Control method for switching to manual driving mode in an autonomous vehicle

Abstract

The present disclosure provides a control method of switching to a manual driving mode in an autonomous vehicle provided with a foldable pedal device. In the method, when a signal for switching a driving mode from an autonomous driving mode to a manual driving mode is generated in an autonomous vehicle provided with a foldable accelerator pedal device and a foldable brake pedal device, it is determined whether the driving mode can be switched to the manual driving mode by checking a safety condition; when the safety condition is satisfied, it is determined whether the ejection positions of the pads of the foldable accelerator pedal device and the pads of the foldable brake pedal device are normal ejection positions, respectively; and the driving mode is switched to the manual driving mode only when the positions of the pads of the foldable accelerator pedal device and the positions of the pads of the foldable brake pedal device are normal ejection positions, respectively.

Description

Technical Field

[0001] This invention relates to a control method for switching to manual driving mode in an autonomous vehicle equipped with a foldable pedal device. More specifically, this invention relates to a control method that allows switching from autonomous driving mode to manual driving mode only when both safety conditions and the shim's pop-out position condition are simultaneously met. Background Technology

[0002] Autonomous vehicles are intelligent vehicles that incorporate autonomous driving technology. In autonomous driving technology, the vehicle can reach its destination automatically even without the driver directly operating the steering wheel, accelerator pedal, brakes, etc. Recently, autonomous vehicles have experienced rapid development.

[0003] When autonomous driving is widely implemented, drivers can choose between a manual driving mode where the driver is directly in control and an autonomous driving mode where the vehicle automatically drives to the destination without the driver being directly in control.

[0004] In autonomous driving mode, the driver can stretch their legs and rest comfortably. Therefore, if the pedals (accelerator and brake pedals) located in the space under the driver's seat are still exposed in the vehicle interior, it will hinder the driver's rest. In particular, regardless of the driver's intention, misoperation of the pedal mechanism pads will forcibly terminate autonomous driving, thus posing a high risk of an accident.

[0005] Therefore, a foldable pedal device is being actively developed for autonomous vehicles. This foldable pedal device ensures that in manual driving mode, where the driver is directly in control, the pedal pad is prominently exposed to the driver so that the driver can operate it. In autonomous driving mode, the pedal pad is concealed so that it is not protruding to the driver, thus preventing the driver from operating it. This facilitates driver comfort and safety, such as preventing accidental operation.

[0006] In existing technology, when an autonomous vehicle equipped with such a foldable pedal device is driving in autonomous driving mode, and a signal is generated to switch the driving mode to manual driving mode via the controller, there is no process to check safety conditions to determine whether the switching to manual driving mode is feasible. Therefore, the pedal device pad may be operated and protrude towards the driver based on the manual driving mode signal, and if the pedal device pad is mistakenly operated by the driver, there is a risk of an accident.

[0007] The information included in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] Various aspects of the present invention aim to provide a control method for switching driving modes, wherein when a signal for switching the driving mode from automatic driving mode to manual driving mode is generated in an autonomous vehicle equipped with a foldable accelerator pedal device and a foldable brake pedal device, a safety condition is checked to determine whether the driving mode can be switched to manual driving mode; when the safety condition is met, it is determined whether the pop-out positions of the accelerator pedal device shim and the brake pedal device shim are both in normal pop-out positions; and the driving mode is switched to manual driving mode only when the positions of the accelerator pedal device shim and the brake pedal device shim are both in normal pop-out positions. Therefore, accidents caused by incorrect operation are prevented and driving safety is improved.

[0009] Various aspects of the present invention aim to provide a control method for switching to manual driving mode in an autonomous vehicle equipped with a foldable pedal device. The method includes: a determination step, in which, when a signal for manual driving mode is generated in autonomous driving mode, the controller uses a detection signal from a safety check sensor to determine whether the driving mode can be switched to manual driving mode; and a shim ejection step, in which, when the controller determines in the determination step that the driving mode can be switched to manual driving mode, a first actuator of the foldable accelerator pedal device and a second actuator of the foldable brake pedal device are operated under the control of the controller, and through the operation of the first and second actuators, the foldable accelerator pedal device... The accelerator pedal and the foldable brake pedal respectively perform an ejection operation, causing the pads of the foldable accelerator pedal and the foldable brake pedal to protrude towards the driver; after the pad ejection step, the first pad position sensor and the second pad position sensor connected to the controller are used to detect the positions of the pads of the foldable accelerator pedal and the foldable brake pedal respectively; and only when the controller determines in the pad position detection step that the positions of the pads of the foldable accelerator pedal and the foldable brake pedal are in the normal ejection position, the controller controls the switching of the driving mode to manual driving mode.

[0010] When the controller determines in the judgment step that the driving mode cannot be switched to manual driving mode, the warning device is operated under the control of the controller. The pads of the foldable accelerator pedal device and the foldable brake pedal device remain hidden and do not protrude in the predetermined direction, and the vehicle continues to maintain the automatic driving mode.

[0011] If, during the pad position detection step, it is determined that either the pad position of the foldable accelerator pedal device or the pad position of the foldable brake pedal device is not in a normal pop-out position, the warning device is activated under the control of the controller. The pads of the foldable accelerator pedal device and the foldable brake pedal device return to a hidden state where they are concealed and do not protrude in the predetermined direction, and the vehicle continues to maintain the autonomous driving mode.

[0012] After the shim position detection step, when the vehicle switches the driving mode from automatic driving mode to manual driving mode, the vehicle's steering wheel performs a pop-out operation towards the driver under the control of the controller.

[0013] When the pads of the foldable accelerator pedal and the foldable brake pedal remain hidden, the vehicle's steering wheel also remains hidden and does not protrude in the predetermined direction under the control of the controller.

[0014] The detection signal from the safety check sensor can be a signal that uses the driver detection sensor to detect whether the driver is in the vehicle, and the controller determines that the driving mode can be switched to manual driving mode only when the first condition of the driver being in the vehicle is met.

[0015] The detection signal from the safety inspection sensor can be a signal that detects the second condition of the driver's seat position using the seat position sensor, and the controller determines that the driving mode can be switched to manual driving mode only when the first condition and the second condition that the driver's seat position is a position that allows manual driving of the vehicle are met.

[0016] The detection signal of the safety inspection sensor can be a signal of the third condition for detecting the current state of the driver using the driver state detection sensor. The controller determines that the driving mode can be switched to manual driving mode only when the first condition, the second condition, and the third condition that the current state of the driver is capable of manually driving the vehicle are met.

[0017] The driver detection sensor can be a weight sensor or an ultrasonic sensor, and the driver status detection sensor can be a sensor that uses camera information.

[0018] Warnings generated by a warning device may include at least one of visual warnings, auditory warnings, and tactile warnings.

[0019] According to an exemplary embodiment of the present invention, when a signal for switching the driving mode from automatic driving mode to manual driving mode is generated in an autonomous vehicle equipped with a foldable accelerator pedal device and a foldable brake pedal device, a safety check sensor first checks the safety conditions to determine whether the driving mode can be switched to manual driving mode. If the safety conditions are met, it is determined whether the pop-out positions of the shims of the foldable accelerator pedal device and the foldable brake pedal device are both in their normal pop-out positions. The driving mode is switched to manual driving mode only when the positions of the shims of the foldable accelerator pedal device and the foldable brake pedal device are both in their normal pop-out positions, and simultaneously, the steering wheel is popped out to allow the driver to operate it. Therefore, accidents caused by incorrect operation are prevented and driving safety is significantly improved.

[0020] The methods and apparatus of the present invention have other features and advantages, which will be apparent from or set forth in more detail from the accompanying drawings and the detailed description incorporated herein by reference, which together serve to explain certain principles of the invention. Attached Figure Description

[0021] Figure 1 This is a perspective view illustrating a foldable accelerator pedal device and a foldable brake pedal device applying various exemplary embodiments of the present invention; and

[0022] Figure 2 and Figure 3 These are schematic block diagrams and flowcharts illustrating control methods for switching from automatic driving mode to manual driving mode according to various exemplary embodiments of the present invention.

[0023] It is understood that the accompanying drawings are not necessarily drawn to scale and show slightly simplified representations of various features illustrating the basic principles of the invention. Specific design features of the invention, such as particular dimensions, orientations, positions, and shapes, as included herein, will be determined in part by the specific intended application and environment of use.

[0024] In the accompanying drawings, reference numerals throughout the drawings indicate the same or equivalent parts of the invention. Detailed Implementation

[0025] Reference will now be made in detail to various embodiments of the invention, examples of which are illustrated in the accompanying drawings and described below. As the invention is described in conjunction with exemplary embodiments, it will be understood that this specification is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments of the invention, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the invention as defined by the appended claims.

[0026] The specific structural and functional descriptions of the embodiments included herein are for illustrative purposes only. Exemplary embodiments of the present invention may be implemented in various forms, and these specifications or exemplary embodiments should not be construed as limiting the invention.

[0027] Since exemplary embodiments of the present invention can be modified in various ways and can take various forms, various exemplary embodiments are shown in the accompanying drawings and will be described in detail in this specification or application. However, exemplary embodiments based on the concepts of the present invention should not be construed as limited to a particular disclosure, and it is understood that all modifications, equivalents, or alternative embodiments falling within the concept and scope of the present invention are included.

[0028] The terms "first," "second," etc., used in this specification may be used to describe various elements, but these elements shall not be construed as limited to these terms. These terms are only used to distinguish one element from another. For example, a first element may be referred to as a second element without departing from the scope of the invention. Similarly, a second element may also be referred to as a first element.

[0029] It will be understood that when an element is referred to as "connected" or "attached" to another element, the element may be directly connected to or attached to the other element, or there may be an intermediate element between the element and the other element. Conversely, it will be understood that when an element is referred to as "directly connected" or "directly attached" to another element, there is no intermediate element. Other terms used to describe relationships between elements, such as "between," "directly between," "adjacent to," and "directly adjacent to," can be interpreted in the same way.

[0030] The terminology used in this specification is for describing various exemplary embodiments of the invention only and is not intended to limit the invention. The singular forms “a,” “an,” and “the” as used herein are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that terms such as “comprising,” “having,” etc., are intended to indicate the presence of features, numbers, steps, actions, elements, components, or combinations thereof included in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, actions, elements, components, or combinations thereof may be present or added.

[0031] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various exemplary embodiments of the invention pertain. It will be further understood that the terms used herein may be interpreted as having the same meaning as they have in the context of this specification and related technical fields, and will not be interpreted in an idealized or overly formal sense unless so defined herein.

[0032] The control unit (controller) according to various exemplary embodiments of the present invention may be implemented using a non-volatile memory and a processor, wherein the non-volatile memory is configured to store data relating to algorithms for controlling the operation of various elements of the vehicle or software instructions for reproducing the algorithms, and the processor is configured to perform the operations described below using the data stored in the memory. In this document, the memory and processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as an integrated single chip. The processor may be configured as one or more processors.

[0033] In the following description, with reference to the accompanying drawings, a control method for switching to manual driving mode in an autonomous vehicle equipped with a foldable pedal device according to various exemplary embodiments of the present invention will be described.

[0034] Autonomous vehicles can choose between a manual driving mode where the driver is directly in control and an autonomous driving mode where the vehicle travels to the destination without the driver's direct control.

[0035] In addition, autonomous vehicles can be equipped with foldable pedals. For example... Figure 1 As shown, the foldable pedal device includes a foldable accelerator pedal device 10 and a foldable brake pedal device 20.

[0036] The foldable accelerator pedal device 10 and the foldable brake pedal device 20 respectively include housings 11 and 21 and gaskets 12 and 22 rotatably connected relative to housings 11 and 21.

[0037] Housings 11 and 21 can be installed in the space below the driver's seat inside the vehicle interior. Pads 12 and 22 are operated by the driver's feet.

[0038] In an autonomous vehicle equipped with a foldable accelerator pedal device 10 and a foldable brake pedal device 20, in manual driving mode, the driver directly operates the pads 12 and 22 with their feet. For this purpose, the pads 12 and 22 need to be in a popped-out state, protruding from their respective housings 11 and 21 to be exposed to the driver.

[0039] Furthermore, in autonomous driving mode, for the driver's comfort and safety, such as preventing accidental operation, the gaskets 12 and 22 need to be hidden by inserting the gaskets 12 and 22 into their respective housings 11 and 21, so that the gaskets 12 and 22 do not protrude to the driver.

[0040] To achieve the pop-up and retracted states of the pads 12 and 22 as described above, the foldable accelerator pedal device 10 and the foldable brake pedal device 20 further include a first actuator 13 and a second actuator 23, respectively, which forcibly rotate their respective pads 12 and 22. The first actuator 13 and the second actuator 23 may each include a motor, and the operation of the first actuator 13 and the second actuator 23 is controlled by the controller 30.

[0041] According to various exemplary embodiments of the present invention, when a signal for manual driving mode is generated during autonomous driving in an autonomous vehicle equipped with a foldable accelerator pedal device 10 and a foldable brake pedal device 20, a safety condition is first used to determine whether the driving mode can be switched to manual driving mode. When the safety condition is met, it is determined whether the pop-out position of the pad 12 of the foldable accelerator pedal device 10 and the pop-out position of the pad 22 of the foldable brake pedal device 20 are both in normal pop-out positions. The driving mode is switched to manual driving mode only when the positions of the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 are both in normal pop-out positions, and the steering wheel 70 is popped out to allow the driver to operate it.

[0042] In other words, such as Figure 1 , Figure 2 and Figure 3As shown, the control method according to various exemplary embodiments of the present invention includes: a determination step, in which, when a signal for a manual driving mode is generated in an automatic driving mode, the controller 30 uses the detection signal of the safety check sensor 40 to determine whether the driving mode can be switched to a manual driving mode; and a shim ejection step, in which, when the controller determines in the determination step that the driving mode can be switched to a manual driving mode, the first actuator 13 of the foldable accelerator pedal device 10 and the second actuator 23 of the foldable brake pedal device 20 operate respectively under the control of the controller 30, and the ejection operation is performed by the operation of the first actuator 13 and the second actuator 23 respectively, thereby enabling the shim to be ejected. The pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 protrude toward the driver; in the pad position detection step, after the pad ejection step, the positions of the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 are detected by the first pad position sensor 14 and the second pad position sensor 24, respectively; and the controller only controls the switching of the driving mode to manual driving mode when the controller 30 determines in the pad position detection step that the positions of the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 are in the normal ejection position.

[0043] For example, the driving mode of an autonomous vehicle can be switched by operating a driving mode switch 50. The driving mode switch 50 may include an autonomous driving mode switch 51 and a manual driving mode switch 52.

[0044] When the controller determines during the judgment step that the driving mode cannot be switched to manual driving mode, the warning device 60 is activated under the control of the controller 30, and the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 remain hidden and do not protrude to the driver. At this time, the vehicle continues to maintain the automatic driving mode.

[0045] If, during the pad position detection step, it is determined that either the position of the pad 12 of the foldable accelerator pedal device 10 or the position of the pad 22 of the foldable brake pedal device 20 is not in the normal pop-out position, the warning device 60 is operated under the control of the controller 30. Through the operation of the first actuator 13 and the second actuator 23 under the control of the controller 30, the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 return to the hidden state where they are concealed and do not protrude to the driver, and the vehicle continues to maintain the automatic driving mode.

[0046] Warning lights, warning sound generators, displays, etc., can be used as warning devices 60. The warnings generated by the warning device 60 preferably include at least one of visual warnings, auditory warnings, and tactile warnings.

[0047] When the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 perform a pop-out operation towards the driver, the steering wheel 70 of the vehicle also performs a pop-out operation towards the driver under the control of the controller 30, so that the driver can drive manually.

[0048] Conversely, when the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 remain hidden, the vehicle's steering wheel 70 also remains hidden and does not protrude towards the driver under the control of the controller 30, for automatic driving.

[0049] The detection signal from the safety check sensor 40 is a signal from the driver detection sensor 41 used to detect whether the driver is in the vehicle, fulfilling a first condition. Only when the first condition of the driver being in the vehicle is met does the controller 30 determine that the driving mode can be switched to manual driving mode.

[0050] The driver detection sensor 41 can use a weight sensor to identify whether a passenger is in the vehicle based on weight, or an ultrasonic sensor to identify whether a passenger is in the vehicle based on ultrasound.

[0051] Furthermore, the detection signal from the safety check sensor 40 is a signal from the seat position sensor 42 that detects a second condition regarding the driver's seat position. The controller 30 determines that the driving mode can be switched to manual driving mode only when the first condition and the second condition—that the driver's seat position is such that the vehicle can be manually driven—are met.

[0052] Furthermore, the detection signal from the safety check sensor 40 is a signal that detects the third condition of the driver's current state using the driver state detection sensor 43. The controller 30 determines that the driving mode can be switched to manual driving mode only when the first condition, the second condition, and the third condition that the driver's state is capable of manually driving the vehicle are met.

[0053] The driver state detection sensor 43 is a sensor that uses camera information and is a system that uses infrared (IR) light-emitting diodes (LEDs) and cameras to obtain images of the driver's facial orientation and eye opening and closing, and determines negligent driving based on the obtained images, and then combines with the chassis safety system to provide early warning before an accident occurs, thereby achieving a pre-safety function.

[0054] The chassis safety system may include at least one of the following: intelligent cruise control system, highway driving assistance system, forward collision avoidance assist system, blind spot collision avoidance assist system, and rear cross traffic collision avoidance assist system.

[0055] The first shim position sensor 14 and the second shim position sensor 24 are sensors that detect the positions of the shim 12 of the foldable accelerator pedal device 10 and the shim 22 of the foldable brake pedal device 20, respectively. The positions of the shims 12 and 22 can be detected by the rotation angle of the shims 12 and 22. Hall effect sensors can be used for this purpose.

[0056] For example, in the case of an autonomous vehicle equipped with a foldable pedal device, the autonomous driving mode is recognized as the default driving mode when the door is opened and the engine is started.

[0057] In autonomous driving mode, in step S1, a signal for manual driving mode is generated by manipulating the manual driving mode switch 52. In step S2, the controller 30 uses the detection signal from the driver detection sensor 41 to determine whether the driver is in the vehicle.

[0058] When it is determined that the driver is not in the vehicle, in step S3, for safety reasons, the warning device 60 is activated. In step S4, the pad 12 of the foldable accelerator pedal device 10, the pad 22 of the foldable brake pedal device 20, and the steering wheel 70 remain hidden. In step S5, the vehicle continues to operate in automatic driving mode.

[0059] When it is determined that the driver is in the vehicle, in step S6, the detection signal of the seat position sensor 42 is used to determine whether the position of the driver's seat is a position that allows for manual driving.

[0060] When it is determined that the driver's seat is in a position where manual driving is not possible, in step S3, for safety reasons, the warning device 60 is activated. In step S4, the pad 12 of the foldable accelerator pedal device 10, the pad 22 of the foldable brake pedal device 20, and the steering wheel 70 remain hidden. In step S5, the vehicle continues to operate in automatic driving mode.

[0061] When it is determined that the driver's seat is in a position where manual driving is possible, in step S7, the detection signal of the driver state detection sensor 43 is used to determine whether the driver's current state is a state where manual driving is possible.

[0062] When it is determined that the driver's current state is incapable of manual driving, in step S3, for safety reasons, the warning device 60 is activated. In step S4, the pad 12 of the foldable accelerator pedal device 10, the pad 22 of the foldable brake pedal device 20, and the steering wheel 70 remain hidden. In step S5, the vehicle continues to operate in automatic driving mode.

[0063] When it is determined that the driver's current state is capable of manual driving, in steps S8 and S9, the first actuator 13 and the second actuator 23 operate under the control of the controller 30.

[0064] By operating the first actuator 13, the state of the pad 12 of the foldable accelerator pedal device 10 changes from a hidden state to a pop-out state. By operating the second actuator 23, the state of the pad 22 of the foldable brake pedal device 20 changes from a hidden state to a pop-out state.

[0065] When the first actuator 13 is operated, the first shim position sensor 14 detects the rotation angle of the shim 12 of the foldable accelerator pedal device 10 to detect the position of the shim 12 of the foldable accelerator pedal device 10. Furthermore, when the second actuator 23 is operated, the second shim position sensor 24 detects the rotation angle of the shim 22 of the foldable brake pedal device 20 to detect the position of the shim 22 of the foldable brake pedal device 20.

[0066] After the first actuator 13 is operated, in step S10, the controller 30 uses the detection signal of the first pad position sensor 14 to determine whether the position of the pad 12 of the foldable accelerator pedal device 10 is the normal pop-out position.

[0067] Furthermore, after the second actuator 23 is operated, in step S11, the controller 30 uses the detection signal of the second pad position sensor 24 to determine whether the position of the pad 22 of the foldable brake pedal device 20 is the normal pop-out position.

[0068] As a result of the judgments in steps S10 and S11, the steering wheel 70 is switched from the hidden state to the pop-up state in step S12 only when the position of the pad 12 of the foldable accelerator pedal device 10 and the position of the pad 22 of the foldable brake pedal device 20 are determined to be in the normal pop-up position, and in step S13, the vehicle is controlled to switch the driving mode from the automatic driving mode to the manual driving mode.

[0069] However, as a result of the judgments in steps S10 and S11, if it is determined that either the position of the pad 12 of the foldable accelerator pedal device 10 or the position of the pad 22 of the foldable brake pedal device 20 is not in the normal pop-out position, in step S3, for safety reasons, the warning device 60 is activated. In step S4, through the operation of the first actuator 13 and the second actuator 23 under the control of the controller 30, the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 return to a hidden state where they are concealed and do not protrude towards the driver, and the steering wheel 70 remains hidden. In step S5, the vehicle continues to maintain the automatic driving mode.

[0070] As described above, according to an exemplary embodiment of the present invention, when a signal for switching the driving mode from automatic driving mode to manual driving mode is generated in an autonomous vehicle equipped with a foldable accelerator pedal device 10 and a foldable brake pedal device 20, the safety check sensor 40 first checks the safety conditions to determine whether the driving mode can be switched to manual driving mode. When the safety conditions are met, it is determined whether the pop-out positions of the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 are both in normal pop-out positions. The driving mode is switched to manual driving mode only when the positions of the pad 12 of the foldable accelerator pedal device 10 and the pad 22 of the foldable brake pedal device 20 are both in normal pop-out positions, and the steering wheel 70 is popped out to allow the driver to operate it. Therefore, accidents caused by incorrect operation can be prevented and driving safety can be greatly improved.

[0071] Furthermore, the term "controller" refers to a hardware device including a memory and a processor, the processor being configured to execute one or more steps described as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of the methods according to various exemplary embodiments of the present invention. A controller according to exemplary embodiments of the present invention may be implemented using non-volatile memory and a processor configured to store data relating to algorithms for controlling the operation of various components of a vehicle or software commands for running algorithms, the processor being configured to perform the aforementioned operations using the data stored in the memory. The memory and processor may be separate chips. Alternatively, the memory and processor may be integrated into a single chip. The processor may be implemented as one or more processors.

[0072] The controller may be at least one microprocessor operated by a predetermined program, which may include a series of commands for implementing methods according to various exemplary embodiments of the present invention.

[0073] The invention described above can also be implemented as computer-readable code on a computer-readable recording medium. This computer-readable recording medium is any data storage device capable of storing data that can subsequently be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and implementations such as those using a carrier wave (e.g., transmission over the Internet).

[0074] For ease of interpretation and precise definition in the appended claims, the terms “above,” “below,” “inside,” “outside,” “up,” “down,” “upward,” “downward,” “front,” “back,” “rear,” “inside,” “outside,” “inward,” “outward,” “facing inward,” “facing outward,” “inner,” “outer,” “forward,” and “backward” are used to describe the features in relation to the exemplary embodiments shown in the accompanying drawings. It will be further understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0075] Furthermore, the term "fixedly connected" means that fixedly connected components always rotate at the same speed. Additionally, the term "selectively connected" means that "selectively connected components rotate individually when they are not joined together, selectively connected components rotate at the same speed when they are joined together, and selectively connected components are all fixed when at least one of them is a fixed component and the remaining selectively connected components are joined to a fixed component."

[0076] For purposes of illustration and description, the foregoing description of specific exemplary embodiments of the invention has been provided. The foregoing description is not intended to be exhaustive or to limit the invention to the specific forms disclosed; obviously, many modifications and variations are possible in accordance with the foregoing teachings. Exemplary embodiments were chosen and described to explain certain principles of the invention and its practical application, enabling those skilled in the art to implement and use the various exemplary embodiments of the invention and their various alternatives and modifications. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A control method for switching to manual driving mode in an autonomous vehicle equipped with a foldable pedal device, the method comprising: In the judgment step, when a signal for manual driving mode is generated in the automatic driving mode, the controller uses the detection signal of the safety check sensor to determine whether the driving mode can be switched to the manual driving mode. In the shim ejection step, when the controller determines in the judgment step that the driving mode can be switched to the manual driving mode, the first actuator of the foldable accelerator pedal device and the second actuator of the foldable brake pedal device operate under the control of the controller, and through the operation of the first actuator and the second actuator, the foldable accelerator pedal device and the foldable brake pedal device respectively perform an ejection operation, thereby causing the shims of the foldable accelerator pedal device and the foldable brake pedal device to protrude in a predetermined direction; The shim position detection step involves, after the shim ejection step, using a first shim position sensor and a second shim position sensor connected to the controller to detect the positions of the shims in the foldable accelerator pedal device and the shims in the foldable brake pedal device, respectively. as well as When the controller determines in the shim position detection step that the positions of the shims of the foldable accelerator pedal device and the shims of the foldable brake pedal device are both in their normal pop-out positions, the controller controls the switching of the driving mode to the manual driving mode. Specifically, when the controller determines in the pad position detection step that either the position of the pad of the foldable accelerator pedal device or the position of the pad of the foldable brake pedal device is not in the normal pop-out position, the controller operates a warning device to return the pads of the foldable accelerator pedal device and the foldable brake pedal device to a hidden state where they are concealed and do not protrude in a predetermined direction, and the vehicle continues to maintain the autonomous driving mode.

2. The method according to claim 1, wherein, When the controller determines in the judgment step that it cannot switch the driving mode to the manual driving mode, the warning device is operated under the control of the controller. The pads of the foldable accelerator pedal device and the foldable brake pedal device remain hidden and do not protrude in the predetermined direction, and the vehicle continues to maintain the automatic driving mode.

3. The method according to claim 1, wherein, After the shim position detection step, when the vehicle switches the driving mode from the automatic driving mode to the manual driving mode, the vehicle's steering wheel performs a pop-out operation protruding in the predetermined direction under the control of the controller.

4. The method according to claim 2, wherein, When the pads of the foldable accelerator pedal device and the foldable brake pedal device remain in the hidden state, under the control of the controller, the steering wheel of the vehicle remains hidden and does not protrude in the predetermined direction.

5. The method according to claim 1, wherein, When the pads of the foldable accelerator pedal device and the foldable brake pedal device remain in the hidden state, under the control of the controller, the steering wheel of the vehicle remains hidden and does not protrude in the predetermined direction.

6. The method according to claim 1, wherein, The detection signal from the security check sensor is a signal obtained by using a driver detection sensor to detect whether the driver is in the vehicle, based on a first condition. When the first condition of the driver being in the vehicle is met, the controller determines that it is possible to switch the driving mode to the manual driving mode.

7. The method according to claim 6, wherein, The detection signal from the security check sensor is a signal indicating a second condition, which is detected by the seat position sensor to determine the position of the driver's seat. When the first condition and the second condition of the driver's seat being in a position where the vehicle can be manually driven are met, the controller determines that the driving mode can be switched to the manual driving mode.

8. The method according to claim 7, wherein, The detection signal of the safety inspection sensor is a signal indicating a third condition for detecting the driver's current state using a driver state detection sensor. When the first condition, the second condition, and the third condition that the driver's current state is capable of manually driving the vehicle are met, the controller determines that it is possible to switch the driving mode to the manual driving mode.

9. The method according to claim 8, wherein, The driver detection sensor is a weight sensor or an ultrasonic sensor, and The driver state detection sensor is a sensor that uses camera information.

10. The method according to claim 2, wherein, The warnings generated by the warning device include at least one of visual warnings, auditory warnings, and tactile warnings.

11. The method according to claim 1, wherein, The warnings generated by the warning device include at least one of visual warnings, auditory warnings, and tactile warnings.

12. The method according to claim 1, wherein, The controller includes: Processor; and A non-transitory storage medium on which a program for performing the method according to claim 1 is recorded and executed by the processor.

13. A non-transitory computer-readable medium on which a program for performing the method of claim 1 is recorded.

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