Automatic driving controller and automatic driving control method

Abstract

The present invention relates to an autonomous driving controller and an autonomous driving control method. The autonomous driving controller comprises a processor configured to control autonomous driving, calculate a safety zone, and determine a transition to an autonomous driving mode based on a current position of a driver's seat; and a storage device configured to store information about the safety zone and data and algorithms executed by the processor. In the event that a request to transition to the autonomous driving mode is input while driving in a manual driving mode, the processor is configured to transition the manual driving mode to the autonomous driving mode when the current position of the driver's seat is within the safety zone; and to move the current position of the driver's seat to within the safety zone and transition the manual driving mode to the autonomous driving mode when the current position of the driver's seat is not within the safety zone.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to U.S. Patent Application No. 62 / 956,654, filed January 3, 2020, and Korean Patent Application No. 10-2020-0134500, filed October 16, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an autonomous driving controller and an autonomous driving control method. Background Technology

[0004] The statements in this section are provided only as background information relating to the invention and do not constitute prior art.

[0005] A vehicle is a device that travels on a road and is equipped with various devices for the protection of passengers, to assist in operation, or to improve the quality of the ride.

[0006] In recent years, research has been actively carried out on autonomous driving controllers, which enable vehicles to automatically drive to their destination by controlling the vehicle to autonomously identify the road environment, determine the driving conditions, and drive along the planned route.

[0007] Such an autonomous driving controller uses the identified information to recognize changes in the position of obstacles and lanes and controls the vehicle to avoid obstacles while driving in a safe lane.

[0008] When an unexpected situation occurs while the vehicle is operating autonomously, the autonomous driving controller transfers control of the vehicle to the driver. However, if the driver's seat is in a position where the driver cannot immediately take over control, the transfer of control may be delayed, potentially increasing the risk of an accident. Summary of the Invention

[0009] This invention provides an autonomous driving controller and an autonomous driving control method. When a driver wants to switch from manual driving mode to autonomous driving mode while driving in manual driving mode, the autonomous driving controller calculates the safe area of ​​the driver's seat and automatically controls the driver's seat to be in a state where the driver can keep his eyes on the road.

[0010] According to one embodiment of the present invention, an autonomous driving controller may include: a processor and a storage device, the processor being configured to control autonomous driving, calculate a safe zone, and determine whether to switch to autonomous driving mode based on the current position of the driver's seat; the storage device being configured to store information about the safe zone and data and algorithms executed by the processor. When a request to switch to autonomous driving mode is entered while driving in manual driving mode, the processor may switch from manual driving mode to autonomous driving mode if the current position of the driver's seat is within the safe zone; if the current position of the driver's seat is not within the safe zone, the processor may move the current position of the driver's seat into the safe zone and switch from manual driving mode to autonomous driving mode.

[0011] In one implementation, the autonomous driving controller may further include an interface configured to be controlled by a processor and output the status of an autonomous driving mode or a manual driving mode.

[0012] In one implementation, when the current position of the driver's seat cannot be moved to a safe area, the processor can control the interface to notify the driver that the manual driving mode cannot be switched to the automatic driving mode.

[0013] In one implementation, the processor can use at least one of the following to determine the safety of the current position of the driver's seat: the vehicle's position in the lane, the distance to the vehicle in front, changes in vehicle speed, whether there is a sudden deceleration or acceleration, or the driver's facial position, and can calculate a safe zone based on the current position of the driver's seat.

[0014] In one implementation, when the ratio of the vehicle center deviating from the lane center by a certain level within a predetermined time is not greater than a predetermined threshold, the processor can calculate the current position of the driver's seat as a safe zone.

[0015] In one implementation, when the deviation between the vehicle center and the lane center within a predetermined time is not greater than a predetermined threshold, the processor can calculate the current position of the driver's seat as a safe zone.

[0016] In one implementation, when the distance between the driver's seat and the vehicle in front remains consistently above a predetermined threshold, the processor can calculate the current position of the driver's seat as a safe zone.

[0017] In one implementation, the processor can use the relative speed with respect to the vehicle ahead to calculate the minimum safe distance for collision, and when the rate at which the main vehicle violates the minimum safe distance for collision within a predetermined time is not greater than a predetermined value, the processor can calculate the current position of the driver's seat as a safe zone.

[0018] In one implementation, when the change in vehicle speed within a predetermined time is less than a predetermined value, the processor can calculate the current position of the driver's seat as a safe zone.

[0019] In one implementation, the processor can calculate the current position of the driver's seat as a safe zone based on whether a sharp acceleration or deceleration occurs within a predetermined time.

[0020] In one implementation, when the driver's face is within a predetermined range, the processor can calculate the current position of the driver's seat as a safe zone.

[0021] In one implementation, the processor can calculate the current position of the driver's seat as a safe zone when the driver's face is in a position that minimizes obstruction to the driver's view.

[0022] In one implementation, the processor can calculate the safe zone for each driver based on each driver's authentication information, and can store information about the calculated safe zone in a storage device.

[0023] In one implementation, the safety zone may include information about the sliding position, tilt angle, and height of the driver's seat.

[0024] In one embodiment, the interface may include at least one of a combination dashboard, head-up display, audio-visual navigation (AVN) device, display, alarm sound speaker, or haptic device.

[0025] According to another embodiment of the present invention, an autonomous driving control method may include: calculating a safe area for determining a transition to an autonomous driving mode based on the current position of the driver's seat during manual driving; storing information about the safe area; determining whether the current position of the driver's seat is within the safe area when a request to transition to an autonomous driving mode is entered while driving in manual driving mode; transitioning from manual driving mode to autonomous driving mode when the current position of the driver's seat is within the safe area; and transitioning from manual driving mode to autonomous driving mode when the current position of the driver's seat is not within the safe area.

[0026] In one implementation, the autonomous driving control method may further include: notifying the driver that the manual driving mode cannot be switched to the autonomous driving mode when the current position of the driver's seat cannot be moved to a safe area.

[0027] In one implementation, the calculation and storage of the pre-defined safe zone may include: determining the safety of the current position of the driver's seat using at least one of the following: the vehicle's position in the lane, the distance to the vehicle ahead, changes in vehicle speed, the presence of sudden deceleration or acceleration, or the driver's facial position, and calculating the safe zone based on the current position of the driver's seat.

[0028] In one implementation, the calculation and storage of the safe zone may include: calculating the safe zone for each driver based on each driver's authentication information, and storing information about the calculated safe zone.

[0029] In one implementation, the safety zone may include information about the sliding position, tilt angle, and height of the driver's seat.

[0030] Other areas of application 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

[0031] To provide a good understanding of the invention, various embodiments of the invention, given by way of example, will now be described with reference to the accompanying drawings, in which:

[0032] Figure 1 A block diagram illustrating the configuration of a vehicle system including an autonomous driving controller according to an embodiment of the present invention is shown.

[0033] Figure 2 A flowchart illustrating a method for controlling a seat during autonomous driving according to an embodiment of the present invention is shown;

[0034] Figure 3 A flowchart illustrating a method for calculating a safe area at a seat position during autonomous driving according to an embodiment of the present invention is shown; and

[0035] Figure 4 A block diagram of a computing system according to an embodiment of the present invention is shown.

[0036] 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

[0037] The following description is merely exemplary in nature and is not intended to limit the invention, application, or use. It should be understood that throughout the drawings, corresponding reference numerals denote similar or corresponding parts and features.

[0038] In the following description, various embodiments of the invention will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that identical or equivalent components are indicated by the same reference numerals even when shown in other drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of well-known features or functions will be omitted to avoid unnecessarily obscuring the essence of the invention.

[0039] In describing the components of this invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are intended only to distinguish one component from another, and do not limit the nature, order, or sequence of these constituent 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 as defined in commonly used dictionaries should be interpreted as having a meaning equivalent to that in the context of the relevant technical field, and should not be interpreted as having an idealized or overly formal meaning, unless expressly defined as having such a meaning in this application.

[0040] One embodiment of the present invention discloses the following technology: when an autonomous vehicle is driving in manual driving mode and changes from manual driving mode to autonomous driving mode, the position of the driver's seat is adjusted so that the driver can easily keep his eyes on the road, operate the steering wheel, brake and use other controls; and when control is transferred to the driver in an emergency, the driver's seat is automatically controlled to safely transfer control to the driver.

[0041] In the following text, reference will be made to Figures 1 to 4 The various embodiments of the present invention will be described in detail below.

[0042] Figure 1 A block diagram illustrating the configuration of a vehicle system including an autonomous driving controller according to an embodiment of the present invention is shown.

[0043] refer to Figure 1 An autonomous driving controller 100 according to one embodiment of the present invention can be implemented in a vehicle. In this case, the autonomous driving controller 100 can be configured integrally with the control unit in the vehicle, or it can be implemented as a separate device connected to the control unit of the vehicle via a separate connection device.

[0044] The vehicle system may include: an autonomous driving controller 100, a sensing device 200, a seat 300, and an authentication device 400.

[0045] The autonomous driving controller 100 can control autonomous driving and calculate a safe area for determining the transition to autonomous driving mode based on the current position of the driver's seat. When a request to transition to autonomous driving mode is entered while driving in manual driving mode, the autonomous driving controller 100 can: transition from manual driving mode to autonomous driving mode if the current position of the driver's seat is within the safe area, and if the current position of the driver's seat is not within the safe area, move the current position of the driver's seat into the safe area and transition from manual driving mode to autonomous driving mode.

[0046] In this context, the safe zone may include information about the sliding position, tilt angle, and height of the driver's seat in a position where the driver can easily keep their eyes on the road, operate the steering wheel, brake, and use other controls.

[0047] According to one embodiment of the present invention, the automatic driving controller 100 that performs the above operations can be implemented as a standalone hardware device (which includes a memory and a processor for processing each operation), or it can be driven as a component of another hardware device (e.g., a microprocessor or a general-purpose computer system).

[0048] The autonomous driving controller 100 may include a communication device 110, a storage device 120, an interface 130, and a processor 140.

[0049] The communication device 110 can be a hardware device implemented through various electronic circuits to send and receive signals via wireless or wired connections. In one embodiment of the invention, the communication device 110 can implement in-vehicle network communication technology and can utilize wireless internet technology or short-range communication technology to perform vehicle-to-infrastructure (V2I) communication with servers, infrastructure, or other vehicles outside the vehicle. In this document, in-vehicle network communication technology can perform in-vehicle communication through Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, flex-ray communication, etc. Furthermore, wireless internet technology can include Wireless Local Area Network (WLAN), Wi-Fi, Wi-Fi, World Interoperability for Microwave Access (WiMAX), etc. Additionally, short-range communication technologies can include Bluetooth, ZigBee, Ultra-Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), etc.

[0050] As an example, the communication device 110 can perform in-vehicle communication with the sensing device 200, the seat 300, and the authentication device 400.

[0051] The storage device 120 can store the sensing results of the sensing device 200, the data obtained by the processor 140, or the data, algorithms, etc. necessary for the operation of the processor 140.

[0052] As an example, storage device 120 can store information related to the safe zone calculated by processor 140. Furthermore, storage device 120 can store data and algorithms used to calculate the safe zone. Additionally, storage device 120 can store data used for switching between autonomous driving mode and manual driving mode. Furthermore, storage device 120 can store information related to obstacles ahead (e.g., vehicles ahead) detected by sensing device 200 for controlling autonomous driving. Furthermore, storage device 120 can store information about the safe zone for each driver.

[0053] Storage device 120 may include at least one type of storage medium, such as flash memory, hard disk memory, micro memory, card memory (e.g., Security Digital (SD) card or Ultimate Digital (XD) card), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic RAM (MRAM), magnetic disk, and optical disk.

[0054] The interface 130 may include an input device and an output device, wherein the input device is used to receive control commands from the user; and the output device is used to output the operating status, operating results, etc. of the automatic driving controller 100.

[0055] In this document, the input device may include buttons, and may further include a mouse, joystick, rotary knob, stylus, etc. Furthermore, the input device may further include soft keys implemented on the display.

[0056] The output device may include a display and may further include a voice output device, such as a speaker. In this case, when the display incorporates a touch sensor (such as a touch film, touch pad, or touch panel), the display functions as a touchscreen and can be implemented as an input device and an output device integrated with each other. As an example, the output device may output information such as switching between autonomous driving and manual driving modes, autonomous driving enabled status, autonomous driving disabled status, notifications of inability to autopilot, and notifications of availability for autonomous driving. As an example, the output device may be implemented as a dashboard, head-up display, audio-visual navigation (AVN) device, display, warning speaker, haptic device, etc.

[0057] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor LCD (TFT-LCD), an organic light-emitting diode (OLED) display, a flexible display, a field emission display (FED), or a three-dimensional (3D) display.

[0058] The processor 140 can be electrically connected to the communication device 110, storage device 120, interface 130, etc., and can electrically control various components. The processor 140 can be an electronic circuit that executes software instructions and can perform various data processing and calculations, which will be described below. The processor 140 can be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or another sub-controller installed in the vehicle.

[0059] The processor 140 can control all operations of autonomous driving, including switching between manual and autonomous driving modes. When switching from autonomous to manual driving mode, the processor 140 can determine whether the driver is in a state of taking over control and can then switch back to manual driving mode. In other words, the processor 140 can calculate a safe zone for switching to autonomous driving mode based on the current position of the driver's seat, and can switch from manual to autonomous driving mode when the current position of the driver's seat is within the safe zone (i.e., when the driver can easily keep their eyes on the road, operate the steering wheel, brake, and use other controls).

[0060] When a request to switch to autonomous driving mode is entered while driving in manual driving mode, the processor 140 can switch from manual driving mode to autonomous driving mode if the current position of the driver's seat is within a pre-calculated safe area, and the processor 140 can also move the current position of the driver's seat into a safe area if the current position of the driver's seat is not within a safe area, and can switch from manual driving mode to autonomous driving mode.

[0061] When the driver's seat cannot be moved to a safe area, the processor 140 can notify the driver via the interface 130 that the manual driving mode cannot be switched to automatic driving mode. In this case, the processor 140 can determine the presence of an external load (obstacle) based on a motor current sensor or similar device when a current value exceeding a reference current value is detected, and can also use other sensors to determine why the driver's seat cannot be moved to a safe area. Furthermore, the processor 140 can notify the driver via the interface 130 of the reason why the driver's seat cannot be moved to a safe area, and can output a notification via the interface 130 guiding the driver to eliminate the cause (e.g., an obstacle) that prevents the driver's seat from being moved to a safe area.

[0062] Furthermore, when the driver's seat is currently in a safe area to switch from manual driving mode to automatic driving mode, the processor 140 can notify the driver via the interface 130 that the manual driving mode has been switched to automatic driving mode.

[0063] The processor 140 can determine the safety of the current position of the driver's seat using at least one of the following: the vehicle's position in the lane, the distance to the vehicle in front, changes in vehicle speed, whether there is a sudden deceleration or acceleration, or the driver's facial position, and can calculate a safe zone based on the current position of the driver's seat.

[0064] The conditions for calculating the safe zone will be described in detail. When the ratio of the vehicle center's deviation from the lane center within a predetermined time period does not exceed a predetermined threshold, the processor 140 can calculate the current position of the driver's seat as a safe zone. Similarly, when the deviation between the vehicle center and the lane center within a predetermined time period does not exceed a predetermined threshold, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0065] When the distance between the driver's vehicle and the vehicle in front remains constant and exceeds a predetermined threshold, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0066] The processor 140 can calculate the minimum safe collision distance with the following vehicle using the relative speed of the following vehicle. When the rate at which the lead vehicle violates the minimum safe collision distance does not exceed a predetermined value within a predetermined time, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0067] When the change in vehicle speed within a predetermined time is less than a predetermined value, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0068] The processor 140 can calculate the current position of the driver's seat as a safe zone based on whether a sudden deceleration or acceleration occurs within a predetermined time. In this case, the processor 140 can use the change in the vehicle's acceleration to determine the sudden acceleration or deceleration. In this case, sudden acceleration or sudden deceleration may include acceleration greater than a predetermined threshold or deceleration less than a predetermined threshold.

[0069] When the driver's face is within a predetermined range, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0070] When the driver's face is positioned in a way that minimizes obstruction to the driver's field of vision, the processor 140 can calculate the current position of the driver's seat as a safe zone.

[0071] Thus, when it is appropriate to perform steering, braking, acceleration adjustment, etc. during manual driving, the processor 140 can calculate the current position of the driver's seat as a safe zone. Furthermore, when driver authentication is possible, the processor 140 can calculate the safe zone for each driver and update the safe zone based on a learning algorithm.

[0072] In addition, the processor 140 can calculate the safe zone using a certain distance and a certain angle relative to the maximum or minimum movement distance and the maximum or minimum tilt angle of the seat in the path as designed.

[0073] Furthermore, the processor 140 can measure the driver's body information to calculate a safe zone relative to a standard seat. In this case, the sensing device 200 may include various sensors for measuring the driver's body information.

[0074] The processor 140 can perform driver authentication, and when authentication is successful, the processor can use the stored secure area to move the driver's seat.

[0075] The sensing device 200 may include one or more sensors that detect obstacles (e.g., vehicles in front) around the vehicle and measure the distance to and / or the relative speed with respect to the obstacles.

[0076] The sensing device 200 may have multiple sensors to sense objects outside the vehicle and acquire information about the object's position, speed, direction of movement, and / or type (e.g., vehicle, pedestrian, bicycle, motorcycle, etc.). For this purpose, the sensing device 200 may include ultrasonic sensors, radar, cameras, laser scanners and / or cornering radar, light detection and ranging (LiDAR), acceleration sensors, yaw rate sensors, torque sensors and / or wheel speed sensors, steering angle sensors, etc.

[0077] The authentication device 400 can perform authentication for each driver using a vehicle key, smartphone, iris recognition, facial recognition, etc., and can have a device for such authentication. In this case, the authentication device 400 can be implemented as an authentication device used when entering the vehicle, a driver monitoring system, etc.

[0078] In the following text, reference will be made to Figure 2 The present invention will describe in detail an automatic driving control method according to one embodiment of the present invention. Figure 2 A flowchart of an automatic driving control method according to an embodiment of the present invention is shown.

[0079] In the following text, it is assumed that Figure 1 The automatic driving controller 100 performs Figure 2 The process. Furthermore, in the process of... Figure 2 In the description, the operation described as being performed by the device can be understood as being controlled by the processor 140 of the automatic driving controller 100.

[0080] refer to Figure 2 The device can determine a suitable seating position for the driver based on the seat's sliding position, tilt angle, or height, which is determined after the driver gets into the vehicle but before manual driving begins. In this case, the suitable seating position for the driver can be a specific value or a specific range.

[0081] In step S101, when manual driving mode is initiated, in step S102, the device can determine whether a request to switch to automatic driving mode exists during manual driving. In this case, the device can... Figure 1 The interface 130 receives a request from the driver to switch to autonomous driving mode.

[0082] When a request to switch to autonomous driving mode is received, in step S103, the device can determine whether the current position of the driver's seat is within a predetermined safe area.

[0083] In this context, a safe zone may include an area where the sliding distance, height, or tilt angle of the driver's seat allows the driver to operate the steering wheel, brakes, and control switches (such as hazard lights).

[0084] When the driver's seat is currently within the predetermined safe area, in step S107, the device can display that the automatic driving mode has been activated and can output a notification to the driver.

[0085] On the other hand, when the current position of the driver's seat is not within the predetermined safe area, in step S104, the device can move the current position of the driver's seat into the safe area.

[0086] In step S105, the device can re-determine whether the position of the moved driver's seat is within the predetermined safe area. If the current position of the driver's seat is still not within the predetermined safe area, in step S106, the device can display that autonomous driving cannot be performed and can output a notification to the driver.

[0087] On the other hand, when the current position of the driver's seat is within the predetermined safe area, in step S107, the device can display that the automatic driving mode has been activated and can output a notification to the driver.

[0088] In step S108, the device can switch from manual driving mode to automatic driving mode to begin controlling automatic driving.

[0089] Thus, when a driver begins driving in manual driving mode and attempts to activate automatic driving mode, the device according to one embodiment of the present invention can determine whether the current position of the driver's seat is within a safe area. When the current position of the driver's seat is within a safe area, the device can notify the driver to activate automatic driving, switch from manual driving mode to automatic driving, and begin automatic driving.

[0090] On the other hand, when a driver attempts to activate autonomous driving mode but the driver's seat is not within the safe zone, the device can move the driver's seat to a safe zone. Only when the driver's seat is within the safe zone can the device notify the driver to activate autonomous driving, switch from manual driving mode to autonomous driving mode, and begin autonomous driving.

[0091] When the driver's seat cannot be moved due to external factors (such as obstacles) or a malfunction of the seat itself, the device can notify the driver that automatic driving is not possible and that the manual driving mode cannot be switched to automatic driving mode. Furthermore, the device can output a notification message to remove any obstructions preventing the driver's seat from moving.

[0092] In the following text, reference will be made to Figure 3 This paper describes in detail a method for calculating a safe area when controlling autonomous driving according to one embodiment of the present invention. Figure 3 A flowchart illustrating a method for calculating a safe area when controlling autonomous driving according to an embodiment of the present invention is shown.

[0093] In the following text, it is assumed that Figure 1 The automatic driving controller 100 performs Figure 3 The process. Furthermore, in the process of... Figure 3 In the description, the operation described as being performed by the device can be understood as being controlled by the processor 140 of the automatic driving controller 100.

[0094] In step S201, the device can determine the position of the driver's seat in the vehicle during manual driving. In other words, the device can determine whether it is appropriate to perform steering, acceleration, and deceleration operations at the current position of the driver's seat during manual driving, in order to determine the current position of the driver's seat.

[0095] In step S202, the device can determine the safety of the current position of the driver's seat by using at least one of the following: the vehicle's position in the lane, the distance to the vehicle in front, changes in vehicle speed, whether there is a sudden deceleration or acceleration, or the driver's facial position, and can calculate a safe zone based on the current position of the driver's seat that meets the safety requirements.

[0096] First, when the vehicle is driving on a regular road with lanes without deviating from the center of the lane, that is, when the ratio of the vehicle center deviating from the center of the lane by a certain level within a predetermined time is not greater than a predetermined threshold, the device can calculate the current position of the driver's seat as a safe area.

[0097] Secondly, when the deviation of the distance between the vehicle center and the lane center within a predetermined time is not greater than a predetermined threshold, the device can calculate the current position of the driver's seat as a safe zone.

[0098] Third, when the distance to the vehicle in front remains consistently above a certain threshold, the device can determine that the current position of the driver's seat is safe.

[0099] In other words, when maintaining a relative speed with respect to a vehicle ahead while detecting one, the device can calculate the minimum safe collision distance after a predetermined time (e.g., one second). The minimum safe collision distance can be represented by Equation 1 below.

[0100] [Equation 1]

[0101] Minimum safe collision distance [m] = (relative speed of the vehicle in front [m / s]) * 1 [s]

[0102] In other words, if the rate at which the main vehicle violates the minimum safe collision distance within a predetermined time is not greater than a predetermined threshold, the device can calculate the current position of the driver's seat as a safe zone.

[0103] Fourth, when the speed does not change drastically, the device can determine that the current position of the driver's seat is safe.

[0104] When the change in vehicle speed within a predetermined time is less than a predetermined value, the device can calculate the current position of the driver's seat as a safe zone.

[0105] Fifth, the device can calculate the safety of the driver's seat's current position based on whether a sudden acceleration or deceleration occurs within a predetermined time. In other words, when no sudden acceleration or deceleration occurs within the predetermined time, or when the rate of sudden acceleration or deceleration is less than or equal to a predetermined rate, the device can calculate the driver's seat's current position as a safe zone.

[0106] Furthermore, the device can determine the safety of the driver's seat's current position based on whether the absolute value of the vehicle's acceleration within a predetermined time exceeds a predetermined value. In other words, when the absolute value of the vehicle's acceleration does not exceed the predetermined value, the device can calculate the driver's seat's current position as a safe zone.

[0107] Sixth, when the driver's face is within a predetermined range, the device can determine the current position of the driver's seat as a safe zone. In other words, when the driver's face is positioned in a way that minimizes obstruction to the driver's view, the device can determine that the current position of the driver's seat is safe.

[0108] The device can set a margin regarding the driver's seat position that meets the above conditions to calculate the safe zone. Even if the driver's seat position changes but the above conditions are still met, the device can continue to update the safe zone.

[0109] In this case, the margin can be a certain distance from the predetermined seating position, or it can be calculated by applying different weights to the predetermined direction. Thus, the device can include the entire area encompassing all multiple safe positions within the safe zone, and can include the midpoints of the scattered positions within the safe zone by applying appropriate interpolation to the midpoints of the scattered positions.

[0110] Furthermore, the device can use various methods to define the range of the safety zone, and can calculate the safety zone using sensors capable of measuring the driver's body. The device can ultimately calculate the safety zone based on seat positions that satisfy the conditions described above for calculating the safety zone, taking into account error ranges from specific ranges and angles for each seat position.

[0111] In step S203, the device can store information about the calculated security area. Figure 1 The storage device 120 stores information about the safe zones calculated for each driver when driver authentication can be performed. In this case, driver authentication can be performed when the driver enters the vehicle using an authentication device, driver monitoring system, etc. Even though the ignition is off, the device can continue to store information about the safe zones for each driver. Furthermore, when driver authentication cannot be performed, but multiple seat positions stored by the user exist, the device can store information about each safe zone based on the driver's seat position.

[0112] In addition, the device can store the driver's seat location, which is stored separately by the driver, as a safe area. In this case, when the driver successfully authenticates, the driver's seat location, which is stored separately by the driver, can be stored as a safe area.

[0113] In its initial state, without storing information about safe zones, authentication information, etc., the device can calculate and store the area where 95% of adults can operate the steering wheel and pedals as a safe zone, based on the designed maximum or minimum travel distance and maximum or minimum tilt angle of the seat in the path. When the driver's seat's current position deviates from the initially stored safe zone, the device can recalculate and supplement the safe zone based on the driver's seat's current position.

[0114] Furthermore, the device can authenticate the driver using a specific authentication device (such as a key, smartphone, etc.) or the driver's biometric information (such as iris recognition or facial recognition). When pre-calculated safety zone information exists, the device can use this pre-stored information to correct the driver's seat position.

[0115] Thus, in automatic driving mode, the device according to one embodiment of the present invention can move the current position of the driver's seat, making it easier for the driver to operate the steering wheel, brake, and use other controls. In the event of an emergency, if the automatic driving mode is suddenly switched to manual driving mode, the device can safely transfer control to the driver.

[0116] Figure 4 A block diagram of a computing system according to an embodiment of the present invention is shown.

[0117] refer to Figure 4 The 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 and network interface 1700, which are interconnected via bus 1200.

[0118] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes 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.

[0119] Therefore, the operation of the methods or algorithms described in conjunction with the various embodiments disclosed herein can be implemented directly by hardware modules or software modules, or a combination thereof, executed by processor 1100. Software modules can reside on storage media (i.e., memory and / or storage devices) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0120] An exemplary storage medium can be connected to processor 1100, which can read information from and record information on the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within the user terminal. In another scenario, the processor and storage medium can reside as separate components in the user terminal.

[0121] When a driver wants to switch from manual driving mode to automatic driving mode, this technology can calculate the safe zone of the driver's seat and automatically control the driver's seat to a position where the driver can keep their eyes on the road, thereby improving the safety of automatic driving.

[0122] Furthermore, various effects can be provided directly or indirectly through the present invention.

[0123] Although the invention has been described above with reference to various embodiments and accompanying drawings, it is not limited thereto, but can be modified and altered by those skilled in the art without departing from the spirit and scope of the invention as claimed by the appended claims.

[0124] Therefore, various embodiments of the invention are provided to explain the spirit and scope of the invention, rather than to limit them, so that the spirit and scope of the invention are not limited by these 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.

Claims

1. An autonomous driving controller, comprising: The processor is configured to: control autonomous driving, calculate safe zones, and determine whether to switch to autonomous driving mode based on the current position of the driver's seat; as well as A storage device configured to store information about a secure area, as well as data and algorithms executed by a processor; The processor is configured to: when a request to switch to automatic driving mode is entered while driving in manual driving mode, and the current position of the driver's seat is within a safe area, determine to switch from manual driving mode to automatic driving mode. When the current position of the driver's seat is not within the safe zone, the processor is configured to move the current position of the driver's seat into the safe zone and switch from manual driving mode to automatic driving mode.

2. The autonomous driving controller according to claim 1, further comprising: The interface is configured to be controlled by the processor and output the status of automatic driving mode or manual driving mode.

3. The automatic driving controller according to claim 2, wherein When the current position of the driver's seat cannot be moved to a safe area, the processor is configured to control the interface to notify the driver that the manual driving mode cannot be switched to the automatic driving mode.

4. The automatic driving controller according to claim 2, wherein The interface includes at least one of a combination dashboard, head-up display, audio / video navigation device, display, warning sound speaker, or haptic device.

5. The automatic driving controller according to claim 1, wherein The processor is configured as follows: The safety of the current position of the driver's seat is determined by at least one of the following: the vehicle's position in the lane, the distance to the vehicle in front, changes in vehicle speed, whether there is a sudden deceleration or acceleration, or the position of the driver's face. The safe zone is calculated based on the current position of the driver's seat.

6. The automatic driving controller according to claim 1, wherein The processor is configured to calculate the current position of the driver's seat as a safe zone when the ratio of the vehicle center deviating from the lane center by a certain level within a predetermined time is not greater than a predetermined threshold.

7. The automatic driving controller according to claim 1, wherein, The processor is configured to calculate the current position of the driver's seat as a safe zone when the deviation between the distance between the vehicle center and the lane center is not greater than a predetermined threshold within a predetermined time.

8. The automatic driving controller according to claim 1, wherein The processor is configured to calculate the current position of the driver's seat as a safe zone when the distance between the main vehicle and the vehicle in front remains constant and exceeds a predetermined threshold.

9. The automatic driving controller according to claim 1, wherein The processor is configured as follows: The minimum safe distance to collide with the vehicle in front is calculated using the relative speed of the vehicle in front. If the rate at which the main vehicle violates the minimum safe collision distance within a predetermined time is not greater than a predetermined value, the current position of the driver's seat will be calculated as a safe zone.

10. The automatic driving controller according to claim 1, wherein, The processor is configured to calculate the current position of the driver's seat as a safe zone when the change in vehicle speed within a predetermined time is less than a predetermined value.

11. The automatic driving controller according to claim 1, wherein The processor is configured to calculate the current position of the driver's seat as a safe zone based on whether a sharp acceleration or deceleration occurs within a predetermined time.

12. The automatic driving controller according to claim 1, wherein The processor is configured to calculate the current position of the driver's seat as a safe zone when the driver's face is within a predetermined range.

13. The automatic driving controller according to claim 11, wherein The processor is configured to calculate the current position of the driver's seat as a safe zone when the driver's face position is the position that least obstructs the driver's field of vision.

14. The automatic driving controller according to claim 1, wherein The processor is configured to calculate the safe zone for each driver based on each driver's authentication information, and the storage device stores information about the calculated safe zone.

15. The automatic driving controller according to claim 1, wherein, The safety zone includes information about the driver's seat's sliding position, tilt angle, and height.

16. An automatic driving control method, comprising: The processor calculates the secure region; Based on the current position of the driver's seat during manual driving, the processor determines to switch to automatic driving mode and stores information about the safe area in the storage device; When a request to switch to automatic driving mode is entered while driving in manual driving mode, the processor determines whether the current position of the driver's seat is within the safe zone; When the driver's seat is currently in a safe area, the processor will switch the manual driving mode to the automatic driving mode. When the driver's seat is not in the safe zone, the processor moves the driver's seat to the safe zone and switches the manual driving mode to automatic driving mode.

17. The automatic driving control method according to claim 16, further comprising: When the driver's seat cannot be moved from its current position to a safe area, the processor notifies the driver that the manual driving mode cannot be switched to the automatic driving mode.

18. The automatic driving control method according to claim 16, wherein Calculating and storing information about the security zone includes: The safety of the driver’s seat’s current position is determined by at least one of the following: the vehicle’s position in the lane, the distance to the vehicle in front, changes in vehicle speed, whether there is a sudden deceleration or acceleration, or the driver’s facial position, and a safe zone is calculated based on the driver’s seat’s current position.

19. The automatic driving control method according to claim 16, wherein Calculating and storing information about the security zone includes: The safe zone for each driver is calculated based on each driver's authentication information, and information about the calculated safe zone is stored.

20. The automatic driving control method according to claim 16, wherein The safety zone includes information about the driver's seat's sliding position, tilt angle, and height.

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