Automatic driving control method and device

Abstract

The application relates to an automatic driving control method and device. The method comprises the following steps: in an automatic driving mode, determining whether a driver is in a forward gaze state; based on the determination result of whether the driver is in the forward gaze state, setting a first steering wheel torque threshold and a first torque retention time; based on the first steering wheel torque threshold and the first torque retention time, determining whether driver intervention has occurred; and when the driver intervention has occurred, switching the automatic driving mode to a manual driving mode.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0052405, filed on April 29, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an autonomous vehicle control system, and more specifically, to a scheme for outputting an alarm for a transfer of control of an autonomous vehicle. Background Technology

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

[0005] Autonomous vehicles need the ability to adaptively respond to real-time changes in their surroundings while the vehicle is in motion.

[0006] Reliable deterministic control functions are needed for the production and widespread adoption of autonomous vehicles.

[0007] In currently manufactured Level 2 autonomous driving systems, the driver is required to look forward. Therefore, a pre-defined let-go warning is issued when the driver is not holding the steering wheel. The driver's steering engagement is determined based on changes in steering torque, according to the driver's steering wheel manipulation.

[0008] In Level 3 autonomous vehicles, when the autonomous driving system is activated, a TD (Transfer Request) alert can be output when it is determined that control needs to be transferred from the autonomous driving system to the driver.

[0009] Upon confirming driver intervention after issuing a TD alert, the autonomous vehicle determines that the driver has accepted the transfer of control and is ready to drive manually and deactivates the autonomous driving system.

[0010] However, Level 3 autonomous vehicles allow drivers to let go during autonomous driving. When a driver accidentally manipulates the steering wheel, a Level 3 autonomous vehicle incorrectly identifies this accidental manipulation as an intentional intervention to gain control.

[0011] Since the automatic driving system is deactivated when the driver is not ready to drive manually, this may increase the risk of an accident. Summary of the Invention

[0012] One aspect of the present invention provides a method and apparatus for controlling autonomous driving.

[0013] Another aspect of the present application provides an autonomous driving control method and autonomous driving control apparatus for accurately determining whether a driver intervention has occurred after outputting a transfer demand alert for a handover of control from an autonomous driving system to a driver.

[0014] Another aspect of the present application provides an autonomous driving control method and autonomous driving control apparatus capable of dynamically changing a torque threshold and a steering intervention time for determining a driver intervention based on a determination result of a forward gaze state of a driver.

[0015] Another aspect of the present application provides an autonomous driving control method and autonomous driving control apparatus capable of accurately and quickly determining a driver intervention for accepting a control handover in an SAE (Society of Automotive Engineers) Level 3 autonomous driving vehicle.

[0016] The technical problems to be solved by the present application are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0017] According to an aspect of the present application, a method of controlling autonomous driving of an autonomous driving vehicle includes: determining whether a driver is in a forward gaze state in an autonomous driving mode; setting a first steering wheel torque threshold and a first torque holding time based on a determination result of whether the driver is in the forward gaze state; determining whether a driver intervention has occurred based on the first steering wheel torque threshold and the first torque holding time; and switching the autonomous driving mode to a manual driving mode when the driver intervention has occurred.

[0018] In one embodiment, the method can further include: determining whether an alert for a control handover request is required in the autonomous driving mode; activating a minimum risk strategy (MRM) driving mode and maintaining the autonomous driving mode when the alert is required; determining whether the driver is in the forward gaze state in the minimum risk strategy (MRM) driving mode; and setting a second steering wheel torque threshold and a second torque holding time that vary according to a degree of the forward gaze of the driver.

[0019] In one embodiment, the autonomous driving mode maintained after the minimum risk strategy (MRM) driving mode is activated can include a deceleration mode while maintaining a current lane.

[0020] In one embodiment, the first steering wheel torque threshold corresponding to the forward gaze state of the driver can be set to be smaller than a first steering wheel torque threshold corresponding to a non-forward gaze state of the driver.

[0021] In one embodiment, the first torque holding time corresponding to the forward gaze state of the driver can be set to be less than the first torque holding time corresponding to the non-forward gaze state of the driver.

[0022] In one embodiment, the first steering wheel torque threshold value can be set to be greater than the second steering wheel torque threshold value.

[0023] In one embodiment, the first torque holding time can be set to be greater than the second torque holding time.

[0024] In one embodiment, an alarm is output after activation of a minimum risk strategy (MRM) driving mode, wherein the alarm is canceled when it is determined that driver intervention has occurred based on the second steering wheel torque threshold value and the second torque holding time, and the vehicle operates in a manual driving mode.

[0025] In one embodiment, the condition for determining whether the driver is in a forward gaze state can vary based on a dangerous situation detected during the autonomous driving mode.

[0026] In one embodiment, determining whether the driver is in a forward gaze state can include: in the case of a risk of a front collision, determining a gaze toward a front windshield as a forward gaze; in the case of a risk of a left side collision, determining a gaze toward a left side collision direction as a forward gaze; in the case of a risk of a right side collision, determining a gaze toward a right side collision direction as a forward gaze.

[0027] According to another aspect of the present application, an apparatus for controlling autonomous driving of an autonomous driving vehicle includes: an autonomous driving controller that controls autonomous driving; and a driver gaze detector that determines whether a driver is in a forward gaze state during autonomous driving, wherein the autonomous driving controller includes: a control right transfer determiner for determining whether an alarm for control right transfer is needed during autonomous driving; a control command generator for setting a first steering wheel torque threshold value and a first torque holding time based on a result of the determination of whether the driver is in a forward gaze state; and a driver intervention determiner for determining whether driver intervention has occurred based on the first steering wheel torque threshold value and the first torque holding time, wherein, when the driver intervention has occurred, the control command generator switches the autonomous driving mode to a manual driving mode.

[0028] In one embodiment, the control command generator can: when the alarm is needed, activate a minimum risk strategy (MRM) driving mode and maintain the autonomous driving mode; in the minimum risk strategy (MRM) driving mode, set a second steering wheel torque threshold value and a second torque holding time that vary according to a degree of driver forward gaze.

[0029] In one embodiment, the autonomous driving mode that is maintained after activation of a minimal risk maneuver (MRM) driving mode can include a deceleration mode while maintaining a current lane.

[0030] In one embodiment, the first steering wheel torque threshold corresponding to the forward gaze state of the driver can be set to be less than the first steering wheel torque threshold corresponding to the non-forward gaze state of the driver.

[0031] In one embodiment, the first torque hold time corresponding to the forward gaze state of the driver can be set to be less than the first torque hold time corresponding to the non-forward gaze state of the driver.

[0032] In one embodiment, the first steering wheel torque threshold can be set to be greater than the second steering wheel torque threshold.

[0033] In one embodiment, the first torque hold time can be set to be greater than the second torque hold time.

[0034] In one embodiment, the apparatus can further include an alert generator for outputting an alert upon activation of a minimal risk maneuver (MRM) driving mode, wherein the control command generator can deactivate the alert and can activate a manual driving mode upon determining that the driver intervention has occurred based on the second steering wheel torque threshold and the second torque hold time.

[0035] In one embodiment, the conditions for determining whether the driver is in a forward gaze state can vary based on a detected hazardous situation during the autonomous driving mode.

[0036] In one embodiment, the driver gaze detector can: in the case of a risk of a front collision, determine a gaze toward a front windshield as a forward gaze of the driver; in the case of a risk of a left side collision, determine a gaze toward a left side collision direction as a forward gaze; in the case of a risk of a right side collision, determine a gaze toward a right side collision direction as a forward gaze.

[0037] Other applications will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order that the application can be better understood, various embodiments thereof will now be described, by way of example only, with reference to the accompanying drawings in which:

[0039] Figure 1 is a table defining the levels of automation for an autonomous vehicle;

[0040] Figure 2is a block diagram for showing a structure of an automatic driving control device according to an embodiment of the present application;

[0041] Figure 3 is a flowchart for showing an automatic driving control method according to an embodiment of the present application;

[0042] Figure 4 is a flowchart for showing an automatic driving control method according to another embodiment of the present application;

[0043] Figure 5 is a schematic diagram for showing an automatic driving control method based on whether TD occurs in an automatic driving control device according to an embodiment of the present application; and

[0044] Figure 6 is a flowchart for showing an automatic driving control method according to another embodiment of the present application.

[0045] The accompanying drawings are for illustrative purposes only and are intended to be not limiting in any way on the scope of the present application. DETAILED DESCRIPTION

[0046] The following description is merely exemplary in nature and is not intended to limit the present application, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0047] Some embodiments of the present application will be described below in detail with reference to the accompanying drawings. It should be noted that when adding reference numerals to components of the drawings, the same or equivalent components existing in different drawings are denoted by the same reference numerals even though they are added to components of different drawings. Also, in describing the exemplary embodiments of the present application, detailed descriptions of related known components or functions will be omitted when it is determined that the detailed description will unnecessarily obscure the understanding of the embodiments of the present application.

[0048] In describing the components of an embodiment of the present application, terms such as first, second, A, B, (a), (b), etc. can be used. These terms are merely intended to distinguish between components and are not intended to limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains. It will be further understood that terms such as those defined in a generally used dictionary should be interpreted as having a meaning that is consistent with its meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0049] Reference will now be made to Figures 1 to 6 Embodiments of the present application will be described in detail.

[0050] Figure 1 is a table for defining an automatic level of an autonomous vehicle in an embodiment of the present application.

[0051] An autonomous vehicle refers to a vehicle that minimizes a driver's driving operation while autonomously driving by recognizing a driving environment of the vehicle to determine a danger and thereby controlling a driving route to avoid the danger.

[0052] Ultimately, an autonomous vehicle refers to a vehicle capable of driving, steering, and parking without human influence. Autonomous driving, which is a core technology of an autonomous vehicle, refers to a capability of driving a vehicle without a driver's active control or monitoring. The capability is increasingly advanced at present.

[0053] However, a current concept of an autonomous vehicle can include a semi-autonomous driving level as shown in Figure 1 , which evolves to a full autonomous driving level, and can correspond to a concept targeting the production and commercialization of a full autonomous vehicle.

[0054] An autonomous driving control method according to the present application can be applied to an autonomous vehicle corresponding to Level 3 (conditional autonomous driving) in an automatic level of an autonomous driving system as shown in Figure 1 , but can not be limited thereto, and can also be applied to an autonomous vehicle of other levels in which a control right transfer situation can occur.

[0055] An automatic level of an autonomous vehicle based on SAE (Society of Automotive Engineers) can be classified as shown in the table of Figure 1 .

[0056] Figure 2 is a block diagram for illustrating a structure of an autonomous driving control apparatus according to an embodiment of the present application.

[0057] Referring to Figure 2 , the autonomous driving control apparatus 200 can include a GPS receiver 201, a radar / laser radar 202, an external camera 203, an in-vehicle camera 204, a driver gaze detector 205, a steering wheel manipulation detector 206, an autonomous driving controller 210, a steering controller 220, a steering actuator 221, an acceleration and deceleration controller 230, an accelerator 241, a decelerator 242, an alarm generator 240, and a steering wheel 250.

[0058] The autonomous driving controller 210 can be configured to include a precise position measurement apparatus 211, a recognizer 212, a control command generator 213, a control right transfer determiner 214, and a driver intervention determiner 215.

[0059] Figure 2 All the components of the automatic driving control device 200 shown are not necessarily essential components, and thus more or fewer components can be included therein.

[0060] The GPS receiver 201 can receive a position signal from a position measuring satellite.

[0061] The radar / lidar 202 can detect objects around the vehicle. The radar / lidar 202 can detect objects in front of, on the side of, and behind the vehicle, can calculate distances to the detected objects, can distinguish whether the detected objects are static objects or dynamic objects, can measure moving speeds of the detected dynamic objects, can distinguish whether the detected dynamic objects are pedestrians or vehicles, and can recognize conditions of roads and facilities through high-resolution terrain scanning.

[0062] The exterior camera 203 can be installed outside the vehicle to capture images of the front, side, and rear of the vehicle. To this end, a plurality of exterior cameras 203 can be provided on the vehicle. The images captured by the exterior camera 203 can be used for purposes such as lane recognition, object recognition around the vehicle, and augmented reality.

[0063] The in-vehicle camera 204 can be installed inside the vehicle to capture a photo of the driver.

[0064] The image captured by the in-vehicle camera 204 can be used to monitor the driver's gaze direction, the driver's drowsiness, etc.

[0065] The driver gaze detector 205 can detect the driver's gaze direction by analyzing the image captured by the in-vehicle camera 204 based on a control signal of the automatic driving controller 210.

[0066] According to one embodiment, the driver gaze detector 205 can adaptively determine the driver's forward gaze according to circumstances.

[0067] In one example, an alert (i.e., a TD message) can be output which requests the handover of control from the system to the driver due to a forward driving problem (e.g., including detection of a dangerous situation such as a pedestrian / wildlife appearing in front of the vehicle and an obstacle) during automatic driving. Upon output of the alert, when the driver's gaze is looking at the front windshield, the driver gaze detector 205 can determine this gaze as a forward gaze.

[0068] In another example, during autonomous driving, when a control transfer alert occurs due to a cut-in of another vehicle from the right lane, the driver recognizes the cut-in of the other vehicle from the right through the windshield. To this end, the gaze direction of the driver is rightward. Accordingly, the driver gaze detector 205 can determine this gaze along the right side direction of the driver as a forward gaze.

[0069] In another example, during autonomous driving, when a control transfer alert occurs due to a cut-in of another vehicle from the left lane, the driver recognizes the cut-in of the other vehicle from the left through the windshield. To this end, the gaze direction of the driver is leftward. Accordingly, the driver gaze detector 205 can determine this gaze along the left side direction of the driver as a forward gaze.

[0070] The steering wheel manipulation detector 206 can detect whether the steering wheel 250 has been manipulated by the driver.

[0071] For example, the steering wheel 250 can be provided with a touch sensor capable of detecting a grip state of the steering wheel 250 by the driver. In this case, the steering wheel manipulation detector 206 can determine whether the driver has manipulated the steering wheel 250 based on sensing information of the touch sensor.

[0072] In another example, the steering wheel manipulation detector 206 can detect a torque change of the steering wheel 250. When the steering wheel manipulation detector 206 detects that the torque of the steering wheel 250 has changed to a value above a predetermined reference value, it can be determined that the driver has manipulated the steering wheel 250.

[0073] However, it is necessary to distinguish whether the driver's manipulation of the steering wheel is intentional or unintentional.

[0074] When the driver's manipulation of the steering wheel is detected, the driver intervention determiner 215 can determine whether the manipulation of the steering wheel is intentional or unintentional, thereby determining whether the purpose of the manipulation of the steering wheel is the driver's intervention for accepting the control transfer.

[0075] The method for determining whether the driver's intervention is intentional or unintentional will be more apparent through the description of the accompanying drawings, which will be described later.

[0076] The precise position measuring device 211 can determine the current position of the vehicle using the position signal from the GPS receiver 201 and the pre-stored precise map information, and can map the determined current position of the vehicle onto the precise map.

[0077] The recognizer 212 can recognize a lane based on the sensing information from the radar / laser radar 202 and the image information photographed by the external camera 203, and can recognize other vehicles traveling on the lane, obstacles around the vehicle, pedestrians around the vehicle, etc.

[0078] The control command generator 213 can calculate a request command value based on the recognition result of the recognizer 212, and can transmit a predetermined control signal corresponding to the calculated command value to the steering controller 220 and the acceleration and deceleration controller 230.

[0079] The control command generator 213 can dynamically set a steering wheel torque threshold value and a torque holding time based on the determination result regarding whether the driver is in a forward gaze state.

[0080] The control right handover determiner 214 can determine whether to need to hand over the control right from the system to the driver based on the recognition result of the recognizer 212, a vehicle internal state, etc.

[0081] Based on the determination result, when the control right needs to be handed over, the control right handover determiner 214 can transmit a predetermined control signal to the alarm generator 240 to output a predetermined alarm message requesting the control right to be handed over to the driver.

[0082] The driver intervention determiner 215 can determine whether driver intervention has occurred based on the steering wheel torque threshold value and the torque holding time.

[0083] When it is determined that the driver intervention has occurred, the control command generator 213 can switch the automatic driving mode to the manual driving mode, and can hand over the control right to the driver.

[0084] The driver intervention determiner 215 can apply different conditions for determining whether the driver intervention has occurred according to whether the alarm message is output. For example, when the alarm message is output, the driver intervention determiner 215 can be configured to hand over the control right faster and more accurately.

[0085] A detailed description regarding a method of determining whether the driver intervention has occurred based on whether the alarm message is output will become more apparent through the description of Figures 3 to 6 to be described later.

[0086] The steering controller 220 is responsible for left and right movement of the autonomous vehicle. The steering controller 220 can control the steering actuator 221 based on the left and right movement control request command value transmitted from the control command generator 213 of the autonomous driving controller 210.

[0087] In this regard, the steering actuator 221 can include an actuator for left and right movement of the vehicle.

[0088] The acceleration and deceleration controller 230 is responsible for the forward movement of the autonomous vehicle. The acceleration and deceleration controller 230 can control the accelerator 241 and / or the decelerator 242 based on the forward movement control request command value transmitted from the control command generator 213 of the autonomous driving controller 210. In this regard, the accelerator 241 includes an acceleration device. The decelerator 242 can include a brake.

[0089] The alarm generator 240 can output an alarm message for the control right transfer, i.e., a TD (transfer demand) message. The driver can accept the control right transfer according to the control right transfer request alarm in the autonomous driving mode, and can drive the vehicle in the manual driving mode.

[0090] Figure 3 is a flowchart for illustrating an autonomous driving control method according to an embodiment of the present application.

[0091] Specifically, Figure 3 is a flowchart for illustrating a method of determining whether a driver intervention has occurred during autonomous driving, and then transferring the control right from the system to the driver based on the determination result.

[0092] When a driver intervention has occurred during autonomous driving, the autonomous driving system should transfer the control right from the system to the driver.

[0093] However, the driver can manipulate the steering wheel by accident. In this case, when the control right is automatically transferred from the system to the driver, the risk of an accident occurring increases.

[0094] Therefore, determining whether the steering wheel is being manipulated by accident or intentionally during autonomous driving is an important factor in ensuring the reliability of the autonomous driving system.

[0095] Reference Figure 3 , the device 200 can monitor whether manipulation of the steering wheel has occurred during the operation of the vehicle in the autonomous driving mode (S310).

[0096] When manipulation of the steering wheel is detected, the device 200 can start measuring the steering wheel torque value (S320).

[0097] For example, the device 200 can detect a driver's gripping operation of the steering wheel through a touch sensor provided on one side of the steering wheel, and can determine whether a driver's manipulation of the steering wheel has occurred based on the detection result.

[0098] In another example, the device 200 can determine whether a driver's manipulation of the steering wheel has occurred based on a change in the detected steering torque value.

[0099] When the manipulation of the steering wheel is detected, the device 200 can start measuring the steering wheel torque value (S330).

[0100] The device 200 can determine whether the measured steering torque value is greater than or equal to a first threshold value (S340).

[0101] Based on the determination result, when the measured steering torque value is greater than or equal to the first threshold value, the device 200 can operate a first hysteresis timer (S350).

[0102] When the first hysteresis timer expires, the device 200 can hand over the control from the system to the driver, and can activate the manual driving mode (S360 to S370).

[0103] In S350, when the steering wheel torque value measured during the operation time of the first hysteresis timer is less than the first threshold value, the device 200 can stop operating the first hysteresis timer, and can perform S310.

[0104] As Figure 3 an embodiment, the device 200 can determine that the driver intervention has occurred only when the driver manipulates the steering wheel by applying a force of a torque value greater than or equal to a predetermined threshold value for a predetermined length of time.

[0105] Figure 4 is a flowchart for illustrating an automatic driving control method according to another embodiment of the present application.

[0106] Specifically, Figure 4 is a flowchart of a method of outputting a transfer demand (TD) alarm for control handover during automatic driving, determining whether a driver intervention has occurred, and then handing over the control from the system to the driver based on the determination result.

[0107] Compared to the determination of the driver intervention in the normal automatic driving situation, the determination of the driver intervention after the TD situation occurs during the automatic driving needs to be more accurately and quickly performed.

[0108] If the control handover is delayed even in the driver intervention event in the TD situation, the risk of an accident can increase.

[0109] Referring to Figure 4 , the device 200 can monitor whether the manipulation of the steering wheel occurs during the operation of the vehicle in the automatic driving mode (S410).

[0110] When the manipulation of the steering wheel is detected, the device 200 can start measuring the steering wheel torque value (S420).

[0111] For example, the device 200 can detect a driver's gripping operation on the steering wheel through a touch sensor provided on a side of the steering wheel, and can determine whether a driver's manipulation of the steering wheel has occurred based on a detection result.

[0112] In another example, during autonomous driving, the device 200 can output an alert message requesting a handover of control when it is determined that autonomous driving is no longer possible (S401).

[0113] The device 200 can monitor manipulation of the steering wheel in a state in which the alert message is output (S410).

[0114] Based on a monitoring result, when manipulation of the steering wheel is detected, the device 200 starts measuring a steering torque value, and can detect a driver's gaze direction (S420 to S430).

[0115] The device 200 can determine whether the measured steering torque value is greater than or equal to a second threshold value (S440). In this regard, the second threshold value can vary according to the driver's gaze direction. For example, the second threshold value corresponding to a case in which the driver's gaze is a forward gaze can be set to a value smaller than the second threshold value corresponding to a case in which the driver's gaze is not a forward gaze.

[0116] Based on a determination result, when the measured steering torque value is greater than or equal to the second threshold value, the device 200 can dynamically determine and set an expiration time of the second lag timer according to the sensed driver's gaze direction, and then can operate the second lag timer (S450).

[0117] For example, the expiration time of the second lag timer when the driver's gaze is a forward gaze is set to be smaller than the expiration time of the second lag timer when the driver's gaze is not a forward gaze.

[0118] When the second lag timer expires, the device 200 can stop outputting the alert message, and can hand over control from the system to the driver, so that the vehicle can be operated in a manual driving mode (S460 to S470).

[0119] In S440, when the steering torque value measured during the operation of the second lag timer is lower than the second threshold value, the device 200 stops operating the second lag timer, and can perform S410.

[0120] As Figure 4In an embodiment of the present application, the device 200 can determine that the driver intervention has occurred only when the driver manipulates the steering wheel by applying a force of a torque value greater than or equal to a predetermined threshold value for a predetermined length of time after the TD occurs. In this regard, the device 200 can dynamically determine the second threshold value and the elapse time of the second lag timer in consideration of the driver's gaze direction (i.e., the degree of the driver's forward gaze).

[0121] For example, Figure 3 The first threshold value in the above equation can be set to be greater than Figure 4 the value of the second threshold value in the above equation.

[0122] For example, Figure 3 The elapse time of the first lag timer in the above equation can be set to be greater than Figure 4 the elapse time of the second lag timer in the above equation.

[0123] As described above, the device 200 according to the present application can determine whether the driver intervention has occurred in consideration of the following three factors:

[0124] The first factor can be the driver's gaze. The device 200 can determine whether the driver is in a forward gaze state based on the detection result of the driver's gaze.

[0125] The second factor can be the steering wheel torque value due to the driver's manipulation. The device 200 can determine the driver's left and right manipulation of the steering wheel based on the amount of torque applied by the driver to the steering wheel.

[0126] The third factor can be the duration for which the driver applies a torque greater than a threshold value to the steering wheel. The device 200 can determine whether the driver's manipulation is intentional or unintentional according to how long the driver has applied a torque to the steering wheel.

[0127] The device 200 according to the present application can determine whether the driver intervention has occurred based on a combination of at least two of the three factors.

[0128] Figure 5 is a schematic diagram for illustrating an automatic driving control method by an automatic driving control device based on whether a TD occurs according to an embodiment of the present application.

[0129] Referring to Figure 5 When the automatic driving function is activated, the device 200 can perform automatic driving control based on a request command from the automatic driving controller 210.

[0130] Under normal operation of the automatic driving system, the device 200 can determine whether the driver intervention has occurred in consideration of the steering wheel torque value and the torque holding time.

[0131] In a normal operation state of the autonomous driving system, when the driver intervention is detected, the device 200 can switch the vehicle operation mode to the manual driving mode.

[0132] During autonomous driving, when a TD situation occurs, the device 200 can activate a minimum risk strategy (MRM) driving mode, and can output an alert message requesting the handover of control from the system to the driver.

[0133] In this regard, the TD situation refers to a situation in which it is impossible to maintain the autonomous driving mode, and can include situations such as cut-in of another vehicle, appearance of a pedestrian or a wild animal in front of the vehicle, detection of an obstacle in front of the vehicle, sudden stop of a vehicle in front, and weather deterioration, but is not limited thereto. The TD situation can include a vehicle controller failure, a vehicle communication failure, fuel shortage, etc.

[0134] When the minimum risk strategy (MRM) driving mode is activated, the device 200 can perform deceleration control while maintaining the current lane according to a request command value of the autonomous driving controller 210 until the vehicle is completely stopped.

[0135] In the minimum risk strategy (MRM) driving mode, the device 200 can determine whether the driver intervention has occurred, taking into account the driver gaze direction, the steering wheel torque value, and the torque holding time.

[0136] When the device 200 detects the driver intervention in the minimum risk strategy (MRM) driving mode, the device 200 can deactivate the minimum risk strategy (MRM) driving mode, and can switch the vehicle operation mode to the manual driving mode.

[0137] In the minimum risk strategy (MRM) driving mode, when the handover of control is normally completed due to the detection of the driver intervention, the device 200 can stop outputting the alert message.

[0138] Figure 6 is a flowchart for illustrating an autonomous driving control method according to another embodiment of the present application.

[0139] Referring to Figure 6 In the autonomous driving mode, the device 200 can determine whether an alert for the handover of control is required (S601 to S602).

[0140] Based on the determination result, when the alert is not required, the device 200 can determine whether the driver is in a forward gaze state (S603).

[0141] Based on the determination result, when the driver is not in the forward gaze state, the device 200 can set the steering wheel torque threshold to a first value, and can set the torque holding time (i.e., the elapse time of the hysteresis timer) to a second time (S604).

[0142] Based on the determination result of S603, when the driver is in the forward gaze state, the device 200 can set the steering wheel torque threshold to a third value, and set the torque holding time to a fourth time (S605).

[0143] In this regard, the device 200 can set the first value to a value greater than the third value, and can set the second time to be greater than the fourth time.

[0144] Subsequently, the device 200 can determine whether driver intervention has occurred (S606).

[0145] When driver intervention has occurred during normal operation of the autonomous driving system, the device 200 deactivates the autonomous driving mode, and switches the vehicle operation mode to the manual driving mode (S607).

[0146] Based on the determination result of S606, when there is no driver intervention, the device 200 can perform S603, so that the driver's forward gaze can be monitored.

[0147] As described above, when an alarm is required in S602, i.e., when a dangerous situation is detected during autonomous driving, the device 200 maintains the autonomous driving state, and determines whether the driver is in the forward gaze state (S608 to S609). In this case, the autonomous driving is driven based on a minimum risk strategy (MRM) driving mode. At this time, deceleration can be performed while maintaining the current lane. However, the present application is not limited thereto. According to circumstances, the vehicle decelerates and stops on the shoulder.

[0148] Based on the determination result, when the driver is not in the forward gaze state, the device 200 maintains the autonomous driving state. Otherwise, when the driver is in the forward gaze state, the device 200 can change the steering wheel torque threshold and the torque holding time based on the degree of the forward gaze, and then determine whether driver intervention has occurred (S610 to S611).

[0149] When driver intervention has occurred in S611, the device 200 can perform S607. Otherwise, when driver intervention has not occurred, the device 200 can proceed to S609, so that the driver's forward gaze state can be monitored.

[0150] In one embodiment, the driver's forward gaze can be adaptively determined according to the detected dangerous situation as follows.

[0151] 1. For the risk of a front collision, a gaze toward the front windshield is determined as a forward gaze.

[0152] 2. For the risk of a left side collision, a gaze toward the left side collision direction is determined as a forward gaze.

[0153] 3. For the risk of a right side collision, a gaze toward the right side collision direction is determined as a forward gaze.

[0154] According to the present application, based on the determination result of the forward gaze of the driver, the torque threshold and the steering intervention time (i.e., the torque holding time or the elapse time of the hysteresis timer) related to the driver's manipulation of the steering wheel are changed, which can make it possible to determine the driver's intervention in the automatic driving process in a safer and more accurate scheme.

[0155] The operations of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in storage medium (i.e., memory and / or storage), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, a removable disk, CD-ROM.

[0156] The exemplary storage medium is connected to the processor so that the processor can read information from, and write information to, the storage medium. In another approach, the storage medium can be integral to the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another approach, the processor and the storage medium can reside as discrete components in a user terminal.

[0157] An advantage of embodiments of the present application is to provide an automatic driving control method and an automatic driving control apparatus.

[0158] In addition, an advantage of the present application is to provide an automatic driving control method and an automatic driving control apparatus that can more accurately determine a driver's intervention after outputting a transfer demand (TD) alert for a control right handover.

[0159] In addition, an advantage of the present application is to provide an automatic driving control method and an automatic driving control apparatus that can dynamically change a torque threshold and a steering intervention time for determining a driver's intervention according to a determination result of a forward gaze state of the driver, thereby determining a driver's intervention after a TD occurs based on the changed values and times.

[0160] Further, the present application has an advantage in that an automatic driving control method and an automatic driving control apparatus capable of accurately and quickly determining a driver intervention for a handover of a control right in an automatic driving vehicle based on SAE (Society of Automotive Engineers) Level 3 are provided.

[0161] Further, various effects that can be directly or indirectly recognized based on the present application can be provided.

[0162] Although the present application has been described above with reference to exemplary embodiments and the accompanying drawings, the present application is not limited thereto, and various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the present application.

Claims

1. A method for controlling the autonomous driving of an autonomous vehicle, the method comprising: In autonomous driving mode, the driver gaze detector determines whether the driver is looking forward; Based on the determination of whether the driver is in a forward-looking state, the control command generator determines the first steering wheel torque threshold and the first torque holding time; Based on the first steering wheel torque threshold and the first torque holding time, the driver intervention determiner determines whether driver intervention has occurred. When driver intervention is detected, the control command generator switches the automatic driving mode to manual driving mode. In autonomous driving mode, the control transfer determiner determines whether an alarm is needed in response to the control transfer request; When the alarm is required, the minimum risk strategy driving mode is activated by the control command generator and the automatic driving mode is maintained. In the minimum risk strategy driving mode, the driver gaze detector determines whether the driver is looking forward; The control command generator determines a second steering wheel torque threshold and a second torque hold time that vary according to the driver's forward gaze. Specifically, the first steering wheel torque threshold in the driver's forward-looking state is set to be less than the first steering wheel torque threshold in the driver's non-forward-looking state.

2. The method according to claim 1, wherein, The autonomous driving modes that remain after activating the minimum risk strategy driving mode include: deceleration mode while maintaining the current lane.

3. The method according to claim 1, wherein, The first steering wheel torque threshold is set to be greater than the second steering wheel torque threshold.

4. The method according to claim 3, wherein, The first torque holding time is set to be longer than the second torque holding time.

5. The method according to claim 1, wherein, After activating the minimum risk driving mode, the alarm is output. When driver intervention occurs, the alarm output is deactivated, and the vehicle operates in manual driving mode.

6. The method according to claim 1, wherein, The first torque holding time in the driver's forward-looking state is set to be shorter than the first torque holding time in the driver's non-forward-looking state.

7. The method according to claim 1, wherein, The criteria for determining whether a driver is looking forward vary based on the hazardous situations detected during autonomous driving mode.

8. The method according to claim 7, wherein, Determining whether the driver is looking forward includes: In situations where there is a risk of a forward collision, the gaze toward the windshield is defined as the driver’s forward gaze. In cases where there is a risk of a left-side collision, a gaze toward the left-side collision direction will be defined as a forward gaze. In cases where there is a risk of a right-side collision, gaze toward the direction of a right-side collision is defined as forward gaze.

9. An apparatus for controlling the autonomous driving of an autonomous vehicle, the apparatus comprising: An autonomous driving controller configured to control autonomous driving; as well as A driver gaze detector is configured to determine whether the driver is looking forward during autonomous driving. The autonomous driving controller includes: A control handover determiner is configured to determine whether an alert is needed for a control handover during autonomous driving. A control command generator configured to determine a first steering wheel torque threshold and a first torque holding time based on whether the driver is in a forward-looking state; and A driver intervention determiner is configured to determine whether driver intervention has occurred based on a first steering wheel torque threshold and a first torque hold time. Specifically, when driver intervention occurs, the control command generator is configured to switch the automatic driving mode to manual driving mode. The control command generator is configured as follows: When the alarm is required, activate the minimum risk strategy driving mode and maintain the automatic driving mode; In the minimum risk strategy driving mode, a second steering wheel torque threshold and a second torque holding time are determined based on the degree of the driver's forward gaze state. The first steering wheel torque threshold corresponding to the driver's forward gaze state is set to be less than the first steering wheel torque threshold corresponding to the driver's non-forward gaze state.

10. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 9, wherein, The autonomous driving modes that remain after activating the minimum risk strategy driving mode include: deceleration mode while maintaining the current lane.

11. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 9, wherein, The first steering wheel torque threshold is set to be greater than the second steering wheel torque threshold.

12. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 11, wherein, The first torque holding time is set to be longer than the second torque holding time.

13. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 9, further comprising: An alarm generator configured to output the alarm after activating the minimum risk strategy driving mode; Specifically, when driver intervention occurs, the control command generator is configured to deactivate the alarm and activate manual driving mode.

14. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 9, wherein, The first torque holding time corresponding to the driver's forward-looking state is set to be shorter than the first torque holding time corresponding to the driver's non-forward-looking state.

15. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 9, wherein, The criteria for determining whether a driver is looking forward vary based on the hazardous situations detected during autonomous driving mode.

16. The apparatus for controlling the autonomous driving of an autonomous vehicle according to claim 15, wherein, The driver gaze detector is configured as follows: In situations where there is a risk of a forward collision, the gaze toward the windshield is defined as the driver’s forward gaze. In cases where there is a risk of a left-side collision, a gaze toward the left-side collision direction will be defined as a forward gaze. In cases where there is a risk of a right-side collision, gaze toward the direction of a right-side collision is defined as forward gaze.

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