatic driving by changing the steering override reference value based on the collected driving data or information about the driver of the vehicle, Wherein controlling the automatic driving by changing the steering override reference value comprises: determining an automatic driving mode or an override mode by comparing the steering angle and steering torque change values ​​of the vehicle with the changed steering override reference value, controlling the vehicle based on the determined automatic driving mode or override mode, and When the driver sits on a driver's seat of the vehicle, calculating the weight of the driver as driver information, wherein when the autonomous driving mode is disabled, the steering override reference value is calculated, and Wherein controlling the automatic driving by changing the steering override reference value comprises: When the automatic driving mode is enabled, determining whether the steering tendency of the driver is learned; When the learning of the steering tendency is completed, calculating the steering override reference value based on the learned steering tendency data; and When the learning of the steering tendency is not completed, the steering override reference value is calculated based on the weight of the driver.

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