Device and method for controlling the behavior of an autonomous vehicle

Abstract

The present disclosure provides a device for controlling the behavior of an autonomous driving vehicle, the device comprising: a joystick, which inputs an adjustment value corresponding to a user's manipulation amount; and a controller, which controls the behavior of the autonomous driving vehicle based on the adjustment value corresponding to the manipulation amount input from the joystick.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2019-0095950, filed on August 7, 2019, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present disclosure relates to a technology for controlling the behavior of an autonomous driving vehicle by reflecting an adjustment value corresponding to the amount of manipulation of a joystick by a user. Background Art

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

[0005] Typically, an autonomous driving vehicle can automatically identify its road environment, can judge the driving conditions, and can control various devices of the vehicle including a steering device to move from a current position to a target position along a planned driving route.

[0006] Automatic emergency braking system (AEB), forward collision warning system (FCW), adaptive cruise control system (ACC), lane departure warning system (LDWS), lane keeping assist system (LKAS), blind spot detection system (BSD), rear collision warning system (RCW), automatic parking assist system (SPAS), etc. can be loaded into such autonomous driving vehicles.

[0007] Therefore, the autonomous driving vehicle can identify surrounding vehicles and driving lanes, can maintain a distance from the vehicle in front while driving, and can maintain the current driving lane or change the driving lane according to the situation.

[0008] Therefore, users riding in autonomous vehicles do not need to sit in the driver's seat, but can sit in any seat in a free posture and do other things instead of driving. However, the current autonomous driving technology is not perfect and cannot completely exclude the user (driver), so the user needs to intervene in the autonomous driving according to the situation.

[0009] It has been found that when a user should intervene in autonomous driving, the user is required to move to the driver's seat in a moving vehicle, and thus there is a safety issue. Summary of the invention

[0010] In aspects of the present disclosure, a device and method for controlling the behavior of an autonomous vehicle determine a user's intention to manipulate the autonomous vehicle and reflect an adjustment value corresponding to the user's manipulation of a joystick to control the behavior of the vehicle, thereby reducing the sense of disharmony caused by the behavior of an unstable autonomous vehicle.

[0011] 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.

[0012] According to one aspect of the present disclosure, a device for controlling the behavior of an autonomous driving vehicle may include: a joystick, which inputs an adjustment value corresponding to the user's manipulation amount; and a controller, which reflects the adjustment value corresponding to the user's manipulation amount input from the joystick to control the behavior of the autonomous driving vehicle.

[0013] The controller may reflect a forward adjustment value corresponding to the forward manipulation amount of the joystick to reduce the gap distance from the preceding vehicle, and may reflect a rearward adjustment value corresponding to the rearward manipulation amount of the joystick to increase the gap distance from the preceding vehicle.

[0014] The controller can reflect a leftward adjustment value corresponding to the leftward manipulation amount of the joystick to reduce the spacing distance from the left lane or change lanes to the left lane, and can reflect a rightward adjustment value corresponding to the rightward manipulation amount of the joystick to reduce the spacing distance from the right lane or change lanes to the right lane.

[0015] When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is less than or equal to a first reference value, the controller may reduce the spacing distance from the left lane, and when the leftward adjustment value is greater than the first reference value, the controller may change lanes to the left lane.

[0016] When the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is less than or equal to a first reference value, the controller may reduce the spacing distance from the left lane, and when the leftward adjustment value is greater than the first reference value, the controller may change lanes to the left lane.

[0017] When the rightward adjustment value corresponding to the rightward manipulation time of the joystick is less than or equal to a first reference value, the controller may reduce the spacing distance from the right lane, and when the rightward adjustment value is greater than the first reference value, the controller may change lanes to the right lane.

[0018] When the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is less than or equal to a first reference value, the controller may reduce the spacing distance from the right lane, and when the rightward adjustment value is greater than the first reference value, the controller may change lanes to the right lane.

[0019] The device may further include: a second sensor installed on the joystick to sense the user's touch; and a third sensor installed on the steering wheel of the autonomous driving vehicle to sense the user's touch.

[0020] When the sensing signal is not received from the third sensor but the sensing signal is received from the second sensor, the controller may reflect the adjustment value corresponding to the user's manipulation amount input from the joystick to control the behavior of the autonomous driving vehicle. When both the sensing signal of the second sensor and the sensing signal of the third sensor are received, the controller may ignore the adjustment value corresponding to the user's manipulation amount input from the joystick.

[0021] The device may further include: a display that displays a driving image of the autonomous driving vehicle. The controller may control the display based on receiving an adjustment value corresponding to the user's manipulation amount from the joystick.

[0022] According to another aspect of the present disclosure, a method for controlling the behavior of an autonomous driving vehicle may include: a joystick inputting an adjustment value corresponding to a user's manipulation amount; and a controller reflecting the adjustment value corresponding to the user's manipulation amount input from the joystick to control the behavior of the autonomous driving vehicle.

[0023] The behavior of controlling the autonomous driving vehicle may include: reflecting a forward adjustment value corresponding to the forward manipulation amount of the joystick to reduce the gap distance to the vehicle in front; reflecting a rearward adjustment value corresponding to the rearward manipulation amount of the joystick to increase the gap distance to the vehicle in front; reflecting a leftward adjustment value corresponding to the leftward manipulation amount of the joystick to reduce the gap distance to the left lane; and reflecting a rightward adjustment value corresponding to the rightward manipulation amount of the joystick to reduce the gap distance to the right lane.

[0024] Reducing the distance between the vehicle and the left lane may include: reducing the distance between the vehicle and the left lane when a left adjustment value corresponding to the left manipulation time of the joystick is less than or equal to a first reference value; and changing lanes to the left lane when a left adjustment value corresponding to the left manipulation time of the joystick is greater than the first reference value.

[0025] Reducing the distance between the vehicle and the left lane may include: reducing the distance between the vehicle and the left lane when a left adjustment value corresponding to the number of left manipulations of the joystick is less than or equal to a first reference value; and changing lanes to the left lane when a left adjustment value corresponding to the number of left manipulations of the joystick is greater than the first reference value.

[0026] In one form, reducing the distance between the vehicle and the right lane may include: reducing the distance between the vehicle and the right lane when a rightward adjustment value corresponding to a rightward manipulation time of the joystick is less than or equal to a first reference value; and changing lanes to the right lane when a rightward adjustment value corresponding to a rightward manipulation time of the joystick is greater than the first reference value.

[0027] In another form, reducing the distance to the right lane may include: reducing the distance to the right lane when a rightward adjustment value corresponding to the number of rightward manipulations of the joystick is less than or equal to a first reference value; and changing lanes to the right lane when the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is greater than the first reference value.

[0028] The method may further include: a first sensor installed on each seat of the autonomous driving vehicle senses a position of a user; and a controller controls a driving device to move the joystick to the sensed position of the user.

[0029] In another form, controlling the behavior of the autonomous vehicle may include controlling the behavior of the autonomous vehicle when a second sensor mounted on the joystick senses the user's touch and a third sensor mounted on the steering wheel of the autonomous vehicle does not sense the user's touch.

[0030] 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

[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.

[0032] Figure 1 is a block diagram showing a configuration of an apparatus for controlling the behavior of an autonomous driving vehicle;

[0033] Figure 2 is a diagram showing a structure of an input device included in an apparatus for controlling the behavior of an autonomous driving vehicle;

[0034] Figure 3A and Figure 3B are diagrams respectively showing detailed structures of input devices included in an apparatus for controlling the behavior of an autonomous driving vehicle;

[0035] Figure 4 is a flow chart illustrating a method for controlling the behavior of an autonomous vehicle; and

[0036] Figure 5 is a block diagram illustrating a computing system for executing a method for controlling the behavior of an autonomous vehicle.

[0037] 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

[0038] 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.

[0039] Hereinafter, some forms of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it should be noted that the same or equivalent components are represented by the same reference numerals even if they are shown on other drawings. In addition, when describing the forms of the present disclosure, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily make the subject matter of the present disclosure unclear.

[0040] When describing components according to the 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 technical field, and will not be interpreted as having ideal or overly formal meanings unless expressly defined in this application as having ideal or overly formal meanings.

[0041] Figure 1 is a block diagram showing the configuration of an apparatus for controlling the behavior of an autonomous driving vehicle according to one form of the present disclosure.

[0042] like Figure 1 As shown, the device 100 for controlling the behavior of an autonomous driving vehicle may include: a storage device 10, a first sensor 20, a second sensor 30, a third sensor 40, an input device 50, a driving device 60, a controller 70, and a display 80. In this case, according to the way of operating the device 100 for controlling the behavior of an autonomous driving vehicle in one form according to the present disclosure, the various components may be combined with each other to form one component, and some components may be omitted.

[0043] Referring to the various components, first, the storage device 10 can store various logics, algorithms, and programs required in the process of judging the user's intention to manipulate the behavior of the autonomous driving vehicle and reflecting the adjustment value corresponding to the user's manipulation to control the behavior of the autonomous driving vehicle.

[0044] The storage device 10 may store adjustment values ​​according to the amount of manipulation by the user. For example, the storage device 10 may store a forward adjustment value corresponding to the forward manipulation amount of the joystick (e.g., the number of forward manipulations, the forward manipulation time, etc.), a backward adjustment value corresponding to the backward manipulation amount of the joystick, a leftward adjustment value corresponding to the leftward manipulation amount of the joystick, and a rightward adjustment value corresponding to the rightward manipulation amount of the joystick. In this case, a joystick is exemplified, but any one of a knob type, a dial type, and a button type may be applied, and the storage device 10 may store adjustment values ​​corresponding to each type.

[0045] The storage device 10 may include at least one type of storage medium, such as a flash memory type memory, a hard disk type memory, a micro type memory, a card type 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, and an optical disk.

[0046] The first sensor 20 may be a seat sensor, and may be installed on a driver's seat to sense whether a user sits on the driver's seat.

[0047] The first sensor 20 may be provided in plurality and may be installed on each seat of the vehicle. In this case, the controller 70 may detect which seat the user is sitting on based on the sensing signals of the plurality of first sensors 20.

[0048] The second sensor 30 may be implemented as, for example, a capacitive sensor, and may be mounted on the joystick to sense whether the user touches the joystick.

[0049] The third sensor 40 may be implemented as, for example, a capacitive sensor, and may be mounted on a steering wheel of the vehicle to sense whether a user touches the steering wheel.

[0050] The input device 50 may be implemented as any one of a joystick type, a knob type, a dial type, and a button type, and may input an adjustment value corresponding to a manipulation amount of a user.

[0051] For example, when the input device 50 is implemented as a joystick type, the input device 50 can input a forward adjustment value corresponding to the forward operation amount of the joystick (for example, the number of forward operations, the forward operation time, etc.), a backward adjustment value corresponding to the backward operation amount of the joystick, a left adjustment value corresponding to the left operation amount of the joystick, and a right adjustment value corresponding to the right operation amount of the joystick.

[0052] The driving device 60 may be implemented as an actuator, and may move the input device 50 on the track under the control of the controller 70 .

[0053] The controller 70 can perform overall control so that each component performs its own function normally. Such a controller 70 can be implemented in the form of hardware or software or a combination of hardware and software. In one form, the controller 70 can be implemented as, but not limited to, a microprocessor.

[0054] In particular, the controller 70 can perform various controls in the process of judging the user's intention to manipulate the behavior of the autonomous driving vehicle and reflecting the adjustment value corresponding to the user's manipulation amount to control the behavior of the autonomous driving vehicle.

[0055] The controller 70 may control the driving device 60 to move the input device 50 to a corresponding position based on the sensing signal of the first sensor 20. In other words, the controller 70 may control the driving device 60 to move the input device 50 to a position corresponding to the sensing signal of the first sensor 20.

[0056] The controller 70 may be a module that controls the behavior of the autonomous driving vehicle based on the autonomous driving technology. Because the technology for controlling the behavior of the autonomous driving vehicle itself (ie, the technology of the autonomous driving vehicle itself) is well known and commonly used, a detailed description thereof will not be provided.

[0057] The controller 70 may reflect the adjustment value corresponding to the user's manipulation amount input through the input device 50 to control the behavior of the autonomous driving vehicle.

[0058] For example, the controller 70 may reflect a forward adjustment value corresponding to the forward manipulation amount of the joystick to reduce the distance between the vehicle in front. The controller 70 may reflect a backward adjustment value corresponding to the backward manipulation amount of the joystick to increase the distance between the vehicle in front. The controller 70 may reflect a leftward adjustment value corresponding to the leftward manipulation amount of the joystick to reduce the distance between the left lane or change lanes to the left lane. The controller 70 may reflect a rightward adjustment value corresponding to the rightward manipulation amount of the joystick to reduce the distance between the right lane or change lanes to the right lane.

[0059] Here, when the leftward adjustment value corresponding to the leftward manipulation amount of the joystick (e.g., the number of leftward manipulations, the leftward manipulation time, etc.) is less than or equal to the first reference value, the controller 70 may reduce the spacing distance from the left lane. When the leftward adjustment value is greater than the first reference value, the controller 70 may change lanes to the left lane.

[0060] For example, when the leftward adjustment value corresponding to the leftward manipulation time of the joystick is less than or equal to the first reference value, the controller 70 can reduce the spacing distance from the left lane. When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is greater than the first reference value, the controller 70 can change lanes to the left lane.

[0061] For another example, when the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is less than or equal to the first reference value, the controller 70 may reduce the spacing distance from the left lane. When the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is greater than the first reference value, the controller 70 may change lanes to the left lane.

[0062] In addition, when the rightward adjustment value corresponding to the rightward manipulation amount of the joystick (e.g., the number of rightward manipulations, the rightward manipulation time, etc.) is less than or equal to the first reference value, the controller 70 may reduce the spacing distance from the right lane. When the rightward adjustment value is greater than the first reference value, the controller 70 may change lanes to the right lane.

[0063] For example, when the rightward adjustment value corresponding to the rightward manipulation time of the joystick is less than or equal to the first reference value, the controller 70 can reduce the spacing distance from the right lane. When the rightward adjustment value corresponding to the rightward manipulation time of the joystick is greater than the first reference value, the controller 70 can change lanes to the right lane.

[0064] For another example, when the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is less than or equal to the first reference value, the controller 70 may reduce the spacing distance from the right lane. When the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is greater than the first reference value, the controller 70 may change lanes to the right lane.

[0065] The controller 70 may determine the user's intention to manipulate the behavior of the autonomous driving vehicle, and when the user has the intention to manipulate the behavior of the autonomous driving vehicle, the controller 70 may reflect the adjustment value corresponding to the user's manipulation amount to control the behavior of the autonomous driving vehicle. In other words, the controller 70 may control the steering torque and the expected acceleration of the autonomous driving vehicle based on the adjustment value corresponding to the user's manipulation amount.

[0066] When receiving the sensing signal from the second sensor 30, the controller 70 may determine that the user has the intention to manipulate the behavior of the autonomous driving vehicle. In this case, when receiving both the sensing signal of the second sensor 30 and the sensing signal of the third sensor 40, the controller 70 may prioritize the sensing signal of the third sensor 40 and may determine that the sensing signal of the second sensor 30 is generated by the passenger.

[0067] When an adjustment value corresponding to the user's manipulation amount is received from the joystick, the controller 70 can control the display 80 to display a driving image acquired by a camera (not shown) loaded into the autonomous driving vehicle. In this case, the display 80 can be implemented as a window display. For reference, the window display can be a display with a window coated with special particles. When power is applied to the window display, the window display can block light from the outside. The window display can be a transparent window in manual driving mode, and in autonomous driving mode, because the window display is darkened, as if a dark film is attached to the window display, the window display can be used as a screen.

[0068] Figure 2 is a diagram showing the structure of an input device included in an apparatus for controlling the behavior of an autonomous driving vehicle according to one form of the present disclosure.

[0069] like Figure 2 As shown, the input device 50 included in the device for controlling the behavior of an autonomous driving vehicle may include a track 51 , a housing 52 , a support 53 , a joystick 54 , and a hinge 55 .

[0070] First, the track 51 may be a path for the housing 52 to move. The housing 52 may be moved by Figure 1 The driving force of the driving device 60 reciprocates on the track 51.

[0071] The support member 53 and the operating rod 54 may be located in the housing 52. In this case, the support member 53 may be connected to the operating rod 54 via a hinge 55. The support member 53 may pop out in a generally known pop-up manner. In other words, when the user pushes the support member 53 into the housing 52, the support member 53 may be fixed in the housing 52 by a lock. When the user unlocks the lock, the support member 53 may automatically pop out by the elastic body.

[0072] Here, the cover of the housing 52 is not described, but the cover of the housing 52 may be implemented in various manners that are generally known, such as a sliding door type cover, an open type cover, and the like.

[0073] In one form of the present disclosure, an automatic manner in which the housing 52 moves on the track 51 by the driving device 60 is described, but a manual manner in which the user grabs the housing 52 with one hand to move the housing 52 may be implemented as another form of the present disclosure.

[0074] Figure 3A and Figure 3B 1 and 2 are diagrams respectively showing detailed structures of input devices included in an apparatus for controlling the behavior of an autonomous driving vehicle according to one form of the present disclosure.

[0075] like Figure 3A and Figure 3BAs shown, the joystick 54 can be rotated in the left / right direction by the hinge 55. In other words, the user can grasp the joystick 54 with one hand to rotate the joystick 54 in the left / right direction.

[0076] Therefore, the user can conveniently use the joystick 54 even if the user sits in any seat of the autonomous vehicle.

[0077] A plurality of buttons for controlling the behavior of the autonomous vehicle may be provided in the joystick 54 .

[0078] Figure 4 is a flow chart illustrating a method for controlling the behavior of an autonomous vehicle according to one form of the present disclosure.

[0079] First, in operation 401, the joystick may input an adjustment value corresponding to the user's manipulation amount (eg, number of manipulations, manipulation time, etc.). In other words, the user may manipulate the joystick to assist the behavior of the autonomous driving vehicle (eg, steering, deceleration, or acceleration).

[0080] In operation 402, Figure 1 The controller 70 may reflect the adjustment value corresponding to the user's manipulation amount input from the joystick to control the behavior of the autonomous driving vehicle. In other words, the controller 70 may control the behavior of the autonomous driving vehicle basically based on the autonomous driving technology, but when there is a user's manipulation, the controller 70 may reflect the adjustment value corresponding to the user's manipulation amount to control the behavior of the autonomous driving vehicle. Therefore, the adjustment value corresponding to the user's manipulation amount may be used to assist the behavior of the autonomous driving vehicle.

[0081] Figure 5 is a block diagram illustrating a computing system for executing a method for controlling the behavior of an autonomous vehicle according to one form of the present disclosure.

[0082] Reference Figure 5 , the method for controlling the behavior of an autonomous driving vehicle can be implemented by a computing system. The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected to each other through a bus 1200.

[0083] 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.

[0084] Therefore, the operation of the method or algorithm described in conjunction with the form disclosed herein can be directly implemented as a hardware or software module or a combination of hardware and software modules run by the processor 1100. The software module can 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, register, hard disk, removable disk, CD-ROM. An exemplary storage medium can be connected to the processor 1100, and the processor 1100 can read information from the storage medium and can record information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor 1100 and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another case, the processor 1100 and the storage medium can reside in a user terminal as a separate component.

[0085] The device and method for controlling the behavior of an autonomous driving vehicle can determine the user's intention to manipulate the behavior of the autonomous driving vehicle, and can reflect the adjustment value corresponding to the user's manipulation of the joystick to control the behavior of the vehicle, thereby reducing the sense of disharmony caused by the behavior of the autonomous driving vehicle that is not yet stable.

[0086] Although the present disclosure is described above with reference to exemplary forms and drawings, the present disclosure is not limited thereto but persons skilled in the art to which the present disclosure pertains may make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure.

[0087] Therefore, the exemplary forms of the present disclosure are provided to explain rather than 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. A device for controlling the behavior of an autonomous vehicle, the device comprising: A joystick for inputting an adjustment value corresponding to the amount of manipulation by the user; as well as a controller that controls the behavior of the autonomous vehicle based on the adjustment value received from the joystick, When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is less than or equal to a first reference value, the controller reduces the spacing distance from the left lane. When the leftward adjustment value is greater than the first reference value, the controller changes lanes to the left lane, and The device further includes a track, a shell and a support member, the shell moves back and forth on the track, the support member and the joystick are located in the shell, the support member is connected to the joystick, and the support member is connected to the joystick through a hinge. When the user pushes the support member into the shell, the support member is fixed in the shell by a lock, and when the user unlocks the lock, the support member automatically pops out through an elastomer.

2. The device according to claim 1, wherein: The controller reflects a forward adjustment value corresponding to a forward manipulation amount of the manipulation lever to reduce a gap distance from a preceding vehicle, and reflects a rearward adjustment value corresponding to a rearward manipulation amount of the manipulation lever to increase a gap distance from the preceding vehicle.

3. The device according to claim 1, wherein: The controller reflects a leftward adjustment value corresponding to a leftward manipulation amount of the joystick to reduce a distance between the vehicle and the left lane or to change lanes to the left lane, and reflects a rightward adjustment value corresponding to a rightward manipulation amount of the joystick to reduce a distance between the vehicle and the right lane or to change lanes to the right lane.

4. The device according to claim 3, wherein: When the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is less than or equal to a first reference value, the controller reduces the spacing distance from the left lane, and When the leftward adjustment value is greater than the first reference value, the controller changes lanes to the left lane.

5. The device according to claim 3, wherein: When the rightward adjustment value corresponding to the rightward manipulation time of the joystick is less than or equal to a first reference value, the controller reduces the spacing distance from the right lane, and When the rightward adjustment value is greater than the first reference value, the controller changes lanes to the right lane.

6. The device according to claim 3, wherein: When the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is less than or equal to a first reference value, the controller reduces the spacing distance from the right lane, and When the rightward adjustment value is greater than the first reference value, the controller changes lanes to the right lane.

7. The apparatus according to claim 1, further comprising: a second sensor mounted on the joystick and sensing a touch of the user; as well as A third sensor is installed on the steering wheel of the autonomous driving vehicle and senses the touch of the user.

8. The device according to claim 7, wherein: When no sensing signal is received from the third sensor but a sensing signal is received from the second sensor, the controller reflects the adjustment value corresponding to the manipulation amount of the user input from the joystick to control the behavior of the autonomous driving vehicle.

9. The device according to claim 7, wherein: The controller ignores the adjustment value corresponding to the manipulation amount of the user input from the joystick when both the sensing signal of the second sensor and the sensing signal of the third sensor are received.

10. The apparatus according to claim 1, further comprising: A display displays a driving image of the autonomous driving vehicle.

11. The device according to claim 10, wherein: The controller controls the display based on receiving the adjustment value corresponding to the manipulation amount of the user from the joystick.

12. A method for controlling the behavior of an autonomous vehicle, the method comprising: The joystick inputs an adjustment value corresponding to the amount of manipulation by the user; as well as a controller to control the behavior of the autonomous vehicle based on the adjustment value received from the joystick, When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is less than or equal to the first reference value, the distance between the left lane and the vehicle is reduced. When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is greater than the first reference value, changing lanes to the left lane, and The joystick is connected to a support member, the support member and the joystick are located in a shell, the shell moves back and forth on a track, the support member is connected to the joystick via a hinge, when the user pushes the support member into the shell, the support member is fixed in the shell via a lock, and when the user unlocks the lock, the support member automatically pops out via an elastomer.

13. The method according to claim 12, wherein: The behaviors of controlling the autonomous vehicle include: reflecting a forward adjustment value corresponding to the forward manipulation amount of the joystick to reduce the interval distance to the preceding vehicle; reflecting a rearward adjustment value corresponding to the rearward manipulation amount of the joystick to increase the spacing distance from the preceding vehicle; reflecting a leftward adjustment value corresponding to the leftward manipulation amount of the joystick to reduce the spacing distance from the left lane; and A rightward adjustment value corresponding to the rightward manipulation amount of the joystick is reflected to reduce the spacing distance from the right lane.

14. The method according to claim 13, wherein: Reducing the spacing distance from the left lane includes: When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is less than or equal to the first reference value, reducing the spacing distance from the left lane; and When the leftward adjustment value corresponding to the leftward manipulation time of the joystick is greater than the first reference value, the lane is changed to the left lane.

15. The method according to claim 13, wherein: Reducing the spacing distance from the left lane includes: When the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is less than or equal to a first reference value, reducing the spacing distance from the left lane; and When the leftward adjustment value corresponding to the number of leftward manipulations of the joystick is greater than the first reference value, the lane is changed to the left lane.

16. The method according to claim 13, wherein: Reducing the distance from the right lane includes: When the rightward adjustment value corresponding to the rightward manipulation time of the joystick is less than or equal to a first reference value, reducing the spacing distance from the right lane; and When the rightward adjustment value corresponding to the rightward manipulation time of the joystick is greater than the first reference value, the lane is changed to the right lane.

17. The method according to claim 13, wherein: Reducing the distance from the right lane includes: When the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is less than or equal to a first reference value, reducing the spacing distance from the right lane; and When the rightward adjustment value corresponding to the number of rightward manipulations of the joystick is greater than the first reference value, the lane is changed to the right lane.

18. The method according to claim 12, further comprising: A first sensor installed on each seat of the autonomous driving vehicle senses the position of the user; as well as The controller controls the driving device to move the joystick to the sensed position of the user.

19. The method according to claim 12, wherein: The behaviors of controlling the autonomous vehicle include: When a second sensor installed on the joystick senses the user's touch and a third sensor installed on the steering wheel of the autonomous driving vehicle does not sense the user's touch, the behavior of the autonomous driving vehicle is controlled.

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