Vehicle and method for controlling its body

Abstract

This invention provides a vehicle and a method for controlling its body. The vehicle may include a processor and a non-volatile memory storing instructions executed by the processor. The processor may be configured to: determine a first operating mode of a convenience device based on external environmental information obtained from sensor devices when transitioning to an autonomous driving state; determine a second operating mode of the convenience device based on input from a convenience device controller; compare the first operating mode with the second operating mode; and control the convenience device in either the first or second operating mode based on the comparison result.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to U.S. Provisional Patent Application No. 62 / 950,087, filed December 18, 2019, and Korean Patent Application No. 10-2020-0138203, filed October 23, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a vehicle and a method for controlling its body, wherein the vehicle controls the operation of convenience devices when switching to an autonomous driving state. Background Technology

[0004] The body control module (BCM) is an electronic control unit (ECU) that monitors and controls various convenience devices (electronic accessories) within the vehicle body. In a vehicle, the BCM can control headlights, wipers, power windows, seats, central locking, and / or sunroof. Specifically, when controlling headlights and wipers, the BCM operates based on the operating mode set by the driver (e.g., manual mode, automatic mode, etc.). Summary of the Invention

[0005] One aspect of the invention provides a vehicle and a method for controlling its body, wherein the vehicle, when transitioning to an autonomous driving state, controls the operation of the convenience device by taking into account the vehicle's external environment and the user's input of manipulating convenience devices.

[0006] The technical problems solved by the present invention are not limited to those mentioned above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art through the following description.

[0007] According to one aspect of the invention, the vehicle includes a processor and a memory for storing instructions executed by the processor, and when switching to an autonomous driving state, the processor determines a first operating mode of the convenience device based on external environment information obtained by sensor devices, determines a second operating mode of the convenience device based on input from the convenience device controller, compares the first operating mode with the second operating mode, and controls the operation of the convenience device in the first operating mode or the second operating mode based on the comparison result.

[0008] In one implementation, autonomous driving state transitions may include at least one of autonomous driving activation, autonomous driving control transfer, or autonomous driving deactivation.

[0009] In one embodiment, the sensor device may include at least one of an illuminance sensor or a rainfall sensor.

[0010] In one implementation, the convenience device controller can be implemented as a multi-functional switch or input device that generates data based on user manipulation.

[0011] In one implementation, the convenience device may be at least one of a headlight or a windshield wiper.

[0012] In one implementation, when a request for autonomous driving is received, if the first operating mode and the second operating mode are different, the processor can control the operation of the convenience device in the first operating mode, and if the first operating mode and the second operating mode match each other, the processor can control the operation of the convenience device in the second operating mode.

[0013] In one implementation, the processor can compare the convenience device operation level based on the second operation mode with the convenience device operation level based on external environment information to determine whether the convenience device in the second operation mode is suitable for the external environment, and when it is determined that the convenience device in the second operation mode is not suitable for the external environment, the processor sets the operation mode of the convenience device to the first operation mode.

[0014] In one implementation, upon receiving a request to deactivate autonomous driving, if the first operating mode and the second operating mode are different, the processor may output a request to switch the operating mode of the convenience device.

[0015] In one implementation, the processor can determine whether there is a change in the input of the convenience device manipulator, and control the operation of the convenience device in a first operating mode when there is no change in the input.

[0016] In one implementation, when the input changes, the processor can immediately relinquish control of the convenience device and control its operation in a second operating mode.

[0017] According to another aspect of the present invention, a method for controlling a vehicle body includes: when switching to an autonomous driving state, determining a first operating mode of a convenience device based on external environment information obtained by a sensor device; determining a second operating mode of the convenience device based on input from a convenience device actuator; comparing the first operating mode with the second operating mode; and controlling the operation of the convenience device in either the first operating mode or the second operating mode based on the comparison result of the first operating mode and the second operating mode.

[0018] In one implementation, autonomous driving state transitions may include at least one of autonomous driving activation, autonomous driving control transfer, or autonomous driving deactivation.

[0019] In one implementation, determining the first operating mode may include: determining the first operating mode based on the external environment identified using at least one of an illuminance sensor or a rain sensor.

[0020] In one implementation, determining the second operating mode may include determining the second operating mode of the convenience device based on the position of the multifunction switch resulting from user manipulation.

[0021] In one implementation, controlling the operation of the convenience device may include: when receiving an autonomous driving request, controlling the operation of the convenience device in the first operating mode when the first operating mode and the second operating mode are different; and controlling the operation of the convenience device in the second operating mode when the first operating mode and the second operating mode match each other.

[0022] In one implementation, controlling the operation of the convenience device may further include: comparing the convenience device operation level based on a second operation mode with the convenience device operation level based on external environment information to determine whether the operation of the convenience device in the second operation mode is suitable for the external environment; when it is determined that the operation of the convenience device in the second operation mode is suitable for the external environment, setting the operation mode of the convenience device to a first operation mode.

[0023] In one implementation, controlling the operation of the convenience device may further include setting the operation mode of the convenience device to a second operation mode when the external environment can be responded to.

[0024] In one implementation, controlling the operation of the convenience device may include: upon receiving a request to deactivate autonomous driving, outputting a request to switch the operation mode of the convenience device when the first operation mode and the second operation mode are different.

[0025] In one embodiment, controlling the operation of the convenience device may further include: determining whether there is a change in the input of the convenience device manipulator; and when there is no change in the input, controlling the operation of the convenience device in a first operating mode.

[0026] In one embodiment, controlling the operation of the convenience device may further include: immediately relinquishing control of the convenience device when there is a change in input, and controlling the operation of the convenience device in a second operating mode. Attached Figure Description

[0027] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0028] Figure 1 A block diagram of a vehicle according to one embodiment of the present invention is shown;

[0029] Figure 2This is a schematic diagram illustrating convenient device control based on the external environment of one embodiment of the present invention;

[0030] Figure 3 This is a flowchart illustrating a method for controlling a vehicle body according to one embodiment of the present invention;

[0031] Figure 4 This is a flowchart illustrating a method for controlling the vehicle body when initiating autonomous driving, according to one embodiment of the present invention;

[0032] Figure 5 This is a flowchart illustrating a method for controlling the vehicle body when autonomous driving is deactivated, according to one embodiment of the present invention;

[0033] Figure 6 This is a block diagram illustrating a computational system for controlling a vehicle body, which implements one embodiment of the present invention. Detailed Implementation

[0034] In the following description, some embodiments of the present invention 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 reference numerals are used to denote the same components even when they are shown in other drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of related known configurations or functions will be omitted if it is determined that this would interfere with understanding the embodiments of the invention.

[0035] In describing components according to embodiments of the invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended only to distinguish components from other components, and do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It is further understood that terms (e.g., those defined in commonly used dictionaries) should be interpreted as having the meaning consistent with that meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0036] Figure 1 Block diagrams of vehicles according to some embodiments of the present invention are shown. Additionally, Figure 2 This is a schematic diagram illustrating the control of a convenient device based on an external environment according to an embodiment of the present invention.

[0037] refer to Figure 1The vehicle 100 may include a sensor device 110, a positioning device 120, a storage device 130, a human-machine interface device 140, a headlight driver 150, a wiper driver 160, a chassis controller 170, and a controller 180.

[0038] Sensor device 110 can detect (sensor) external and internal information of the vehicle. External information may include illuminance and / or precipitation, while internal information may include vehicle speed and / or steering angle. Sensor device 110 may include an illuminance sensor, a rain sensor, a radio detecting and ranging (RADAR), a light detection and ranging (LiDAR), 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. Sensor device 110 may use the illuminance sensor to sense the illuminance outside the vehicle and send the sensed illuminance information to controller 180. In addition, sensor device 110 may use the rain sensor located on the top outer surface of the windshield to sense the amount and speed of rainwater and send the sensed precipitation information to controller 180.

[0039] The positioning device 120 can measure the current position of the vehicle 100. The positioning device 120 can be implemented as a Global Positioning System (GPS) receiver. The GPS receiver can calculate the vehicle's current position using signals transmitted from at least three GPS satellites. The GPS receiver can calculate the distance between the satellites and the GPS receiver using the time difference between the time the signal is transmitted from the satellite and the time the signal is received by the GPS receiver. 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.

[0040] Storage device 130 can store map data. Storage device 130 can be implemented as at least one of a storage medium (recording medium) such as flash memory, hard disk, secure digital card (SD card), removable disk, network storage device, etc.

[0041] The human-machine interface device (HID) 140 can generate data or output information such as visual, auditory, and / or tactile information based on user operations. The HID 140 may include a multi-function switch (MFSW) 141 and a display device 142.

[0042] The multifunction switch 141 is a convenient device operator for controlling convenient devices such as vehicle lights and / or wipers of vehicle 100. The multifunction switch 141 may include a light operation switch and a wiper operation switch. The light operation switch can control vehicle lights such as headlights, taillights, and / or turn signals. Based on the position of the light operation switch, the light operation switch can generate an operation stop signal, a taillight illumination signal, a headlight illumination signal, or an automatic illumination signal. The wiper operation switch can control the operation and / or speed of the wipers. Based on the position of the wiper operation switch, the wiper operation switch can generate an automatic operation signal, a wiper single-operation (MIST) signal, an operation stop signal, an intermittent operation (INT) signal, a low-speed operation signal, or a high-speed operation signal.

[0043] Display device 142 can output visual information in response to commands from controller 180. Display device 142 can display the control status of air conditioning, windshield wipers, and / or headlights. Additionally, display device 142 can display information requesting the driver to transfer control. Display device 142 may include at least one of a liquid crystal display (LCD), a thin-film transistor liquid crystal display (TFT-LCD), an organic light-emitting diode (OLED) display, a flexible display, a three-dimensional (3D) display, a transparent display, a head-up display (HUD), a touchscreen, or a combination instrument panel. Display device 142 may include an audio output module, such as a speaker capable of outputting auditory information (e.g., audio data and / or voice data), and / or a tactile signal output module capable of outputting tactile information.

[0044] The headlight driver 150 can turn the headlights on, flash, or turn them off in response to instructions from the controller 180. For example, the headlight driver 150 can operate or stop the headlights and / or turn signals based on headlight control signals sent from the controller 180. The headlight driver 150 can also adjust the brightness and / or direction (angle) of the headlights (e.g., headlights) in response to instructions from the controller 180.

[0045] The wiper driver 160 can operate or stop the wipers under the control of the controller 180. The wiper driver 160 can adjust the operating speed of the wipers in response to instructions from the controller 180. The wiper driver 160 can change the operation and operating speed of the wiper motor based on the wiper operation signal sent from the controller 180 to transmit rotational force to the wiper arm.

[0046] A chassis controller 170, responding to the control of controller 180 to control the steering, braking, suspension, and / or drive of vehicle 100, may include a drive unit (power transmission unit), a steering unit, a suspension unit, a braking unit, etc. The drive unit can generate power by controlling the power source of vehicle 100 (e.g., an engine or electric motor) and transmit 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 direction of travel of the moving vehicle 100. The steering unit may be implemented as a four-wheel steering system (4WS), electric power steering (EPS), active front steering (AFS), and / or steer-by-wire (SBW). The suspension unit connects the vehicle body and axles to each other to mitigate vibrations and shocks occurring on the road surface and maintain the vehicle's posture. The suspension system can consist of springs that reduce impacts transmitted from the road surface, dampers that suppress free vibrations, and stabilizer bars that suppress roll motion, thereby improving vehicle stability. Furthermore, the suspension system can actively adjust the vehicle height, damping force of the dampers, and stiffness of the stabilizer bar based on the driving environment. The braking system can decelerate or stop the vehicle at 100 degrees Celsius. The braking system 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.

[0047] Controller 180 is an electronic control unit (ECU) that controls the autonomous driving and / or body components of vehicle 100. Controller 180 can exchange data (information and / or signals) with each of components 110 to 170 via a vehicle network. The vehicle network can be implemented as a controller area network (CAN), a media-oriented systems transport (MOST) network, a local interconnect network (LIN), Ethernet, and / or FlexRay.

[0048] Controller 180 may include processor 181 and memory 182. Processor 181 controls the overall operation of controller 180. Processor 181 may be implemented as at least one of application-specific integrated circuit (ASIC), digital signal processor (DSP), programmable logic device (PLD), field-programmable gate array (FPGA), central processing unit (CPU), microcontroller, and / or microprocessor. Memory 182 may be a non-volatile storage medium that stores instructions executed by processor 181. Memory 182 may store logic (algorithms) for performing predetermined functions and setting information. Memory 182 may be implemented as at least one of storage media (recording media) such as 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. The memory 182 can store external environment recognition logic, driving state recognition logic, display control logic, lighting control logic, vehicle position recognition logic, collision determination and prediction logic, vehicle driving control logic, body system control logic, and / or autonomous driving control logic. Each logic can be executed by the processor 181.

[0049] When a request for an autonomous driving state transition is made via the human-machine interface device 140 or the autonomous driving control logic, the controller 180 may respond to the request by changing the autonomous driving state. In this regard, the autonomous driving state transition may include at least one of autonomous driving activation, autonomous driving control transfer, or autonomous driving deactivation.

[0050] The controller 180 can generate a headlight illumination signal or a headlight off signal in response to an input (e.g., position information) from the headlight operating switch. Additionally, the controller 180 can set the headlight operating mode to automatic mode based on the input from the headlight operating switch. When an automatic illumination signal is received from the headlight operating switch, the controller 180 can set the headlight operating mode to automatic mode. When the headlight operating mode is set to automatic mode, the controller 180 can send a headlight illumination command or a headlight off command (control signal) to the headlight driver 150 based on the illuminance measured by the illuminance sensor. When the headlight operating mode is switched from automatic mode to manual mode (i.e., when the automatic headlight mode is deactivated), the controller 180 can set the headlight operating mode (headlight operating mode) based on the position of the headlight operating switch and control the headlight driver 150 based on the set headlight operating mode to turn the headlights on or off. The controller 180 can set the vehicle light operation mode to operation stop mode, taillight lighting mode, headlight lighting mode or automatic lighting mode based on the position of the vehicle light operation switch.

[0051] The controller 180 can generate a control signal for controlling the operation of the wipers based on the input of the wiper operation switch. The controller 180 can set the wiper operation mode to automatic mode in response to the input of the wiper operation switch (e.g., an automatic operation signal). When the wiper operation mode is set to automatic mode, the controller 180 can operate the wipers and adjust the wiper operating speed by controlling the wiper driver 160 based on precipitation information (e.g., rainfall amount) detected by the rain sensor. When the wiper operation mode is set to manual mode, the controller 180 can control the wiper driver 160 based on the input of the wiper operation switch to control whether the wipers are operated and to control the wiper operating speed. In this regard, the manual mode may include a wiper-on-one-operation (MIST) mode, a wiper-stop mode, an intermittent operation (INT) mode, a low-speed operation mode, and a high-speed operation mode. The controller 180 can set the wiper operation mode to wiper single-operation (MIST) mode, wiper stop mode, intermittent operation (INT) mode, low speed operation mode, or high speed operation mode based on the input of the wiper operation switch, and can send the instruction (control signal) mapped to the set operation mode to the wiper driver 160.

[0052] The controller 180 can determine whether the user is holding the steering wheel via the sensor device 110, and can perform automatic steering, automatic vehicle distance control, and / or lane changing functions based on the determination result. Additionally, the controller 180 can warn the driver and perform a transfer of control function in the event of a system emergency. A system emergency refers to a situation where the vehicle deviates from the area designed by the developers.

[0053] The controller 180 can set the driving mode of the vehicle 100 to manual driving mode or automatic driving mode based on user input received from the human-machine interface device 140. When receiving an automatic driving request (e.g., an instruction to activate the automatic driving function) from the human-machine interface device 140, the controller 180 can switch the driving mode of the vehicle 100 from manual driving mode to automatic driving mode. When switching the driving mode of the vehicle 100 to automatic driving mode, the controller 180 can set the operating mode of convenience devices (e.g., headlights and / or wipers) to automatic mode, regardless of the external environmental information of the vehicle 100. The controller 180 can use the sensor device 110 to identify surrounding vehicles and the surrounding environment of the vehicle 100, and control the driving (automatic driving) of the vehicle 100 based on the identification information of surrounding vehicles and the surrounding environment.

[0054] When an autonomous driving deactivation command (a request to terminate autonomous driving) is received during autonomous driving, the controller 180 can switch the driving mode of the vehicle 100 from autonomous driving mode to manual driving mode. When switched to manual driving mode, if the user does not transfer control of the convenience device within a predetermined time, the controller 180 can transfer control of the convenience device to the user after the vehicle 100 stops.

[0055] For example, when switching from manual driving mode to automatic driving mode, if the headlight operating mode is set to manual, the controller 180 can switch the headlight operating mode to automatic mode (automatic lighting mode). Furthermore, when switching from manual driving mode to automatic driving mode, if the wiper operating mode is manual, the controller 180 can switch the wiper operating mode and set it to automatic mode (automatic operation mode). When switching from automatic driving mode to manual driving mode, the controller 180 can request the user to transfer control of the headlights and wipers, and with the user's consent, switch the headlight and wiper operating modes from automatic to manual. If the user does not respond to the transfer of control within a predetermined time, the controller 180 switches the headlight and wiper operating modes from automatic to manual after the vehicle 100 comes to a stop, thereby transferring control to the user.

[0056] When a signal requesting the autonomous driving function is received, the controller 180 can use the sensor device 110 to detect external information (external environment information) of the vehicle 100, and detect the position information of the multifunction switch 141 based on its operation. The controller 180 can then send operation commands for controlling the convenience device based on the external environment information and the position information of the multifunction switch 141. For example, when rain is detected, the controller 180 can send a "high-speed" control command for the wipers even if the wiper operation switch is in the off position.

[0057] The controller 180 can determine the operating mode of the convenience device (hereinafter referred to as the first operating mode) based on external environment information obtained by the sensor device 110. The controller 180 can also determine the operating mode of the convenience device (hereinafter referred to as the second operating mode) based on the input of the multifunction switch 141. The controller 180 can compare the first operating mode with the second operating mode and control the operation of the convenience device in either the first or second operating mode based on the comparison result. When the first and second operating modes differ, the controller 180 can control the operation of the convenience device in the first operating mode. When controlling the operation of the convenience device in the second operating mode cannot cope with the external environment of the vehicle 100, the controller 180 can set the operating mode of the convenience device to the first operating mode. When controlling the operation of the convenience device in the second operating mode can cope with the external environment of the vehicle 100, the controller 180 can set the operating mode of the convenience device to the second operating mode.

[0058] When the first operating mode and the second operating mode match, the controller 180 can control the operation of the convenience device in the second operating mode. In other words, when the first operating mode and the second operating mode match, the controller 180 can control the operation of the convenience device based on the position information of the multifunction switch 141. For example, when the first operating mode is a low-speed wiper operating mode and the second operating mode is a low-speed wiper operating mode, the controller 180 can operate the wipers at low speed by controlling the wiper driver 160 based on the input of the wiper operation switch.

[0059] Upon receiving a request to deactivate autonomous driving, if the first operating mode and the second operating mode differ, the controller 180 may output a request to transfer control of the convenience device (a request to switch operating modes). After requesting the transfer of control, the controller 180 may determine whether the input of the multifunction switch 141 has changed, and may control the convenience device in the first operating mode if the input has not changed. When the input has not changed, the controller 180 may control the convenience device in the operating mode determined by the controller 180. When the input has changed, the controller 180 may immediately relinquish control of the convenience device and control its operation in the second operating mode. When the input has changed, the controller 180 may control the convenience device based on the input of the multifunction switch 141.

[0060] refer to Figure 2 When the current external environment state detected by sensor device 110 is lower than the external environment state "a" mapped to the input of multifunction switch 141 to the driver, controller 180 can send control commands based on the input of multifunction switch 141 to headlight driver 150 and / or wiper driver 160. When the current external environment state is equal to or higher than the external environment state + α mapped to the input of multifunction switch 141, that is, when the current external environment state is equal to or higher than "b", controller 180 can send control commands based on the current external environment state to headlight driver 150 and / or wiper driver 160.

[0061] When automatic driving is disabled, if the current external environment state is equal to or higher than "b", the controller 180 can maintain the operation mode of the convenience device in control mode (automatic mode) based on the current external environment state. Additionally, the controller 180 can output a request to transfer control of the convenience device on the display device 142. When the current external environment state is lower than the external environment state "a" input to the multifunction switch 141 mapped to the driver, the controller 180 can disable automatic driving mode and simultaneously disable the automatic mode of the convenience device.

[0062] According to the above embodiments, although an embodiment of the controller 180 that integrates the autonomous driving controller and the body controller has been disclosed, the present invention is not limited thereto, and the autonomous driving controller and the body controller can be implemented as separate control devices.

[0063] Figure 3 This is a flowchart illustrating a method for controlling a vehicle body according to some embodiments of the present invention.

[0064] When the vehicle 100 is operating in manual driving mode, the controller 180 may receive an autonomous driving request (S110). In response to the operation of the user (e.g., the driver), the controller 180 may receive an autonomous driving request signal from the human-machine interface device 140.

[0065] When an autonomous driving request is received, the controller 180 can determine whether the operation mode of the convenience device is automatic based on the position information of the convenience device controller (S120). When an autonomous driving request exists, the controller 180 can determine whether the operation mode of the headlights is automatic based on the position information of the headlight operation switch. In addition, the controller 180 can determine whether the operation mode of the wipers is automatic based on the position information of the wiper operation switch.

[0066] When the operating mode of the convenience device is not automatic, the controller 180 can switch the operating mode of the convenience device to automatic mode (S130). When the operating mode of the convenience device is manual mode, the controller 180 can switch the operating mode of the convenience device from manual mode to automatic mode.

[0067] When the operating mode of the convenience device is identified as automatic mode in S120, the controller 180 can perform automatic driving (S140). The controller 180 can obtain external and internal information of the vehicle through the sensor device 110, and control the chassis controller 170 based on the obtained external and internal information to perform automatic driving. During automatic driving, the controller 180 can obtain external illuminance and / or precipitation information of the vehicle through the illuminance sensor and / or rain sensor, and control the headlight driver 150 and / or wiper driver 160 based on the illuminance and / or precipitation information to illuminate the headlights or operate the wipers.

[0068] The controller 180 can receive an autonomous driving deactivation request during autonomous driving (S150). When the vehicle 100 is running in autonomous driving mode, the controller 180 can receive an autonomous driving deactivation request signal output from the human-machine interface device 140 in response to user input.

[0069] When a request to deactivate autonomous driving is received, the controller 180 can set the operating mode of the convenience device based on external environment information (S160). The controller 180 can maintain the current operating mode of the convenience device or restore the operating mode before autonomous driving based on the external environment information.

[0070] When the operation mode setting of the convenience device is completed, the controller 180 can deactivate automatic driving (S170). The controller 180 can terminate automatic driving and switch the driving mode of the vehicle 100 from automatic driving mode to manual driving mode.

[0071] Figure 4 This is a flowchart illustrating a method for controlling the vehicle body when initiating autonomous driving, according to some embodiments of the present invention.

[0072] The controller 180 can receive an autonomous driving request during manual driving (S210). When the vehicle 100 is running in manual driving mode, the controller 180 can receive an autonomous driving request signal from the human-machine interface device 140.

[0073] The controller 180 can detect external environmental information using the sensor device 110 (S220). The controller 180 can use at least one of an illuminance sensor or a rain sensor to obtain information on the external illuminance and / or precipitation of the vehicle.

[0074] The controller 180 can determine a first operating mode of the convenience device based on external environmental information (S230). The controller 180 can determine the operating mode (i.e., the first operating mode) of the convenience device based on illuminance information and / or precipitation information.

[0075] The controller 180 can detect the input from the convenience device operator during execution of S220 and S230 (S240). The controller 180 can obtain the position information of the headlight operating switch and the wiper operating switch from the multifunction switch 141.

[0076] The controller 180 can determine a second operating mode of the convenience device based on the input of the convenience device operator (S250). The controller 180 can determine the operating mode of the headlights (second operating mode) based on the operation (input) of the headlight operating switch, and determine the operating mode of the wipers (second operating mode) based on the operation of the wiper operating switch.

[0077] The controller 180 can determine whether the first operating mode and the second operating mode are different (S260). The controller 180 can compare the operating mode determined by the controller 180 with the operating mode determined by the user.

[0078] When the first operating mode and the second operating mode are different, the controller 180 can determine whether the second operating mode is unable to cope with the external environment (S270). The controller 180 can determine whether the operating mode of the convenience device input by the user can cover the current external environment state. The controller 180 can compare the convenience device operating level based on the second operating mode with the convenience device operating level based on external environment information. When the convenience device operating level based on the second operating mode (e.g., low speed wipers) is lower than the convenience device operating level based on external environment information (e.g., high speed wipers), the controller 180 can determine that controlling the operation of the convenience device in the second operating mode is unable to cope with the external environment.

[0079] When the external environment cannot be handled in the second operating mode, the controller 180 can control the convenience device in the first operating mode (S280). For example, when the wiper operating mode determined based on the current external environment information is a high-speed operating mode, and when the wiper operating mode input by the user is a low-speed operating mode, the controller 180 can determine the wiper operating mode as a high-speed operating mode and instruct the wiper driver 160 to perform high-speed operation of the wiper.

[0080] When the first and second operating modes are the same in S260, or when the second operating mode can cope with the external environment in S270, the controller 180 can control the convenience device in the second operating mode (S290). For example, when the wiper operating mode determined based on the current external environment information is a low-speed operating mode, and when the wiper operating mode input by the user is a high-speed operating mode, the controller 180 can determine the wiper operating mode as the high-speed operating mode determined by the user input, and can instruct the wiper driver 160 to perform high-speed operation of the wiper.

[0081] Figure 5 This is a flowchart illustrating a method for controlling the vehicle body when autonomous driving is deactivated, according to some embodiments of the present invention.

[0082] The controller 180 may receive an autonomous driving deactivation request during autonomous driving (S310). The controller 180 may receive an autonomous driving deactivation request signal from the human-machine interface device 140 during autonomous driving.

[0083] The controller 180 can detect external environmental information using the sensor device 110 (S320). The controller 180 can obtain external illuminance information and / or precipitation information of the vehicle through an illuminance sensor and / or a rain sensor.

[0084] The controller 180 can determine a first operating mode of the convenience device based on external environmental information (S325). The controller 180 can determine the operating mode (i.e., the first operating mode) of the convenience device based on illuminance information and / or precipitation information.

[0085] The controller 180 can detect input from the convenience device operator (S330). The controller 180 can detect the position information of the multifunction switch 141 based on user operation. In other words, the controller 180 can obtain the position information of the headlight operating switch and the wiper operating switch.

[0086] The controller 180 can determine a second operating mode of the convenience device based on the input of the convenience device operator (S335). The controller 180 can determine the operating mode of the headlights (second operating mode) based on the input of the headlight operating switch, and can determine the operating mode of the wipers (second operating mode) based on the input of the wiper operating switch.

[0087] The controller 180 can determine whether the first operating mode and the second operating mode are different (S340). The controller 180 can compare the operating mode determined by the controller 180 with the operating mode determined by the user.

[0088] When the first operating mode and the second operating mode are different, the controller 180 may output a request to transfer control of the convenience device (S350). When the operating mode determined by the controller 180 is different from the operating mode determined by the user, the controller 180 may output a message requesting the transfer of control of the convenience device on the display device 142.

[0089] After the output control transfer request is received, the controller 180 can determine whether there is a change in the input of the convenience device operator (S360). The controller 180 can sense the operation of the multifunction switch 141.

[0090] When the input remains unchanged, the controller 180 can control the convenience device in a first operating mode (S370). When no operation of the multifunction switch 141 is sensed within a predetermined time, the controller 180 can maintain the operating mode determined by the controller 180. That is, the controller 180 can suspend the transfer of control of the convenience device.

[0091] When the first and second operating modes are the same in S340 or when there is a change in the input in S360, the controller 180 can immediately relinquish control of the convenience device (S380). When the operation of the multifunction switch 141 is sensed, the controller 180 can immediately relinquish control of the convenience device and transfer control of the convenience device to the user.

[0092] When control of the convenience device is relinquished, the controller 180 can control the convenience device in a second operating mode (S390). The controller 180 can control the operation of the convenience device based on user operation and the input of the multifunction switch 141.

[0093] Figure 6 This is a block diagram illustrating a computational system for controlling a vehicle body, which implements some embodiments of the present invention.

[0094] refer to Figure 6The computing system 1000 may include at least one processor 1100, memory 1300, user interface input device 1400, user interface output device 1500, storage device 1600 or network interface 1700 connected via a bus 1200.

[0095] Processor 1100 may be a central processing unit (CPU) or semiconductor device that executes processing of commands 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 read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0096] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented as hardware or software modules, or combinations thereof, executed by processor 1100. 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 disks, and CD-ROMs. An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. In another approach, the storage medium can be integrated with processor 1100. Processor 1100 and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. In yet another approach, the processor and storage medium can exist as independent components within the user terminal.

[0097] The above description merely illustrates the technical concept of the present invention, and those skilled in the art can make various modifications and changes without departing from the basic characteristics of the present invention. Therefore, the embodiments disclosed in this invention are not intended to limit the technical concept of the present invention, but rather to illustrate the present invention, and the scope of the technical concept of the present invention is not limited to the embodiments. The scope of the present invention should be interpreted as being covered by the scope of the appended claims, and all technical concepts falling within the scope of the claims should be interpreted as being included within the scope of the present invention.

[0098] According to the present invention, since the operation mode of the convenience device is controlled by taking into account the external environment of the vehicle and the user's convenience device operation input during autonomous driving, dangerous situations can be avoided and control convenience can be increased.

[0099] According to the present invention, when autonomous driving is deactivated, control of the convenience device can be safely transferred to the driver, taking into account the vehicle's external environment and the user's input for operating the convenience device.

[0100] Although the invention has been described above with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto, and various modifications and changes 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. A vehicle comprising: processor; as well as Non-volatile memory, which stores instructions executed by the processor. The processor is configured as follows: When switching to autonomous driving mode, the first operating mode of the convenience device is determined based on external environment information obtained by sensor devices; The second operating mode of the convenience device is determined based on the input from the convenience device controller; Compare the first operating mode with the second operating mode; The convenience device is controlled in either the first or second operating mode based on the comparison results. The processor is configured as follows: In response to an autonomous driving state transition request, the autonomous driving state is changed, including at least one of autonomous driving activation, autonomous driving control transfer, or autonomous driving deactivation; When an autonomous driving request is received, if the first operating mode and the second operating mode do not match, the convenience device is controlled in the first operating mode, and if the first operating mode and the second operating mode match, the convenience device is controlled in the second operating mode. When a request to deactivate autonomous driving is received, and the first operating mode does not match the second operating mode, a request to switch the operating mode of the convenience device is output.

2. The vehicle according to claim 1, wherein, The sensor device includes at least one of an illuminance sensor or a rainfall sensor.

3. The vehicle according to claim 1, wherein, The convenience device controller is configured as a multi-function switch or input device, which is configured to generate data based on user operations.

4. The vehicle according to claim 1, wherein, The convenience device is at least one of a headlight or a windshield wiper.

5. The vehicle according to claim 1, wherein, The processor is configured as follows: When an autonomous driving request is received, the convenience device operation level based on the second operation mode is compared with the convenience device operation level based on external environment information. Determine whether the convenience device in the second operating mode is suitable for the external environment; When it is determined that the convenience device in the second operating mode is not suitable for the external environment, the operating mode of the convenience device is set to the first operating mode.

6. The vehicle according to claim 1, wherein, The processor is configured as follows: Upon receiving a request to deactivate autonomous driving, determine if there has been a change in the input of the convenience device controller; When it is determined that the input has not changed, the convenience device is controlled in the first operating mode.

7. The vehicle according to claim 6, wherein, The processor is configured as follows: When a change in input is detected, the convenience device is controlled in the second operating mode.

8. A method for controlling a vehicle body, the method comprising: When switching to autonomous driving mode, the first operating mode of the convenience device is determined based on external environment information obtained by sensor devices; The second operating mode of the convenience device is determined based on the input from the convenience device controller; Compare the first operating mode with the second operating mode; Based on the comparison results, the convenience device is controlled in either the first or second operating mode. The convenient control devices include: In response to an autonomous driving state transition request, the autonomous driving state is changed, including at least one of autonomous driving activation, autonomous driving control transfer, or autonomous driving deactivation; When an autonomous driving request is received, if the first operating mode and the second operating mode do not match, the convenience device is controlled in the first operating mode, and if the first operating mode and the second operating mode match, the convenience device is controlled in the second operating mode. When a request to deactivate autonomous driving is received, and the first operating mode does not match the second operating mode, a request to switch the operating mode of the convenience device is output.

9. The method for controlling a vehicle body according to claim 8, wherein, Determining the first operating mode includes: The first operating mode is determined based on the external environment using at least one of an illuminance sensor or a rain sensor.

10. The method for controlling a vehicle body according to claim 8, wherein, Determining the second operating mode includes: The second operating mode is determined based on the position of the multi-function switch operated by the user.

11. The method for controlling a vehicle body according to claim 8, wherein, The control convenience device further includes: When an autonomous driving request is received, the convenience device operation level based on the second operation mode is compared with the convenience device operation level based on external environment information. Determine whether the convenience device in the second operating mode is suitable for the external environment; When it is determined that the convenience device in the second operating mode is not suitable for the external environment, the operating mode of the convenience device is set to the first operating mode.

12. The method for controlling a vehicle body according to claim 11, wherein, The control convenience device further includes: When it is determined that the convenience device in the second operating mode is suitable for the external environment, the operating mode of the convenience device is set to the second operating mode.

13. The method for controlling a vehicle body according to claim 8, wherein, The control convenience device further includes: Upon receiving a request to deactivate autonomous driving, determine if there has been a change in the input of the convenience device controller; When it is determined that the input has not changed, the convenience device is controlled in the first operating mode.

14. The method for controlling a vehicle body according to claim 13, wherein, The control convenience device further includes: When a change in input is detected, the convenience device is controlled in the second operating mode.

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