Disabling autonomous driving and methods for controlling the vehicle

Abstract

This invention relates to a vehicle for disengaging autonomous driving and a method for controlling the vehicle, and more specifically, to a vehicle capable of disengaging autonomous driving by recognizing whether user intervention occurs during autonomous driving. The vehicle includes a steering wheel, a first sensor device, and a second sensor device. The first sensor device is configured to detect steering torque, steering angle, and steering angular velocity of the steering wheel, and the second sensor device is configured to detect user touch on the steering wheel. During autonomous driving, when the vehicle is in an emergency control state (i.e., the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value), if the second sensor device detects user touch on the steering wheel, the emergency control state is disengaged under certain conditions; if the steering torque is greater than or equal to a predetermined torque value, autonomous driving is disengaged.

Description

Technical Field

[0001] This invention relates to a method for disengaging autonomous driving of a vehicle and controlling the vehicle by identifying whether user intervention occurs during autonomous driving. Background Technology

[0002] Recently, research has been conducted on vehicles utilizing autonomous driving, including driverless driving methods that communicate with and operate according to instructions from external servers without the need for a driver inside the vehicle, and methods that operate using artificial intelligence (AI) computers equipped in the vehicle.

[0003] Furthermore, as the number of vehicles utilizing autonomous driving increases, accidents related to autonomous driving may occur more frequently. Autonomous driving refers to situations where no human intervention is required for driving. Accidents may occur due to a lack of user attention when the driver is not paying attention or when the driver grants complete control of the vehicle for a short period of time.

[0004] In this regard, research is underway to prevent accidents during autonomous driving. In particular, research is being conducted on standards for granting user control in dangerous situations, and on detecting user intervention during autonomous driving to prevent accidents. Summary of the Invention

[0005] The present invention provides a vehicle and a method for controlling the vehicle, wherein the vehicle can identify whether user intervention has occurred during autonomous driving by means of steering torque, steering angle and steering angular velocity of the steering wheel, thereby disengaging autonomous driving.

[0006] Other aspects of the invention will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of the invention.

[0007] According to one aspect of the present invention, a vehicle is provided, comprising: a steering wheel, a first sensor device, a second sensor device, a drive unit, and a controller, wherein the first sensor device is configured to detect steering torque, steering angle, and steering angular velocity of the steering wheel, and the second sensor device is configured to detect user touch on the steering wheel; the controller is configured to, when the vehicle is traveling in an emergency control state where the drive unit is controlled by automatic driving and the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value, if user touch on the steering wheel is detected by the second sensor device, assign a first weight to the steering angle changed by the user, assign a second weight to the steering angular velocity, and add the steering angle assigned the first weight and the steering angular velocity assigned the second weight to determine a release value; if the release value is greater than or equal to a predetermined threshold, the emergency control state is released; if the steering torque changed by the user is greater than or equal to a predetermined torque value, user intervention is identified; if user intervention is identified, automatic driving is deactivated.

[0008] The controller can be configured to recognize user intervention and disengage the automatic driving system when the vehicle is traveling in a default state where the drive unit is controlled by automatic driving and the vehicle's deceleration / acceleration is less than a predetermined first value, if the steering torque changed by the user is greater than or equal to the predetermined torque value.

[0009] The vehicle may further include a third sensor device configured to acquire distance information with another vehicle, wherein the controller is configured to: when the vehicle is driving in a default state, if it is identified based on the distance information that the distance between the vehicle and the other vehicle is greater than or equal to a predetermined interval, and the steering torque changed by the user is greater than or equal to the predetermined torque value, then it is identified that user intervention has occurred, and the automatic driving is deactivated.

[0010] The vehicle may further include a camera configured to acquire images of the vehicle's surroundings, wherein the controller is configured to: determine the vehicle's side lane lines based on the surrounding images; and when the vehicle is traveling in the side lane lines in a default state, if the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is detected and the automatic driving is disengaged.

[0011] The vehicle may further include an input device configured to receive commands input by a user, wherein the controller is configured to set a first weight, a second weight, or a threshold based on the user's commands input via the input device.

[0012] The vehicle may further include a storage device configured to store user response information and vehicle feature information, wherein the controller is configured to determine a first weight and a second weight based on the user response information and the vehicle feature information.

[0013] The controller can be configured to normalize the steering angle and steering angular velocity changed by the user, assign a first weight to the normalized steering angle, and assign a second weight to the normalized steering angular velocity.

[0014] The first and second weights can be set to sum to 1.

[0015] According to another aspect of the present invention, a method for controlling a vehicle is provided, the method comprising: detecting steering torque, steering angle, and steering angular velocity of a steering wheel by a first sensor device; detecting user touch on the steering wheel by a second sensor device; when the vehicle is traveling in an emergency control state where the drive unit is controlled by automatic driving and the deceleration / acceleration of the vehicle is greater than or equal to a predetermined first value, if user touch on the steering wheel is detected by the second sensor device, assigning a first weight to the steering angle changed by the user, assigning a second weight to the steering angular velocity, and adding the steering angle assigned the first weight and the steering angular velocity assigned the second weight to determine a release value; if the release value is greater than or equal to a predetermined threshold, releasing the emergency control state; if the steering torque changed by the user is greater than or equal to a predetermined torque value, identifying user intervention; and if user intervention is identified, deactivating automatic driving.

[0016] The method may further include, when the vehicle is traveling in a default state where the drive unit is controlled by autonomous driving and the vehicle's deceleration / acceleration is less than a predetermined first value, if the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is detected and autonomous driving is deactivated.

[0017] Deactivating autonomous driving may include: when the vehicle is driving in the default state, if the distance between the vehicle and another vehicle is identified as greater than or equal to a predetermined interval based on distance information obtained through a third sensor device, and the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is identified, and autonomous driving is deactivated.

[0018] Deactivating autonomous driving may include: determining the vehicle's side lane line based on images of the vehicle's surroundings obtained through cameras; when the vehicle is traveling in the side lane line in its default state, if the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is identified, and autonomous driving is deactivated.

[0019] The method may further include setting a first weight, a second weight, or a threshold based on user commands input via an input device.

[0020] The method may further include setting a first weight and a second weight based on user response information and vehicle feature information stored through a storage device.

[0021] Assigning a first weight to the steering angle changed by the user and assigning a second weight to the steering angular velocity may include: normalizing the steering angle and steering angular velocity changed by the user, assigning the first weight to the normalized steering angle, and assigning the second weight to the normalized steering angular velocity.

[0022] Determining the first weight and the second weight may include setting the first weight and the second weight to sum to 1. Attached Figure Description

[0023] These and / or other aspects of the invention will become apparent and more readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram illustrating the operation of a user turning the steering wheel according to the implementation scheme;

[0025] Figure 2 A control block diagram of the vehicle according to the implementation scheme is shown;

[0026] Figure 3 A flowchart illustrating the operation of disengaging automatic driving in the default state according to the implementation scheme is shown;

[0027] Figure 4 A flowchart illustrating the operation of disengaging autonomous driving while the vehicle is traveling at a predetermined distance from another vehicle, according to the implementation scheme;

[0028] Figure 5 A flowchart illustrating the operation of disengaging automatic driving while the vehicle is traveling along a lane, according to the implementation scheme;

[0029] Figure 6 This is a flowchart based on the implementation plan. Detailed Implementation

[0030] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally includes motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, vessels including various boats and ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum energy sources). As mentioned herein, a hybrid vehicle is a vehicle having two or more power sources, such as a gasoline-powered vehicle and an electric-powered vehicle. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0031] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated feature, value, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or combinations thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated enumerated items. Throughout this specification, unless expressly stated to the contrary, the term “comprising” and variations such as “including” or “containing” should be understood to imply the inclusion of the stated element but not exclude any other element. Furthermore, the terms “unit,” “device,” “component,” and “module” described in this specification refer to a unit for performing at least one function and operation, and can be implemented by hardware or software and combinations thereof.

[0032] Furthermore, the control logic of the present invention can be implemented as a non-transitory computer-readable medium containing executable program instructions that are executed by a processor, controller, or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium can also be distributed across a network-connected computer system, allowing it to be stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0033] Throughout this specification, the same reference numerals denote the same elements. Not all elements of embodiments of the invention will be described, and descriptions known in the art or repeated in embodiments will be omitted. It will be further understood that the term "connection" or its derivatives refer to both direct and indirect connections, with indirect connections including connections via wireless communication networks.

[0034] In this specification, it should be understood that when a component is referred to as being "on / under" another component, the component may be directly on / under the other component, or one or more intervening elements may be present.

[0035] Although terms such as “first,” “second,” “A,” “B,” etc. can be used to describe various components, these terms do not limit the corresponding components, but are only used to distinguish one component from another.

[0036] The reference numerals used in the figures for method steps are for ease of interpretation only and do not restrict the order of the steps. Therefore, unless the context clearly states otherwise, the order in which the steps are written may be practiced in other ways.

[0037] The working principle and implementation scheme of the present invention will be described below with reference to the accompanying drawings.

[0038] The controller may include a memory (not shown) and a processor (not shown), the memory storing data related to algorithms for controlling the operation of vehicle components or programs presenting such algorithms, and the processor performing the aforementioned operations using the data stored in the memory. In this case, the memory and processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

[0039] according to Figure 1 and Figure 2 The performance of the vehicle components shown can be adjusted by adding or omitting at least one component. Furthermore, the relative positions of the components can be changed depending on the system's performance or structure.

[0040] at the same time, Figure 1 and Figure 2 Some of the components shown may refer to software and / or hardware components such as field-programmable gate arrays (FPGAs) and application-specific integrated circuits (ASICs).

[0041] Figure 1 This is a schematic diagram illustrating the operation of user 2 turning steering wheel 600 according to the implementation scheme.

[0042] Figure 2 A control block diagram of vehicle 1 according to the implementation scheme is shown. Figure 3 A flowchart illustrating the operation of disengaging automatic driving in the default state according to the implementation scheme is shown.

[0043] refer to Figure 1 and Figure 2Vehicle 1 may include a steering wheel 600, a first sensor device 100, a second sensor device 300, a drive unit, and a controller 200. The first sensor device 100 is configured to detect the steering torque, steering angle, and steering angular velocity of the steering wheel 600. The second sensor device 300 is configured to detect touch of the steering wheel 600 by user 2. The controller 200 is configured to: when vehicle 1 is driving in an emergency control state where the drive unit is controlled by automatic driving and the deceleration / acceleration of vehicle 1 is greater than or equal to a predetermined first value, if touch of the steering wheel 600 by user 2 is detected by the second sensor device 300, a first weight is assigned to the steering angle changed by user 2, a second weight is assigned to the steering angular velocity, and the steering angle with the first weight and the steering angular velocity with the second weight are added to determine a release value. If the release value is greater than or equal to a predetermined threshold, the emergency control state is released. If the steering torque changed by user is greater than or equal to a predetermined torque value, user intervention is identified. If user intervention is identified, automatic driving is deactivated.

[0044] Furthermore, when vehicle 1 is driving in the default state where the drive unit is controlled by automatic driving and the deceleration / acceleration of vehicle 1 is less than a predetermined first value, if the steering torque changed by user 2 is greater than or equal to the predetermined torque value, controller 200 can recognize that user 2 has intervened and deactivate automatic driving.

[0045] The first sensor device 100 may include torque and angle sensors. The torque and angle sensors may be modularized from a torque sensor and a steering angle sensor into a single unit. A torque-only sensor (TOA) may be used instead of a torque and angle sensor. The torque and angle sensors may be electrically connected to the input side of the controller 200, which may output an electric actuator motor drive signal during steering control. The controller 200 may identify the steering angle and steering angular velocity of the steering wheel 600 based on the steering angle signal and steering torque signal received from the torque and angle sensors. The controller 200 may identify whether the user 2 has intervened based on the steering angle, steering angular velocity, braking operation status, and vehicle speed. The second sensor device 300 may refer to a touch sensor configured to detect the user 2's touch on the steering wheel 600.

[0046] During autonomous driving, disengaging the automatic driving system could lead to an accident due to user 2's negligence. Therefore, disengaging the automatic driving system during autonomous driving requires caution. In particular, the risk of an accident may increase in the case of an emergency control state (emergency maneuver) during autonomous driving. An emergency control state can refer to a state in which vehicle 1 is driving with the drive unit controlled by the automatic driving system and the deceleration / acceleration of vehicle 1 is greater than or equal to a predetermined first value. The predetermined first value can refer to a value set by user 2 or preset. When vehicle 1 is driving in an emergency control state, if the second sensor device 300 detects user 2's touch on the steering wheel 600, the controller 200 can assign a first weight to the steering angle changed by user 2, assign a second weight to the steering angular velocity, and add the steering angle assigned the first weight and the steering angular velocity assigned the second weight to determine a release value. The release value can refer to the value required to release the emergency control state. When the release value is greater than a threshold, the controller 200 can release the emergency control state. In addition, as described below, in order to set the steering angle and steering angular velocity in a single unit, the steering angle and steering angular velocity can be normalized and compared with the threshold. Normalization can be interpreted as standardization. In this case, by normalizing the steering angle and steering angular velocity actually measured by the first sensor device 100 and comparing them with a threshold, it can be determined whether user 2 has intervened. In this case, the sum of the first weight and the second weight can be set to equal 1. For example, when the speed of vehicle 1 is low, the threshold can be set to be larger; when the speed of vehicle 1 is high, the threshold can be set to be smaller.

[0047] The reason for the speed change threshold is that when vehicle 1 is moving slowly, the emergency control state is maintained when user 2 slightly changes the steering angle or slowly turns the steering wheel 60° to gradually change the steering angular velocity; when the vehicle is moving quickly, the emergency control state is disengaged even if the steering angle and steering angular velocity change slightly. Subsequently, when the emergency control state is disengaged, if the steering torque changed by user 2 is equal to or greater than a predetermined torque value, user 2's intervention can be identified. The predetermined torque value can refer to the torque change sufficient to identify user 2's intention to disengage the automatic driving system, and this predetermined torque value can be preset. User 2's intervention can refer to the situation where user 2 has taken action to disengage the automatic driving system to drive vehicle 1 independently.

[0048] refer to Figure 3When vehicle 1 is traveling in a default state where the drive unit is controlled by automatic driving and the deceleration / acceleration of vehicle 1 is less than a predetermined first value (S101), user intervention can be identified based on whether the steering torque changed by user 2 is greater than or equal to the predetermined torque value (S102). If the steering torque changed by user 2 is greater than or equal to the predetermined torque value, automatic driving is disengaged (S103). If the steering torque changed by user 2 is less than the predetermined torque value, vehicle 1 can continue to travel in the default state. The default state can refer to a safe state where vehicle 1 does not need to change speed urgently during automatic driving.

[0049] In the default state, the operation to deactivate the emergency control status can be omitted, but user 2 can set various conditions as needed. Additionally, vehicle 1 may include an input device 500, a storage device 700, and a third sensor device 400. The input device 500 can receive commands from user 2. The input device 500 can refer to various devices in vehicle 1 capable of receiving commands from user 2. The controller 200 can set a first weight, a second weight, or a predetermined threshold based on the commands received from user 2 via the input device 500. Setting a predetermined threshold can mean changing the predetermined threshold to different values ​​based on user input, even if the threshold has been predetermined. This allows user 2 to set conditions for deactivating automatic driving or deactivating the emergency control status. The storage device 700 can store user 2's response information and vehicle 1's characteristic information. User 2's response information can refer to user 2's driving mode information. Driving mode information can include user information such as user 2's driving habits or driving tendencies during automatic or manual driving. The controller 200 can store various response information of user 2, such as user 2's driving mode, user 2's driving tendencies, and the driver's response in the event of an accident, through the storage device 700. The characteristic information of vehicle 1 can refer to the functional information of vehicle 1 itself, and can also refer to information about vehicle 1 such as the output response information of vehicle 1 or the aging degree of vehicle 1. Controller 200 can determine the first weight and the second weight based on the response information of user 2 and the characteristic information of vehicle 1.

[0050] The controller 200 may include a memory (not shown) and a processor (not shown), the memory storing data related to algorithms for controlling the operation of components of the vehicle 1 or programs presenting such algorithms, and the processor performing the aforementioned operations using the data stored in the memory. In this case, the memory and processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

[0051] according to Figure 1 and Figure 2The performance of the components in the apparatus shown can be adjusted by adding or omitting at least one component. Furthermore, the relative positions of the components can be changed depending on the system's performance or structure.

[0052] at the same time, Figure 1 and Figure 2 Some of the components shown may refer to software and / or hardware components such as field-programmable gate arrays (FPGAs) and application-specific integrated circuits (ASICs).

[0053] Storage device 700 may include non-volatile storage devices, volatile storage devices, or other storage media. Non-volatile storage devices may include cache, read-only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. Volatile storage devices may include random access memory (RAM). Other storage media may include hard disk drives (HDDs), CD-ROMs, etc., but the implementation of storage device 700 is not limited to these. Storage device 700 may be a memory implemented as a chip separate from the processor, or it may be implemented as a single chip integrated with the processor, which will be described below in conjunction with controller 200.

[0054] The input device 500 may include hardware devices such as various types of buttons or switches, pedals, keyboards, mice, trackballs, various joysticks, handles or joysticks, etc., to receive input from the user.

[0055] Additionally, the input device 500 may include a graphical user interface (GUI), i.e., a software device, such as a touchpad for user input, to receive input from the user. The touchpad may be implemented as a touchscreen panel (TSP) to form a layered structure with the display. In the case of a TSP forming a layered structure with the touchpad, the display can also be used as the input device 500.

[0056] Figure 4 This document illustrates a flowchart of the operation to disengage autonomous driving while the vehicle is traveling at a predetermined distance from another vehicle, according to an implementation scheme.

[0057] For details, please refer to the following: Figure 4Vehicle 1 may further include a third sensor device configured to acquire distance information with another vehicle. Controller 200 is configured to: when vehicle 1 is driving in the default state (S201), identify, based on the distance information, whether the distance between vehicle 1 and another vehicle is greater than a predetermined interval, i.e., whether the distance between vehicle 1 and other vehicles is maintained (S202); if the distance is maintained, compare the steering torque changed by the user with a predetermined torque value (S203) to identify whether the steering torque is greater than or equal to the predetermined torque value (S204); if the steering torque is greater than or equal to the predetermined torque value, disengage the automatic driving system (S205); if the steering torque is less than the predetermined torque value, continue driving in the default state. That is, if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is identified, and automatic driving can be disengaged. The third sensor device may include radar, lidar, etc. The predetermined interval may refer to a distance at which vehicle 1 is less likely to collide with other nearby vehicles.

[0058] Figure 5 A flowchart illustrating the operation of disengaging autonomous driving while the vehicle is traveling along a lane, according to the implementation scheme.

[0059] refer to Figure 5 The vehicle may further include cameras that acquire images of the vehicle's surroundings. The controller determines the vehicle's side lane lines based on the surrounding images. When the vehicle is traveling in its default state (S301), it identifies whether the vehicle is traveling along the side lane lines (S302) and whether the steering torque changed by the user is greater than or less than a predetermined torque value (S303). If the steering torque is greater than or equal to the predetermined torque value, it determines that user intervention has occurred and disengages the automatic driving system (S304). If the steering torque is less than the predetermined torque value, the vehicle can continue traveling in its default state. The surrounding images may refer to images or pictures of the vehicle's surrounding environment acquired by the cameras. The side lane lines may refer to the lane lines that form the current lane in which the vehicle is traveling.

[0060] Figure 6 This is a flowchart based on the implementation plan.

[0061] refer to Figure 6The vehicle can operate under emergency control conditions where the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value (S401). Subsequently, if the user touches the steering wheel and the user's touch is detected (S402), a first weight and a second weight can be assigned to the steering angle and steering angular velocity changed by the user, respectively (S403). Then, a release value can be determined by adding the weighted steering angle and the weighted steering angular velocity (S404). In this case, it is identified whether the release value is greater than or less than a predetermined threshold (S405). If the release value is less than the predetermined threshold, the vehicle continues to operate under emergency control conditions; if the release value is greater than or equal to the predetermined threshold, the emergency control conditions can be released (S406). Subsequently, it is identified whether user intervention has occurred (S407). If user intervention is identified, automatic driving is released (S408); if no user intervention is identified, automatic driving is maintained (S409).

[0062] Furthermore, the disclosed embodiments can be implemented as a recording medium storing computer-executable instructions. The instructions can be stored as program code, and when executed by a processor, a program module can be generated to perform the operations of the disclosed embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0063] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer, such as read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0064] As is evident from the above, the vehicle and the method of controlling the vehicle can identify whether user intervention has occurred during autonomous driving by using the steering torque, steering angle, and steering angular velocity of the steering wheel, as well as touch sensors, thereby disengaging autonomous driving.

[0065] Although embodiments of the invention have been described for illustrative purposes, those skilled in the art will understand that various modifications, additions, and substitutions can be made without departing from the scope and spirit of the invention.

Claims

1. A vehicle comprising: steering wheel; The first sensor device is configured to detect the steering torque of the steering wheel, the steering angle of the steering wheel, and the steering angular velocity of the steering wheel; A second sensor device is configured to detect the user's touch on the steering wheel; Drive unit; as well as The controller is configured as follows: When the vehicle is driving in an emergency control state where the drive unit is controlled by autonomous driving and the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value, if the user's touch on the steering wheel is detected by the second sensor device, a first weight is assigned to the steering angle changed by the user, a second weight is assigned to the steering angular velocity, and a release value is determined based on the steering angle assigned the first weight and the steering angular velocity assigned the second weight. If the release value is greater than or equal to the predetermined threshold, the emergency control state is released; if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is identified. If user intervention is detected, the autopilot is deactivated.

2. The vehicle according to claim 1, wherein, The controller is configured as follows: When the vehicle is traveling in the default state where the drive unit is controlled by automatic driving and the vehicle's deceleration / acceleration is less than a predetermined first value, if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is detected and automatic driving is disengaged.

3. The vehicle according to claim 2, further comprising: A third sensor device, configured to acquire distance information to another vehicle, The controller is configured as follows: When the vehicle is driving in the default state, if the distance between the vehicle and the other vehicle is identified as greater than or equal to a predetermined interval based on distance information, and the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is identified and the automatic driving is deactivated.

4. The vehicle of claim 2, further comprising a camera configured to acquire images of the vehicle's surroundings. in, The controller is configured as follows: Determine the vehicle's side lane lines based on surrounding images; When the vehicle is traveling in the side lane in the default state, if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is detected and the automatic driving is disengaged.

5. The vehicle of claim 1, further comprising an input device configured to receive commands input by a user. in, The controller is configured as follows: The first weight, second weight, or predetermined threshold is set based on the user's command input via the input device.

6. The vehicle according to claim 1, further comprising: Storage device configured to store user response information and vehicle characteristic information. The controller is configured to determine a first weight and a second weight based on the user's response information and the vehicle's feature information.

7. The vehicle according to claim 1, wherein, The controller is configured to normalize the steering angle and steering angular velocity changed by the user, assign a first weight to the normalized steering angle, and assign a second weight to the normalized steering angular velocity.

8. The vehicle according to claim 7, wherein, The first and second weights are set to sum to 1.

9. A method for controlling a vehicle, the method comprising: The steering torque, steering angle, and steering angular velocity of the steering wheel are detected by the first sensor device. The second sensor device detects the user's touch on the steering wheel; When the vehicle is driving in an emergency control state where the drive unit is controlled by autonomous driving and the vehicle's deceleration / acceleration is greater than or equal to a predetermined first value, if the user's touch on the steering wheel is detected by the second sensor device, a first weight is assigned to the steering angle changed by the user, a second weight is assigned to the steering angular velocity, and a release value is determined based on the steering angle assigned the first weight and the steering angular velocity assigned the second weight. If the release value is greater than or equal to the predetermined threshold, the emergency control state is released; if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is identified. If user intervention is detected, the autopilot is deactivated.

10. The method of claim 9, further comprising, when the vehicle is traveling in a default state where the drive unit is controlled by automatic driving and the vehicle's deceleration / acceleration is less than a predetermined first value, identifying user intervention and disengaging automatic driving if the steering torque changed by the user is greater than or equal to the predetermined torque value.

11. The method according to claim 10, wherein, Deactivating autonomous driving includes: when the vehicle is driving in the default state, if the distance between the vehicle and another vehicle is identified as greater than or equal to a predetermined interval based on distance information obtained through a third sensor device, and the steering torque changed by the user is greater than or equal to the predetermined torque value, then user intervention is identified, and autonomous driving is deactivated.

12. The method according to claim 10, wherein, Deactivating autopilot includes: The vehicle's side lane lines are determined based on images of the vehicle's surroundings obtained through cameras. When the vehicle is traveling in the side lane in the default state, if the steering torque changed by the user is greater than or equal to the predetermined torque value, user intervention is detected and the automatic driving is disengaged.

13. The method of claim 9, further comprising setting a first weight, a second weight, or a predetermined threshold based on a user command input via an input device.

14. The method of claim 9, further comprising setting a first weight and a second weight based on user response information and vehicle feature information stored in the storage device.

15. The method according to claim 9, wherein, Assigning a first weight to the steering angle changed by the user, and assigning a second weight to the steering angular velocity, includes: The steering angle and steering angular velocity changed by the user are normalized. A first weight is assigned to the normalized steering angle, and a second weight is assigned to the normalized steering angular velocity.

16. The method according to claim 15, wherein, Determining the first weight and the second weight includes setting the first weight and the second weight to sum to 1.

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