Automatic driving control device and automatic driving control method for vehicle

Abstract

An automatic driving control device of a vehicle includes a processor configured to determine activation of an automatic driving function during automatic driving control based on whether a current driving situation satisfies an activation condition of the automatic driving function, and a storage device configured to store a set of instructions and data for determining and executing by the processor. In particular, when the activation condition is not satisfied but a user inputs a request to activate the automatic driving function, the processor controls the vehicle to satisfy the activation condition and then determines activation of the automatic driving function.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0114824, filed on September 8, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to an automatic driving control device and method for a vehicle, and more specifically, to a technology for implementing automatic driving control functions. Background Technology

[0004] The statements in this section are provided only as background information in relation to this disclosure and may not constitute prior art.

[0005] With the development of the automotive industry, autonomous driving systems and some driver assistance systems that achieve autonomous driving have been developed (for ease of description, autonomous driving and driver assistance will be collectively referred to as autonomous driving).

[0006] Autonomous driving systems can provide various functions, such as maintaining a set speed, maintaining distance between vehicles, keeping in a lane, and changing lanes. Autonomous driving systems can achieve this by utilizing various devices such as sensors for sensing the vehicle's external environment, sensors for sensing vehicle information, GPS, precision maps, user state sensing systems, steering actuators, acceleration / deceleration actuators, communication loops, and control loops (e.g., electronic control units (ECUs)).

[0007] According to the guidelines (J3016) proposed by the Society of Automotive Engineers (SAE), the level of automation of autonomous vehicles performing this type of autonomous driving is divided into six levels from level 0 to level 5.

[0008] Recently, automakers have been launching vehicles with Level 2 autonomous driving control and are working towards achieving Level 3 autonomous vehicles capable of driving autonomously in specific road environments such as highways and parking lots. Level 3 autonomous vehicles must avoid predictable collisions and must stop the vehicle upon impact. Furthermore, Level 3 autonomous vehicles activate Level 3 functions when speed and lane alignment conditions are met. However, in existing technologies, when Level 3 functions are deactivated due to failure to meet these conditions, users find it difficult to clearly determine whether the speed or lane alignment condition is not met, thus reducing usability.

[0009] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this invention, and therefore may contain information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0010] This disclosure provides an autonomous driving control device and method for a vehicle, which can activate a Level 3 autonomous driving control function by utilizing a Level 2 autonomous driving control function to meet predetermined conditions when the conditions for activating a Level 3 or higher autonomous driving control function are not met.

[0011] The technical objectives of this disclosure are not limited to those described above, and those skilled in the art can clearly understand other unmentioned technical objectives through the description of the claims.

[0012] In an exemplary form of this disclosure, an autonomous driving control device for a vehicle includes: a processor configured to determine, during autonomous driving control, whether the current driving condition of the vehicle meets the activation conditions of an autonomous driving function, and to control the vehicle to make the current driving condition meet the activation conditions when the current driving condition does not meet the activation conditions but a user inputs a request to activate the autonomous driving function, and then execute the autonomous driving function when the activation conditions are met; and a storage device configured to store a set of instructions executed by the processor and data for determination and execution by the processor.

[0013] In an exemplary form, the device may further include an output device configured to display the status of the autonomous driving control.

[0014] In an exemplary form, activation conditions may include vehicle speed conditions and lane alignment conditions.

[0015] In an exemplary embodiment, the processor may be configured to determine that the activation condition is met when the vehicle speed is within a predetermined speed range and the approach distance from the vehicle to the inside of the lane is greater than or equal to a predetermined distance.

[0016] In an exemplary form, the processor can be configured to control the vehicle by utilizing a Level 2 autonomous driving control function to meet the activation conditions of a Level 3 or higher autonomous driving control function when a Level 3 or higher autonomous driving control function is to be activated among multiple levels of autonomous driving control functions.

[0017] In an exemplary form, the autonomous driving control function may include at least one of HDP function, fully autonomous driving control function, and unmanned autonomous driving control function.

[0018] In an exemplary form, the processor may be configured to activate at least one of the Smart Cruise Control (SCC) function and the Lane Following Assist (LFA) function when the activation conditions are not met but the user inputs a request to activate the autonomous driving function.

[0019] In an exemplary form, the processor may be configured to control the output device to output a message indicating that the lateral position and speed of the vehicle are being adjusted to meet the activation conditions of the autonomous driving function when the activation conditions are not met but the user inputs a request to activate the autonomous driving function.

[0020] In an exemplary form, the processor can be configured to activate at least one of the Smart Cruise Control (SCC) function and Lane Following Assist (LFA) function, and then re-evaluate whether the activation conditions are met.

[0021] In an exemplary form, the processor may be configured to change the state of the autonomous driving function from a standby state to a ready state and activate at least one of the SCC function and the LFA function when it is determined by reassessment that the activation conditions are met.

[0022] In an exemplary form, the processor may be configured to control the output device to output a message inquiring about the user's willingness to use autonomous driving functions.

[0023] In an exemplary form, the processor may be configured to activate the autonomous driving function and deactivate at least one of the SCC and LFA functions when the user intends to use the autonomous driving function.

[0024] In an exemplary form, the processor may be configured to keep the autonomous driving function in a ready state and keep at least one of the SCC function and LFA function in an active state after a predetermined time has elapsed after outputting a message asking the user whether they wish to use the autonomous driving function, when the user does not intend to use the autonomous driving function.

[0025] In an exemplary form, the processor may be configured to control the output device to output a message indicating that the vehicle's lateral position and speed cannot be automatically adjusted after a predetermined time has elapsed when the activation condition is determined to be unmet through reassessment.

[0026] In an exemplary form, the processor may be configured to keep the autopilot function in standby mode and keep at least one of the SCC function and LFA function active after a predetermined time has elapsed following the output of a message indicating that the autopilot cannot be automatically adjusted.

[0027] In an exemplary form, the processor may be configured to activate the autonomous driving function and deactivate at least one of the SCC function and LFA function when it is determined by reassessment that the activation conditions are met.

[0028] In another exemplary form of this disclosure, an autonomous driving control method for a vehicle includes: during autonomous driving control, determining whether the current driving situation meets the activation conditions of an autonomous driving function; when the activation conditions are met and the user inputs a request to activate the autonomous driving function, executing the activation of the autonomous driving function; when the activation conditions are not met but the user inputs a request to activate the autonomous driving function, controlling the vehicle to meet the activation conditions; and re-determining whether the activation conditions are met, and when the activation conditions are met, executing the activation of the autonomous driving function.

[0029] In an exemplary form, determining whether the activation condition is met may include using vehicle speed conditions and lane alignment conditions to determine whether the activation condition is met.

[0030] In an exemplary form, activating the autonomous driving function may include activating the autonomous driving function and deactivating at least one of the intelligent cruise control (SCC) function and the lane following assist (LFA) function.

[0031] In an exemplary form, controlling the vehicle to meet the activation conditions may include: when the activation conditions are not met but the user inputs a request to activate the autonomous driving function, while the autonomous driving function is in standby mode, controlling the vehicle speed and lateral position by activating at least one of the SCC function and LFA function; and outputting a message indicating that the vehicle speed and lateral position are being controlled.

[0032] According to this technology, when the activation conditions for Level 3 autonomous driving control are not met, the Level 3 autonomous driving control function is activated by using the Level 2 autonomous driving control function to meet the predetermined conditions.

[0033] In addition, it can provide various effects that can be directly or indirectly identified through the file.

[0034] Other applicable areas will become apparent from the description provided herein. It should be understood that the descriptions and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0035] To better understand this disclosure, various forms of this disclosure will now be described by way of example and with reference to the accompanying drawings, wherein:

[0036] Figure 1 This is a block diagram illustrating the configuration of a vehicle system including an automated driving control device for a vehicle according to an exemplary form of this disclosure;

[0037] Figure 2 and Figure 3 This is a flowchart illustrating an automated driving control method for a vehicle according to an exemplary form of this disclosure; and

[0038] Figure 4 A computing system in an exemplary form according to this disclosure is shown.

[0039] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Detailed Implementation

[0040] The following description is exemplary in nature only and is not intended to limit this disclosure, its application, or its uses. It should be understood that in all the drawings, the same reference numerals denote the same or corresponding parts and features.

[0041] In the following, some exemplary forms of this disclosure will be described in detail with reference to the exemplary accompanying drawings. It should be noted that when adding reference numerals to the constituent elements of each drawing, the same constituent elements will be represented by the same reference numerals as much as possible, even if indicated in different drawings. Furthermore, in describing exemplary forms of this disclosure, detailed descriptions of related well-known configurations or functions will be omitted if it is determined that such detailed descriptions interfere with the understanding of the exemplary forms of this disclosure.

[0042] In describing the constituent elements of exemplary forms of this disclosure, terms such as “first,” “second,” “A,” “B,” “(a),” and “(b)” may be used. These terms are intended only to distinguish one constituent element from another, and the nature, order, or sequence of the constituent elements is not limited by these terms. Furthermore, unless otherwise defined, all terms used herein, including technical terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms defined in general dictionaries should be interpreted as having a meaning matching the contextual meaning of the relevant technical field, and should not be construed as having an ideal or overly formal meaning unless expressly defined in this specification.

[0043] In the following text, reference will be made to Figures 1 to 4 The exemplary forms of this disclosure are described in detail.

[0044] Figure 1 A block diagram illustrating the configuration of a vehicle system including an autonomous driving control device according to an exemplary form of this disclosure.

[0045] The automatic driving control device 100 of the vehicle according to an exemplary form of this disclosure can be implemented inside the vehicle. In this case, the automatic driving control device 100 can be integrated with the vehicle's internal control unit, or it can be implemented as a separate device and connected to the vehicle's control unit via a separate connection device.

[0046] The autonomous driving control device 100 can perform functions such as Smart Cruise Control (SCC), Lane Following Assist (LFA), and Highway Driving Pilot (HDP), and can additionally perform at least one of the following functions: Forward Collision Warning (FCW), Lane Keeping Assist (LKA), Lane Departure Warning (LDW), and Lane Change Alert (LCA).

[0047] The autonomous driving control device 100 can determine the activation of the highway autonomous driving function during autonomous driving control based on whether the current driving situation meets the activation conditions of the autonomous driving function. Alternatively, if the activation conditions are not met but the user inputs a request to activate the autonomous driving function, the autonomous driving control device 100 can control the vehicle to meet the activation conditions and then determine the activation of the autonomous driving function. Furthermore, when the activation conditions of the autonomous driving function are met, the autonomous driving control device 100 can determine the activation of the autonomous driving function according to the user's wishes.

[0048] Automated driving control functions are categorized into levels 0 to 5. Level 0 represents the stage where the driver directly drives the vehicle without any automated driving-related functions. Level 1 involves speed and braking being controlled by some automated driving functions. Level 2 involves functions such as SCC and LFA. Level 3 involves HDP functions. Level 4 involves fully automated driving when the driver sets a desired destination. Level 5 involves unmanned automated driving control.

[0049] When a Level 3 or higher autonomous driving control function is activated, the autonomous driving control device 100 can control the vehicle using a Level 2 autonomous driving control function so that the current driving situation meets the activation conditions for a Level 3 or higher autonomous driving control function.

[0050] For example, when the activation conditions of the HDP function, which is a Level 3 autonomous driving control function, are not met, the autonomous driving control device 100 can control the vehicle by using at least one of the SCC function and LFA function, which are Level 2 autonomous driving control functions, so that the current driving situation meets the activation conditions of the HDP function.

[0051] Reference Figure 1The autonomous driving control device 100 may include a communication device 110, a storage device 120, a processor 130, an input device 140, an output device 150, and a sensing device 160.

[0052] The communication device 110 is a hardware device implemented by various electronic circuits to send and receive signals via wireless or wired connections. It can communicate with devices in the vehicle by utilizing in-vehicle network communication technology, and the communication with devices in the vehicle can be performed through controller area network (CAN) communication, local interconnection network (LIN) communication, and flex-ray communication.

[0053] As an example, the communication device 110 can send and receive control signals and data between the storage device 120, the processor 130, the input device 140, the output device 150, and the sensing device 160.

[0054] The storage device 120 can store the sensing results of the sensing device 160, the data acquired by the processor 130, the data and / or algorithms required for the processor 130 to run, etc.

[0055] As an example, storage device 120 may store road information for autonomous driving. For example, road information may include maps, etc. For example, road information may include information related to road type (e.g., motorway or general road), road end points, and lane characteristics (e.g., merging lanes, etc.).

[0056] Storage device 120 may include at least one type of storage medium such as flash memory, hard disk, micro, card (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.

[0057] The processor 130 can be electrically connected to the communication device 110, the storage device 120, etc., can electrically control the various components, and can be a loop that executes software commands, thereby performing various data processing and calculations as described below.

[0058] The processor 130 can process signals transmitted between components of the vehicle's autonomous driving control device 100 and devices within the vehicle. The processor 130 can be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controllers integrated into the vehicle.

[0059] The processor 130 can perform autonomous driving control. For example, the processor 130 can perform autonomous driving control on general roads, dedicated motor vehicle roads, and highways. Furthermore, the processor 130 can control the activation or deactivation (release) of autonomous driving control functions based on whether predetermined activation conditions are met. Additionally, the processor 130 can perform control based on the level of the autonomous driving control function (level 0 to level 5). In this disclosure, availability is improved by utilizing the SCC function and LFA function for performing level 2 autonomous driving control functions to activate autonomous driving control functions of level 3 and above. In this case, the autonomous driving control functions of level 3 and above can include at least one of HDP function, fully autonomous driving control function, and unmanned autonomous driving control function.

[0060] During autonomous driving control, the processor 130 determines the activation of the autonomous driving function (HDP) based on whether the current driving situation meets the activation conditions. Additionally, if the activation conditions for the HDP are not met but the user inputs a request to activate it, the processor 130 can control the vehicle to meet the activation conditions. Furthermore, after the activation conditions are met, the processor 130 can determine the activation of the HDP based on the user's intention to use it. In this case, the processor 130 can determine whether the activation conditions are met by utilizing vehicle speed and lane alignment conditions. That is, when the vehicle speed is within a predetermined speed range and the approach distance from the vehicle to the inside of the lane is greater than or equal to a predetermined distance, the processor 130 can determine that the activation conditions are met.

[0061] In this scenario, when activating a Level 3 or higher autonomous driving control function among multiple levels (e.g., Level 0, Level 1, Level 2, Level 3, Level 4, Level 5, etc.), the processor 130 can utilize a Level 2 autonomous driving control function to control the vehicle to meet the activation conditions for a Level 3 or higher autonomous driving control function, thereby activating the Level 3 or higher autonomous driving control function. In this case, the Level 3 or higher autonomous driving control function may include at least one of HDP (High-Level Automated Driving Control) function, fully autonomous driving control function, and driverless autonomous driving control function.

[0062] When the activation conditions for the autonomous driving function (Level 3, 4, or 5) are not met, but the user inputs a request to activate the autonomous driving function, without disabling the autonomous driving function, the processor 130 controls the vehicle's lateral position and speed to meet the activation conditions of the autonomous driving function by utilizing at least one of the SCC function and LFA function, which executes Level 2 autonomous driving. That is, the processor 130 can control the vehicle's lateral position and speed by activating at least one of the SCC function and LFA function.

[0063] In addition, when the activation conditions for the autonomous driving function are not met but the user inputs a request to activate the autonomous driving function, the processor 130 can control the output device 150 to output a message indicating that the lateral position and speed of the vehicle are being adjusted.

[0064] After activating at least one of the SCC and LFA functions, the processor 130 re-determines whether the activation conditions for the autonomous driving function are met. If the activation conditions are met, the processor 130 immediately changes the state of the autonomous driving function from standby to ready, and keeps at least one of the SCC and LFA functions active. Subsequently, the processor 130 controls the output device 150 to output a message inquiring about the user's willingness to use the autonomous driving function.

[0065] In this case, when the activation conditions are met through re-evaluation, the processor 130 can immediately activate the autopilot function without asking the user's intention to use the autopilot function, and can deactivate at least one of the SCC function and LFA function.

[0066] When the activation conditions for the autonomous driving function are met and the user intends to use the HDP function, the processor 130 activates the autonomous driving function and disables at least one of the SCC function and LFA function.

[0067] On the other hand, when the activation conditions for the autonomous driving function are met but the user does not intend to use the autonomous driving function, the processor 130 controls the output device 150 to output a message inquiring about the user's intention to use the autonomous driving function. After a predetermined time (e.g., 10 seconds), the processor 130 keeps the autonomous driving function in a ready state and keeps at least one of the SCC and LFA functions active. Before a predetermined time (e.g., 10 seconds) elapses after outputting the message inquiring about the user's intention to use the autonomous driving function, the processor 130 controls the output device 150 to maintain the output of the message inquiring about the user's intention to use the autonomous driving function.

[0068] When the activation conditions are not met after a reassessment, the processor 130 can control the output device 150 to output a message indicating that the vehicle's lateral position and speed cannot be automatically adjusted after a predetermined time has elapsed.

[0069] When a predetermined time has elapsed after the output message indicating that automatic adjustment is not possible, the processor 130 may keep the autopilot function in standby mode and keep at least one of the SCC function and LFA function active.

[0070] The input device 140 receives control commands from the user, and the output device 150 can output the operating status and results of the automatic driving control device 100. Figure 1 In this disclosure, the input device 140 and the output device 150 are shown as separate configurations, but this disclosure is not limited thereto, and the input device 140 and the output device 150 may be integrated into a single device.

[0071] Here, the input device 140 may include buttons, and may also include a mouse, joystick, scroll wheel, stylus, etc. Additionally, the input device 140 may include soft keys implemented on the display. For example, the input device 140 may perform button input for using autopilot control functions such as HDP, SCC, and LFA, and response input to a pop-up window asking the user whether they wish to use the autopilot control function.

[0072] The output device 150 may include a display and may also include a voice output device such as a speaker. In this case, when a touch sensor formed by a touch film, touchpad, or touch pad is placed on the display, the display can operate as a touch screen and can be implemented in a form where the input device 140 and the output device 150 are integrated.

[0073] As an example, output device 150 may output and display, in the form of a pop-up window, the activation or deactivation status of the autonomous driving control function, a message indicating that the vehicle's lateral position and speed are being adjusted to use the HDP function, a message indicating that the vehicle's lateral position and speed cannot be automatically adjusted to use the HDP function, and a query for the user's willingness to use the HDP function. Output device 150 may also output notifications such as control transfer requests and messages reporting that the autonomous driving control function cannot be reactivated. Additionally, output device 150 may provide notifications that are perceptible to the vehicle's user. For example, output device 150 may include a display, a voice output device such as a speaker, and / or a vibration motor.

[0074] In this case, the display may include at least one of liquid crystal display (LCD), thin film transistor liquid crystal display (TFTLCD), organic light-emitting diode display (OLED display), flexible display, field emission display (FED), and 3D display.

[0075] The sensing device 160 can sense vehicle information such as the vehicle's relative position in the lane, the distance between the lane and the outer edge of the vehicle's tires, vehicle speed, and information about the vehicle's surroundings.

[0076] In addition, the sensing device 160 can sense the vehicle's position, speed, acceleration, and steering angle, and can also sense the vehicle's wheel speed. For this purpose, the sensing device 160 may include ultrasonic sensors, radar, cameras, laser scanners and / or angle radar, lidar, acceleration sensors, yaw rate sensors, torque measurement sensors and / or wheel speed sensors, steering angle sensors, wheel speed sensors, etc.

[0077] In the following text, reference will be made to Figure 2 and Figure 3 A method for controlling autonomous driving in an exemplary form according to this disclosure is described in detail. Figure 2 and Figure 3 A flowchart illustrating an autonomous driving control method according to an exemplary form of this disclosure is shown. In the following, in... Figure 2 and Figure 3 The HDP function, which is a Level 3 autonomous driving control function, is used as an example for explanation. However, this disclosure is not limited to this. When the Level 4 or Level 5 autonomous driving control function is activated, the Level 2 autonomous driving control function can be used.

[0078] In the following text, it is assumed that... Figure 1 The vehicle's automatic driving control device 100 executes Figure 2 and Figure 3 The process. Additionally, in Figure 2 and Figure 3 In the description, the operation described as being performed by the device can be understood as being controlled by the processor 130 of the vehicle's automatic driving control device 100.

[0079] Automated driving control functions may include HDP, SCC, and LFA functions, whose states can change according to driving conditions and may include on / off, standby, ready, and active. In this case, HDP functions are driven under Level 3 automated driving control, while SCC and LFA functions are driven under Level 2 automated driving control.

[0080] Reference Figure 2 When the vehicle is started, the state of the automatic driving control function changes (S101). That is, the automatic driving control device 100 changes the state of the HDP function to standby state and changes the SCC function and LFA function to off state.

[0081] Subsequently, in order to activate the Level 3 autonomous driving control function, the autonomous driving control device 100 determines whether the current driving situation of the vehicle meets the activation conditions of the HDP function (S102). In this case, the activation conditions include vehicle speed conditions and lane alignment conditions.

[0082] That is, when the vehicle speed is within the predetermined speed range and the approach distance to the inner side of the lane is equal to or greater than the predetermined distance, the automatic driving control device 100 can determine that the activation conditions of the HDP function are met.

[0083] When the current driving situation of the vehicle meets the activation conditions of the HDP function, the automatic driving control device 100 changes the state of the HDP function to the ready state, and the states of the SCC function and LFA function remain at their previous values ​​according to the previous SCC request and the previous LFA request (S103).

[0084] Subsequently, the automatic driving control device 100 determines whether an activation request button input for the HDP function has occurred (S104), and when an activation request button input for the HDP function occurs, it changes the state of the HDP function to the activated state and changes the states of the SCC function and LFA function to the deactivated state (S105).

[0085] On the other hand, when the activation conditions for the HDP function are not met in step S102, the automatic driving control device 100 determines whether an activation request button input for the HDP function has occurred (S106), and when an activation request button input for the HDP function occurs while the activation conditions for the HDP function are not met, it proceeds to step S200. In this case, the state where the activation conditions for the HDP function are not met may include situations where the vehicle speed is less than a predetermined speed and the approach distance to the inside of the lane is less than a predetermined distance.

[0086] Reference Figure 3 When the activation conditions for the HDP function are not met and an activation request button for the HDP function is pressed, the automatic driving control unit 100 keeps the HDP function in standby mode and activates the SCC and LFA functions to change the vehicle's speed and lateral position, thereby satisfying the HDP function activation conditions (S201). In this case, the automatic driving control unit 100 immediately performs lane keeping control when the LFA function is activated, but when the SCC function is activated, it begins to control the distance between vehicles once the current vehicle speed enters the SCC predetermined speed range. Additionally, the automatic driving control unit 100 displays a pop-up message indicating that it is adjusting the lateral position and speed to use the HDP function, so that the user can recognize the message.

[0087] Subsequently, the autonomous driving control unit 100 determines whether the current driving situation of the vehicle meets the activation conditions of the HDP function (S202). When the activation conditions are met, the HDP function's state is changed to a ready state, the SCC and LFA functions are kept active, and a pop-up window is output to confirm the user's willingness to use the HDP function (S203). Therefore, when the user touches a message such as "NO" or "YES" in the corresponding pop-up window, the autonomous driving control unit 100 can recognize that the user's answer to the corresponding question has been entered. In this case, Figure 3 Although the operation steps of the automatic driving control device 100 are shown as follows, when it is determined by re-judgment that the activation conditions are met, the automatic driving function is switched to a ready state and the user is asked to use the automatic driving function without immediately activating the automatic driving function, this disclosure is not limited to this. When it is determined by re-judgment that the activation conditions are met, the automatic driving control device 100 can immediately activate the automatic driving function without asking the user to use the automatic driving function, and can deactivate at least one of the SCC function and LFA function.

[0088] Subsequently, the automatic driving control device 100 determines whether it has received input from the user indicating the user's intention to use the HDP function, and when it confirms the user's intention to use the HDP function, it changes the state of the HDP function to the active state and changes the state of the SCC function and LFA function to the deactivated state (S205).

[0089] On the other hand, when it is confirmed that the user does not intend to use the HDP function, the automatic driving control device 100 determines whether the predetermined pop-up window holding time (e.g., 10 seconds) has elapsed (S206).

[0090] If the predetermined pop-up window duration has not elapsed, the autopilot control device 100 continues to output a pop-up window asking the user whether they wish to use the HDP function. On the other hand, if the predetermined pop-up window duration has elapsed, the autopilot control device 100 determines that the user does not wish to use the HDP function, keeps the HDP function in the ready state, and keeps the SCC function and LFA function in the active state (S207).

[0091] Meanwhile, when the vehicle's driving conditions in step S202 do not meet the activation conditions of the HDP function, the automatic driving control device 100 determines whether the pop-up window holding time (S208) has elapsed, and if the pop-up window holding time has not elapsed, it continues to output a pop-up message prompting that the lateral position and vehicle speed are being adjusted to use the HDP function.

[0092] On the other hand, when the pop-up window holding time has elapsed, the automatic driving control device 100 keeps the HDP function in standby mode and keeps the SCC function and LFA function in active mode to change the vehicle speed and lateral position to meet the activation conditions of the HDP function, and outputs a pop-up window prompting that the lateral position and vehicle speed cannot be automatically adjusted to use the HDP function (S209).

[0093] Subsequently, the autonomous driving control device 100 determines whether the pop-up window holding time has elapsed (S210). If the pop-up window holding time has not elapsed, it continues to output a pop-up window prompting that the vehicle cannot automatically adjust its lateral position and speed to use the HDP function. If the pop-up window holding time has elapsed, the autonomous driving control device 100 keeps the HDP function in standby mode and keeps the SCC function and LFA function in active mode to change the vehicle's speed and lateral position to meet the activation conditions of the HDP function.

[0094] Thus, according to this disclosure, when the activation conditions of the Level 3 autonomous driving control function are not met when determining whether to activate the Level 3 autonomous driving control function, the vehicle is controlled by activating the SCC function and LFA function, which are Level 2 autonomous driving control functions, to meet the activation conditions of the Level 3 autonomous driving control function, thereby satisfying the activation conditions of the Level 3 autonomous driving control function, and when the user has the intention to use the Level 3 autonomous driving control function, the Level 3 autonomous driving control function is activated.

[0095] Therefore, according to this disclosure, even when the activation conditions for the Level 3 autonomous driving control function are not met, vehicle control is still performed to meet the activation conditions for the Level 3 autonomous driving control function, and the user's intention is identified to activate the Level 3 autonomous driving control function, thereby increasing user convenience.

[0096] Figure 4 The illustration shows a computing system in an exemplary form according to this disclosure.

[0097] Reference Figure 4 The computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700, all connected to each other via a bus 1200.

[0098] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes 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 read-only memory (ROM) and random access memory (RAM).

[0099] Therefore, the steps of the methods or algorithms described in conjunction with the exemplary forms disclosed herein can be directly implemented as hardware, or as a software module executed by processor 1100, or a combination of hardware and software modules. The software module can reside in a storage medium such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, and CD-ROM (i.e., memory 1300 and / or storage device 1600).

[0100] An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Optionally, 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. Optionally, the processor and storage medium can reside as separate components in the user terminal.

[0101] The above description is only used to illustrate the technical ideas of this disclosure, and those skilled in the art can make various modifications and variations without departing from the essential characteristics of this disclosure.

[0102] Therefore, the exemplary forms disclosed herein are not intended to limit the technical ideas of this disclosure, but are used to interpret them, and the scope of the technical ideas of this disclosure is not limited by these exemplary forms. The scope of protection of this disclosure shall be interpreted through the claims, and all technical ideas within the equivalent scope shall be interpreted as being included within the scope of this disclosure.

Claims

1. An automatic driving control device, comprising: The processor is configured as follows: During autonomous driving control, it is determined whether the vehicle's current driving situation meets the activation conditions of the autonomous driving function, and When the current driving condition of the vehicle does not meet the activation conditions but the user inputs a request to activate the autonomous driving function, the vehicle is controlled to make the current driving condition meet the activation conditions, and then the autonomous driving function is executed when the activation conditions are met; and The storage device stores a set of instructions executed by the processor and data for judgment and execution by the processor. The processor is further configured to, when controlling the vehicle to make the current driving situation meet the activation conditions, activate at least one of intelligent cruise control (SCC) and lane following assist (LFA), then re-determine whether the activation conditions are met, and when the re-determination determines that the activation conditions are met, change the state of the autonomous driving function from standby to ready and activate at least one of the SCC and LFA functions.

2. The automatic driving control device according to claim 1, further comprising: The output device displays the status of the automatic driving control.

3. The automatic driving control device according to claim 1, wherein, The activation conditions include the vehicle speed and lane alignment conditions.

4. The automatic driving control device according to claim 3, wherein, The processor is configured to determine that the activation condition is met when the vehicle speed is within a predetermined speed range and the approach distance from the vehicle to the inside of the lane is greater than or equal to a predetermined distance.

5. The automatic driving control device according to claim 1, wherein, The processor is configured to When it is necessary to activate a Level 3 or higher autonomous driving control function among multiple levels of autonomous driving control functions, the vehicle is controlled by using a Level 2 autonomous driving control function to meet the activation conditions of the Level 3 or higher autonomous driving control function.

6. The automatic driving control device according to claim 2, wherein, The autonomous driving function includes at least one of the following: Highway Driving Pilot (HDP) function, Fully Automated Driving Control function, or Unmanned Autonomous Driving Control function.

7. The automatic driving control device according to claim 6, wherein, The processor is configured as a control output device to output a message indicating that the lateral position and speed of the vehicle are being adjusted to meet the activation conditions of the autonomous driving function.

8. The automatic driving control device according to claim 6, wherein, The processor is configured as a control output device to output a message asking the user whether to use the autonomous driving function.

9. The automatic driving control device according to claim 8, wherein, The processor is configured to activate the autonomous driving function and deactivate at least one of the SCC function and the LFA function when the user intends to use the autonomous driving function.

10. The automatic driving control device according to claim 8, wherein, The processor is configured to, when the user does not intend to use the autonomous driving function, after a predetermined time has elapsed following the output of a message asking whether to use the autonomous driving function, keep the autonomous driving function in the ready state and keep at least one of the SCC function and the LFA function in an active state.

11. The automatic driving control device according to claim 6, wherein, The processor is configured to, when the activation condition is not met as determined by the re-evaluation, control the output device to output a message indicating that the vehicle's lateral position and speed cannot be automatically adjusted after a predetermined time.

12. The automatic driving control device according to claim 11, wherein, The processor is configured to keep the autopilot function in standby mode and keep at least one of the SCC function and the LFA function active after a predetermined time has elapsed since the output message indicating that the autopilot cannot be automatically adjusted.

13. An automatic driving control method, comprising: During autonomous driving control, the processor determines whether the vehicle's current driving situation meets the activation conditions of the autonomous driving function. When the activation conditions are met and the user inputs a request to activate the autonomous driving function, the processor executes the activation of the autonomous driving function. When the activation conditions are not met but the user inputs a request to activate the autonomous driving function, the processor controls the vehicle to meet the activation conditions. as well as The processor re-determines whether the activation condition is met, and if the activation condition is met, the autonomous driving function is executed. The processor is configured to, when controlling the vehicle to make the current driving situation meet the activation conditions, activate at least one of the intelligent cruise control (SCC) function and the lane following assist (LFA) function, then re-determine whether the activation conditions are met, and when the re-determination determines that the activation conditions are met, change the state of the autonomous driving function from a standby state to a ready state and activate at least one of the SCC function and the LFA function.

14. The automatic driving control method according to claim 13, wherein, Determining whether the activation conditions are met includes using the vehicle's speed and lane alignment conditions to determine whether the activation conditions are met.

15. The automatic driving control method according to claim 13, wherein, Activating the autonomous driving function includes activating the autonomous driving function and deactivating at least one of Intelligent Cruise Control (SCC) and Lane Following Assist (LFA).

16. The automatic driving control method according to claim 13, wherein, Controlling the vehicle to meet the activation conditions includes: When the autonomous driving function is in standby mode, the vehicle speed and lateral position are controlled by activating at least one of Intelligent Cruise Control (SCC) and Lane Following Assist (LFA); and The output device outputs a message indicating that the vehicle's speed and lateral position are being controlled.

Images