Apparatus and method for controlling automated driving

Abstract

An automatic driving control apparatus includes a sensor device, a notification device, a memory, and a control device. The automatic driving control apparatus recognizes status information on at least one target control item of a host vehicle by using a sensor device. The automatic driving control apparatus also determines whether the at least one target control item can be executed or whether an early warning on the condition information is required based on the condition information. When it is determined that the at least one target control item cannot be executed or an early warning on the condition information is required, the automatic driving control apparatus also provides at least one notification to the user through the notification means.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to Korean Patent Application No. 10-2023-0079184, filed on June 20, 2023, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an automatic driving control device and an automatic driving control method, and more particularly, to a technology for providing a notification about a driving situation to a user. Background Art

[0004] As autonomous vehicles become more and more popular, various technologies related to autonomous driving are also developing. Based on the level of control, autonomous driving can be divided into partial autonomous driving, conditional autonomous driving, highly autonomous driving and / or fully autonomous driving.

[0005] At the same time, in the automatic driving control function, various control algorithms (or functions) for driving control of the host vehicle are also being developed.

[0006] For example, based on smart cruise control (SCC), the autonomous driving control device may maintain the vehicle distance by using at least one of the relative distance, speed, acceleration, or any combination thereof between the host vehicle and another vehicle (e.g., a preceding vehicle driving in front of the host vehicle). The autonomous driving control device may provide a function of setting and controlling the driving speed of the host vehicle.

[0007] For example, the autonomous driving control device may perform driving control of the main vehicle through SCC based on information obtained using various types of components. For example, the autonomous driving control device may identify information about a specific point in the front area of ​​the main vehicle, information about a specific road section (e.g., speed limit), or at least one of any combination thereof based on navigation information obtained through a navigation system. The autonomous driving control device may control the driving speed (e.g., longitudinal speed) of the main vehicle through the identification result. The SCC function based on such navigation information may be defined as navigation-based smart cruise control (NSCC).

[0008] However, when the driving control of the host vehicle is performed according to the NSCC, when an uncontrollable control item is identified or a situation that the user needs to pay attention to occurs, it is necessary to pay attention to the provision of the notification function in advance. Due to the lack of an algorithm for providing the notification function, the user may feel inconvenienced or may face a dangerous situation. Summary of the invention

[0009] The present invention aims to solve the above-mentioned problems existing in the prior art while maintaining the advantages of the prior art.

[0010] In an embodiment of the present invention, the automatic driving control device may identify status information about at least one target control item of the host vehicle. The automatic driving control device may also identify whether the target control item can be executed based on the status information. When it is identified that the target control item cannot be executed, the automatic driving control device may also provide a notification to the user.

[0011] According to an embodiment of the present invention, the automatic driving control device may identify status information about at least one target control item of the host vehicle. The automatic driving control device may also determine whether an advance warning about the status information is required based on the status information. When it is determined that an advance warning is required, the automatic driving control device may also provide a notification to the user.

[0012] According to an embodiment of the present invention, when the main vehicle is traveling on a speed-controlled section and identifies the need for longitudinal speed control, the automatic driving control device can determine whether an advance warning notification is required by using a sensor device based on various information about the speed-controlled section and the main vehicle.

[0013] According to an embodiment of the present invention, the automatic driving control device may provide an advance warning notification including road type change information to the user upon recognizing that the road type on which the host vehicle is traveling changes within a specified distance.

[0014] According to an embodiment of the present invention, the automatic driving control device can provide a notification including the following contents by using a notification device: the location of the starting point and the end point of the speed controlled section, the real-time location of the main vehicle, the real-time driving speed of the main vehicle, the speed limit, the control switching guide of the main vehicle, the first road type of the driving road, the specified distance, the real-time remaining distance before the type change, the second road type of the road ahead, or any combination thereof.

[0015] The technical problems to be solved by the present invention are not limited to the above problems. A person skilled in the art in the technical field to which the present invention relates should be able to clearly understand any other technical problems not mentioned herein through the following description.

[0016] According to one aspect of the present invention, an automatic driving control device includes a sensor device, a notification device, a memory configured to store instructions, and a control device operably connected to the sensor device, the notification device, and the memory. When the instructions are executed by the control device, the automatic driving control device identifies status information about at least one target control item of the host vehicle by using the sensor device. When the instructions are executed by the control device, the automatic driving control device determines whether the at least one target control item can be executed or whether an advance warning of the status information is required based on the status information. When the instructions are executed by the control device, the automatic driving control device provides at least one notification to the user by using the notification device when it is determined that the at least one target control item cannot be executed or an advance warning of the status information is required.

[0017] According to an embodiment, when the instruction is executed by the control device, the automatic driving control device can determine whether at least one target control item can be executed according to the navigation-based smart cruise control (NSCC).

[0018] According to an embodiment, the instructions, when executed by the control device, may cause the automatic driving control device to identify status information about at least one target control item including the longitudinal speed control when recognizing that the longitudinal speed control is required while controlling the travel of the host vehicle.

[0019] According to an embodiment, when the instruction is executed by the control device, the automatic driving control device can, when identifying that the main vehicle is traveling on a speed-controlled section, identify status information including at least one of the following: the starting point and end point of the speed-controlled section, the real-time position of the main vehicle, the minimum target speed of the main vehicle controlled by NSCC, or a combination of the starting point and end point of the speed-controlled section, the real-time position of the main vehicle, and the minimum target speed of the main vehicle controlled by NSCC. When the instruction is executed by the control device, the automatic driving control device can also identify whether NSCC-based control is feasible based on the status information, so that the driving speed of the main vehicle at the end point is less than the speed limit of the speed-controlled section. When the instruction is executed by the control device, the automatic driving control device can also provide a first notification to the user by using a notification device when it is determined that the control is not feasible.

[0020] According to an embodiment, the instructions, when executed by the control device, may cause the automatic driving control apparatus to identify the speed limit of the speed-regulated road section and to identify a speed corresponding to a specified ratio of the speed limit as the minimum target speed of the host vehicle.

[0021] According to an embodiment, the first notification may include at least one of the following: the location of the starting point and the end point of the speed controlled section, the real-time location of the main vehicle, the real-time driving speed of the main vehicle, the speed limit, and the control switching guide of the main vehicle, or a combination of the location of the starting point and the end point of the speed controlled section, the real-time location of the main vehicle, the real-time driving speed of the main vehicle, the speed limit and the control switching guide of the main vehicle.

[0022] According to an embodiment, the instructions, when executed by the control device, may cause the autonomous driving control device to identify a first road type of the driving road on which the host vehicle is traveling. The instructions, when executed by the control device, may also cause the autonomous driving control device to provide a second notification to the user by using the notification device when it is identified that a second road type of a front road within a specified distance from the real-time position of the host vehicle is different from the first road type of the driving road.

[0023] According to an embodiment, the second notification may include at least one of the following: a first road type of the traveling road, a specified distance, a real-time remaining distance before the first road type changes, a second road type of the road ahead, a real-time position of the host vehicle, a real-time driving speed of the host vehicle, a control authority switching guide for the host vehicle, or a combination of the first road type of the traveling road, a specified distance, a real-time remaining distance before the first road type changes, a second road type of the road ahead, a real-time position of the host vehicle, a real-time driving speed of the host vehicle, and a control authority switching guide for the host vehicle.

[0024] According to an embodiment, when the instructions are executed by the control device, the automatic driving control device may determine whether NSCC based on navigation information is being executed on the main vehicle when it is determined that at least one target control item cannot be executed or an advance warning of relevant status information is required. When the instructions are executed by the control device, the automatic driving control device may also provide at least one notification to the user by using a notification device when it is recognized that NSCC is being executed.

[0025] According to an embodiment, the instructions, when executed by the control device, may cause the autonomous driving control device to provide a user with at least one notification including at least one of the following by using a notification device: visual content, auditory content, tactile function, or a combination of visual content, auditory content and tactile function.

[0026] According to one aspect of the present invention, an automatic driving control method may include: a control device identifies status information about at least one target control item of a host vehicle by using a sensor device. The automatic driving control method may also include, by the control device, judging whether at least one target control item can be executed based on the status information, or whether an advance warning about the status information is required. The automatic driving control method may also include, when it is judged that at least one target control item cannot be executed or an advance warning about the status information is required, the control device provides at least one notification to a user by using a notification device.

[0027] According to an embodiment, judging by the control device whether at least one target control item can be executed or whether an advance warning about the status information is required based on the status information may further include judging by the control device whether at least one target control item can be executed according to NSCC.

[0028] According to an embodiment, identifying, by the control device, condition information about at least one target control item of the host vehicle by using the sensor device may also include identifying, by the control device, condition information about at least one target control item including the longitudinal speed control when it is identified that the longitudinal speed control is required.

[0029] According to an embodiment, the automatic driving control method may further include, when it is identified that the main vehicle is traveling on a speed-controlled section, identifying, by a control device, status information including at least one of the following: the starting point and end point of the speed-controlled section, the real-time position of the main vehicle, the minimum target speed of the main vehicle controlled by NSCC, or a combination of the starting point and end point of the speed-controlled section, the real-time position of the main vehicle, and the minimum target speed of the main vehicle controlled by NSCC. The automatic driving control method may further include the control device identifying, based on the status information, whether NSCC-based control is feasible, so that the driving speed of the main vehicle at the end point is less than the speed limit of the speed-controlled section. The automatic driving control method may also include, when it is determined that the control is not feasible, the control device providing a first notification to the user by using a notification device.

[0030] According to an embodiment, identifying, by the control device, the minimum target speed of the host vehicle controlled by the NSCC may further include identifying, by the control device, a speed limit of a speed-regulated road section, and identifying, by the control device, a speed corresponding to a specified ratio of the speed limit as the minimum target speed of the host vehicle.

[0031] According to an embodiment, the first notification may include at least one of the following: the location of the starting point and the end point of the speed controlled section, the real-time location of the main vehicle, the real-time driving speed of the main vehicle, the speed limit, and the control switching guide of the main vehicle, or a combination of the location of the starting point and the end point of the speed controlled section, the real-time location of the main vehicle, the real-time driving speed of the main vehicle, the speed limit and the control switching guide of the main vehicle.

[0032] According to an embodiment, the automatic driving control method may further include identifying, by the control device, a first road type of a driving road on which the host vehicle is driving. The automatic driving control method may further include, when it is identified that a second road type of a front road within a specified distance from the real-time position of the host vehicle is different from the first road type of the driving road, providing, by the control device, a second notification to a user by using a notification device.

[0033] According to an embodiment, the second notification may include at least one of the following: a first road type of the traveling road, a specified distance, a real-time remaining distance before the first road type changes, a second road type of the road ahead, a real-time position of the host vehicle, a real-time driving speed of the host vehicle, a control switching guide for the host vehicle, or a combination of the first road type of the traveling road, a specified distance, a real-time remaining distance before the first road type changes, a second road type of the road ahead, a real-time position of the host vehicle, a real-time driving speed of the host vehicle, and a control switching guide for the host vehicle.

[0034] According to an embodiment, the automatic driving control method may further include, when it is determined that at least one target control item cannot be executed or an advance warning of the relevant status information is required, the control device determines whether NSCC based on the navigation information is being executed on the main vehicle. The automatic driving control method may also include, when it is identified that NSCC is being executed, the control device provides at least one notification to the user by using a notification device.

[0035] According to an embodiment, the autonomous driving control method may further include the control device providing at least one notification to the user by using a notification device, the at least one notification including at least one of the following: visual content, auditory content, tactile function, or a combination of visual content, auditory content and tactile function. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description in conjunction with the accompanying drawings.

[0037] Figure 1 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention;

[0038] Figure 2 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention;

[0039] Figure 3 is a conceptual diagram showing the operation of the automatic driving control device according to an embodiment of the present invention;

[0040] Figure 4is a conceptual diagram showing the operation of the automatic driving control device according to an embodiment of the present invention;

[0041] Figure 5 is an operation flow chart of an automatic driving control device according to an embodiment of the present invention; and

[0042] Figure 6 is an operation flow chart of an automatic driving control device according to an embodiment of the present invention.

[0043] With regard to the description of the drawings, the same or similar components are designated by the same or similar reference numerals. DETAILED DESCRIPTION

[0044] Below, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or equivalent elements in all the drawings. In addition, in order to avoid unnecessary confusion of the main points of the present invention, detailed descriptions of well-known features or functions are omitted.

[0045] When describing the elements of the embodiments of the present invention, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are independent of the order or priority of the corresponding elements and are only used to distinguish one element from another element without limiting the corresponding elements. In addition, unless otherwise defined, all terms (including technical and scientific terms) used in this article should be interpreted in the customary manner of the technical field to which the present invention belongs. It should be understood that unless it is clearly defined in this article, the terms used in this article should be interpreted as having a meaning consistent with the meaning of the content of the present invention and the background of the relevant technology, and should not be interpreted as an idealized or overly formal meaning. When the parts, devices, elements, etc. of the present invention are described as having a certain purpose or performing a certain operation, function, etc., the parts, devices, elements, etc. should be regarded as "configured to" meet the purpose or perform the operation or function. Each part, device, element, etc. can be implemented separately or include a processor and memory (such as a non-temporary computer-readable medium) as part of the device.

[0046] In the following, reference will be made to Figure 1-Figure 6 Various embodiments of the present invention are described in detail.

[0047] Figure 1 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention.

[0048] According to an embodiment, the automatic driving control apparatus 100 may include at least one of a sensor device 110, a notification device 120, a memory 130, a control device 140, or any combination thereof. Figure 1The configuration of the automatic driving control device 100 shown is an example, and the embodiments of the present invention are not limited thereto. For example, the automatic driving control device 100 may further include Figure 1 Components not shown in the figure (for example, at least one of an interface device, a communication device, a display device, or any combination thereof).

[0049] According to an embodiment, the sensor device 110 may acquire (or identify) various information of the driving of the host vehicle (eg, information including at least one of the user's biometric information, the interior information of the host vehicle, the driving environment information, or any combination thereof).

[0050] In an embodiment, the sensor device 110 may include at least one sensor including at least one of a camera, a radar, a LiDAR (laser radar), or any combination thereof.

[0051] In another embodiment, the sensor device 110 may further include a navigation system. In one embodiment, the control device 140 may perform driving control (eg, navigation-based smart cruise control (NSCC)) on the host vehicle by using navigation information recognized by the navigation system.

[0052] In one implementation, the sensor device 110 may identify status information regarding at least one target control item of the host vehicle.

[0053] For example, when it is identified that driving control (e.g., longitudinal speed control) of the main vehicle is required while the main vehicle is being driven under the control of the automatic driving control device 100 (e.g., control based on NSCC), the sensor device 110 can identify status information about at least one target control item including longitudinal speed control.

[0054] For example, when it is identified that the host vehicle is traveling on a speed-controlled section, the sensor device 110 may identify status information including at least one of the start and end points of the speed-controlled section, the real-time position of the host vehicle, the minimum target speed of the host vehicle controlled by the NSCC, or any combination thereof.

[0055] In one implementation, the sensor device 110 may acquire information by using at least one sensor, and may recognize the acquired information according to other external components (eg, a communication device).

[0056] For example, the sensor device 110 can identify driving environment information, including information about the driving speed of the main vehicle, the driving acceleration of the main vehicle, the driving direction of the main vehicle, the destination of the main vehicle, the driving route of the main vehicle, the driving mode of the main vehicle, the driving road of the main vehicle, the real-time position of the main vehicle, the real-time remaining distance to a specific point, the area adjacent to the main vehicle, or at least one of any combination thereof.

[0057] In one implementation, the sensor device 110 may identify information about a first road type of a driving road on which the host vehicle is traveling.

[0058] In another embodiment, the sensor device 110 may identify a second road type of a forward road that exists within a specified distance (eg, 200 meters) from the real-time location of the host vehicle.

[0059] According to an embodiment, the notification device 120 may include various types of warning providing devices, and may provide a notification including driving control information on the host vehicle to a user by using the warning providing device.

[0060] For example, the notification device 120 may include a display. In one embodiment, the automatic driving control device 100 may provide a notification including visual content and / or auditory content to the user through the display.

[0061] For example, the notification device 120 may include an audio output device. For example, the automatic driving control device 100 may provide a notification including auditory content to the user through the audio output device.

[0062] In one embodiment, the notification device 120 may include a tactile device (e.g., a vibration device). For example, the automatic driving control device 100 may provide a notification including a tactile function to the user through the tactile device. For example, the tactile device may include at least one such device that provides vibration to the user through at least one of at least one seat, at least one belt, at least one steering wheel, or any combination thereof in the host vehicle.

[0063] According to an embodiment, the memory 130 may store instructions or data. For example, the memory 130 may store one or more instructions that, when executed by the control device 140, cause the automatic driving control apparatus 100 to perform various operations.

[0064] For example, the memory 130 and the control device 140 may be implemented as a chip set. The control device 140 may include at least one of a communication processor or a modem.

[0065] For example, the memory 130 may store various information related to the automatic driving control apparatus 100. For example, the memory 130 may store information about the operation history of the control device 140. For example, the memory 130 may store information related to the state and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, the notification device 120, the control device 140, or any combination thereof).

[0066] According to an embodiment, the control device 140 may be operatively connected to the sensor device 110, the notification device 120 and / or the memory 130. For example, the control device 140 may control the operation of the sensor device 110, the notification device 120 and / or the memory 130.

[0067] For example, the control device 140 may identify status information about at least one target control item of the host vehicle by using the sensor device 110 .

[0068] For example, the control device 140 may determine whether at least one target control item of the host vehicle can be executed based on the NSCC according to the status information recognized using the sensor device 110 .

[0069] For example, when recognizing that the longitudinal speed control is required while the control device 140 controls the driving of the host vehicle, the control device 140 may recognize status information about at least one target control item including the longitudinal speed control.

[0070] For example, when it is identified that the main vehicle is traveling on a speed-controlled section, the control device 140 can identify status information through the sensor device 110, including at least one of the following information: the starting point and end point of the speed-controlled section, the real-time position of the main vehicle, the minimum target speed of the main vehicle controlled by the NSCC, or any combination thereof.

[0071] For example, the control device 140 may identify the speed limit of the speed-controlled road section by using the navigation system included in the sensor device 110. The control device 140 may identify that the speed corresponding to a specified ratio (e.g., 90%) of the speed limit of the speed-controlled road section is the minimum target speed of the host vehicle. For example, when the speed limit of the speed-controlled road section is 100 km / h, the control device 140 may identify that the minimum target speed is 90 km / h. For example, when controlling the host vehicle in the corresponding road section, the minimum target speed may be the lowest value among the controllable driving speeds of the host vehicle by the control device 140.

[0072] For example, the control device 140 may identify, through the sensor device 110 , a first road type of a driving road on which the host vehicle is driving.

[0073] For example, the control device 140 may identify the second road type of the front road within a specified distance (eg, 200 meters) from the real-time position of the host vehicle by using the sensor device 110. The numerical value of the specified distance is an example, and embodiments of the present invention are not limited thereto.

[0074] For example, the control device 140 may determine whether at least one target control item can be executed based on the status information, or whether an advance warning about the status information is required.

[0075] For example, the control device 140 may determine whether at least one target control item is executable according to the NSCC.

[0076] For example, when it is identified that the host vehicle is traveling in a speed-controlled section, the control device 140 may identify status information, including at least one of the following information: the start and end points of the speed-controlled section, the real-time position of the host vehicle, the minimum target speed of the host vehicle controlled by NSCC, or any combination thereof. When it is identified that the host vehicle is traveling in a speed-controlled section, the control device 140 may also identify whether NSCC-based control is feasible based on the status information, so that the driving speed of the host vehicle at the end point is less than the speed limit of the speed-controlled section.

[0077] For example, when it is determined that at least one target control item cannot be executed or an advance warning about the status information is required, the control device 140 may provide at least one notification to the user by using the notification device 120 .

[0078] For example, when it is determined that at least one target control item cannot be executed or an advance warning of the relevant status information is required, the control device 140 may determine whether NSCC based on the navigation information is being executed on the host vehicle. When it is recognized that NSCC is being executed, the control device 140 may provide a notification to the user using the notification device 120. In other words, the control device 140 may perform the notification providing function using the notification device 120 only while the control of the host vehicle is being executed based on NSCC.

[0079] For example, when it is determined that at least one target control item cannot be executed or an advance warning about the status information is required, the control device 140 may provide at least one notification to the user by using the notification device 120 .

[0080] For example, the control device 140 can identify whether NSCC-based control is feasible based on the status information so that the driving speed of the host vehicle at the end point is less than the speed limit of the speed-controlled section. When it is determined that control is not feasible, the control device 140 can provide a first notification to the user by using the notification device 120.

[0081] For example, the first notification may include at least one of: the location of the start and end points of the speed controlled section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, a guide on a transition of control authority of the host vehicle, or any combination thereof.

[0082] For example, the control device 140 may identify a first road type of a driving road on which the host vehicle is traveling. When a second road type of a front road within a specified distance (e.g., 200 meters) from the real-time position of the host vehicle is identified as being different from the first road type of the driving road, the control device 140 may provide a second notification to the user by using the notification device 120. For example, if the control device 140 identifies that the second road type is one of the road types that cannot control its own vehicle based on a specified operation mode (e.g., smart cruise control (SCC) and / or navigation-based smart cruise control (NSCC)), the control device 140 may provide a second notification to the user by using the notification device 120.

[0083] For example, the second notification may include at least one of: a first road type of the traveling road, a specified distance, a real-time remaining distance before the road type changes, a second road type of the road ahead, the real-time position of the main vehicle, the real-time driving speed of the main vehicle, a control switching guide for the main vehicle, or any combination thereof.

[0084] For example, the control device 140 may provide at least one notification to the user by using the notification device 120, including at least one of visual content, auditory content, tactile function, or any combination thereof. For example, the at least one notification may include a first notification and / or a second notification.

[0085] Figure 2 is a block diagram showing components of an automatic driving control device according to an embodiment of the present invention.

[0086] According to an embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100 in the embodiment may include a state determination device 210 and / or a warning notification device 220 (for example, Figure 1 The notification device 120 in FIG.

[0087] Figure 2 The structures of the components shown in are examples, and the embodiments of the present invention are not limited thereto. Figure 2 In the embodiment, the state determination device 210 and / or the warning notification device 220 can be used as Figure 1 In other words, at least a part of the operations of the state determination device 210 and / or the warning notification device 220 described below can be implemented by the control device 140 and a part of the sensor device 110 in the embodiment of the present invention, or can be implemented as a single chip together with the control device 140. Figure 1 This is achieved by the control device 140 and / or the sensor device 110 in (or under the control of the control device).

[0088] For example, the state determination device 210 may determine whether a control target item can be executed, and / or may determine a situation where an advance warning is required during driving control of the host vehicle.

[0089] For example, the state determination device 210 may identify status information about at least one target control item of the host vehicle, and may determine whether the at least one target control item can be executed based on the status information.

[0090] For example, the state determination device 210 may determine whether an advance warning is required based on the status information.

[0091] For example, the state determination device 210 may send a control state and / or advance warning notification to the warning notification device 220 .

[0092] For example, the warning notification device 220 may determine whether an advance warning notification is required during control. When it is determined that an advance warning notification is required, the warning notification device 220 may send a warning notification signal.

[0093] For example, the warning notification device 220 may transmit the warning notification signal to various types of notification devices (eg, at least one of a display, an audio output device, a haptic device, or any combination thereof) installed in the host vehicle.

[0094] For example, the warning notification device 220 may send a notification to a notification device (e.g., Figure 1 The notification device 120 in the notification device transmits a warning notification signal, including: the content of at least one notification of the first notification and the second notification, the information included, etc.

[0095] Figure 3 is a conceptual diagram illustrating the operation of an automatic driving control device according to an embodiment of the present invention.

[0096] According to the implementation mode, according to Figure 3 The host vehicle 301 may be defined as a vehicle that is in an autonomous driving control device (e.g., Figure 1 The operation of the main vehicle 301 to be described below may be defined as the operation under the control of the automatic driving control device. In other words, the operation of the main vehicle 301 to be described below may include the drive control (e.g., NSCC) operation of the automatic driving control device.

[0097] According to an embodiment, the host vehicle 301 may identify status information about at least one target control item. For example, when it is identified that longitudinal speed control is required, the host vehicle 301 may identify status information about at least one target control item including longitudinal speed control.

[0098] For example, when it is recognized that the host vehicle 301 is Figure 3 When traveling in the speed-controlled road section shown, the host vehicle 301 may identify status information about the driving status of the host vehicle 301 and / or the speed-controlled road section.

[0099] For example, when it is identified that the main vehicle 301 is traveling in a speed-controlled section, the status information may include at least one of the start and end points of the speed-controlled section, the real-time position of the main vehicle 301, the minimum target speed of the main vehicle 301 controlled by the NSCC, or any combination thereof.

[0100] For example, the host vehicle 301 may recognize that the host vehicle 301 is currently traveling a first distance t1 from the start point 310 of the speed-regulated road section.

[0101] For example, the host vehicle 301 may recognize that the host vehicle 301 is currently driving in a state where a second distance t2 is left to the end point 320 of the speed-regulated road section.

[0102] For example, based on the status information, the host vehicle 301 may identify whether NSCC control is feasible so that the driving speed of the host vehicle at the end point 320 is less than the speed limit of the speed-controlled road section.

[0103] For example, the host vehicle 301 can identify the speed limit of the speed-controlled road section by using at least one of the condition information, the sensor information obtained by the sensor device, or any combination thereof. The host vehicle 301 can also identify the speed corresponding to a specified ratio (e.g., 90%) of the speed limit as the host vehicle's minimum target speed.

[0104] For example, the host vehicle 301 may perform control based on the minimum target speed starting from the current position, and identify whether the host vehicle 301 can travel at a speed lower than the speed limit when the host vehicle 301 reaches the end point 320 .

[0105] For example, when identifying that NSCC control (which enables the host vehicle to travel at a speed less than the speed limit of the speed-regulated road section at the end point 320 ) is not feasible, the host vehicle 301 may provide a first notification to the user by using a notification device.

[0106] For example, the first notification may include the locations of the start point 310 and the end point 320 of the speed controlled section, the real-time location of the main vehicle 301, the real-time driving speed of the main vehicle 301, the speed limit, the control switching guide of the main vehicle 301, or at least one of any combination thereof.

[0107] For example, the control right switching guide may include guide information that enables a user to exercise driving control of the host vehicle (eg, start driving in a manual mode).

[0108] Figure 4is a conceptual diagram illustrating the operation of an automatic driving control device according to an embodiment of the present invention.

[0109] According to the implementation mode, according to Figure 4 The host vehicle 401 may be defined as a vehicle that is in an autonomous driving control device (e.g., Figure 1 The operation of the main vehicle 401 to be described below may be defined as the operation under the control of the automatic driving control device. In other words, the operation of the main vehicle 401 to be described below may include the drive control (e.g., NSCC) operation of the automatic driving control device.

[0110] According to an embodiment, the host vehicle 401 may identify the road type of the traveling road. For example, when the road type of the traveling road is identified, the host vehicle 401 may identify a road of a different type from the identified road type that exists within a specified distance ahead.

[0111] For example, the host vehicle 401 may identify Figure 4 The first road type of the current travel road 440 is shown in FIG.

[0112] For example, the first road type may be an interchange (IC) or a junction (JC), but this is only an example. The embodiments of the present invention are not limited thereto. For example, the first road type may be a highway and / or an expressway.

[0113] For example, the host vehicle 401 may identify a second road type for a front road 460 that is located within a specified distance (eg, 200 meters) from the real-time location of the host vehicle 401 traveling on the driving road 440 .

[0114] For example, according to Figure 4 , the host vehicle 401 can identify a boundary 450 between the driving road 440 and the front road 460 .

[0115] For example, the second road type may be a national road, but this is only an example and the embodiments of the present invention are not limited thereto. For example, the second road type may be a trunk line, an IC, or a JC.

[0116] For example, when recognizing that the second road type of the front road 460 is different from the first road type of the travel road 440, the host vehicle 401 can notify the driver by using a notification device (e.g. Figure 1The second notification may be provided to the user by using the notification device 120 in the automatic driving control device. For example, if the automatic driving control device recognizes that the second road type is one of the road types that cannot control its own vehicle according to the specified operation mode (e.g., smart cruise control (SCC) and / or navigation-based smart cruise control (NSCC)), the automatic driving control device may provide the second notification to the user by using the notification device.

[0117] For example, the second notification may include the road type of the driving road 440, the specified distance, the real-time remaining distance before the type is changed, the road type of the road ahead 460, the real-time position of the main vehicle 401, the real-time driving speed of the main vehicle 401, the control switching guide of the main vehicle 401, or at least one of any combination thereof.

[0118] For example, the control right switching guide may include guide information that enables a user to exercise driving control over the host vehicle (eg, to start driving in a manual mode).

[0119] Figure 5 is an operation flow chart of an automatic driving control device according to an embodiment of the present invention.

[0120] According to an embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100 in the embodiment may execute Figure 5 For example, at least a portion of the components in the automatic driving control device (e.g., Figure 1 The sensor device 110, the notification device 120, the memory 130 and / or the control device 140 in the embodiment may be configured to perform Figure 5 Operations in .

[0121] In the following embodiments, S510 to S530 may be performed sequentially, but they are not necessarily always performed sequentially. For example, the order of operations may be changed, and at least two operations may be performed in parallel. Figure 5 Descriptions that are corresponding or identical to the descriptions made may be briefly described or omitted to avoid redundancy.

[0122] According to an embodiment, the automatic driving control apparatus may identify situation information about at least one target control item by using a sensor device ( S510 ).

[0123] For example, when recognizing that longitudinal speed control is required while the autonomous driving control device controls the travel of the host vehicle, the autonomous driving control device may recognize situation information about at least one target control item including the longitudinal speed control.

[0124] For example, when it is identified that the main vehicle is traveling on a speed-controlled section, the autonomous driving control device can identify status information including at least one of the start and end points of the speed-controlled section, the real-time position of the main vehicle, the minimum target speed of the main vehicle controlled by the NSCC, or any combination thereof.

[0125] For example, the autonomous driving control device may identify a speed limit of a speed enforcement section, and may identify a speed corresponding to a specified ratio of the speed limit as a minimum target speed for the host vehicle.

[0126] For example, the autonomous driving control device may identify a first road type of a driving road on which the host vehicle is traveling and / or a second road type of a forward road within a specified distance from the host vehicle's real-time location.

[0127] According to an embodiment, the automatic driving control device may determine whether at least one target control item can be executed, or whether an advance warning about the situation information is required, based on the situation information ( S520 ).

[0128] For example, the autonomous driving control device may determine whether at least one target control item can be executed based on the NSCC.

[0129] For example, when it is identified that the host vehicle is traveling in a speed-controlled section, the automatic driving control device may identify status information including at least one of the start and end points of the speed-controlled section, the real-time position of the host vehicle, the minimum target speed of the host vehicle controlled by NSCC, or any combination thereof. When it is identified that the host vehicle is traveling in a speed-controlled section, the automatic driving control device may also identify, based on the status information, whether NSCC-based control is feasible so that the driving speed of the host vehicle at the end point is less than the speed limit of the speed-controlled section.

[0130] For example, the autonomous driving control device may determine whether a second road type of a front road located within a specified distance from the real-time position of the host vehicle is different from a first road type of a driving road on which the host vehicle is currently driving.

[0131] For example, the autonomous driving control device may determine whether the first road type is different from the second road type. For example, the first road type may include a road type in which the autonomous driving control device can control the host vehicle based on a specified operating mode (e.g., SCC (smart cruise control) and / or NSCC (navigation-based smart cruise control)). For example, the second road type may include one of the road types (different from the first road type) in which the autonomous driving control device cannot control the host vehicle based on the specified operating mode (e.g., SCC (smart cruise control) and / or NSCC (navigation-based smart cruise control)).

[0132] According to an embodiment, when it is determined that at least one target control item cannot be executed or an advance warning of relevant status information is required, the automatic driving control device may provide at least one notification to the user by using a notification device (S530).

[0133] For example, when recognizing that longitudinal speed control is required while the autonomous driving control device controls the travel of the host vehicle, the autonomous driving control device may recognize situation information about at least one target control item including the longitudinal speed control.

[0134] For example, when it is determined that at least one target control item cannot be executed or an advance warning of the relevant status information is required, the autonomous driving control device can determine whether NSCC based on the navigation information is being executed on the host vehicle. When it is identified that NSCC is being executed, the autonomous driving control device can provide a notification to the user by using a notification device.

[0135] For example, the autonomous driving control device may provide at least one notification to the user by using a notification device, including at least one of visual content, auditory content, tactile function, or any combination thereof.

[0136] For example, the at least one notification may include a first notification and / or a second notification.

[0137] For example, the first notification may include at least one of the following: the location of the start and end points of the speed control section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, the control switching guide of the host vehicle, or any combination thereof.

[0138] For example, the second notification may include at least one of the following: the road type of the driving road, the specified distance, the real-time remaining distance before the type change, the road type of the road ahead, the real-time position of the main vehicle, the real-time driving speed of the main vehicle, the control switching guide of the main vehicle, or any combination thereof.

[0139] Figure 6 A computing system related to an automatic driving control method according to an embodiment of the present invention is shown.

[0140] refer to Figure 6 , a computing system 1000 related to the autonomous driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700 interconnected via a bus 1200.

[0141] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0142] Accordingly, the operations of the methods or algorithms related to the embodiments disclosed in this specification may be implemented directly by hardware modules, software modules, or a combination of hardware modules and software modules executed by the processor 1100. The software modules may reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk drive, a removable optical disk, or a compact disk-ROM (CD-ROM).

[0143] The storage medium may be connected to the processor 1100. The processor 1100 may read information from the storage medium and may write information into the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be implemented by an application specific integrated circuit (ASIC). The ASIC may be provided in a user terminal. Alternatively, the processor and the storage medium may be implemented by independent components in a user terminal.

[0144] The above description is merely an example of the technical concept of the present invention, and a person skilled in the art may make various modifications and changes without departing from the basic features of the present invention.

[0145] Therefore, the embodiments of the present invention are not intended to be limiting, but only to explain the technical concept of the present invention, and the scope and spirit of the present invention are not limited by the above-mentioned embodiments. The protection scope of the present invention should be interpreted by the attached claims, and all equivalents thereof should be interpreted as included in the scope of the present invention.

[0146] An automatic driving control device and method thereof according to an embodiment of the present invention are described as follows.

[0147] In addition, according to at least one embodiment of the present invention, when it is identified that driving control based on a specific control algorithm (e.g., NSCC) is not feasible or difficult to perform, the autonomous driving control device can identify information about the situation before the situation occurs, and can then perform the function of providing the user with notification about the corresponding information in advance.

[0148] In addition, according to at least one embodiment of the present invention, the automatic driving control device can provide the user with information about the driving restriction status of the main vehicle in advance. Thereby, the usability including the function of providing information to the user can be improved, and the effectiveness of the driving control of the main vehicle including the automatic driving control can be ensured.

[0149] In addition, according to at least one embodiment of the present invention, when driving control of the main vehicle is being executed and the continuity of driving control is inevitably interrupted due to changes in the surrounding environment, the automatic driving control device can perform the function of providing information so as to respond to the corresponding situation in advance by providing a warning notification to the user in advance.

[0150] Furthermore, various effects directly or indirectly understood through the contents of the present invention can also be provided.

[0151] Although the present invention has been described with reference to the embodiments and the accompanying drawings, the present invention is not limited thereto. Various modifications and changes may be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention as claimed in the following claims.

Claims

1. An automatic driving control device, include: Sensor device; Notification device; a memory configured to store instructions; as well as a control device operatively connected to the sensor device, the notification device and the memory, Wherein, when the instruction is executed by the control device, the automatic driving control device: identifying condition information about at least one target control item of the host vehicle by using the sensor device; determining, based on the status information, whether the at least one target control item can be executed or whether an advance warning regarding the status information is required; as well as When it is determined that the at least one target control item cannot be executed or an advance warning regarding the status information is required, at least one notification is provided to the user by using the notification means.

2. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: Whether the at least one target control item can be executed is determined according to the navigation-based smart cruise control NSCC.

3. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: While controlling the travel of the host vehicle, when it is identified that longitudinal speed control is required, status information about the at least one target control item including the longitudinal speed control is identified.

4. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: When it is identified that the host vehicle is traveling on a speed-regulated section, identifying status information including at least one of a start point and an end point of the speed-regulated section, a real-time position of the host vehicle, a minimum target speed of the host vehicle controlled by the NSCC, and a combination of a start point and an end point of the speed-regulated section, a real-time position of the host vehicle, and a minimum target speed of the host vehicle controlled by the NSCC; Based on the condition information, identifying whether NSCC-based control is feasible so that the driving speed of the host vehicle at the end point is lower than the speed limit of the speed-controlled road section; and When it is determined that the control is not possible, a first notification is provided to the user by using the notification device.

5. The automatic driving control device according to claim 4, in, When the instructions are executed by the control device, the automatic driving control device: identifying the speed limit of the speed controlled road section; and A speed corresponding to a specified ratio of the speed limit is identified as a minimum target speed for the host vehicle.

6. The automatic driving control device according to claim 4, in, The first notification includes the locations of the starting point and the end point of the speed-controlled section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, a control authority switching guide for the host vehicle, and at least one of a combination of the locations of the starting point and the end point of the speed-controlled section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, and a control authority switching guide for the host vehicle.

7. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: identifying a first road type of a driving road on which the host vehicle is traveling; and When a second road type of a front road within a specified distance from the real-time position of the host vehicle is identified as being different from the first road type of the travel road, a second notification is provided to the user by using the notification device.

8. The automatic driving control device according to claim 7, in, The second notification includes the first road type of the driving road, the designated distance, the real-time remaining distance before the first road type changes, the second road type of the road ahead, the real-time position of the host vehicle, the real-time driving speed of the host vehicle, a control authority switching guide for the host vehicle, and at least one of a combination of the first road type of the driving road, the designated distance, the real-time remaining distance before the first road type changes, the second road type of the road ahead, the real-time position of the host vehicle, the real-time driving speed of the host vehicle, and a control authority switching guide for the host vehicle.

9. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: When it is determined that the at least one target control item cannot be executed or an advance warning regarding the condition information is required, determining whether NSCC based on navigation information is being executed on the host vehicle; as well as When it is recognized that the NSCC is being executed, the at least one notification is provided to the user by using the notification means.

10. The automatic driving control device according to claim 1, in, When the instructions are executed by the control device, the automatic driving control device: The at least one notification including at least one of visual content, auditory content, tactile function, and a combination of visual content, auditory content, and tactile function is provided to the user by using the notification device.

11. An automatic driving control method, the method The following steps are involved: identifying, by the control device, condition information about at least one target control item of the host vehicle by using the sensor device; The control device determines, based on the status information, whether the at least one target control item can be executed or whether an advance warning about the status information is required; as well as When it is determined that the at least one target control item cannot be executed or an advance warning about the status information is required, at least one notification is provided to the user by the control device using the notification device.

12. The method according to claim 11, in, Judging whether the at least one target control item can be executed or whether an advance warning about the status information is needed based on the status information further includes: The control device determines whether the at least one target control item can be executed according to the navigation-based intelligent cruise control.

13. The method according to claim 12, in, Identifying status information about at least one target control item of the host vehicle by using the sensor device also includes: While controlling the travel of the host vehicle, when it is recognized that longitudinal speed control is required, status information about the at least one target control item including the longitudinal speed control is recognized by the control device.

14. The method according to claim 11, further comprising When it is recognized that the host vehicle is traveling on a speed-regulated section, the control device recognizes, by the control device, at least one of the status information including a start point and an end point of the speed-regulated section, a real-time position of the host vehicle, a minimum target speed of the host vehicle controlled by a navigation-based smart cruise control (NSCC), and a combination of a start point and an end point of the speed-regulated section, a real-time position of the host vehicle, and a minimum target speed of the host vehicle controlled by the NSCC; The control device identifies, based on the status information, whether NSCC-based control is feasible so that the driving speed of the host vehicle at the end point is lower than the speed limit of the speed-controlled road section; as well as When it is determined that the control is not possible, a first notification is provided to the user by the control means by using the notification means.

15. The method according to claim 14, in, Identifying a minimum target speed for the host vehicle controlled by the NSCC further includes: identifying, by the control device, a speed limit of the speed-controlled road section; and A speed corresponding to a specified ratio of the speed limit is identified by the control device as a minimum target speed of the host vehicle.

16. The method according to claim 14, in, The first notification includes the locations of the starting point and the end point of the speed-controlled section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, a control authority switching guide for the host vehicle, and at least one of a combination of the locations of the starting point and the end point of the speed-controlled section, the real-time location of the host vehicle, the real-time driving speed of the host vehicle, the speed limit, and a control authority switching guide for the host vehicle.

17. The method according to claim 11, further comprising: include: identifying, by the control device, a first road type of a driving road on which the host vehicle is traveling; as well as When a second road type of a front road within a specified distance from the real-time position of the host vehicle is identified to be different from the first road type of the travel road, a second notification is provided to the user by the control device using the notification device.

18. The method according to claim 17, in, The second notification includes the first road type of the driving road, the designated distance, the real-time remaining distance before the first road type changes, the second road type of the road ahead, the real-time position of the host vehicle, the real-time driving speed of the host vehicle, a control authority switching guide for the host vehicle, and at least one of a combination of the first road type of the driving road, the designated distance, the real-time remaining distance before the first road type changes, the second road type of the road ahead, the real-time position of the host vehicle, the real-time driving speed of the host vehicle, and a control authority switching guide for the host vehicle.

19. The method according to claim 11, further comprising: include: When it is determined that the at least one target control item cannot be executed or an advance warning regarding the condition information is required, determining by the control device whether NSCC based on the navigation information is being executed on the host vehicle; as well as When it is recognized that the NSCC is being executed, the control means provides the at least one notification to the user by using the notification means.

20. The method according to claim 11, further comprising: include: The at least one notification including at least one of visual content, auditory content, tactile function, and a combination of visual content, auditory content, and tactile function is provided to the user by the control device using the notification device.

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