Apparatus and method for controlling travel of a vehicle

Abstract

The present invention relates to an apparatus and a method for controlling travel of a vehicle. The apparatus for controlling travel of a vehicle includes a storage device that stores at least one of a first seat position before autonomous driving, a second seat position set by a driver, or a third seat position in a current state, and a controller that controls a seat of the vehicle based on the seat position stored in the storage device when a driving state of the vehicle is changed from an autonomous driving state to a manual driving state by transferring a control right of the vehicle to the driver. The apparatus can enable the driver to immediately accept the control right when the control right of the vehicle is transferred to the driver, so that the transfer of the control right can be safely performed.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0163223, filed on November 27, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to apparatus and methods for controlling the movement of a vehicle. Background Technology

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

[0005] Autonomous driving is categorized into levels 0 to 5 based on the system's control performance. At level 3, driving control can be transferred from the driver to the system, or vice versa. When driving control is transferred from the system to the driver, the system can provide guidance by issuing warnings.

[0006] However, when the system attempts to transfer driving control to the driver, and the driver is unable to quickly accept control, it becomes difficult to react immediately, leading to accidents. In particular, when the driver is in a state where normal manual driving is difficult while in autonomous driving mode, the driver may find it difficult to accept control and react quickly. Therefore, there is a real need to develop a technology that allows the driver to quickly and safely accept driving control when the system attempts to transfer it. Summary of the Invention

[0007] This invention addresses the aforementioned problems in the prior art while fully retaining the advantages achieved by the prior art.

[0008] One aspect of the present invention provides an apparatus and method for controlling the movement of a vehicle, which enables the driver to immediately accept the driving control when the driving control is transferred from the system to the driver.

[0009] The technical problems solved by the present invention are not limited to those mentioned above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art through the following description.

[0010] According to one aspect of the invention, an apparatus for controlling the driving of a vehicle includes a storage device and a controller, the storage device storing at least one of a first seat position prior to autonomous driving, a second seat position set by the driver, and / or a third seat position in the current state, the controller controlling the seat based on the seat position stored in the storage device when the driving state of the vehicle is changed from an autonomous driving state to a manual driving state by transferring control of the vehicle (e.g., driving control) to the driver.

[0011] In one implementation, the controller can set the seat position to the first seat position when the first seat position is stored in the storage device and control is transferred to the driver.

[0012] In one implementation, the controller can set the seat position to the second seat position when the second seat position is stored in the storage device and control is transferred to the driver.

[0013] In one implementation, the controller can determine whether the current third seat position is unsuitable for manual driving when transferring control to the driver, and set the seat position based on the determination result.

[0014] In one implementation, the controller can determine that the third seat position is unsuitable for manual driving when one of the following conditions is met: the first condition is that the distance between the third seat position and the preset seat position exceeds a first reference value; the second condition is that the distance between the third seat position and the first seat position exceeds a second reference value; the third condition is that the distance between the driver's face position and the normal position exceeds a third reference value; and the fourth condition is that the distance between the third seat position and the second seat position exceeds a fourth reference value.

[0015] In one implementation, the normal position may include a position where the driver can operate the brake pedal or the accelerator pedal.

[0016] In one implementation, the controller can set the seat position to the first seat position when the first seat position is stored in the storage device and it is determined that the third seat position is not suitable for manual driving.

[0017] In one implementation, the controller can set the seat position to the second seat position when the second seat position is stored in the storage device and it is determined that the third seat position is not suitable for manual driving.

[0018] In one implementation, the controller can maintain the seat position in the third seat position when it determines that the third seat position is suitable for manual driving.

[0019] In one implementation, at least one of a first steering wheel position prior to autonomous driving and / or a second steering wheel position in the current state may also be stored in a storage device.

[0020] In one implementation, the controller can control the steering wheel based on the steering wheel position stored in a storage device when control is transferred to the driver.

[0021] According to another aspect of the present invention, a method for controlling vehicle driving includes: storing at least one of a first seat position prior to autonomous driving, a second seat position set by the driver, and / or a third seat position in the current state using a storage device; converting the autonomous driving of the vehicle to manual driving of the vehicle by transferring control of the vehicle to the driver using a controller; and controlling the vehicle seat using the controller based on the seat position stored in the storage device in the manual driving state of the vehicle.

[0022] In one embodiment, the method may further include setting the seat position to the first seat position when the first seat position is stored in the storage device and control is transferred to the driver.

[0023] In one embodiment, the method may further include setting the seat position to the second seat position when the second seat position is stored in the storage device and control is transferred to the driver.

[0024] In one implementation, the method may further include: when transferring control to the driver, determining whether the current third seat position is unsuitable for manual driving, and setting the seat position based on the determination result.

[0025] In one embodiment, the method may further include: determining that a third seat position is unsuitable for manual driving when one of a first condition, a second condition, a third condition, and a fourth condition is met, wherein the first condition is that the distance between the third seat position and a preset seat position exceeds a first reference value, the second condition is that the distance between the third seat position and the first seat position exceeds a second reference value, the third condition is that the distance between the driver's face position and a normal position exceeds a third reference value, and the fourth condition is that the distance between the third seat position and the second seat position exceeds a fourth reference value.

[0026] In one implementation, the normal position may include a position where the driver can operate the brake pedal or the accelerator pedal.

[0027] In one embodiment, the method may further include storing at least one of a first steering wheel position prior to autonomous driving and / or a second steering wheel position in the current state in a storage device.

[0028] In one implementation, the method may further include: when transferring control to the driver, controlling the steering wheel based on the steering wheel position stored in a storage device.

[0029] Other areas of application will become apparent from the description provided herein. It should be understood that the description and specific examples are for illustrative purposes only and are not intended to limit the scope of the invention. Attached Figure Description

[0030] To provide a good understanding of the invention, various embodiments of the invention will now be described by way of example with reference to the accompanying drawings, in which:

[0031] Figure 1 A schematic diagram illustrating the configuration of a vehicle driving control device according to an exemplary embodiment of the present invention;

[0032] Figures 2 to 12 A flowchart illustrating a vehicle driving control method according to some embodiments of the present invention;

[0033] Figure 13 A schematic diagram illustrating the configuration of a computing system performing a method according to an exemplary embodiment of the present invention.

[0034] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Detailed Implementation

[0035] The following description is merely exemplary in nature and is not intended to limit the invention, application, or use. It should be understood that in all the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0036] In the following, some embodiments of the invention will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to the components of each drawing, it should be noted that the same reference numerals denote the same or equivalent components even when the same or equivalent components are shown in other drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of related known configurations or functions will be omitted where it is determined that such descriptions would interfere with the understanding of the exemplary embodiments of the invention.

[0037] In describing components according to exemplary embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended only to distinguish components from other components, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It is further understood that terms defined, for example, in commonly used dictionaries, should be interpreted as having a meaning consistent with that meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless explicitly defined herein.

[0038] Figure 1 This is a schematic diagram illustrating the configuration of a driving control device for a vehicle according to an exemplary embodiment of the present invention.

[0039] like Figure 1 As shown, the vehicle driving control device 100 may include: an input device 110, a sensor 120, a storage device 130, an output device 140, and a controller 150.

[0040] Input device 110 can receive input signals corresponding to the driver's control, operation, or voice. Controller 150 can set the seat position or steering wheel position corresponding to the input signal. According to one embodiment, controller 150 can control the forward or backward adjustment, upward or downward adjustment, and backrest angle of the seat corresponding to the input signal. Input device 110 can be implemented as a passenger-operable roller, button, knob, touchscreen, touchpad, joystick, trackball, etc., or as at least one or a combination of an operation sensor and / or voice recognition sensor that senses the passenger's operation or voice.

[0041] Sensor 120 may include a seat sensor, a steering sensor, and an image sensor. The seat sensor can sense the position caused by forward or backward adjustment of the seat, the vertical level caused by upward or downward adjustment of the seat, and the tilt angle of the seat back. The steering sensor can sense the tilt angle of the steering wheel (vertical level of the steering wheel) and the position of its extension / retraction (position of the steering wheel moving upward, downward, forward, or backward). Additionally, the image sensor can sense the driver's state. According to another embodiment, the image sensor can sense the driver's facial position, and the controller 150 can calculate the distance between the face and the image sensor based on the facial position.

[0042] Storage device 130 may store at least one of a first seat position before autonomous driving activation, a first steering wheel position before autonomous driving activation, a second seat position set by the driver, a third seat position in the current state, and / or a second steering wheel position in the current state. Furthermore, storage device 130 may store at least one algorithm that executes or operates various instructions for manipulating the driving control device of the vehicle according to an exemplary embodiment of the present invention. Storage device 130 may include at least one storage medium selected from flash memory, hard disk, memory card, read-only memory (ROM), random access memory (RAM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, or optical disk.

[0043] The output device 140 can output seat setting information or steering wheel setting information from the controller 150. According to an exemplary embodiment, the output device 140 can be implemented as a display device or an audio output device. In this regard, the display device may include: an AVN display device, a HUD, a dashboard, etc.

[0044] The controller 150 can be implemented using various processing devices, such as a microprocessor with an embedded semiconductor chip capable of executing various instructions or performing operations, and can control the overall operation of the vehicle's driving control device based on at least one algorithm stored in the storage device 130. According to an exemplary embodiment, the controller 150 can set the seat position or steering wheel position when transferring driving control to the driver in an autonomous driving activated state.

[0045] In another embodiment, when a first seat position is stored in storage device 130 and driving control is transferred to the driver in autonomous driving mode, controller 150 can set the seat position to the first seat position. In this regard, the first seat position may include the seat position in the last manual driving state before autonomous driving activation. Furthermore, controller 150 can output the fact that the seat position has been set to the first seat position via output device 140. Additionally, when the steering wheel is in a hand-on state, the driver's seat position is stored as a hand-on steering wheel state, and driving control is transferred to the driver in autonomous driving mode, controller 150 can set the seat position to the first seat position.

[0046] According to another implementation, when the second seat position set by the driver is stored in the storage device 130 and driving control is transferred to the driver in autonomous driving mode, the controller 150 can set the seat position to the second seat position.

[0047] Furthermore, when transferring driving control in autonomous driving mode, the controller 150 can determine whether the current third seat position is unsuitable for manual driving and set the seat position based on the determination result. In one embodiment, the controller 150 can determine that the third seat position is unsuitable for manual driving when one of the following conditions is met: the first condition is that the distance between the third seat position and a preset position exceeds a first reference value; the second condition is that the distance between the third seat position and the first seat position exceeds a second reference value; the third condition is that the distance between the driver's face position and a normal position exceeds a third reference value; and the fourth condition is that the distance between the third seat position and the second seat position exceeds a fourth reference value. In this regard, a normal position may include a position where the driver can operate the brake pedal or accelerator pedal while holding the steering wheel.

[0048] According to another embodiment, when the first seat position is stored in the storage device 130 and it is determined that the third seat position is not suitable for manual driving, the controller 150 can set the seat position to the first seat position. Furthermore, when the steering wheel is in a hand-on state, the driver's seat position is stored as the steering wheel hand-on state, and when it is determined that the third seat position is not suitable for manual driving in automatic driving mode, the controller 150 can set the seat position to the first seat position.

[0049] According to another embodiment, when the second seat position is stored in the storage device 130 and it is determined that the third seat position is not suitable for manual driving, the controller 150 can set the seat position to the second seat position.

[0050] Furthermore, when the third seat position is determined to be appropriate, the controller 150 can maintain the seat position in the third seat position.

[0051] When the first steering wheel position before autonomous driving is activated is stored in the storage device 130, and when driving control is transferred to the driver in autonomous driving mode, the controller 150 can determine whether the current second steering wheel position is unsuitable for manual driving, and set the steering wheel position based on the determination result. According to one embodiment, the controller 150 can determine that the second steering wheel position is unsuitable for manual driving when one of a fifth condition and a sixth condition is met, wherein the fifth condition is that the distance between the second steering wheel position and the first steering wheel position exceeds a fifth reference value, and the sixth condition is that the distance between the seat and the second steering wheel position exceeds a sixth reference value.

[0052] According to another implementation, when it is determined that the second steering wheel position is not suitable for manual driving, the controller 150 can set the steering wheel position to the first steering wheel position. On the other hand, when it is determined that the second steering wheel position is suitable for manual driving, the controller 150 can maintain the steering wheel position in the second steering wheel position.

[0053] Furthermore, when setting the steering wheel position, the controller 150 can output setting information through the output device 140.

[0054] Figures 2 to 12 A flowchart illustrating a vehicle driving control method according to some embodiments of the present invention is provided.

[0055] like Figure 2 As shown, controller 150 can store the driver's seat position before autonomous driving (S110). Furthermore, controller 150 can store the current seat position (S120). According to one embodiment, controller 150 can determine whether autonomous driving is activated (S130). When autonomous driving is determined to be activated in S130, controller 150 can control driving in autonomous driving mode (S140).

[0056] When driving control is transferred to the driver (i.e., enabling the driver or system to control the vehicle) (S150), the controller 150 can set the seat position to the driver's seat position before automatic driving activation and move the seat to the set seat position (S160). In other words, the controller 150 can be configured to enable immediate manual driving by setting the seat position to the driver's seat position before automatic driving activation and moving the seat to the set seat position when driving control is transferred to the driver. Furthermore, the controller 150 can be configured to output the seat information set in S160 via the output device 140 (S170).

[0057] According to another implementation scheme, such as Figure 3 As shown, controller 150 can store the driver's seat position before autonomous driving (S210). Furthermore, controller 150 can store the current seat position (S220). Controller 150 can determine whether autonomous driving is activated (S230). When autonomous driving is determined to be activated in S230, controller 150 can control driving in autonomous driving mode (S240).

[0058] When driving control is transferred to the driver (S250), the controller 150 can determine whether the current seat position is unsuitable (S260). A more detailed description of the operation used to determine whether the current seat position is unsuitable in S260 will be provided in [reference]. Figure 4 and Figure 5 .

[0059] If it is determined in S260 that the current seat position is unsuitable (yes), the controller 150 can set the seat position to the driver's seat position before the automatic driving was activated, and control the movement of the seat to the set seat position (S270). On the other hand, if it is determined in S260 that the current seat position is suitable (no), the controller 150 can control the movement to maintain the current seat position (S280).

[0060] Furthermore, the controller 150 can be controlled to output the seat information set in S270 and S280 (S290) via the output device 140.

[0061] like Figure 4 As shown, controller 150 can determine whether condition A1 is met to determine whether the current seat position is unsuitable. Controller 150 can determine whether a first condition or a second condition is met. The first condition is that the distance between the current seat position and a preset position exceeds a first reference value. The second condition is that the distance between the current seat position and the driver's seat position before autonomous driving activation exceeds a second reference value. When either the first or second condition is met, controller 150 can determine that the current seat position is unsuitable for manual driving. When neither the first nor the second condition is met, controller 150 can determine that the current seat position is suitable for manual driving.

[0062] like Figure 5 As shown, controller 150 can determine whether condition A2 is met to determine whether the current seat position is unsuitable. Controller 150 can determine whether any one of the following three conditions is met: the first condition is that the distance between the current seat position and a preset position exceeds a first reference value; the second condition is that the distance between the current seat position and the driver's seat position before autonomous driving activation exceeds a second reference value; and the third condition is that the distance between the driver's facial position and a normal position exceeds a third reference value. When one of the first, second, and third conditions is met, controller 150 can determine that the current seat position is unsuitable for manual driving. When none of the first, second, and third conditions are met, controller 150 can determine that the current seat position is suitable for manual driving.

[0063] like Figure 6 As shown, controller 150 can request the driver to set the seat position to be used when transferring driving control to the driver (S310). According to one embodiment, in S310, controller 150 can provide a user interface that allows the driver to set the seat position and store the seat position when the driver completes the seat position setting. In this respect, controller 150 can be controlled to store the seat position only if the seat position is set within a variable predetermined range.

[0064] The controller 150 can determine whether autonomous driving is activated (S320). When it is determined in S320 that autonomous driving is activated, the controller 150 can control driving in autonomous driving mode (S330).

[0065] When driving control is transferred to the driver (S340), the controller 150 can set the seat position to the position set by the driver in S310 and move the seat to the set position (S350). In other words, the controller 150 is configured to enable immediate manual driving by setting the seat position to the driver's position and moving the seat to the set position when driving control is transferred to the driver. Furthermore, the controller 150 can be configured to output the seat information set in S350 via the output device 140 (S360).

[0066] like Figure 7 As shown, controller 150 can request the driver to set the seat position to be used when transferring driving control to the driver (S410). According to another embodiment, in S410, controller 150 can provide a user interface allowing the driver to set the seat position and store the seat position when the driver completes the setting. In this respect, controller 150 can be controlled to store the seat position only if the seat position is set within a variable predetermined range.

[0067] The controller 150 can determine whether autonomous driving is activated (S420). When it is determined in S420 that autonomous driving is activated, the controller 150 can control driving in autonomous driving mode (S430).

[0068] When driving control is transferred to the driver (S440), the controller 150 can determine whether the current seat position is unsuitable for manual driving (S450). A more detailed description of the operation used to determine whether the current seat position is unsuitable in S450 will be provided in [reference]. Figure 8 .

[0069] If it is determined in S450 that the current seat position is unsuitable (yes), the controller 150 can set the seat position to the driver's seat position before the automatic driving was activated, and control the seat to move to the set seat position (S460). On the other hand, if it is determined in S450 that the current seat position is suitable (no), the controller 150 can control the seat to maintain the current seat position (S470).

[0070] Furthermore, the controller 150 can be controlled to output the seat information set in S460 and S470 (S480) via the output device 140.

[0071] like Figure 8As shown, controller 150 can determine whether condition B1 is met to determine whether the current seat position is unsuitable. Controller 150 can determine whether a first condition or a fourth condition is met. The first condition is that the distance between the current seat position and a preset position exceeds a first reference value, and the fourth condition is that the distance between the current seat position and the seat position set by the driver exceeds a fourth reference value. When either the first or fourth condition is met, controller 150 can determine that the current seat position is unsuitable for manual driving. When neither the first nor the fourth condition is met, controller 150 can determine that the current seat position is suitable for manual driving.

[0072] like Figure 9 As shown, controller 150 can store the driver's seat position before autonomous driving (S510). Controller 150 can determine whether the steering wheel is in a hand-held state (S520). When it is determined that the steering wheel is in a hand-held state, controller 150 can store the driver's seat position in the current state (S530).

[0073] When the current driver's seat position is stored, or the steering wheel is not in the hands-on position, the controller 150 can determine whether autonomous driving is activated (S540). When autonomous driving is determined to be activated, the controller 150 can control driving in autonomous driving mode (S550).

[0074] When driving control is transferred to the driver (S560), the controller 150 can set the seat position to the driver's seat position before automatic driving was activated, and move the seat to the set seat position (S570). In addition, the controller 150 can be controlled to output the seat information set in S550 via the output device 140 (S580).

[0075] like Figure 10 As shown, controller 150 can store the driver's seat position before autonomous driving (S610). Controller 150 can determine whether the steering wheel is in a hand-held state (S620). When it is determined that the steering wheel is in a hand-held state, controller 150 can store the driver's seat position in the current state (S630).

[0076] When the current driver's seat position is stored, or the steering wheel is not in the hands-on position, the controller 150 can determine whether autonomous driving is activated (S640). When autonomous driving is determined to be activated, the controller 150 can control driving in autonomous driving mode (S650).

[0077] When driving control is transferred to the driver (S660), the controller 150 can determine whether the current seat position is unsuitable (S670). A more detailed description of the operation used to determine whether the current seat position is unsuitable in S670 will be provided in [reference]. Figure 4 .

[0078] If it is determined in S670 that the current seat position is unsuitable (Yes), the controller 150 can set the seat position to the driver's seat position before the automatic driving was activated (the seat position when the driver held the steering wheel during the last manual driving operation), and control the seat to move to the set seat position (S680). On the other hand, if it is determined in S670 that the current seat position is suitable (No), the controller 150 can control the seat to maintain the current seat position (S690).

[0079] Furthermore, the controller 150 can be controlled to output the seat information set in S680 and S690 (S700) via the output device 140.

[0080] like Figure 11 As shown, controller 150 can store the steering wheel position before autonomous driving (S710). Controller 150 can determine whether the steering wheel is in a hand-held state (S720). When it is determined in S720 that the steering wheel is in a hand-held state, controller 150 can store the steering wheel position in the current state (S730).

[0081] When the current steering wheel position is stored, or when the steering wheel is not in a hand-held position, the controller 150 can determine whether autonomous driving is activated (S740). When it is determined that autonomous driving is activated, the controller 150 can control driving in autonomous driving mode (S750).

[0082] When driving control is transferred to the driver (S760), the controller 150 can determine whether the current steering wheel position is inappropriate (S770). A more detailed description of the operation used to determine whether the current steering wheel position is inappropriate in S770 will refer to... Figure 12 .

[0083] When it is determined in S770 that the current steering wheel position is inappropriate (Yes), the controller 150 can set the steering wheel position to the position before automatic driving is activated, and control the steering wheel to move to the set steering wheel position (S780). In one example, when it is determined in S770 that the current steering wheel position is appropriate (No), the controller 150 can control the steering wheel to maintain the current steering wheel position (S790).

[0084] Furthermore, the controller 150 can be controlled to output the seat information set in S780 and S790 (S800) via the output device 140.

[0085] like Figure 12 As shown, controller 150 can determine whether condition C1 is met to determine whether the current seat position is unsuitable. Controller 150 can determine whether a fifth condition or a sixth condition is met, wherein the fifth condition is that the distance between the current steering wheel position and the steering wheel position before automatic driving exceeds a fifth reference value, and the sixth condition is that the distance between the current steering wheel position and the seat exceeds a sixth reference value. When either the fifth or sixth condition is met, controller 150 can determine that the current steering wheel position is unsuitable for manual driving. When neither the fifth nor the sixth condition is met, controller 150 can determine that the current steering wheel position is suitable for manual driving.

[0086] Figure 13 A computing system is shown that implements a method according to another exemplary embodiment of the present invention.

[0087] refer to Figure 13 The computing system 1000 may include at least one of a 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 connected via a bus 1200.

[0088] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing on commands stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include ROM (Read-Only Memory) 1310 and RAM (Random Access Memory) 1320.

[0089] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented as hardware or as a software module executed by processor 1100, or a combination thereof. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, and CD-ROM. An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. In another approach, 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 a user terminal.

[0090] In another approach, the processor and storage medium can exist as separate components within the user terminal.

[0091] The above description is merely an illustration of the technical concept of the present invention, and those skilled in the art can make various modifications and changes without departing from the basic characteristics of the present invention.

[0092] Therefore, the embodiments disclosed in this invention are not intended to limit the technical concept of the invention, but rather to illustrate the invention, and the scope of the technical concept of the invention is not limited by the embodiments. The scope of the invention should be interpreted as being covered by the scope of the appended claims, and all technical concepts falling within the scope of the claims should be interpreted as being included within the scope of the invention.

[0093] The apparatus and method for controlling vehicle driving according to exemplary embodiments of the present invention can enable the driver to immediately accept driving control when transferring driving control from the system to the driver, thereby enabling a safe transfer of driving control.

[0094] Although the invention has been described above with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto, and various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A device for controlling the movement of a vehicle, the device comprising: A storage device configured to store at least one of a first seat position before autonomous driving, a second seat position set by the driver, or a third seat position in the current state; as well as The controller is configured to control the vehicle's seats based on the seat positions stored in a storage device when the vehicle's driving state is switched from an autonomous driving state to a manual driving state by transferring control of the vehicle to the driver. The controller is configured as follows: When transferring control to the driver, determine whether the current position of the third seat is suitable for manual driving; Once it is determined that the third seat position is suitable for manual driving, keep the seat position in the third seat position; When it is determined that the third seat position is not suitable for manual driving, the seat position is set to the first seat position or the second seat position; The controller is configured as follows: Request the driver to set the second seat position to be used when transferring driving control to the driver; When the driver sets the seat position to the second seat position, the output seat position is set to the second seat position.

2. The device for controlling vehicle movement according to claim 1, wherein, The controller is configured to set the seat position as the first seat position when the first seat position is stored in the storage device and control is transferred to the driver.

3. The device for controlling vehicle movement according to claim 1, wherein, The controller is configured to set the seat position to the second seat position when the second seat position is stored in the storage device and control is transferred to the driver.

4. The device for controlling vehicle movement according to claim 1, wherein, The controller is configured to determine that the third seat position is unsuitable for manual driving when one of the following conditions is met: the first condition is that the distance between the third seat position and the preset seat position exceeds a first reference value; the second condition is that the distance between the third seat position and the first seat position exceeds a second reference value; the third condition is that the distance between the driver's face position and the normal position exceeds a third reference value; and the fourth condition is that the distance between the third seat position and the second seat position exceeds a fourth reference value.

5. The device for controlling vehicle movement according to claim 4, wherein, The normal position includes the position where the driver can operate the vehicle's brake pedal or accelerator pedal.

6. The device for controlling vehicle movement according to claim 1, wherein, The controller is configured to set the seat position to the first seat position when the first seat position is stored in the storage device and it is determined that the third seat position is not suitable for manual driving.

7. The device for controlling vehicle movement according to claim 1, wherein, The controller is configured to set the seat position to the second seat position when the second seat position is stored in the storage device and it is determined that the third seat position is not suitable for manual driving.

8. The device for controlling vehicle movement according to claim 1, wherein, It also stores at least one of the first steering wheel position before autonomous driving or the second steering wheel position in the current state in the storage device.

9. The device for controlling vehicle movement according to claim 8, wherein, The controller is configured to control the steering wheel based on the steering wheel position stored in the storage device when control is transferred to the driver.

10. A method for controlling the movement of a vehicle, the method comprising: The vehicle uses a storage device to store at least one of the following: the first seat position before autonomous driving, the second seat position set by the driver, or the third seat position in the current state. The controller is used to switch the vehicle from automatic driving to manual driving by transferring control of the vehicle to the driver. In manual driving mode, the controller controls the vehicle's seats based on the seat positions stored in the storage device. When control is transferred to the driver, the controller is used to determine whether the position of the third seat in the current state is suitable for manual driving. When it is determined that the third seat position is suitable for manual driving, the controller is used to maintain the seat position in the third seat position. When it is determined that the third seat position is not suitable for manual driving, the controller is used to set the seat position to the first seat position or the second seat position. The controller is configured as follows: Request the driver to set the second seat position to be used when transferring driving control to the driver; When the driver sets the seat position to the second seat position, the output seat position is set to the second seat position.

11. The method of claim 10, further comprising: When the first seat position is stored in the storage device and control is transferred to the driver, the controller is used to set the seat position to the first seat position.

12. The method of claim 10, further comprising: When the second seat position is stored in the storage device and control is transferred to the driver, the controller is used to set the seat position to the second seat position.

13. The method of claim 10, further comprising: When one of the first, second, third, and fourth conditions is met, the controller determines that the third seat position is unsuitable for manual driving. The first condition is that the distance between the third seat position and the preset seat position exceeds a first reference value. The second condition is that the distance between the third seat position and the first seat position exceeds a second reference value. The third condition is that the distance between the driver's face position and the normal position exceeds a third reference value. The fourth condition is that the distance between the third seat position and the second seat position exceeds a fourth reference value.

14. The method according to claim 13, wherein, The normal position includes the position where the driver can operate the brake pedal or accelerator pedal.

15. The method of claim 10, further comprising: The storage device stores at least one of the first steering wheel position before autonomous driving or the second steering wheel position in the current state.

16. The method of claim 15, further comprising: When control is transferred to the driver, the controller uses the steering wheel position stored in the storage device to control the steering wheel.

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