Driving mode switching device and driving mode switching method

Abstract

The present disclosure relates to a driving mode switching device and a driving mode switching method. Specifically, the driving mode switching device according to the present disclosure includes: a driving mode switching determination unit configured to determine whether to switch the driving mode of the vehicle to an autonomous driving mode or a manual driving mode based on at least one of a driving mode, detection information, and driver detection information; and a driving mode switching unit configured to, when it is determined that the driving mode is to be switched, control a transition section for switching the driving mode and / or a ratio of a steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and switch the driving mode by changing the steering wheel control signal.

Description

Technical Field

[0001] The present disclosure relates to a driving mode switching device and a driving mode switching method. Background Art

[0002] Recently, research on autonomous driving technology has been actively conducted. In general autonomous driving, a road condition such as surrounding vehicles, pedestrians, obstacles, lanes, and traffic signals is recognized by an Advanced Driving Assistance System (ADAS), and a vehicle can drive autonomously based on the recognized information.

[0003] Autonomous driving can be classified into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and ultimately full autonomous driving according to its level. At any level, it is necessary to switch the driving mode from autonomous driving to manual driving. This need may arise at the request of a driver or at the request of a vehicle (i.e., an autonomous driving device).

[0004] Meanwhile, when switching the driving mode, a driver may feel discomfort in driving. Therefore, a technology that minimizes the discomfort felt by a driver when switching the driving mode is needed.

[0005] Meanwhile, in the case where an obstacle appears near an autonomous driving vehicle, a driver can more stably directly operate a steering wheel to avoid the obstacle. Therefore, a technology that improves driving stability by quickly changing the driving mode is needed. Summary of the Invention

[0006] Technical Problem

[0007] In this background, an object of the present disclosure is to provide a driving mode switching device and a driving mode switching method, which can improve driving stability and prevent safety accidents by quickly changing the driving mode even in an emergency.

[0008] In addition, an object of the present invention is to provide a driving mode switching device and a driving mode switching method that can suppress discomfort by adjusting a transition section of a driving mode.

[0009] Technical Solution

[0010] To solve the above problems, in one aspect, the present disclosure provides a driving mode switching device, which includes a driving mode switching determination unit configured to determine whether to switch the driving mode of the vehicle to an autonomous driving mode or a manual driving mode based on at least one of driving information, detection information, and driver detection information, and a driving mode switching unit configured to, when it is determined to switch the driving mode, adjust the transition section of switching the driving mode and / or the ratio of the steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and switch the driving mode by changing the steering wheel control signal.

[0011] In another aspect, the present disclosure provides a driving mode switching method, which includes: determining whether to switch the driving mode of the vehicle to an autonomous driving mode or a manual driving mode based on at least one of driving information, detection information, and driver detection information; and when it is determined to switch the driving mode, adjusting the transition section of switching the driving mode and / or the degree of change of the steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and switching the driving mode by changing the steering wheel control signal.

[0012] Advantageous Effects

[0013] According to an embodiment of the present disclosure, a driving mode switching device and a driving mode switching method can be provided, which can improve driving safety and prevent safety accidents by quickly changing the driving mode even in an emergency.

[0014] In addition, according to an embodiment of the present disclosure, a driving mode switching device and a driving mode switching method can be provided, which can minimize discomfort by adjusting the transition section of the driving mode. Brief Description of the Drawings

[0015] Figure 1 is a block diagram for illustrating a driving mode switching system according to the present invention.

[0016] Figure 2 schematically shows a steering assist system according to the present invention.

[0017] Figure 3 is a diagram showing a first embodiment of an autonomous driving mode operable according to the present disclosure.

[0018] Figure 4 is a diagram showing a second embodiment of an autonomous driving mode operable according to the present disclosure.

[0019] Figure 5a and Figure 5bIt is a flowchart for explaining the first and second embodiments of switching from an autonomous driving mode to a manual driving mode according to the present disclosure.

[0020] Figure 6 It is the first curve graph of the steering wheel control signal that changes when the driving mode is switched according to the present invention.

[0021] Figure 7 It is the second curve graph of the steering wheel control signal that changes when the driving mode is switched according to the present invention.

[0022] Figure 8 It is the third curve graph of the steering wheel control signal that changes when the driving mode is switched according to the present invention.

[0023] Figure 9 It is a flowchart for explaining the third embodiment of switching from an autonomous driving mode to a manual driving mode according to the present invention.

[0024] Figure 10 It is the fourth curve graph of the steering wheel control signal that changes when the driving mode is switched according to the present invention.

[0025] Figure 11 It is a flowchart for explaining the fourth embodiment of switching from an autonomous driving mode to a manual driving mode according to the present disclosure.

[0026] Figure 12 It is a flowchart for explaining the fifth embodiment of switching from an autonomous driving mode to a manual driving mode according to the present invention.

[0027] Figure 13 It is a flowchart for explaining the first embodiment of switching from a manual driving mode to an autonomous driving mode according to the present invention.

[0028] Figure 14 It is a flowchart for explaining the second embodiment of switching from a manual driving mode to an autonomous driving mode according to the present invention.

[0029] Figure 15 It is a flowchart for explaining the driving mode switching method according to the present invention. Detailed Embodiments

[0030] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. Terms such as "first", "second", "A", "B", "(a)", or "(b)" may be used herein to describe elements of the present disclosure. Each of these terms is not used to define the nature, order, sequence, quantity, etc. of the element, but is only used to distinguish the corresponding element from other elements. When an element is referred to as being "connected to", "coupled to", or "in contact with" another element, it should be interpreted that not only can the element be directly connected to, directly coupled to, or directly in contact with the other element, but also another element can be inserted between the element and the other element.

[0031] Figure 1 is a block diagram for explaining a driving mode switching system 100 according to the present invention.

[0032] Refer to Figure 1 , the driving mode switching system 100 according to the present disclosure may refer to a system for switching the driving mode between an autonomous driving mode and a manual driving mode. Specifically, when a specific situation occurs, such as an abnormality occurring in the vehicle that can be driven in either the autonomous driving mode or the manual driving mode, or an abnormality in the driver's condition, the driving mode switching system 100 can switch from the autonomous driving mode to the manual driving mode, or can switch from the manual driving mode to the autonomous driving mode.

[0033] Here, the autonomous driving mode may refer to a mode including both partial autonomous driving and full autonomous driving.

[0034] The driving mode switching system 100 may include a first sensor 110, a second sensor 120, a mode switching switch 130, a driving mode switching device 140, an actuator 150, etc.

[0035] The first sensor 110 may detect the surrounding environment of the vehicle and output detection information corresponding to the detection result to the driving mode switching device 140. For example, the first sensor 110 detects an object near the vehicle and outputs detection information about the detected object to the driving mode switching device 140. However, the present invention is not limited thereto.

[0036] Meanwhile, the first sensor 110 may detect the interior of the vehicle and output detection information corresponding to the detection result to the driving mode switching device 140. For example, the first sensor 110 detects a driver present inside the vehicle and outputs detection information about the detected driver to the driving mode switching device 140. However, it is not limited thereto.

[0037] Here, the detection target may exist in various ways. For example, the temperature outside and inside the vehicle may be the detection target, and the movement, blinking or staring, heart rate, etc. of the driver inside the vehicle may be the detection target. However, the present invention is not limited thereto.

[0038] The first sensor 110 may be arranged outside the vehicle or may be arranged inside the vehicle.

[0039] The first sensor 110 may be, for example, a camera 111, a radar 112, a lidar 113, an ultrasonic sensor 114, a grip sensor 115, and a temperature sensor. However, the present invention is not limited thereto.

[0040] Here, the grip sensor 115 may refer to a sensor for detecting whether a steering wheel (not shown) provided on the vehicle is gripped, the driver's heart rate, etc.

[0041] The second sensor 120 may detect the driving state of the vehicle and output driving information corresponding to the detection result to the driving mode switching device 140. For example, the second sensor 120 may detect the steering angle of a steering wheel (not shown) and output the steering angle information to the driving mode switching device 140. As another example, the second sensor 120 may detect the vehicle speed of the vehicle and output the vehicle speed information to the driving mode switching device 140. However, the present invention is not limited thereto.

[0042] The second sensor 120 may include, for example, a steering angle sensor 121, a yaw rate sensor 122, a steering torque sensor 123 for detecting the torque generated by the rotation of the steering wheel, a vehicle speed sensor 124, a brake operation sensor 125, a wheel rotation angle sensor 126 for detecting the rotation angle of the wheel, etc. However, the present invention is not limited thereto.

[0043] Here, as an example, the brake operation sensor 125 detects the operation of the brake by detecting the brake pedal pressure generated by the driver directly pressing the brake pedal in the vehicle in autonomous or manual driving. As another example, the brake operation sensor 125 detects the operation of the brake by detecting the autonomous emergency braking (AEB) operation in the vehicle in autonomous or manual driving. However, the present invention is not limited thereto.

[0044] The mode switching switch 130 may output switching information indicating a change in the driving mode to the driving mode switching device 140. The mode switching switch 130 may be operated by an input such as a user. For example, when a driver sitting in an autonomous driving vehicle presses the mode switching switch 130, the mode switching switch 130 outputs switching information of a command indicating a switch from the autonomous driving mode to the manual driving mode to the driving mode switching device 140. Meanwhile, the switching information may correspond to an electrical signal or a flag.

[0045] The driving mode switching device 140 may receive information from at least one of the first sensor 110 and the second sensor 120 to determine a driving mode switch. Additionally, when a driving mode switch is determined, the driving mode switching device 140 may switch the driving mode by adjusting a control signal for a specific period in each driving mode.

[0046] The driving mode switching device 140 may include a driving mode switching determination unit 141, a driving mode switching unit 142, etc.

[0047] The driving mode switching determination unit 141 may determine to switch the driving mode of the vehicle to either an autonomous driving mode or a manual driving mode based on at least one of driving information, detection information, and driver detection information.

[0048] Here, the detection information may refer to information output from the first sensor 110 to the driving mode switching device 140 by detecting the surrounding environment of the vehicle. The driver detection information may refer to information output from the first sensor 110 to the driving mode switching device 140 by detecting the driver located inside the vehicle. Meanwhile, as described above, the driving information may refer to information output from the second sensor 120.

[0049] For example, if the vehicle is driving autonomously without driver intervention, the driving mode switching determination unit 141 checks in the driver detection information whether the driver is holding the steering wheel to determine to switch the driving mode to the manual driving mode. More specific methods will be described later and are not limited to the above example.

[0050] As another example, when the driver directly holds the steering wheel to drive manually, the driving mode switching determination unit 141 may check the driver's eye movement from the driver detection information and compare the driver's eye movement with the eye movement in a normal state to determine the driving mode as the autonomous driving mode. More specific methods will be described later and are not limited to the above example.

[0051] The driving mode switching determination unit 141 may use multiple detection information as corresponding detection information to determine a driving mode switch, and may integrate multiple detection information and determine a driving mode switch.

[0052] For example, the driving mode switching determination unit 141 may distinguish the lane in which the vehicle is traveling or an adjacent lane among multiple detection information received from the camera 111, lidar 113, etc. included in the first sensor 110 based on the detection information received from the camera, and may determine whether there is an object near the vehicle based on the detection information received from the lidar.

[0053] As another example, the driving mode switching determination unit 141 may distinguish the lane in which the vehicle is traveling or an adjacent lane based on a plurality of detection information received from the camera 111, the lidar 113, etc. In this case, it is possible to determine whether the vehicle is traveling by identifying the driving lane and the adjacent lane.

[0054] If it is determined to switch the driving mode, the driving mode switching unit 142 may control or adjust at least one of the transition section for switching the driving mode and the ratio of the steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and may switch the driving mode by changing the ratio of the steering wheel control signal.

[0055] For example, when it is determined that the driving mode is switched from the autonomous driving mode to the manual driving mode, the driving mode switching unit 142 checks whether the brake is operated according to the driving information to change the transition section. Specifically, if the brake is not operated, the driving mode switching unit 142 may adjust the steering wheel control signal in the driving mode during the first transition section, and if the brake is operated, it may adjust the steering wheel control signal in the driving mode during a second transition section different from the first transition section, thereby switching the driving mode. A more specific method will be described later and is not limited to the above example.

[0056] As another example, when it is determined that the driving mode is switched from the manual driving mode to the autonomous driving mode, the driving mode switching unit 142 may change the transition section based on the driver detection information. Specifically, if the driver's condition is normal, the steering wheel control signal in the driving mode is adjusted during the first transition section, and if the driver's condition is abnormal, the steering wheel control signal in the driving mode is adjusted during a second transition section different from the first transition section, thereby switching the driving mode. A more specific method will be described later and is not limited to the above example.

[0057] Here, the steering wheel control signal in the driving mode is a signal for controlling the steering wheel or steering of the wheel, and may refer to a control signal for causing the steering angle of the wheel, the steering torque of the wheel, etc. Such a steering wheel control signal can be classified into, for example, an autonomous steering wheel control signal and a manual steering wheel control signal. The autonomous steering wheel control signal may refer to a signal for controlling the steering wheel of the wheel based on the external environment of the vehicle when the vehicle is driving in the autonomous driving mode, and the manual steering wheel control signal may refer to a signal for controlling the steering wheel of the wheel based on the driver's manipulation of the steering wheel when the vehicle is driving in the manual driving mode.

[0058] When performing a driving mode switch by determining the driving mode switch, the driving mode switching device 140 may output a control signal to the actuator 150. Here, the control signal may include the aforementioned runner control signal, and may include a reaction torque control signal for providing a reaction force feeling to the driver. However, the present invention is not limited thereto.

[0059] Specifically, when the driving mode is switched from the autonomous driving mode to the manual driving mode, the driving mode switching device 140 may reduce or decrease the autonomous runner control signal so that the vehicle does not travel (e.g., turn) through the autonomous runner control signal, and may increase the manual runner control signal so that the vehicle travels (e.g., turns) through the manual runner control signal according to the driver's manipulation of the steering wheel.

[0060] Conversely, if the driving mode is switched from the manual driving mode to the autonomous driving mode, the driving mode switching device 140 may increase the autonomous runner control signal so that the vehicle travels according to the autonomous runner control signal, and may decrease the manual runner control signal.

[0061] Meanwhile, if the vehicle is traveling in the autonomous driving mode, in order to make the vehicle perform appropriate steering, the driving mode switching device 140 may continuously output the autonomous runner control signal to the actuator 150 according to the external environment of the vehicle to control the steering of the wheels. Additionally, if the vehicle is being driven in the manual driving mode, in order to provide steering assistance to the driver, the driving mode switching device 140 continuously outputs the manual runner control signal to the actuator 150 according to the driver's manipulation of the steering wheel to control the steering of the wheels. That is, the driving mode switching device 140 may perform the steering control function of the steering control device.

[0062] The driving mode switching device 140 may be implemented as an electronic control device (e.g., an electronic control unit (ECU)), a microcomputer, etc.

[0063] The actuator 150 may be driven by receiving a control signal from the driving mode switching device 140. Specifically, the actuator 150 may receive a runner control signal from the driving mode switching device 140 to move or rotate the wheels, and may receive a reaction torque control signal from the driving mode switching device 140 to generate a reaction torque. However, it is not limited thereto.

[0064] The actuator 150 may include a steering input actuator 151, a steering output actuator 152, etc., and the steering input actuator 151 may include a steering wheel, a shaft, a reaction motor, etc. The steering output actuator 152 may include a steering motor, a rack, a tie rod, a wheel, etc. However, the present disclosure is not limited thereto.

[0065] As described above, according to the present disclosure, driving stability can be provided by quickly switching the driving mode in an emergency and minimizing discomfort felt by the driver when switching the driving mode.

[0066] Hereinafter, embodiments of a steering assist system 200 that can perform the functions of the above-described driving mode switching system 100 and assist in steering the present vehicle will be described.

[0067] Figure 2 The steering assist system 200 according to the present invention is schematically shown.

[0068] See Figure 2 , the steering assist system 200 according to the present disclosure refers to a system that assists the steering force in the case of a manual driving mode so that the driver can easily steer and steers the present vehicle in the case of an autonomous driving mode without driver manipulation.

[0069] According to the driving method, the steering assist system 200 may include a hydraulic power steering (HPS) for generating hydraulic pressure by rotating a pump to provide steering assistance and an electric power steering (EPS) for providing steering assistance by driving a motor. Hereinafter, for convenience, the present disclosure will be described with reference to the electric steering assist system 200, but the present disclosure is not limited thereto.

[0070] Meanwhile, according to whether the steering input actuator 210 and the steering output actuator 230 are connected by a mechanical connection member (or link), the steering assist system 200 may be a mechanical system in which the force (torque) generated by the driver turning the steering wheel 211 is transmitted to the steering motor 231 through a mechanical power transmission device (e.g., a link, etc.) to steer the wheels 233. Alternatively, the steering assist system 200 may be a steer-by-wire (SBW) system that transmits power by transmitting and receiving electrical signals via wires, cables, etc. instead of a mechanical power transmission device. Hereinafter, the steering assist system 200 will be described based on the SBW system, but it is not limited thereto.

[0071] Figure 2 The shown steering assist system 200 according to the present invention may include a steering input actuator 210, an electronic control device 220, a steering output actuator 230, etc. As described above, if the steering assist system 200 is an SBW system, the steering input actuator 210 and the steering output actuator 230 may be mechanically separated.

[0072] The steering input actuator 210 may refer to a device that inputs steering information desired by the driver. As described above, the steering input actuator 210 may include a steering wheel 211, a steering shaft 212, and a reaction force motor 213, and may further include a steering angle sensor 121 and a steering torque sensor 123 as the second sensor 120.

[0073] The reaction force motor 213 can receive a control signal (or command current) from the electronic control device 220 to apply a reaction force to the steering wheel 211. Specifically, the reaction force motor 213 can receive the command current from the electronic control device 220, and can be driven at a rotational speed indicated by the command current to generate a reaction force torque.

[0074] The electronic control device 220 can receive steering information from the steering input actuator 210, calculate a control value, and output an electrical signal indicating the control value to the steering output actuator 230. Here, the steering information can refer to information including at least one of a steering angle and a driver's torque.

[0075] Meanwhile, the electronic control device 220 can receive power information actually output from the steering output actuator 230 to calculate a control value, and output an electrical signal indicating the control value to the steering input actuator 210, thereby providing a steering feeling to the driver.

[0076] The electronic control device 220 can be implemented as an electronic control unit (ECU), a microcomputer, etc. similar to the above-described driving mode switching device 140.

[0077] The steering output actuator 230 can refer to a device that actually drives the steering of the vehicle. The steering output actuator 230 can include a steering motor 231, a rack 232, wheels 233, etc., and can further include a vehicle speed sensor 124 and a rack position sensor as the second sensor 120.

[0078] The steering motor 231 can move the rack 232 axially. Specifically, the steering motor 231 can be driven by receiving a command current from the electronic control device 220, and can move the rack 232 in a straight line in the axial direction.

[0079] The rack 232 can perform a straight-line motion by driving the steering motor 231, and the wheels 233 can turn left or right by the straight-line motion of the rack 232.

[0080] Although not shown, the steering assist system 200 according to the present disclosure may further include a clutch capable of separating or coupling the steering input actuator 210 and the steering output actuator 230. Here, the clutch can operate under the control of the electronic control device 220.

[0081] Meanwhile, when the steering assist system 200 according to the present disclosure is an SBW system and the vehicle is traveling in an autonomous driving mode, the steering assist system 200 according to the present disclosure may control only the steering output actuator 230 to perform the steering control of the vehicle, or control both the steering input actuator 210 and the steering output actuator 230 to perform the steering control of the vehicle.

[0082] Hereinafter, embodiments of the autonomous driving mode according to the present disclosure will be described in detail.

[0083] Figure 3 is a diagram showing a first embodiment of the autonomous driving mode operable according to the present disclosure, and Figure 4 is a diagram showing a second embodiment of the autonomous driving mode operable according to the present disclosure.

[0084] The autonomous driving mode according to the present disclosure may include a mode in which the steering wheel 320 moves in the same turning direction as the wheels 331 and 332, or a mode in which the steering wheel 320 is fixed regardless of the movement and turning direction of the wheels 331 and 332. Such a mode may be selectively implemented according to the selection of the driver 310.

[0085] Refer to Figure 3 , for example, if the wheels 331 and 332 included in the autonomous driving vehicle turn to the right, the steering wheel 320 also turns to the right. According to an embodiment of the autonomous driving mode, the driver 310 can easily predict the turning direction of the vehicle only through the rotation of the steering wheel 320.

[0086] Meanwhile, referring to Figure 4 , for example, even if the wheels 331 and 332 included in the autonomous driving vehicle turn to the right, the steering wheel 320 may be fixed while maintaining a specific rotation angle. Here, the specific rotation angle may be an angle formed when the manual driving mode is switched to the autonomous driving mode, and an angle corresponding to the neutral position of automatic alignment when the manual driving mode is switched to the autonomous driving mode (for example, 0 degrees). However, the present invention is not limited thereto, and preferably, the steering wheel 320 maintains the neutral position. According to this embodiment of the autonomous driving mode, energy can be saved by preventing unnecessary driving of the steering input actuator 151 during autonomous driving, convenience can be provided to the driver 310 by being different from the manual driving mode, and a phenomenon of obstructing the driver's 310 view due to the rotation of the steering wheel 320 can be prevented.

[0087] Hereinafter, a method for determining the switching of the driving mode and a method for switching the driving mode according to the present disclosure will be described.

[0088] Figure 5a and Figure 5bIt is a flowchart for explaining the first embodiment and the second embodiment of switching from an autonomous driving mode to a manual driving mode according to the present disclosure.

[0089] Refer to Figure 5a , the driving mode switching device 140 according to the present disclosure can be switched by an input of a driver in the vehicle to start the autonomous driving mode (S110).

[0090] If the autonomous driving mode is started, the driving mode switching device 140 according to the present disclosure can obtain the steering angular velocity of the steering wheel from the driving information (S120), and compare the steering angular velocity with a preset reference steering angular velocity (S130). Here, the steering angular velocity can be included in the driving information by differentiating the steering angle detected by the steering angle sensor 121 with respect to time. However, the present disclosure is not limited thereto, and the driving mode switching device 140 can directly differentiate the steering angle with respect to time to obtain the steering angular velocity.

[0091] Meanwhile, the driving mode switching device 140 can determine whether to output switching information (S140). Here, the switching information can be the information generated by the switch 130 as described above. In a general case where no obstacle appears while the vehicle is autonomously driving, the driver can switch the driving mode of the vehicle at any time by operating the switch 130, regardless of the steering angular velocity of the steering wheel, so that the driving mode switching device 140 can monitor whether switching information is output when the autonomous driving mode is started. Meanwhile, if the steering angular velocity is equal to or greater than the reference steering angular velocity, the driving mode switching device 140 can determine to switch the driving mode from the autonomous driving mode to the manual driving mode, and can non-linearly change the wheel control signal during the transition section (S151).

[0092] If the steering angular velocity is less than the reference steering angular velocity, the driving mode switching device 140 can end the operation. In this case, the driving mode can be maintained as the autonomous driving mode.

[0093] Meanwhile, if the switching information is output, the driving mode switching device 140 can linearly change the wheel control signal (S152), and if the switching information is not output, the driving mode switching device 140 can end the operation. In this case, the driving mode can be maintained as the autonomous driving mode.

[0094] Subsequently, the manual driving mode can be started in the vehicle according to the present disclosure (S160).

[0095] Meanwhile, although not shown, the driving mode switching device 140 according to the present disclosure can determine whether there is an emergency situation based on whether there is a brake operation (instead of the method of comparing the steering angular velocity and the reference steering angular velocity), and change the wheel control signal.

[0096] Figure 5a The first embodiment shown can be applied to the following situation: when an obstacle suddenly appears while the vehicle is driving autonomously and the driver quickly manipulates the steering wheel.

[0097] As described above, the driving mode switching device 140 according to the present disclosure can provide the effect of preventing safety accidents by quickly changing the driving mode in dangerous situations that may occur during driving.

[0098] In addition, the driving mode switching device 140 according to the present disclosure can provide the effect of minimizing the discomfort felt by the driver.

[0099] Meanwhile, there may be a situation where the steering angular velocity is greater than or equal to the reference steering angular velocity even if the driver does not operate the steering wheel emergently. In this case, it is necessary to prevent the driving mode switching device 140 according to the present disclosure from erroneously changing the driving mode.

[0100] Reference Figure 5b , steps S110 to S130 are the same as the steps described above with reference to Figure 5a and thus their descriptions are omitted.

[0101] In this case, if the steering angular velocity is less than the reference steering angular velocity, the driving mode switching device 140 can end the operation. In this case, the driving mode can be maintained as the autonomous driving mode. Meanwhile, if the steering angular velocity is equal to or greater than the reference steering angular velocity, the driving mode switching device 140 can determine to change the driving mode from the autonomous driving mode to the manual driving mode.

[0102] For example, the driving mode switching determination unit 141 can obtain the steering angular velocity of the steering wheel from the driving information and can compare the steering angular velocity with a preset reference steering angular velocity.

[0103] Furthermore, if the steering angular velocity is equal to or greater than the reference steering angular velocity, the driving mode switching determination unit 141 can determine to switch the autonomous driving mode of the vehicle driving autonomously to the manual driving mode.

[0104] Then, the driving mode switching device 140 can check whether the brakes of the vehicle are operated in the driving information (S141) and can adjust the transition section according to whether the brakes are operated.

[0105] Here, the transition section refers to the period during which the driving mode is changed or switched and the brakes can be manually operated by the driver or automatically operated by AEB as described above.

[0106] If the brake is operated, the driving mode switching device 140 may non-linearly change or adjust the runner control signal (S151) during the transition section, and if the brake is not operated, the driving mode switching device 140 may linearly adjust the runner control signal (S152) during the transition section.

[0107] For example, the driving mode switching unit 142 may check the brake operation information from the driving information, and if the brake of the vehicle is not operated, may linearly decrease the autonomous runner control signal and linearly increase the manual runner control signal during the transition section. If the brake of the vehicle is operated, the driving mode switching unit 142 may non-linearly decrease the autonomous runner control signal and non-linearly increase the manual runner control signal during the transition section.

[0108] Meanwhile, the driving mode switching device 140 may adjust the transition section according to whether the brake is operated, rather than the form of change of the runner control signal in the driving mode. That is, if the brake is operated, the driving mode switching device 140 may adjust the runner control signal (S151) by adjusting the transition section to a second transition section. If the brake is not operated, the driving mode switching device 140 may adjust (or set) the transition section to a first transition section to adjust the runner control signal (S152).

[0109] Here, the first transition section may be a default value set when the driver commands a change in the driving mode using the mode switching switch 130, and the second transition section may refer to a value set to a shorter time period than the first transition section in order to quickly switch the driving mode in response to an emergency.

[0110] For example, the driving mode switching unit 142 may check whether the brake is operated according to the driving information, and if the brake of the vehicle is not operated, may decrease or reduce the autonomous runner control signal and increase the manual runner control signal during the first transition section. If the brake of the vehicle is operated, the driving mode switching unit 142 may adjust the transition section to a second transition section shorter than the first transition section, and may decrease the autonomous runner control signal and increase the manual runner control signal during the second transition section.

[0111] Meanwhile, the driving mode switching device 140 may adjust the transition section and the form of change of the runner control signal as needed.

[0112] In addition, the driving mode switching device 140 according to the present disclosure may switch to activate the manual driving mode (S160) in the vehicle.

[0113] Meanwhile, although not shown, in Figure 5bIn the second embodiment shown, since the driver can first operate the brake or the autonomous driving vehicle can first perform AEB in an emergency, step S141 can be first executed, and then step S130 can be executed. That is, the driving mode switching device 140 according to the present disclosure can determine whether the brake of the vehicle is operated (S141) and compare the steering angular velocity with the reference steering angular velocity (S130). In addition, the driving mode switching device can change the runner control signal according to the results of two steps (S151, S152).

[0114] As described above, the driving mode switching device 140 according to the present disclosure can provide an effect of preventing failures in driving mode switching by checking emergencies in stages.

[0115] Hereinafter, the embodiment of adjusting the transition section and the embodiment of adjusting the runner control signal will be described in detail by showing a graph.

[0116] Figure 6 is the first graph of the runner control signal changed when the driving mode is switched according to the present disclosure, Figure 7 is the second graph of the runner control signal changed when the driving mode is switched according to the present disclosure, and Figure 8 is the third graph of the runner control signal changed when the driving mode is switched according to the present disclosure.

[0117] If the driver generates a mode switching command using the mode switching switch 130, the driving mode switching device 140 can linearly change the runner control signal in the driving mode during the transition section T.

[0118] See Figure 6 , for example, if it is determined that the driving mode is switched from the autonomous driving mode to the manual driving mode, the autonomous runner control signal can have a specific ratio (e.g., 100%) before the transition section T (the specific ratio is determined based on the external environment of the vehicle), can linearly decrease during the transition section T, and can be maintained at 0 (zero) after the transition section T has passed.

[0119] Meanwhile, the manual runner control signal can be maintained at 0 (zero) before the transition section T, can linearly increase during the transition section T, and can have a specific value (e.g., 100%) determined based on the driver's manipulation of the steering wheel after the transition section T has passed.

[0120] Meanwhile, if an unexpected obstacle is detected outside the vehicle, the driver usually operates the brake. In this case, in order for the driver to directly manipulate the steering wheel to perform an avoidance steering, it is necessary to quickly change from the autonomous driving mode to the manual driving mode, so it is necessary to set the transition section to be shorter than Figure 6The shown transition section is short.

[0121] Refer to Figure 7 , for example, in the general case where the driver uses the mode switching switch 130 to issue a mode change command, the driving mode switching device 140 can adjust the autonomous wheel control signal during the first transition section T1.

[0122] However, if the driver operates the brake or the AEB operates due to the unexpected appearance of an obstacle, the driving mode switching device 140 can adjust the transition section to a second transition section T2 that is shorter than the first transition section T1. In this case, the autonomous wheel control signal can linearly decrease during the second transition section T2, and the manual wheel control signal can linearly increase during the second transition section T2.

[0123] At the same time, as described above, the degree of change in the ratio of the wheel control signal (rather than the transition section) can be adjusted.

[0124] Refer to Figure 8 , for example, when the driving mode is switched, the autonomous wheel control signal can decrease non-linearly according to the first curve graph (the magnitude of the slope gradually decreases).

[0125] At the same time, when the driving mode is switched, the manual wheel control signal can increase non-linearly according to the second curve graph (the magnitude of the slope gradually decreases).

[0126] Although not shown, in an emergency, the driving mode switching device 140 can not only Figure 8 change the wheel control signal non-linearly as Figure 7 shown, but also decrease the transition section as

[0127] shown. As described above, the driving mode switching device 140 according to the present disclosure can avoid safety accidents by controlling a quick change in the driving mode when a dangerous situation occurs during autonomous driving.

[0128] At the same time, there may be a situation where the driver quickly manipulates the steering wheel. In this case, if the difference between the steering angle of the steering wheel and the wheel angle of the wheel is large, the driver may feel a large sense of unevenness when switching the driving mode.

[0129] Figure 9 is a flowchart for explaining a third embodiment of switching from an autonomous driving mode to a manual driving mode according to the present invention.

[0130] Refer to Figure 9 , the driving mode switching device 140 according to the present disclosure can be controlled by the driver's input to start the autonomous driving mode (S210) in the present vehicle.

[0131] If the autonomous driving mode is activated, the driving mode switching device 140 according to the present disclosure can obtain the steering angle and the wheel angle from the driving information, calculate the difference between the steering angle and the wheel angle (S220), and compare the difference with a preset reference difference (S230).

[0132] In this case, if the difference is equal to or greater than the reference difference, the driving mode switching device 140 may determine to switch the driving mode from the autonomous driving mode to the manual driving mode (S240). On the other hand, if the difference is less than the reference difference, the driving mode switching device 140 may end the operation. In this case, the driving mode may be maintained as the autonomous driving mode.

[0133] For example, the driving mode switching determination unit 141 can obtain the steering angle of the steering wheel and the wheel angle of the wheel from the driving information, and calculate the difference between the steering angle and the wheel angle.

[0134] If the difference is equal to or greater than the preset reference difference, the driving mode switching determination unit 141 may determine to switch the autonomous driving mode of the present vehicle in autonomous driving to the manual driving mode.

[0135] Subsequently, the driving mode switching device 140 may adjust at least one of the transition section and the change form of the wheel control signal based on the difference (S250).

[0136] For example, the driving mode switching unit 142 may adjust the transition section based on the difference between the steering angle and the wheel angle, and may decrease the autonomous wheel control signal and increase the manual wheel control signal during the adjusted transition section.

[0137] Here, if the difference increases, the transition section may increase. That is, although not directly shown, similar to that shown in Figure 7 the transition section T may become larger or smaller according to the difference.

[0138] Subsequently, the manual driving mode may be activated in the present vehicle according to the present disclosure (S170).

[0139] At the same time, the change form of the wheel control signal may also be adjusted according to the difference between the steering angle and the wheel angle. Hereinafter, the implementation manner of adjusting the wheel control signal according to the difference between the steering angle and the wheel angle will be described in detail using a graph.

[0140] Figure 10 is the fourth graph of the wheel control signal that changes when the driving mode is switched according to the present invention.

[0141] The driving mode switching unit 142 included in the driving mode switching device 140 according to the present disclosure may decrease or reduce the autonomous wheel control signal during the transition section according to a third curve graph (wherein the magnitude of the slope of the autonomous wheel control signal increases), and may increase the manual wheel control signal during the transition section according to a fourth curve graph (wherein the magnitude of the slope of the manual wheel control signal increases).

[0142] Referring to Figure 10 , for example, compared with a straight-line graph, the third curve graph has a shape that bulges upward to the right. In the case of the third curve graph, as time passes, the magnitude of the slope, which is the change amount of the autonomous wheel control signal per unit time (or the difference value of the autonomous wheel control signal), gradually increases.

[0143] In addition, the third curve graph may be a graph in which the change amount of the slope of the autonomous wheel control signal increases as the difference between the steering angle and the wheel angle increases. Specifically, as the difference increases, the third curve graph may become more convex. That is, if the difference increases, the curve shape of the third curve graph may change from (1) to (3).

[0144] Continuing to refer to Figure 10 , for example, compared with a straight-line graph, the fourth curve graph may have a curve shape that bulges downward to the right. In the case of the fourth curve graph, as time passes, the magnitude of the slope, which is the change amount of the manual wheel control signal per unit time (or the difference value of the manual wheel control signal), gradually increases.

[0145] In addition, the fourth curve graph may be a graph in which the change amount of the slope of the manual wheel control signal increases as the difference between the steering angle and the wheel angle increases. Specifically, when the difference increases, the fourth curve graph may become more convex. That is, if the difference increases, the curve shape of the fourth curve graph may change from (1) to (3) in the same manner as in the third curve graph.

[0146] Although not shown, the driving mode switching device 140 may also adjust the transition section in the same manner as described above while adjusting the change form of the wheel control signal. Figure 9 the same way as described above.

[0147] As described above, the driving mode switching device 140 according to the present disclosure can minimize the discomfort felt by the driver when switching the driving mode by adjusting the transition section for switching the driving mode.

[0148] Meanwhile, in the case where the driver turns the steering wheel in a direction opposite to the wheel rotation direction, the driver may feel a more uneven feeling due to the change in the driving mode.

[0149] Therefore, for simple and quick operation processing, it is necessary to determine whether the rotation direction of the steering wheel is consistent with the rotation direction of the wheels, and adjust the transition section and the change form of the rotation control signal when switching the driving mode.

[0150] Figure 11 FIG. is a flowchart for explaining a fourth embodiment of switching from an autonomous driving mode to a manual driving mode according to the present disclosure.

[0151] Refer to Figure 11 , as referred to above Figure 10 As described above, according to the present disclosure, the autonomous driving mode can be started (S310) by a driver input in the present vehicle. In addition, the driving mode switching device 140 according to the present disclosure can calculate the difference between the steering angle and the rotation angle (S320), compare the difference with a reference difference (S330), and determine to switch the driving mode according to the comparison result (S340).

[0152] Here, when it is determined to switch the driving mode, the driving mode switching device 140 can determine whether the sign of the steering angle is the same as the sign of the rotation angle (S350). This is to compare the rotation direction of the steering wheel and the rotation direction of the wheels. The rotation direction of the steering wheel and the rotation direction of each wheel can be expressed using symbolic mathematics. Similarly, the direction of the steering angle generated by the rotation of the steering wheel and the rotation angle generated by the rotation of the wheels can also be represented using mathematical symbols.

[0153] If the signs of the steering angle and the rotation angle match, the driving mode switching device 140 can adjust the transition section to a first transition section, and / or can linearly change the rotation control signal. If the signs of the steering angle and the rotation angle do not match, the driving mode switching device 140 can adjust the transition section to a second transition section, and / or can non-linearly change the rotation control signal.

[0154] For example, the driving mode switching unit 142 compares the signs of the steering angle and the rotation angle. If the sign of the steering angle is the same as the sign of the rotation angle, the driving mode switching unit 142 can decrease the autonomous rotation control signal and increase the manual rotation control signal during the first transition section. If the sign of the steering angle is not the same as the sign of the rotation angle, the driving mode switching unit 142 can adjust the transition section to a second transition section longer than the first transition section, and can decrease the autonomous rotation control signal and increase the manual rotation control signal during the second transition section.

[0155] As another example, the driving mode switching unit 142 may compare the sign of the steering angle and the sign of the wheel angle. If the signs of the steering angle and the wheel angle match, the driving mode switching unit 142 may linearly decrease the autonomous wheel control signal and linearly increase the manual wheel control signal during the transition period. If the signs of the steering angle and the wheel angle do not match, the driving mode switching unit 142 may non-linearly decrease the autonomous wheel control signal and non-linearly increase the manual wheel control signal during the transition period.

[0156] Here, if the sign of the steering angle is the same as the sign of the wheel angle, the autonomous wheel control signal and the manual wheel control signal may change linearly as shown in Figure 6 and Figure 7 .

[0157] Meanwhile, similarly as shown in Figure 10 , if the signs of the steering angle and the wheel angle do not match, the autonomous wheel control signal may be non-linearly decreased when switching the driving mode according to the third graph (where the magnitude of the slope increases).

[0158] Similarly, similarly as shown in Figure 10 , if the signs of the steering angle and the wheel angle do not match, the manual wheel control signal may be non-linearly increased while switching the driving mode according to the fourth graph (where the magnitude of the slope increases).

[0159] As described above, the driving mode switching device 140 according to the present disclosure can minimize the discomfort or unevenness felt by the driver when switching the driving mode while increasing the calculation speed.

[0160] Meanwhile, as described above with reference to Figure 4 , in the autonomous driving mode according to the present disclosure, the vehicle can autonomously drive with the steering wheel fixed, regardless of the movement of the wheels. Compared with the case of autonomous driving when the steering wheel moves together with the movement of the wheels, in this case, the driver may feel greater discomfort when switching the driving mode.

[0161] Hereinafter, a method for determining whether to switch the driving mode and a method for switching the driving mode in the case where the steering wheel is fixed while the vehicle is autonomously driving regardless of the movement of the wheels will be described in detail.

[0162] Figure 12 is a flowchart for explaining a fifth embodiment of switching from the autonomous driving mode to the manual driving mode according to the present invention.

[0163] See Figure 12 , the autonomous driving mode according to the present invention may be started as a mode in which the vehicle autonomously drives while the steering wheel is asFigure 4 As shown, it is fixed (S410).

[0164] In this case, when starting the autonomous driving mode as shown Figure 4 the driving mode switching device 140 according to the present disclosure may store the rotation angle of the steering wheel detected by the second sensor 120 (S420).

[0165] For example, if the vehicle starts autonomous driving, the driving mode switching unit 142 may obtain the rotation angle of the steering wheel from the driving information and store it in advance. In this case, if the steering wheel is fixed to the neutral position, the pre-stored rotation angle is 0. However, the present disclosure is not limited thereto.

[0166] Thereafter, the driving mode switching device 140 according to the present disclosure may determine whether the driver is holding the steering wheel (S430). Specifically, the driving mode switching device 140 may determine whether the driver is holding the steering wheel based on the detection information detected by the grip sensor 115 as the second sensor 120.

[0167] If it is determined that the driver is holding the steering wheel, the driving mode switching device 140 may determine to change the driving mode from the autonomous driving mode to the manual driving mode (S440). At the same time, if it is determined that the driver is not holding the steering wheel, the driving mode switching device 140 may end the operation. In this case, the driving mode may be maintained as the autonomous driving mode.

[0168] For example, if during the autonomous driving of the vehicle, the rotation angle of the steering wheel is constantly maintained regardless of the rotation angle of the wheels, the driving mode switching determination unit 141 may determine whether the driver is holding the steering wheel based on the driver detection information. If it is determined that the driver is holding the steering wheel, the driving mode switching determination unit 141 may determine to switch the autonomous driving mode of the vehicle to the manual driving mode.

[0169] Subsequently, the driving mode switching device 140 may obtain the rotation angle of the wheels from the driving information (S450). Specifically, the driving mode switching device 140 may obtain the rotation angle of the wheels immediately before determining to switch the autonomous driving mode to the manual driving mode. Then, the driving mode switching device 140 may calculate the difference between the pre-stored rotation angle of the steering wheel and the rotation angle of the wheels (S460), and may adjust at least one of the transition section and the change form of the rotation control signal based on the above difference (S470).

[0170] For example, before the autonomous driving mode is switched to the manual driving mode, the driving mode switching unit 142 can obtain the rotation angle of the wheels from the driving information, can adjust the transition section based on the difference between the pre-stored rotation angle and the rotation angle of the wheels, and can reduce the autonomous wheel control signal and increase the manual wheel control signal during the adjusted transition section.

[0171] As another example, before the autonomous driving mode is switched to the manual driving mode, the driving mode switching unit 142 can obtain the rotation angle of the wheels from the driving information, and can adjust the wheel control signal according to a curve graph determined based on the difference between the pre-stored rotation angle and the rotation angle of the wheels. In this case, the driving mode switching unit 142 can reduce the autonomous wheel control signal according to a third curve graph (where the magnitude of the slope of the autonomous wheel control signal increases) during the transition section, and increase the manual wheel control signal according to a fourth curve graph (where the magnitude of the slope of the manual wheel control signal increases) during the transition section.

[0172] Here, the third curve graph and the fourth curve graph can be the same as the curve graphs shown in Figure 10 and, similarly as described above, the third curve graph can be a curve graph where the change amount of the slope of the autonomous wheel control signal increases as the difference between the rotation angle and the rotation angle of the wheels increases. Additionally, the fourth curve graph can be a curve graph where the change amount of the slope of the manual wheel control signal increases as the difference between the rotation angle and the rotation angle of the wheels increases.

[0173] As described above, the driving mode switching device 140 according to the present disclosure can minimize the unevenness felt by the driver when switching the driving mode by adjusting the transition section of switching the driving mode and / or the ratio of the wheel control signal.

[0174] Meanwhile, in an emergency situation, such as when the driver is driving drowsily or the driver's health condition deteriorates, it may be necessary to quickly switch from the manual driving mode to the autonomous driving mode.

[0175] Figure 13 is a flowchart for explaining a first embodiment of switching from the manual driving mode to the autonomous driving mode according to the present invention.

[0176] Refer to Figure 13 , the driving mode switching device 140 according to the present disclosure can be controlled to start the manual driving mode (S510). As described above, the manual driving mode can be started by the driver's input or the driving mode switching described above with reference to Figures 5a to 11 description.

[0177] The driving mode switching device 140 can analyze the driving style of the driver, the condition or state of the driver, etc. (S520). Additionally, if the driving style or condition of the driver is abnormal (S530), the driving mode switching device 140 can determine to switch from the manual driving mode to the autonomous driving mode (S540).

[0178] Here, the driving mode switching device 140 can analyze only the driving style of the driver, can analyze only the condition of the driver, or can analyze both the driving style and the condition of the driver.

[0179] For example, the driving mode switching determination unit 141 can analyze the driving style of the driver based on driving information, and as a result of the analysis, if the driving style of the driver is abnormal, it can determine to switch the manual driving mode of the present vehicle in manual driving to the autonomous driving mode.

[0180] Specifically, the driving mode switching determination unit 141 can measure the number of times the direction (or sign) of the steering angle and the wheel angle changes within a unit time in the driving information, and if the measured number of times is greater than or equal to a preset reference number of times, it can determine that the driving style of the driver is abnormal. However, the present disclosure is not limited thereto.

[0181] As another example, the driving mode switching determination unit 141 can obtain at least one of the driver's eyes and the driver's heart rate from the driver detection information and analyze the condition of the driver. If as a result of the analysis, the condition of the driver is abnormal, the driving mode switching determination unit can determine to switch the manual driving mode of the present vehicle in manual driving to the autonomous driving mode.

[0182] Specifically, the camera 111 of the first sensor 110 installed inside can detect the iris region in the driver's face area, perform the calculation of the iris center point, and can output it to the driving mode switching device 140 by including the calculation result in the driver detection information. The driving mode switching determination unit 141 can compare the movement of the iris center point with a preset normal movement pattern, and if the movement of the iris center point does not match the normal movement pattern, it can determine that the condition of the driver is abnormal.

[0183] Here, as a method for detecting the iris region, the image captured by the first sensor 110 can be processed into a binary transformed image, which can be segmented again, and the R, G, and B color differences can be used to detect the iris region. Additionally, a method of setting the iris region through the region of interest (ROI) can be used. However, the present disclosure is not limited thereto.

[0184] In addition to the above examples, if the camera 111, which is the first sensor 110, detects the open / closed state of the driver's eyes and if the eyes are not opened within a unit time, the driving mode switching device 140 may determine that the driver's condition is abnormal.

[0185] As another example, the grip sensor 115, which is the first sensor 110, may detect the heart rate of the driver holding the steering wheel. The driving mode switching determination unit 141 may obtain the driver's heart rate from the driver detection information, compare the driver's heart rate with a preset normal heart rate, and if the difference between the driver's heart rate and the normal heart rate is not included within a preset error range, may determine that the driver's condition is abnormal. However, the present disclosure is not limited thereto.

[0186] If it is determined to switch the driving mode, the driving mode switching device 140 may adjust the transition section (S551). At the same time, the driving mode switching device 140 may adjust the changing form of the runner control signal (S552). In steps S551 and S552, one of the steps may be selectively executed in a manner similar to the above method, or both steps may be executed simultaneously or asynchronously.

[0187] First, if, for example, it is determined to switch the driving mode based on the driver's driving style, the driving mode switching unit 142 may adjust the transition section to a second transition section shorter than the first transition section corresponding to the case where the driver's driving style is normal, and may increase the autonomous runner control signal and decrease the manual runner control signal during the second transition section. In this case, the first transition section and the second transition section may be represented similar to Figure 7 that shown.

[0188] As another example, the driving mode switching unit 142 may increase the autonomous runner control signal during the transition section according to a first curve graph (where the magnitude of the slope of the autonomous runner control signal decreases), and may decrease the manual runner control signal during the transition section according to a second curve graph (where the magnitude of the slope of the manual runner control signal decreases). In this case, the first curve graph and the second curve graph may be represented similar to Figure 8 the curve graph shown.

[0189] At the same time, if it is determined to switch the driving mode based on, for example, the driver's condition, the driving mode switching unit 142 may adjust the transition section to a second transition section shorter than the first transition section corresponding to the case where the driver's condition is normal, and may increase the autonomous runner control signal and decrease the manual runner control signal during the second transition section. In this case, the first transition section and the second transition section may be represented similar to Figure 7 that shown.

[0190] As another example, the driving mode switching unit 142 can increase the autonomous wheel control signal during the transition period according to the first curve graph (wherein, the magnitude of the slope of the autonomous wheel control signal decreases), and can decrease the manual wheel control signal during the transition period according to the second curve graph (wherein, the magnitude of the slope of the manual wheel control signal decreases). In this case, the first curve graph and the second curve graph can be similar to Figure 8 the curve graph shown.

[0191] Thereafter, the driving mode switching device 140 according to the present disclosure can be controlled to start in the autonomous driving mode (S560).

[0192] Meanwhile, the driving mode switching device 140 can determine to switch from the manual driving mode to the autonomous driving mode based on whether the driver holds the steering wheel, so that the calculation process for determining the switching of the driving mode can be more simplified.

[0193] Figure 14 is a flowchart for explaining a second embodiment of switching from the manual driving mode to the autonomous driving mode according to the present invention.

[0194] Referring to Figure 14 , the manual driving mode according to the present disclosure is started (S610), and the driving mode switching device 140 according to the present disclosure can check whether the driver holds the steering wheel based on the driver detection information (S620). If the driver does not hold or is holding the steering wheel, the driving mode switching device 140 can determine to switch from the manual driving mode to the autonomous driving mode (S630).

[0195] For example, when the vehicle is being manually driven, the driving mode switching determination unit 141 can determine whether the driver does not hold the steering wheel based on the driver detection information. Additionally, if it is determined that the driver does not hold the steering wheel, the driving mode switching determination unit 141 can determine to switch the manual driving mode of the vehicle to the autonomous driving mode.

[0196] If it is determined to switch the driving mode, the driving mode switching device 140 can adjust the transition period (S641). Alternatively, the driving mode switching device 140 can adjust the change form of the wheel control signal (S642). As referred to above Figure 13 it is described that steps S641 and S642 can be selectively executed or executed together.

[0197] For example, the driving mode switching unit 142 may increase the autonomous wheel control signal during the transition period according to a third curve graph (wherein the magnitude of the slope of the autonomous wheel control signal increases), and may decrease the manual wheel control signal during the transition period according to a fourth curve graph (wherein the magnitude of the slope of the manual wheel control signal increases). In this case, the third curve graph and the fourth curve graph may be similar to Figure 10 the curve graphs shown.

[0198] As described above, the driving mode switching device 140 according to the present disclosure can minimize the discomfort or unevenness felt by the driver when switching the driving mode while increasing the calculation speed.

[0199] Hereinafter, a driving mode switching method capable of executing all of the above-described present disclosure will be described.

[0200] Figure 15 is a flowchart for explaining a driving mode switching method according to the present invention.

[0201] Referring to Figure 15 , the driving mode switching method according to the present disclosure may include: determining to switch the driving mode of the present vehicle to an autonomous driving mode or a manual driving mode based on at least one of driving information, detection information, and driver detection information (S710); and when it is determined to switch the driving mode, adjusting at least one of the transition period of switching the driving mode and / or the degree of change of the wheel control signal in the driving mode based on at least one of driving information, detection information, and driver detection information, and switching the driving mode by changing the wheel control signal (S720).

[0202] As described above, according to an embodiment of the present disclosure, a driving mode switching device and a driving mode switching method can be provided: in an emergency situation, the driving safety can be improved and safety accidents can be prevented by quickly changing the driving mode.

[0203] In addition, according to an embodiment of the present disclosure, a driving mode switching device and a driving mode switching method capable of minimizing discomfort by adjusting the transition period of the driving mode can be provided.

[0204] The foregoing description has been presented for the purpose of enabling a person skilled in the art to make and use the inventive concept of the present disclosure, and has been provided in the context of a particular application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. The foregoing description and the drawings have provided examples of the inventive concept of the present disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the inventive concept of the present disclosure. Accordingly, the scope of the present disclosure is not limited to the illustrated embodiments, but is consistent with the broadest scope consistent with the claims. The scope of protection of the present disclosure should be construed based on the appended claims, and all inventive concepts within the scope of their equivalents should be construed as being included within the scope of the present disclosure.

[0205] Cross - reference to related applications

[0206] This patent application claims the priority of Patent Application No. 10 - 2019 - 0126608, filed in Korea on October 14, 2019, under Article 119(a) of the United States Patent Law (35 USC § 119(a)), the entire content of which is incorporated herein by reference. In addition, if this patent application claims the priority of a country other than the United States for the same reason as above, all the content will be incorporated into this patent application as a reference.

Claims

1. A driving mode switching device, the driving mode switching device comprising: a driving mode switching determination unit configured to determine whether to switch the driving mode of the vehicle to an autonomous driving mode or a manual driving mode based on at least one of driving information, detection information, and driver detection information; and a driving mode switching unit configured to, when it is determined to switch the driving mode, adjust a transition section for switching the driving mode and / or a ratio of a steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and switch the driving mode by changing the steering wheel control signal, wherein the driving mode switching determination unit obtains a steering angular velocity of a steering wheel from the driving information and compares the steering angular velocity with a preset reference steering angular velocity, wherein if the steering angular velocity is equal to or greater than the reference steering angular velocity, the driving mode switching determination unit determines to switch the autonomous driving mode of the vehicle in autonomous driving to the manual driving mode, wherein the driving mode switching unit is configured to check from the driving information whether a brake is operated, and if the brake of the vehicle is not operated, linearly decrease an autonomous steering wheel control signal and linearly increase a manual steering wheel control signal during the transition section, and if the brake of the vehicle is operated, non-linearly decrease the autonomous steering wheel control signal and non-linearly increase the manual steering wheel control signal during the transition section.

2. The driving mode switching device according to claim 1, wherein, The autonomous steering wheel control signal non-linearly decreases according to a first curve graph, in which a magnitude of a slope gradually decreases when switching the driving mode, wherein the manual steering wheel control signal non-linearly increases according to a second curve graph, in which a magnitude of a slope gradually decreases when switching the driving mode.

3. The driving mode switching device according to claim 1, wherein, The driving mode switching determination unit is configured to, obtain a steering angle of a steering wheel and a steering wheel angle of a wheel from the driving information and calculate a difference between the steering angle and the steering wheel angle; if the difference is equal to or greater than a preset reference difference, determine to switch the autonomous driving mode of the vehicle in autonomous driving to the manual driving mode.

4. The driving mode switching device according to claim 3, wherein, The driving mode switching unit is configured to, adjust the transition section based on a difference between the steering angle and the steering wheel angle, and decrease the autonomous steering wheel control signal and increase the manual steering wheel control signal during the adjusted transition section.

5. The driving mode switching device according to claim 3, wherein, The driving mode switching unit is configured to, decrease the autonomous steering wheel control signal according to a third curve graph, in which a magnitude of a slope of the autonomous steering wheel control signal increases during the transition section, and increase the manual steering wheel control signal according to a fourth curve graph, in which a magnitude of a slope of the manual steering wheel control signal increases during the transition section.

6. The driving mode switching device according to claim 5, wherein, The third curve graph is a curve graph in which a change amount of a slope of the autonomous steering wheel control signal increases as the difference increases, Among them, the fourth curve graph is a curve graph in which the change amount of the slope of the manual rotation wheel control signal increases as the difference increases.

7. The driving mode switching device according to claim 3, wherein, The driving mode switching unit is configured to, compare the sign of the steering angle with the sign of the rotation wheel angle, if the sign of the steering angle is the same as the sign of the rotation wheel angle, then during the first transition section, reduce the autonomous rotation wheel control signal and increase the manual rotation wheel control signal, and if the sign of the steering angle is different from the sign of the rotation wheel angle, then adjust the transition section to a second transition section longer than the first transition section, and during the second transition section, reduce the autonomous rotation wheel control signal and increase the manual rotation wheel control signal.

8. The driving mode switching device according to claim 3, wherein, The driving mode switching unit is configured to, compare the sign of the steering angle with the sign of the rotation wheel angle, if the sign of the steering angle is the same as the sign of the rotation wheel angle, then linearly reduce the autonomous rotation wheel control signal and linearly increase the manual rotation wheel control signal during the transition section, and if the sign of the steering angle is different from the sign of the rotation wheel angle, then non-linearly reduce the autonomous rotation wheel control signal and non-linearly increase the manual rotation wheel control signal during the transition section.

9. The driving mode switching device according to claim 8, wherein, The autonomous rotation wheel control signal non-linearly decreases according to a third curve graph, in which the magnitude of the slope increases when switching the driving mode, wherein, the manual rotation wheel control signal non-linearly increases according to a fourth curve graph, in which the magnitude of the slope increases when switching the driving mode.

10. The driving mode switching device according to claim 1, wherein, The driving mode switching determination unit is configured to, if when the vehicle is autonomously driving, the rotation angle of the steering wheel remains constant regardless of the rotation wheel angle of the wheel, then determine whether the driver is holding the steering wheel based on the driver detection information, and when it is determined that the driver is holding the steering wheel, determine to switch the autonomous driving mode of the vehicle to the manual driving mode.

11. The driving mode switching device according to claim 10, wherein, The driving mode switching unit is configured to, when the vehicle starts autonomous driving, pre-obtain and store the rotation angle from the driving information, before switching the autonomous driving mode to the manual driving mode, obtain the rotation wheel angle of the wheel from the driving information, adjust the transition section based on the difference between the rotation angle and the rotation wheel angle, and reduce the autonomous rotation wheel control signal and increase the manual rotation wheel control signal during the adjusted transition section.

12. The driving mode switching device according to claim 10, wherein, The driving mode switching unit is configured to, when the vehicle starts autonomous driving, pre-obtain and store the rotation angle from the driving information, before switching the autonomous driving mode to the manual driving mode, obtain the rotation wheel angle of the wheel from the driving information, adjust the rotation wheel control signal according to a curve graph determined based on the difference between the rotation angle and the rotation wheel angle, reduce the autonomous rotation wheel control signal according to a third curve graph, in which the magnitude of the slope of the autonomous rotation wheel control signal increases during the transition section, and Increase the manual steering wheel control signal according to the fourth curve graph, in which the magnitude of the slope of the manual steering wheel control signal increases during the transition section.

13. The driving mode switching device according to claim 12, wherein, The third curve graph is a curve graph in which the change amount of the slope of the autonomous steering wheel control signal increases as the difference increases. Among them, the fourth curve graph is a curve graph in which the change amount of the slope of the manual steering wheel control signal increases as the difference increases.

14. The driving mode switching device according to claim 1, wherein, The driving mode switching determination unit is configured to Obtain at least one of the driver's eye movement and the driver's heart rate from the driver detection information, and analyze the driver's condition, and If as a result of the analysis, the driver's condition is abnormal, determine to switch the manual driving mode of the vehicle being manually driven to the autonomous driving mode.

15. The driving mode switching device according to claim 14, wherein, The driving mode switching unit is configured to Adjust the transition section to a second transition section shorter than the first transition section, where the first transition section corresponds to the situation where the driver's condition is normal, and Increase the autonomous steering wheel control signal and decrease the manual steering wheel control signal during the second transition section.

16. The driving mode switching device according to claim 14, wherein, The driving mode switching unit is configured to Increase the autonomous steering wheel control signal according to the first curve graph, in which the magnitude of the slope of the autonomous steering wheel control signal decreases during the transition section, and Decrease the manual steering wheel control signal according to the second curve graph, in which the magnitude of the slope of the manual steering wheel control signal decreases during the transition section.

17. A driving mode switching method, the driving mode switching method includes the following steps: Determine whether to switch the driving mode of the vehicle being driven to the autonomous driving mode or the manual driving mode based on at least one of the driving information, the detection information, and the driver detection information; When it is determined to switch the driving mode, adjust the transition section for switching the driving mode and / or the change degree of the steering wheel control signal in the driving mode based on at least one of the driving information, the detection information, and the driver detection information, and switch the driving mode by changing the steering wheel control signal; Obtain the steering angular velocity of the steering wheel from the driving information, and compare the steering angular velocity with a preset reference steering angular velocity. Among them, if the steering angular velocity is equal to or greater than the reference steering angular velocity, determine to switch the autonomous driving mode of the vehicle being autonomously driven to the manual driving mode; And Check from the driving information whether the brake is operated. If the brake of the vehicle is not operated, linearly decrease the autonomous steering wheel control signal and linearly increase the manual steering wheel control signal during the transition section, and if the brake of the vehicle is operated, non-linearly decrease the autonomous steering wheel control signal and non-linearly increase the manual steering wheel control signal during the transition section.

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