Autonomous vehicle and method of controlling the same

Abstract

The present application relates to an autonomous vehicle and a control method thereof. The autonomous vehicle includes an autonomous driving control device configured to request control of a hazard lamp or a turn signal lamp in consideration of a driving situation during autonomous driving, a user input device configured to sense a user input, and a vehicle body control device configured to cause the hazard lamp or the turn signal lamp to blink in response to the request of the autonomous driving control device, and to control the hazard lamp or the turn signal lamp in response to the user input when the user input is sensed while the hazard lamp or the turn signal lamp is blinking.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to U.S. Provisional Patent Application No. 62 / 950,091, filed December 18, 2019, and Korean Patent Application No. 10-2020-0161743, filed November 26, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an autonomous vehicle and its control method. Background Technology

[0004] The statements in this section are merely background information in relation to the invention and may not constitute prior art.

[0005] Autonomous vehicles are those that identify risks in their driving environment and plan their own routes to drive themselves without driver intervention. Based on guidelines (J3016) proposed by the Society of Automotive Engineers (SAE), the autonomous driving levels of such vehicles are divided into six levels, from Level 0 to Level 5.

[0006] Vehicles with SAE Level 3 or higher can activate the minimum risk maneuver (MRM) and operate the hazard lights in the event of an anomaly during autonomous driving (such as a malfunction, departure from the drivable area, and / or lane loss). In this context, when changing lanes as a method of MRM control, even if the turn signal on one side is activated for lane changing, the operation of the turn signal is not exposed externally due to the operation of the hazard lights. Therefore, dangerous situations may occur during lane changes. Summary of the Invention

[0007] This invention provides an autonomous vehicle and its control method. During autonomous driving, when the hazard lights or turn signals are flashing through the autonomous driving control device, the hazard lights and turn signals are controlled based on the driving conditions when the user makes a hazard light control request or a turn signal control request.

[0008] According to one embodiment of the present invention, an autonomous driving vehicle includes: an autonomous driving control device, a user input device, and a body control device, wherein the autonomous driving control device requests control of hazard lights or turn signals in response to driving conditions during autonomous driving; the user input device is used to receive user input; the body control device causes the hazard lights or turn signals to flash in response to the request of the autonomous driving control device; and when the hazard lights or turn signals are flashing, the body control device controls the hazard lights or turn signals in response to the user input when the user input is received.

[0009] In one implementation, when the first turn signal flashes in response to a request from the autonomous driving control unit, the vehicle control unit can determine whether the first turn signal is in a state that must flash when user input is received.

[0010] In one implementation, the "must blink" state can be a state that must remain in a blinking state.

[0011] In one implementation, when the first turn signal is required to flash, the vehicle control unit can block user input while maintaining the flashing of the first turn signal.

[0012] In one implementation, when the first turn signal is not required to flash, the vehicle control unit can turn off the first turn signal and, in response to user input, cause the hazard lights or the second turn signal to flash.

[0013] In one implementation, when the emergency lights flash in response to a request from the autonomous driving control unit, the vehicle control unit can determine whether the emergency lights are in a necessary flashing state upon receiving user input.

[0014] In one implementation, when the emergency lights are not required to flash, the vehicle control unit can turn off the emergency lights and, in response to user input, cause the emergency lights or turn signals to flash.

[0015] In one implementation, when the emergency lights are required to flash, the vehicle control unit can block user input while maintaining the flashing of the emergency lights.

[0016] According to one embodiment of the present invention, a method for controlling an autonomous vehicle includes: receiving a request for hazard light flashing or a request for turn signal light flashing from an autonomous driving control device by a body control device; causing the hazard light or turn signal light to flash in response to the request from the autonomous driving control device by the body control device; receiving user input by the body control device while the hazard light or turn signal light is flashing; and blocking the user input by the body control device based on the operating state of the hazard light or turn signal light, or controlling the hazard light or turn signal light based on the user input.

[0017] In one implementation, blocking by the body control device may include: determining whether the first turn signal is in a state that must flash; and when the first turn signal is in a state that must flash, blocking user input while maintaining the flashing state of the first turn signal.

[0018] In one embodiment, blocking by the vehicle control device may further include: turning off the first turn signal when it is not required to flash, and causing the hazard light or the second turn signal to flash in response to user input.

[0019] In one implementation, blocking by the vehicle control unit may include: determining whether the hazard lights are in a state that must flash; and when the hazard lights are in a state that must flash, blocking user input while keeping the hazard lights flashing.

[0020] In one implementation, blocking by the vehicle control device may further include: turning off the hazard lights when they are not required to flash; and causing the hazard lights or turn signals to flash in response to user input.

[0021] In one implementation, blocking by the vehicle body control unit may include: determining whether the emergency lights or turn signals are in a required flashing state based on an emergency light flashing request or a turn signal flashing request.

[0022] In one implementation, receiving information from the vehicle control unit may include: the autonomous driving control unit calculating the desired level of operation of the turn signals and the desired level of operation of the hazard lights based on the vehicle's driving conditions; when the calculated desired level is equal to or greater than a first reference value and less than a second reference value, the autonomous driving control unit requests the vehicle control unit to enable normal flashing of the hazard lights or turn signals; when the calculated desired level is equal to or greater than the second reference value, the autonomous driving control unit requests the vehicle control unit to enable the desired flashing of the hazard lights or turn signals.

[0023] Further applications will become apparent from the description provided herein. It should be understood that this specification and specific examples are for illustrative purposes only and are not intended to limit the scope of the invention. Attached Figure Description

[0024] To better understand the present invention, various embodiments of the invention will be described by way of example with reference to the accompanying drawings, in which:

[0025] Figure 1 This is a block diagram illustrating an autonomous vehicle according to an embodiment of the present invention;

[0026] Figure 2This is a block diagram illustrating an autonomous vehicle according to another embodiment of the present invention;

[0027] Figure 3 This is a flowchart illustrating a method for controlling an autonomous vehicle according to an embodiment of the present invention;

[0028] Figure 4 This is a flowchart illustrating a method for controlling an autonomous vehicle according to another embodiment of the present invention;

[0029] Figure 5 This is a flowchart illustrating a method for controlling an autonomous vehicle according to another embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram illustrating an example of control according to the present invention;

[0031] Figure 7 This is a schematic diagram illustrating another example of control according to the present invention;

[0032] Figure 8 This is a schematic diagram illustrating another example of control according to the present invention;

[0033] Figure 9 This is a block diagram illustrating a computing system that performs a method for controlling an autonomous vehicle according to the present invention.

[0034] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Detailed Implementation

[0035] The following description is merely exemplary in nature and is not intended to limit the invention, application, or use. It should be understood that in all the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0036] Various embodiments of the invention will now be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each figure, it should be noted that the same reference numerals designate components even when the same or equivalent components are shown in other figures. Furthermore, in describing the various embodiments of the invention, detailed descriptions of well-known features or functions will be omitted so as not to unnecessarily obscure the spirit of the invention.

[0037] In describing components according to embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are used only to distinguish one component from another, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be understood to have meanings equivalent to those in the context of the relevant technical field, and should not be understood to have ideal or overly formal meanings, unless expressly defined as such in this application.

[0038] Figure 1 This is a block diagram illustrating an autonomous vehicle according to one embodiment of the present invention.

[0039] refer to Figure 1 The autonomous vehicle 100 may include a user input device 110, an autonomous driving control device 120, turn signals 130, and a body control device 140, all of which are interconnected via a vehicle network. The vehicle network may be implemented as a Controller Area Network (CAN), a Media-Oriented System Transport (MOST) network, a Local Interconnect Network (LIN), Ethernet, and / or FlexRay.

[0040] User input device 110 can generate data based on user operations. For example, user input device 110 can generate turn signal control signals and / or hazard light control signals in response to user operations. Such user input device 110 may include a lighting switch 111 and a hazard light button 112. Lighting switch 111 can generate a left turn signal flashing signal (left turn signal on), a right turn signal flashing signal (right turn signal on), or a turn signal off signal (turn signal off) based on the position of the lighting switch. Hazard light button 112 can generate a hazard light flashing signal (hazard light on) or a hazard light off signal (hazard light off) based on the button state (e.g., pressed state) of user operations.

[0041] The autonomous driving control device 120 can use at least one sensor installed on the vehicle to acquire vehicle status information and driving environment information, and control the longitudinal and / or lateral behavior of the vehicle based on the acquired vehicle status information and driving environment information. The autonomous driving control device 120 can monitor the vehicle status (e.g., vehicle speed, steering angle, and / or autonomous driving mode) and / or driving environment to determine whether to activate indicator lights (hazard lights and turn signals), the timing of activation, and / or the duration of flashing. The autonomous driving control device 120 may include a sensor device 121, a positioning device 122, a storage device 123, a chassis controller 124, and a processor 125.

[0042] Sensor device 121 can detect (sensor) external information (e.g., driving environment) and internal information (e.g., vehicle status) of the vehicle. External information may include the speed of surrounding vehicles, the distance between the vehicle and surrounding vehicles, weather and / or road conditions, while internal information may include vehicle speed, steering angle, and / or autonomous driving mode. Sensor device 121 may include an illuminance sensor, a rain sensor, a radio detection and ranging (RADAR), a light detection and ranging (LiDAR), a laser sensor, an image sensor, an ultrasonic sensor, an impact sensor, a speed sensor, a wheel speed sensor, a steering angle sensor, and / or an acceleration sensor.

[0043] The positioning device 122 can measure the current position of the vehicle 100. The positioning device 122 can be implemented as a Global Positioning System (GPS) receiver. The GPS receiver can calculate the vehicle's current position using signals transmitted from three or more GPS satellites. The GPS receiver can calculate the distance between the satellites and the GPS receiver using the time difference between the time the satellites transmit the signals and the time the GPS receiver receives the signals. The GPS receiver can calculate the vehicle's current position using the calculated distance between the satellites and the GPS receiver, as well as the satellite position information contained in the transmitted signals. In this regard, the GPS receiver can use triangulation to calculate the current position.

[0044] Storage device 123 may be a non-transitory storage medium storing instructions executed by processor 125. Storage device 123 may store logic (algorithms), setting information, and map data for performing predetermined functions. Storage device 123 may be implemented as at least one of the following storage media (recording media): flash memory, hard disk, secure digital card (SD card), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), electrically erasable programmable ROM (EEPROM), erasable programmable ROM (EPROM), and / or registers. Storage device 123 may store external environment recognition logic, user input recognition logic, driving state recognition logic, display control logic, lighting control logic, vehicle position recognition logic, collision determination and prediction logic, and / or vehicle driving control logic, etc. Each logic is a software module that can be executed by processor 125.

[0045] The chassis controller 124 responds to commands from the processor 125 to control the steering, braking, suspension, and / or driving of the vehicle 100. The chassis controller 124 may include a drive unit (power transmission unit), a steering unit, a suspension unit, a braking unit, etc. The drive unit generates power by controlling the vehicle 100's power source (e.g., an engine or electric motor) and transmits the generated power to the wheels. The drive unit may be implemented as an engine management system (EMS), a traction control system (TCS), and / or an all-wheel drive system (AWD). The steering unit can change the driving direction of the vehicle 100 during driving. The steering unit may be implemented as a four-wheel steering system (4WS), electric power steering (EPS), active front steering (AFS), and / or steer bywire (SBW). The suspension unit connects the vehicle body to the axles to mitigate vibrations and shocks from the road surface and maintain the vehicle's attitude. The suspension system may include springs to absorb impacts transmitted from the road surface, shock absorbers to suppress free vibrations, and stabilizer bars to suppress roll motion, thereby improving vehicle stability. Additionally, the suspension system can actively adjust the vehicle height, shock absorber damping force, and stabilizer bar stiffness based on driving conditions. The braking system can decelerate or stop the vehicle. It can monitor the vehicle's status in real time during driving and control braking based on that status. The braking system may include an anti-lock braking system (ABS), electronic stability control (ESC), and / or an electronic parking brake (EPB) system.

[0046] The processor 125 can control the overall operation of the automatic driving control device 120. The processor 125 can be implemented as at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field-programmable gate array (FPGA), a central processing unit (CPU), a microcontroller, and / or a microprocessor.

[0047] Processor 125 can sense (identify) the occurrence of abnormal situations (hazard light flashing or hazard light operation) by using sensor device 121 to monitor vehicle status and driving environment during autonomous driving. Processor 125 can use sensor device 121 to acquire vehicle status information and / or driving environment information to monitor driving conditions. Processor 125 can consider driving conditions to determine the operating mode (operating state) and / or operating time of hazard lights and turn signals. In this regard, the operating mode can be divided into mandatory flashing (mandatory on, ON) modes. necessary The system has three modes: a mandatory flashing mode, a normal flashing (ON) mode, and a deactivation mode. The mandatory flashing mode refers to a state where the hazard lights or turn signals must flash (blink or blink), while the normal flashing mode refers to a state where the hazard lights or turn signals do not need to flash. That is, the mandatory flashing mode has a higher priority than the normal flashing mode. The processor 125 uses predetermined algorithms to analyze the vehicle's driving conditions (e.g., vehicle behavior and / or driving environment) to calculate the desired level (degree) of turn signal and / or hazard light operation. When the desired level is equal to or greater than a first reference value and less than a second reference value, the processor 125 determines it to be in normal flashing mode. When the desired level is equal to or greater than the second reference value, the processor 125 determines it to be in mandatory flashing mode. In this regard, the first and second reference values ​​can be preset by the system designer.

[0048] When the operating modes of the hazard lights and turn signals are determined, the processor 125 can send signals such as "hazard lights must flash," "hazard lights flash normally," "turn signals must flash," "turn signals flash normally," "hazard lights off," and "turn signals off" to the vehicle control unit 140 based on the determined operating modes. For example, when a lane change is desired and there is no risk of collision with a vehicle to the side or rear, the processor 125 can send a "turn signals flash normally" signal. When a lane change is desired but there is a risk of collision with a vehicle to the side or rear, the processor 125 can send a "turn signals must flash" signal. When a rapid deceleration equal to or greater than a threshold is desired but there is no risk of collision with following vehicles, the processor 125 can send a "hazard lights flash normally" signal. When an emergency stop is desired and there is a risk of collision with following vehicles, the processor 125 can send a "hazard lights must flash" signal.

[0049] During autonomous driving, the processor 125 can always identify the vehicle behavior state where the turn signal is expected to be illuminated, and the driving state where the hazard lights should not be turned off when they are illuminated. In other words, during autonomous driving, the processor 125 can monitor whether a driving situation occurs where the turn signal is expected to be illuminated, and whether a driving situation occurs where the hazard lights are expected to be illuminated. The processor 125 can output a turn signal signaling signal that must flash when it senses the expected turn signal flashing, and output a hazard light signaling signal that must flash when it senses the expected hazard light illumination. For example, when MRM is activated during autonomous driving, the processor 125 can generate a turn signal signaling signal that must flash when a lane change is expected, and generate a hazard light signaling signal that must flash or a hazard light flashing signal that flashes normally when the vehicle comes to a stop after deceleration. In addition, during autonomous driving, the processor 125 can generate a turn signal signaling signaling normally when a lane change is expected, and generate a turn signal signaling signal turning off when the lane change is completed.

[0050] Turn indicator lights 130 are used to indicate the direction of travel of a vehicle and can be installed at each corner of the vehicle's exterior. Turn indicator lights 130 may include a first turn signal light 131 and a second turn signal light 132 located on different sides. The first turn signal light 131 may include lights installed at the front and rear corners of a first side (e.g., the left side) of the vehicle. The second turn signal light 132 may include lights installed at the front and rear corners of a second side opposite the first side. Turn indicator lights 130 can be used as hazard lights. When turn indicator lights 130 are used as hazard lights, the first turn signal light 131 and the second turn signal light 132 may flash simultaneously (operate). When turn indicator lights 130 are not used as hazard lights 131 and 132, either the first turn signal light 131 or the second turn signal light 132 may flash (operate).

[0051] The vehicle body control unit 140 can control various convenience devices within the vehicle body, such as lights, wipers, power windows, seats, central locking, and / or sunroof. The vehicle body control unit 140 may include a processor 141 and a memory 142. The processor 141 controls the overall operation of the vehicle body control unit 140, and the processor 141 may be implemented as at least one of an ASIC, DSP, PLD, FPGA, CPU, microcontroller, and / or microprocessor. The memory 142 may be a storage medium storing instructions executed by the processor 141. The memory 142 may store logic (algorithms) and setting information for performing predetermined functions. The memory 142 may be implemented as at least one of a storage medium (recording medium) such as flash memory, hard disk, RAM, SRAM, ROM, PROM, EEPROM, EPROM, and / or registers.

[0052] Processor 141 can cause at least one of the first turn signal 131 and the second turn signal 132 to flash by adjusting the power supplied to the turn signal 130 at predetermined cycles. Processor 141 can control the operation of the hazard lights and turn signals based on indicator control signals (indicator manipulation requests) sent from user input device 110 and autopilot control device 120. During autopilot operation, processor 141 can respond to requests from autopilot control device 120 to operate the hazard lights or turn signals in either a mandatory flashing mode or a normal flashing mode. In the case of mandatory flashing of the hazard lights or turn signals, processor 141 can block user input from user input device 110 and maintain the mandatory flashing of the hazard lights or turn signals. Additionally, in the case of normal flashing of the hazard lights or turn signals, when user input from user input device 110 is present, processor 141 can temporarily stop the normal flashing of the hazard lights or turn signals and control the operation of the hazard lights or turn signals based on user input.

[0053] During autonomous driving, when a hazard light flashing request is received from the autonomous driving control unit 120, the processor 141 can execute hazard light flashing by simultaneously operating the first turn signal 131 and the second turn signal 132. During hazard light flashing, when a turn signal flashing request is received from the autonomous driving control unit 120, the processor 141 can determine whether the turn signal flashing request is a mandatory flashing request requiring the processor 141 to flash the turn signals. When it is determined that the turn signal flashing request is a mandatory flashing request, the processor 141 can temporarily stop hazard light flashing and flash the turn signals. In this regard, the processor 141 can block indicator light control commands input from the user input device 110. During turn signal flashing, when a request to turn off the turn signals is received from the autonomous driving control unit 120, the processor 141 can stop the turn signal flashing operation and return to hazard light flashing operation. Additionally, during normal hazard light flashing, when a mandatory hazard light flashing request is received from the autonomous driving control unit 120, the processor 141 can continue (maintain) hazard light flashing. When the emergency lights are flashing via the automatic driving control device 120, the processor 141 can block the indicator light control request (signal) input from the user input device 110.

[0054] While the emergency lights are flashing via the autopilot control device 120, when an indicator light control request is input from the user input device 110, the processor 141 can determine whether the flashing state (operating state) of the emergency lights is a mandatory flashing state. The processor 141 can determine whether the control signal previously received from the autopilot control device 120 is a mandatory flashing request that the processor 141 must make the emergency lights flash, thereby determining the flashing state of the emergency lights. When the emergency lights are in a mandatory flashing state, the processor 141 keeps the emergency lights flashing and can block (mask) the indicator light control request input from the user input device 110. In addition, when the emergency lights are in a normal flashing state, i.e., not in a mandatory flashing state, the processor 141 can turn off emergency lights 131 and 132 and control the operation of emergency lights 131 and 132 or turn signal lights 131 or 132 in response to the indicator light control request input from the user input device 110.

[0055] Figure 2 This is a block diagram illustrating an autonomous vehicle according to another embodiment of the present invention.

[0056] refer to Figure 2 The autonomous vehicle 200 may include: a user input device 210, an autonomous driving control device 220, a body control device 230, and turn signals 240, all interconnected via a vehicle network. The user input device 210, autonomous driving control device 220, body control device 230, and turn signals 240 respectively correspond to... Figure 1 The user input device 110, automatic driving control device 120, body control device 140 and turn indicator 130 shown are included, so only the differences between them will be described.

[0057] User input device 210 can receive user input. User input device 210 can generate indicator light control signals based on user input. In this regard, the indicator light control signals can be hazard light flashing requests, turn signal flashing requests, hazard light off requests, or turn signal off requests.

[0058] During autonomous driving, the autonomous driving control unit 220 can use sensors to monitor driving conditions in real time. The autonomous driving control unit 220 can determine the operating mode of the hazard lights or turn signals based on the driving conditions. When the operating mode is a mandatory flashing mode, the autonomous driving control unit 220 can block user input from the user input device 210. Conversely, when the operating mode is a normal flashing mode, the autonomous driving control unit 220 can control the operation of the hazard lights or turn signals in response to user input from the user input device 210.

[0059] When an abnormal situation is detected and MRM is activated, the autopilot control unit 220 can request the body control unit 230 to flash the hazard lights. The body control unit 230 can cause the hazard lights to flash by simultaneously operating the turn signals on both sides of the turn indicator 240. With the hazard lights flashing, when a lane change is desired, the autopilot control unit 220 can request the body control unit 230 to flash the turn signals. With the hazard lights flashing, when a lane change is not desired, the autopilot control unit 220 can keep the hazard lights flashing.

[0060] During the hazard lights flashing period, when a request to turn off the hazard lights or a request to flash the turn signals is received from the user input device 210, the automatic driving control device 220 can block the corresponding request. In other words, the automatic driving control device 220 can, based on its own determination, block user input through the user input device 210 when the hazard lights are flashing. When the hazard lights are flashing, and there is a request to flash the turn signals from the user input device 210, the automatic driving control device 220 can determine whether to turn off the hazard lights considering the driving situation.

[0061] When it is determined that the hazard lights should be turned off, the automatic driving control unit 220 may request that the hazard lights be turned off and send a request to the vehicle control unit 230 to flash the turn signals in response to user input via the user input device 210.

[0062] The vehicle control unit 230 can flash the turn signal lights 131 or 132 on one side of the turn signal indicator 240 in response to a turn signal flashing request sent from the automatic driving control unit 220.

[0063] Figure 3 This is a flowchart illustrating a method for controlling an autonomous vehicle according to an embodiment of the present invention.

[0064] The autonomous driving control device 120 can sense the flashing of hazard lights (abnormal situation) during autonomous driving (step S110). The autonomous driving control device 120 can use sensor device 121 to monitor the driving situation in real time during autonomous driving. The autonomous driving control device 120 can sense the flashing of hazard lights, i.e., the abnormal situation, through monitoring.

[0065] When the hazard lights are detected flashing, the autopilot control unit 120 can request the body control unit 140 to flash the hazard lights (step S120). When the hazard lights are detected flashing, the autopilot control unit 120 can request the body control unit 140 that the hazard lights must flash or that the hazard lights flash normally. In this regard, the autopilot control unit 120 can request that the turn signals be turned off simultaneously. The body control unit 140 can execute the hazard lights flashing by simultaneously operating the first turn signal 131 and the second turn signal 132.

[0066] During the flashing hazard lights, the autonomous driving control unit 120 can determine whether a lane change is required (step S130). For example, when a lane change is desired during MRM control, the autonomous driving control unit 120 can determine that the current situation is a situation where a lane change is desired.

[0067] When a lane change is desired, the automatic driving control unit 120 may request the vehicle control unit 140 to suppress hazard light flashing and flash the turn signals (step S140). When a lane change is desired, the automatic driving control unit 120 may send a signal to the vehicle control unit 140 indicating that the turn signals must flash. The vehicle control unit 140 may temporarily stop the hazard light flashing and flash one of the turn signals 131 or 132. When the flashing of one of the turn signals 131 or 132 is detected, the automatic driving control unit 120 may execute the lane change.

[0068] During the flashing of the turn signal, the automatic driving control unit 120 can determine whether the lane change is complete (step S150). When the lane change is complete, the automatic driving control unit 120 can return to step S120 and request the vehicle control unit 140 to turn off the turn signal on one side and flash the hazard lights. When the lane change is not complete, the automatic driving control unit 120 can return to step S140 and keep the turn signal 131 or 132 on one side flashing.

[0069] Figure 4 This is a flowchart illustrating a method for controlling an autonomous vehicle according to another embodiment of the present invention.

[0070] refer to Figure 4During autonomous driving, the vehicle control unit 140 can receive a first turn signal flashing request from the autonomous driving control unit 120 (step S210). The autonomous driving control unit 120 can sense the vehicle's driving status and determine whether the first turn signal (e.g., a left turn signal or a right turn signal) is flashing. When it is determined that the first turn signal is flashing, the autonomous driving control unit 120 can send a first turn signal flashing signal to the vehicle control unit 140. In this regard, the autonomous driving control unit 120 can send an "ON" signal indicating that the first turn signal must flash. necessary "Or the first turn signal light is flashing normally with the signal "ON".

[0071] The body control unit 140 may flash the turn signal lights in response to a request from the automatic driving control unit 120 (step S220). The body control unit 140 may also flash the first turn signal light 131 based on a first turn signal light flashing signal received from the automatic driving control unit 120.

[0072] During the flashing of the turn signal, the body control unit 140 can determine whether there is user input (step S230). The body control unit 140 can determine whether it has received a hazard light flashing signal or a second turn signal flashing signal from the user input device 110.

[0073] When user input is present, the vehicle control unit 140 can determine whether the first turn signal light 131 is in a flashing state (step S240).

[0074] When the first turn signal light 131 is in a flashing state, the vehicle control device 140 keeps the first turn signal light 131 flashing and can block user input from the user input device 110.

[0075] When the first turn signal 131 is not in a flashing state, the vehicle control unit 140 can turn off the first turn signal 131 and, in response to user input, cause the hazard lights 131 and 132 or the second turn signal 132 to flash. When the first turn signal 131 is in a normal flashing state, the vehicle control unit 140 can turn off the first turn signal 131 and, in response to a control command input from the user input device 110, simultaneously cause the hazard lights (i.e., the first turn signal 131 and the second turn signal 132) to flash or cause the second turn signal 132 to flash.

[0076] Figure 5 This is a flowchart illustrating a method for controlling an autonomous vehicle according to another embodiment of the present invention.

[0077] refer to Figure 5During autonomous driving, the vehicle control unit 140 can receive an emergency light flashing request from the autonomous driving control unit 120 (step S310). The autonomous driving control unit 120 can sense the vehicle's driving status and determine whether the emergency lights should flash (e.g., whether the emergency lights must flash or flash normally). When it is determined that the emergency lights should flash, the autonomous driving control unit 120 can send an emergency light flashing signal to the vehicle control unit 140. In this regard, the autonomous driving control unit 120 can send an emergency light flashing signal "ON". necessary "Or the emergency light is flashing normally as an "ON" signal.

[0078] The vehicle control unit 140 may flash the hazard lights in response to a request from the autopilot control unit 120 (step S320). The vehicle control unit 140 may flash the hazard lights (i.e., the first turn signal light 131 and the second turn signal light 132) based on the hazard light flashing signal received from the autopilot control unit 120.

[0079] During the flashing of the emergency lights, the vehicle control unit 140 can determine whether there is user input (step S330). The vehicle control unit 140 can determine whether a turn signal flashing signal is received from the user input device 110.

[0080] When user input is received, the vehicle control unit 140 can determine whether the emergency lights are in a mandatory flashing state (step S340). The vehicle control unit 140 can determine whether the emergency lights are in a normal flashing state or a mandatory flashing state by recognizing the control signal previously received from the automatic driving control unit 120.

[0081] When the emergency lights are in a state where they must flash, the vehicle control unit 140 can keep the emergency lights flashing and can block user input from the user input device 110 (step S350).

[0082] When the hazard lights are not required to flash, the vehicle control unit 140 can stop the hazard lights from flashing and, in response to user input, cause the hazard lights or turn indicator lights 130 to flash (step S360). When the hazard lights are in a normal flashing state, the vehicle control unit 140 can turn off the hazard lights and, in response to a control command input from the user input device 110, cause at least one of the first turn signal light 131 or the second turn signal light 132 to flash.

[0083] Figure 6 This is a schematic diagram illustrating an example of controlling an autonomous vehicle according to the present invention.

[0084] refer to Figure 6When the vehicle body control unit 140 receives a hazard light flashing signal from the driver's hazard light button 112, it can cause the hazard lights to flash. While the hazard lights are flashing, the vehicle body control unit 140 can maintain the hazard lights flashing when it receives a turn signal light flashing signal "ON" from the automatic driving control unit 120. While the hazard lights are flashing, the vehicle body control unit 140 can maintain the hazard lights flashing when it receives a turn signal light flashing signal "ON" from the automatic driving control unit 120. necessary When this occurs, the vehicle control unit 140 can stop the emergency lights from flashing and make the turn signal lights 131 or 132 flash.

[0085] Figure 7 This is a schematic diagram illustrating another example of controlling an autonomous vehicle according to the present invention.

[0086] During autonomous driving, when a lane change is desired, the autonomous driving control unit 120 may request the vehicle control unit 140 to flash the turn signals based on the driving situation. When a lane change is desired based on the driving route, the autonomous driving control unit 120 may request the turn signals to flash normally. In the event of an abnormal situation, when a lane change is desired for MRM control, the autonomous driving control unit 120 may request that the turn signals must flash. When the hazard lights are off, the vehicle control unit 140 may flash turn signals 131 or 132 in response to the autonomous driving control unit 120's request for normal or mandatory turn signal flashing.

[0087] Figure 8 This is a schematic diagram illustrating another example of controlling an autonomous vehicle according to the present invention.

[0088] When the vehicle control unit 120 receives a request for normal flashing of the hazard lights or a request for mandatory flashing of the hazard lights, the vehicle control unit 140 can cause the hazard lights to flash. While the hazard lights are flashing at the request of the vehicle control unit 120, the vehicle control unit 140 can determine whether the hazard lights are in a mandatory flashing state when there is a request from the user to flash the turn signals. When the hazard lights are in a normal flashing state but not a mandatory flashing state, the vehicle control unit 140 can stop the hazard lights from flashing and cause the turn signals 131 or 132 to flash. When the hazard lights are in a mandatory flashing state, the vehicle control unit 140 can block the user's request to flash the turn signals and keep the hazard lights flashing. When the hazard lights are turned off at the request of the vehicle control unit 120, the vehicle control unit 140 can cause the turn signals 131 or 132 to flash in response to user input.

[0089] Figure 9 This is a block diagram illustrating a computing system that performs a method for controlling an autonomous vehicle according to the present invention.

[0090] refer to Figure 9 The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected to each other via a bus 1200.

[0091] Processor 1100 may be a central processing unit (CPU) or semiconductor device for processing instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include ROM (Read-Only Memory) 1310 and RAM (Random Access Memory) 1320.

[0092] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented in hardware or software modules executed by processor 1100, or in combination thereof. The software modules can reside on storage media (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable hard disks, and CD-ROMs. Exemplary storage media can be coupled to processor 1100, and processor 1100 can read information from and record information in the storage media. Alternatively, the storage media can be integrated with processor 1100. Processor 1100 and storage media can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. In another case, processor 1100 and storage media can reside as separate components in the user terminal.

[0093] Although the present invention has been described above with reference to exemplary embodiments and accompanying drawings, it is not limited thereto. Various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims. Therefore, exemplary embodiments of the invention have been provided to explain the spirit and scope of the invention, but are not limited thereto; thus, the spirit and scope of the invention are not limited by the embodiments. The scope of the invention should be interpreted based on the appended claims, and all technical concepts within the scope of the claims should be included within the scope of the invention.

[0094] According to the present invention, during autonomous driving, when the hazard lights or turn signals are flashing via the autonomous driving control device, the hazard lights and turn signals can be controlled based on driving conditions when the user makes a request to control the hazard lights or turn signals. Therefore, when lane changes are performed while the hazard lights are flashing, information about the direction of the lane change can be provided to surrounding vehicles.

[0095] Although the present invention has been described above with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto. Various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

Claims

1. An autonomous vehicle, comprising: An automatic driving control device configured to request control of hazard lights or turn signals in response to driving conditions during automatic driving; A user input device configured to receive user input, wherein the user input is an emergency light control request or a turn signal light control request; and The body control system is configured as follows: In response to a request from the automatic driving control device, control the emergency lights or turn signals to flash. When the emergency lights or turn signals are flashing, and when user input is received, Control emergency lights or turn signals in response to user input; When the first turn signal light flashes in response to a request from the automatic driving control device, upon receiving user input, it is determined whether the first turn signal light or hazard light is in a state that must flash, wherein the state that must flash is a state that must remain flashing. When the first turn signal is required to flash, user input is blocked while the first turn signal is flashing; or when the hazard lights are required to flash, user input is blocked while the hazard lights are flashing.

2. The autonomous vehicle of claim 1, wherein, The vehicle control device is configured to turn off the first turn signal when it is not required to flash, and to flash the hazard lights or the second turn signal in response to user input.

3. The autonomous vehicle of claim 1, wherein, The vehicle control device is configured to turn off the hazard lights when they are not required to flash, and to flash the hazard lights or turn signals in response to user input.

4. A method for controlling an autonomous vehicle, the method comprising: The vehicle control unit receives requests for hazard light flashing or turn signal light flashing from the automatic driving control unit. The vehicle body control unit responds to the emergency light flashing request or turn signal flashing request from the automatic driving control unit, causing the emergency lights or turn signal lights to flash; When the emergency lights or turn signals are flashing, the vehicle control unit receives user input, wherein the user input is an emergency light control request or a turn signal control request. The vehicle control unit can block user input based on the operating status of the hazard lights or turn signals, or control the hazard lights or turn signals based on user input. The blocking by the vehicle body control device includes: Determine whether the first turn signal light or emergency light is in a state that must be flashing, wherein the state that must be flashing is a state in which the flashing must be maintained. When the first turn signal is required to flash, user input is blocked while the first turn signal is flashing; or when the hazard lights are required to flash, user input is blocked while the hazard lights are flashing.

5. The method of claim 4, wherein, Controlling emergency lights or turn signals based on user input includes: When the first turn signal is not required to flash, turn off the first turn signal and, in response to user input, make the emergency light or the second turn signal flash.

6. The method of claim 4, wherein, Controlling emergency lights or turn signals based on user input further includes: Turn off the emergency lights when they are not required to flash. The emergency lights or turn signals flash in response to user input.

7. The method of claim 4, wherein, Blocking by the vehicle body control device includes: Determine whether the emergency lights or turn signals are required to flash based on a request for emergency light flashing or a request for turn signal flashing.

8. The method of claim 4, wherein, Received by the vehicle body control unit including: The autonomous driving control unit calculates the expected level of operation of the turn signals and the expected level of operation of the hazard lights based on the vehicle's driving conditions. When the calculated expected level is equal to or greater than the first reference value and less than the second reference value, the automatic driving control unit requests the body control unit to flash the emergency lights or turn signals normally. When the calculated expected level is equal to or greater than the second reference value, the automatic driving control unit requests the body control unit to activate the emergency lights or turn signals.

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