Apparatus for controlling automatic driving and method thereof

Abstract

The invention relates to an apparatus for controlling automatic driving and a method thereof. Disclosed is an apparatus for automatic driving control. The apparatus may include: feedback devices including a first feedback device and a second feedback device; a memory; and a control device. For example, the apparatus may detect an event related to a control right transition of a host vehicle in an autonomous driving mode; it may be determined whether the first feedback device is operating in a normal state based on failure to receive a response from the user regarding the control right transition within the first time period; a first feedback can be output through a first feedback device on the basis of determining that the first feedback device works in a normal state; second feedback may be output via a second feedback device based on determining that the first feedback device is not operating in the normal state.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0083578 filed in the Korean Intellectual Property Office on June 28, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an automatic driving control device and a method thereof, and more specifically, to a technology for providing a user with information about a control right transfer related to automatic driving according to various methods and based on a driving environment in the case of automatic driving control of a vehicle. Background Art

[0004] As autonomous vehicles become more common, 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 a specific driving situation of the vehicle, the control of the vehicle can be transferred to the user during the automatic driving control of the vehicle. For example, in a specific situation, the driving mode is switched from the automatic driving mode to the manual driving mode. Therefore, the automatic driving control device can display a notification about the transfer of the control of the vehicle to the user.

[0006] The autonomous driving control device can use various components to notify the user of the necessity of switching the driving mode of the vehicle. For example, the autonomous driving control device can change the acceleration by applying the braking force of at least one tire differently while driving, so as to provide a tactile warning to the user. Therefore, the user can perceive the need to transfer the control of the vehicle through the tactile warning. For another example, the autonomous driving control device can provide a notification about the transfer of control rights by using an actuator arranged in the seat of the vehicle. In particular, the autonomous driving control device can convey the intention to transfer the control of the vehicle to the user by using the actuator to generate vibrations.

[0007] However, the above method may be disadvantageous in terms of driving comfort or manufacturing cost of the present vehicle. For example, due to the cost required to install and add actuators to the seats, the manufacturing cost of the present vehicle may increase. Additionally or alternatively, in the case where a notification device (e.g., a tactile device) provided in the present vehicle does not operate normally (e.g., in the case where the notification device is damaged), even if it is necessary to provide a notification to the user, the appropriate notification providing function may not be performed. Summary of the invention

[0008] According to the present invention, a device for automatic driving control is provided, and the device may include: a feedback device, which includes a first feedback device and a second feedback device; a memory, which is configured to store instructions; and a control device, which is operably connected to the feedback device and the memory; wherein, when the instructions are executed by the control device, the instructions cause the device to: detect events related to the transfer of control rights of the vehicle in the automatic driving mode; determine whether the first feedback device is working in a normal state based on failure to receive a response from the user regarding the transfer of control rights within a first time period; output a first feedback via the first feedback device based on determining that the first feedback device is working in a normal state; output a second feedback via the second feedback device based on determining that the first feedback device is not working in a normal state.

[0009] In the device, when the instruction is executed by the control device, the instruction can cause the device to: output second feedback via a second feedback device based on failure to receive a response from the user regarding the transfer of control rights within a second time period, wherein the second time period is related to the feedback output time of the first feedback device; when outputting the second feedback, control the vehicle based on a first minimum risk strategy (MRM), wherein the minimum risk strategy includes an operation of slowing down the driving speed of the vehicle at a first deceleration.

[0010] In the device, when the instructions are executed by the control device, the instructions may cause the device to: output multiple feedbacks via both the first feedback device and the second feedback device based on failure to receive a response from the user regarding the transfer of control rights within a third time period, wherein the third time period is related to the feedback output time of the second feedback device.

[0011] The device may further include: a display device; wherein, when the instruction is executed by the control device, the instruction may cause the device to: output information about at least one of the following by utilizing the display device: an event related to the transfer of control rights, a first feedback, a second feedback, or a combination of an event, a first feedback, and a second feedback.

[0012] In the device, when the instruction is executed by the control device, the instruction can cause the device to: in the automatic driving mode, output a third feedback via at least one of the first feedback device or the second feedback device based on an operating error, an unpredictable situation, or a combination of an operating error and an unpredictable situation of the device.

[0013] In the device, when the instruction is executed by the control device, the instruction can cause the device to: control the vehicle based on a second minimum risk strategy (MRM) when outputting the first feedback, the second minimum risk strategy including an operation of slowing down the driving speed of the vehicle at a second deceleration, and the second deceleration is greater than the first deceleration associated with the first minimum risk strategy.

[0014] In the device, when the instruction is executed by the control device, the instruction can cause the device to: based on the first feedback device operating in a normal state, output a first feedback by performing at least one of the following: adjusting the length of a seat belt associated with the user, generating vibration in a seat associated with the user, or a combination of adjusting the length of the seat belt and generating vibration.

[0015] In the device, when the instruction is executed by the control device, the instruction can cause the device to: based on the first feedback device not working in a normal state, output a second feedback by performing at least one of the following: changing the backrest angle of a seat associated with the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or a combination of changing the backrest angle and repeatedly applying a braking force.

[0016] In the device, when the instructions are executed by the control device, the instructions may cause the device to: output the second feedback by repeatedly applying a braking force in the form of pulses of a specified magnitude using the second feedback device.

[0017] In the device, when the instructions are executed by the control device, the instructions may cause the device to: turn off the feedback device and disable the automatic driving mode based on receiving a response from the user regarding the transfer of control authority within the first time period or the second time period.

[0018] According to the present invention, a method for automatic driving control is provided, which may include: in the automatic driving mode, a control device detects an event related to a control right transfer of a vehicle; based on failure to receive a response from a user regarding the control right transfer within a first time period, the control device determines whether a first feedback device is operating in a normal state; based on determining that the first feedback device is not operating in a normal state, the control device controls the output of a second feedback via a second feedback device, wherein the second feedback is different from the first feedback related to the first feedback device.

[0019] The method may further include: controlling, by the control device, output of a second feedback based on failure to receive a response from the user regarding the transfer of control authority within a second time period, wherein the second time period is related to a feedback output time of the first feedback device; and controlling, by the control device, the host vehicle based on a first minimum risk strategy (MRM) when outputting the second feedback, wherein the first risk strategy includes an operation of slowing down a driving speed of the host vehicle at a first deceleration.

[0020] The method may further include: controlling, by the control device, output of multiple feedbacks via both the first feedback device and the second feedback device based on failure to receive a response from the user regarding the control transfer within a third time period, wherein the third time period is related to the feedback output time of the second feedback device.

[0021] The method may further include: controlling, by the control device, using the display device, output of information about at least one of the following: an event related to the transfer of control rights, the first feedback, the second feedback, or a combination of the event, the first feedback, and the second feedback.

[0022] The method may further include: in the automatic driving mode, based on the occurrence of an operating error, an unpredictable situation, or a combination of an operating error and an unpredictable situation of the automatic driving control device, the control device controls the output of a third feedback via at least one of the first feedback device or the second feedback device.

[0023] The method may further include: when outputting the first feedback, controlling the vehicle based on a second minimum risk strategy (MRM) by the control device, the second minimum risk strategy including an operation of slowing down the driving speed of the vehicle at a second deceleration, and the second deceleration is greater than the first deceleration associated with the first minimum MRM.

[0024] The method may further include controlling, by the control device, output of the first feedback by performing at least one of: adjusting the length of a seat belt associated with the user, generating vibrations in a seat associated with the user, or a combination of adjusting the length of the seat belt and generating vibrations.

[0025] In the method, controlling the output of the second feedback may include: controlling the output of the second feedback by a control device by performing at least one of the following: changing the backrest angle of a seat associated with the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or a combination of changing the backrest angle and repeatedly applying a braking force.

[0026] In the method, repeatedly applying the braking force may include: the control device repeatedly applying the braking force in the form of pulses of a specified magnitude using a second feedback device.

[0027] The method may further include: based on receiving a response from the user regarding the control transfer within the first time period or the second time period, turning off the first feedback device and the second feedback device and disabling the automatic driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0029] Figure 1 An example of components of an automatic driving control device according to an example of the present invention is shown.

[0030] Figure 2 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0031] Figure 3 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0032] Figure 4 An example of a flowchart of an automatic driving control device according to an example of the present invention is shown.

[0033] Figure 5 An example of a flowchart of an automatic driving control device according to an example of the present invention is shown.

[0034] Figure 6 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0035] Figure 7 An example of the operation of the notification device according to the example of the present invention is shown.

[0036] Figure 8 An example of a flowchart of an automatic driving control device according to an example of the present invention is shown.

[0037] Fig. 9 An example of a computing system related to an automatic driving control method according to an example of the present invention is shown.

[0038] With regard to the description of the drawings, the same or similar components will be marked with the same or similar reference numerals. DETAILED DESCRIPTION

[0039] Hereinafter, some examples of the present invention will be described in detail with reference to the attached drawings. In the drawings, the same reference numerals will be used throughout the text to indicate the same or equivalent elements. Additionally or alternatively, in order to avoid unnecessarily obscuring the subject matter of the present invention, detailed descriptions of well-known features or functions will be excluded.

[0040] When describing the elements of the examples of the present invention, the terms first, second, A, B, (a), (b), etc. may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, and are independent of the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms (including technical terms and scientific terms) used herein are interpreted as being customary in the field to which the present invention belongs. It should be understood that the terms used herein should be interpreted as having a meaning consistent with the meaning in the context of the present invention and the relevant technology, and should not be interpreted as an ideal or overly formal meaning, unless clearly defined in this article.

[0041] In the following, reference will be made to Figures 1 to 9 Various examples of the present invention are described in detail.

[0042] Figure 1 An example of components of an automatic driving control device according to an example of the present invention is shown.

[0043] According to an example, the automatic driving control device 100 may include at least one of a notification device 110, a control device 120, a memory 130, a display device 140, or any combination thereof. Figure 1 The configuration of the automatic driving control device 100 shown is an example, and the examples 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 (eg, at least one of an interface device, a communication device, a sensor device, or any combination thereof).

[0044] According to an example, the notification device 110 includes at least one notification device and may provide a notification function to a user.

[0045] For example, the notification device 110 may include a first notification device and a second notification device.

[0046] For example, the first notification device may include at least one device for directly and / or indirectly providing notification to at least a portion of a body of a user riding in the vehicle. The first notification device may include, for example, at least one of a seat belt length adjustment device, a seat vibrator, or any combination thereof. For example, the seat belt length adjustment device may perform a seat belt length adjustment function that winds or extends the length of a seat belt corresponding to at least one seat of the vehicle. For example, a seat vibrator may include a vibration device that vibrates at least a portion of an area (e.g., a seat cushion) of a seat where the user to be notified is riding.

[0047] For example, the second notification device may include at least one device that provides notification by providing a change that can be felt by the vestibular organ to the user. The second notification device may include, for example, at least one of a seat back angle adjustment device, a braking device (e.g., a speed adjustment device of the vehicle), or any combination thereof. For example, the seat back angle adjustment device may perform a seat angle adjustment function that tilts or straightens the angle of at least one seat of the vehicle. For example, the braking device may adjust the driving speed of the vehicle by repeatedly applying a braking force of a specified magnitude to a drive device (e.g., a motor) of the vehicle in a specified form (e.g., a pulse form).

[0048] For example, the notification device 110 may perform a notification function with various stages under the control of the control device 120. For example, the notification device 110 may perform a notification function with multiple stages in which one of the intensity, the cycle, or any combination thereof of the seat belt length adjustment function using the seat belt length adjustment device is differently applied. For example, the notification device 110 may perform a notification function with multiple stages in which at least one of the angle range, the angle change cycle, or any combination thereof of the seat angle adjustment function using the seat angle adjustment device is differently applied.

[0049] For example, the notification device 110 may selectively perform the first stage notification and / or the second stage notification.

[0050] For example, the first stage notification may include an operation of adjusting the length of the seat belt at a first intensity based on a first period by using a seat belt length adjustment device. The first period may include, for example, a first contraction section for winding the seat belt at a first intensity and a first idle section. The first contraction section and / or the first idle section may be set values ​​that can be changed by a user and / or a manufacturer. For example, the first stage notification may include an operation of generating vibrations at at least a portion of the seat at a first intensity based on a first period by using a seat vibrator.

[0051] For example, if the second notification device included in the notification device 110 is not working properly (for example, if it is broken), the second stage notification may include an operation of adjusting the length of the seat belt by using a seat belt length adjustment device based on a second period that is less than the first period and a second intensity that is greater than the first intensity. The second period may include, for example, a second contraction section for winding the seat belt at a second intensity and a second idle section. Each of the second contraction section and the second idle section may be a set value that can be changed by the user and / or the manufacturer. For example, the second stage notification may include an operation of generating vibrations in at least a portion of the seat based on a second period and a second intensity by using a seat vibrator. In other words, the second stage notification may include a notification with a shorter period and / or a stronger intensity than the above-mentioned first stage notification.

[0052] For example, if the first notification device included in the notification device 110 does not work properly (for example, if it is broken), the first stage notification may include an operation of adjusting the angle of the seat in the first angle interval based on a third period by utilizing the seat angle adjustment device. The first stage notification using the seat angle adjustment device may include, for example, an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the first angle interval and a maximum value of the first angle interval. The third period may be a set value that can be changed by the user and / or the manufacturer. For example, the first stage notification may include the following notification operation, which repeatedly applies a braking force of a specified size and a specified form (for example, a pulse form) to the vehicle by utilizing a braking device, so that the user feels a sense of difference when driving.

[0053] For example, the second stage notification may include an operation of adjusting the seat angle in a second angle interval wider than the first angle interval based on a fourth period that is smaller than the third period by utilizing a seat angle adjustment device. The second stage notification utilizing the seat angle adjustment device may include an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the second angle interval and a maximum value of the second angle interval. The fourth period may be a set value that can be changed by the user and / or the manufacturer. For example, the second stage notification may include the following notification operation, which enables the user to feel a sense of difference when driving by repeatedly applying a braking force to the vehicle that is larger than the first stage notification and has a specified form (e.g., a pulse form) by utilizing a braking device.

[0054] For example, the notification device 110 can perform the notification function based on various types of control signals. For example, the notification device 110 can perform the notification function of some stages in multiple stages based on the control signal, and the control signal includes at least one of a ramp-up signal, a step signal, a sinusoidal signal, or any combination thereof.

[0055] According to an example, the control device 120 may be operably connected to the notification device 110, the memory 130, and / or the display device 140. For example, the control device 120 may control the operation of the notification device 110, the memory 130, and / or the display device 140.

[0056] For example, the control device 120 may control the vehicle in an automatic driving mode based on one of a plurality of automatic driving stages. For example, when controlling the vehicle in an automatic driving mode based on a designated automatic driving stage (e.g., level 3), the control device 120 may recognize that an event related to a transfer of control of the vehicle occurs.

[0057] For example, an event related to the transfer of control of the vehicle may include information about the driving condition of the vehicle. For example, the event may include at least one of the traffic volume on the road on which the vehicle is traveling, the driving speed of the vehicle, the driving state of the vehicle in front of the vehicle, or any combination thereof. For example, the event may include a predefined reference parameter. In other words, the event may include various pre-stored information about the driving condition of the vehicle.

[0058] For example, if the control device 120 does not receive a response regarding the control right transfer from the user within a first time (e.g., 4 seconds) based on recognizing that the event has occurred, the control device 120 may identify the working state of a notification device (e.g., the first notification device) identified based on a predetermined priority among a plurality of notification devices included in the notification device 110. For example, the control device 120 may determine whether the first notification device is operating normally.

[0059] For example, if it is determined that the first notification device is operating normally, the control device 120 may perform notification (e.g., first-stage notification) by utilizing at least a portion of the first notification device. For example, if the first notification device is operating normally, the control device 120 may provide a first-stage notification including: providing a notification about the control right transfer to the user by adjusting (e.g., retracting) the length of the seat belt corresponding to the user by utilizing the first notification device, providing a notification about the control right transfer to the user by generating vibration in the seat where the user sits by utilizing the first notification device, or at least one of any combination thereof.

[0060] For example, if it is determined that the first notification device is not working properly, the control device 120 may provide a notification by using another notification device other than the first notification device among the multiple notification devices included in the notification device 110. For example, if there are multiple remaining notification devices, the control device 120 may perform a notification (e.g., a first-stage notification) by using a notification device (e.g., a second notification device) identified based on a set priority. In this case, the control device 120 may provide a second-stage notification by continuing to use the second notification device, similar to the second-stage notification to be described later. For example, the second-stage notification using the second notification device may include a notification having a shorter cycle and / or a stronger intensity than the above-mentioned first-stage notification. For example, if the first notification device is not working properly, the control device 120 may provide a first-stage notification including: providing a notification about the control right conversion to the user by using the second notification device to change the backrest angle of the seat corresponding to the user based on a specified cycle, providing a notification about the control right conversion to the user by using the second notification device to repeatedly apply a braking force of a specified size to the vehicle, or at least one of any combination thereof. The braking force may be generated based on a control signal of a specified size, for example, in a pulse form.

[0061] For example, if a response is received from the user within the first time, the control device 120 may turn off the notification device 110, may transfer control of the vehicle to the user, and may terminate the automatic driving control of the vehicle.

[0062] For example, if the control device 120 does not receive a response from the user regarding the control right transfer within a second time (e.g., 6 seconds) from the time when the first stage notification is executed, the control device 120 may provide a second stage notification by utilizing at least one notification device among the multiple notification devices included in the notification device 110. For example, if the first stage notification is provided by utilizing the first notification device, the control device 120 may provide a second stage notification by utilizing at least one notification device (e.g., the second notification device) among the remaining notification devices other than the first notification device. For example, if a situation such as a failure of the second notification device is identified, the control device 120 may provide a second stage notification by continuing to utilize the first notification device. In this case, the control device 120 may provide a second stage notification by changing at least one of the intensity, period, or any combination thereof of the first stage notification by utilizing the first notification device. For example, the second stage notification utilizing the first notification device may include a notification having a shorter period and / or a stronger intensity than the above-mentioned first stage notification.

[0063] For example, if a response is received from the user within the second time, the control device 120 may turn off the notification device 110, may transfer control of the vehicle to the user, and may terminate the automatic driving control of the vehicle.

[0064] For example, a response regarding a transfer of control may include at least one of the vehicle's steering wheel controls, pressure on the vehicle's accelerator pedal and / or brake pedal, touch input to the vehicle's display, manual seat angle adjustment input generated continuously for more than a predetermined time, or any combination thereof.

[0065] For example, when the second stage notification is performed by using the notification device 110, the control device 120 may control the driving speed of the vehicle. For example, when the second stage notification is provided to the user by using the second notification device, the control device 120 may control the vehicle based on a first minimum risk maneuver (MRM) to slow down the driving speed of the vehicle to a first acceleration (e.g., -1 m / s 2 ).

[0066] For example, if the control device 120 fails to receive a response from the user regarding the control right transfer within a third time from the time point when the second stage notification is provided, the control device 120 may provide the third stage notification to the user. For example, the third stage notification may include a notification provided to the user by using the first notification device and the second notification device. For example, the third stage notification may include a notification provided by using the first notification device with a shorter cycle and / or a stronger intensity than the second stage notification. For example, the third stage notification may include a notification provided by using the second notification device with a shorter cycle and / or a stronger intensity than the second stage notification.

[0067] For example, the control device 120 may provide the user with various information related to the driving control of the vehicle by using the display device 140. For example, the control device 120 may provide the user with at least one of information about an event related to the control right transfer, a first stage notification, a second stage notification, a notification function being provided, whether to release the automatic driving mode, or any combination thereof by using the display device 140 through visual and / or auditory content.

[0068] For example, when controlling the host vehicle in the automatic driving mode based on the automatic driving stage with the specified stage, the control device 120 can identify an emergency situation. For example, the emergency situation may include a situation other than an event related to the conversion of the above-mentioned control right. In other words, the emergency situation may include a driving situation that has not been previously stored. For example, the emergency situation may include an operation error of the automatic driving control device 100, an unpredictable situation related to the driving of the host vehicle (for example, at least one of an accident, lane departure, an intruding vehicle, a change in the external environment, or any combination thereof), or any combination thereof.

[0069] For example, if an emergency situation is identified, the control device 120 may immediately provide a notification by utilizing the first notification device. For example, the control device 120 may omit the waiting time of the first time and / or the execution of the first stage notification, and may immediately execute the second stage notification. For example, when the second stage notification is executed based on the occurrence of an emergency situation, the control device 120 may control the host vehicle based on the second MRM to slow down the driving speed of the host vehicle to a second acceleration (e.g., -4 m / s) whose absolute value is greater than the first acceleration. 2 ).

[0070] The values ​​described above for the first time, the second time, the first acceleration, and the second acceleration are merely illustrative, and the examples of the present invention are not limited thereto. For example, the second acceleration may be -5 m / s 2 For example, the first time and the second time may be set values ​​that are changeable by the user and / or the manufacturer's settings.

[0071] According to an example, 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 120, cause the automatic driving control apparatus 100 to perform various operations.

[0072] For example, the memory 130 and the control device 120 may be implemented as one chipset. The control device 120 may include at least one of a communication processor or a modem.

[0073] 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 120. 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 notification device 110, the control device 120, the display device 140, or any combination thereof).

[0074] According to an example, the display device 140 may include at least one output device. For example, the display device 140 may include an output device (eg, a display and / or a speaker) included in at least a portion of the interior of the vehicle.

[0075] For example, the display device 140 may provide the user with various information regarding the driving condition of the vehicle through visual and / or auditory content.

[0076] For example, the display device 140 can output in real time information about various driving information generated when the vehicle is driving in the automatic driving mode (for example, at least one of events related to the transfer of control rights, emergency situations, or any combination thereof).

[0077] For example, under the control of the control device 120, the display device 140 may output in real time information about the notification function performed by the notification device 110. The display device 140 may provide the user with information about at least one of, for example, an event related to a control right transfer, a notification using the first notification device, a notification using the second notification device, or any combination thereof through visual and / or auditory content.

[0078] Figure 2 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0079] According to an example, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can control the host vehicle 201 in the autonomous driving mode. For example, the autonomous driving control device can control the host vehicle 201 in the autonomous driving mode based on the autonomous driving stage having a specified stage (e.g., level 3) or higher.

[0080] According to the example, when controlling the vehicle 201 in an autonomous driving mode based on an autonomous driving mode (e.g., a dynamic driving task (DDT)), the autonomous driving control device can recognize that an event related to a transfer of control of the vehicle 201 occurs at a first time point 205.

[0081] According to an example, at the first time point 205, the autonomous driving control device may display information about the control right transfer to the user based on the occurrence of the identified event. For example, the autonomous driving control device may display information about the control right transfer to the user by using a display device (e.g., Figure 1 The display device 140 in the display device 140 provides the user with various information indicating the need for user control.

[0082] According to an example, if no response regarding the control right transfer is received from the user within the first time 212, the automatic driving control device may determine a first notification device (e.g., Figure 1 110 in the automatic driving control device) is working properly. For example, if the first notification device is working properly, the automatic driving control device may perform the first stage notification 250 by utilizing the first notification device. For example, if the first notification device is not working properly (for example, if the first notification device is broken), the automatic driving control device may perform the first stage notification 250 by utilizing a notification device determined based on a specific priority (for example, the second notification device). For example, if a response regarding the control right transfer is received from the user within the first time 212, the automatic driving control device may transfer the control right of the host vehicle 201 to the user, and then the control of the automatic driving mode may be terminated.

[0083] For example, the first stage notification 250 using the first notification device may include the following notification functions, which include at least one of adjusting the length of the seat belt corresponding to the user, generating vibration in the seat where the user sits, or any combination thereof.

[0084] For example, the first stage notification 250 using the first notification device may include an operation of adjusting the length of the safety belt with a first intensity based on a first cycle by using the safety belt length adjustment device. The first cycle may include, for example, a first contraction section for winding the safety belt with a first intensity and a first idle section. The first contraction section and / or the first idle section may be set values ​​that can be changed by a user and / or a manufacturer.

[0085] For example, the first stage notification 250 using the first notification device may include an operation of generating vibrations in at least one area (eg, a seat cushion) of a seat where the user sits at a first intensity based on a first cycle by using a seat vibrator.

[0086] For example, if the first notification device fails at the time point when the first stage notification 250 needs to be provided, the automatic driving control device may provide the first stage notification 250 by utilizing another notification device (e.g., the second notification device). For example, the first stage notification 250 utilizing the second notification device may include at least one of the following notification functions: changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the host vehicle, or any combination thereof.

[0087] For example, the first stage notification 250 using the second notification device may include an operation of adjusting the backrest angle of the seat within a specified angle interval based on a specified cycle by using the seat back angle adjustment device. The first stage notification 250 using the seat back angle adjustment device may include an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the specified angle interval and a maximum value of the specified angle interval, for example. For example, the specified cycle may be a set value changeable by a user and / or a manufacturer.

[0088] For example, the first stage notification 250 using the second notification device may include an operation of repeatedly applying a braking force of a specified magnitude to the host vehicle 201 by using the braking device. The first stage notification 250 using the braking device may include an operation of slowing down the travel speed of the host vehicle 201 based on, for example, a control signal in the form of a pulse having a specified magnitude.

[0089] For example, the first stage notification 250 may be executed on the premise that the automatic driving control device recognizes that the user is seated with the seat belt fastened. In other words, the automatic driving control device may continuously recognize whether the seat belt is fastened after the first time point 205. If it is recognized that the user is seated with the seat belt fastened, the automatic driving control device may normally execute the first stage notification 250.

[0090] According to the example, if a response regarding the control right transfer is not received from the user within the second time 214 from the time point of executing the first stage notification 250, the automatic driving control device may perform the second stage notification 260 by utilizing the notification means. For example, if a response regarding the control right transfer is received from the user within the second time 214, the automatic driving control device may transfer the control right of the host vehicle 201 to the user, and then may terminate the control of the automatic driving mode.

[0091] For example, the second stage notification 260 using the second notification device may include at least one of the following notification functions: changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or any combination thereof.

[0092] For example, the second stage notification 260 using the second notification device may include an operation of adjusting the back angle of the seat within a specified angle interval based on a specified cycle by using the seat back angle adjustment device. The second stage notification 260 using the seat back angle adjustment device may include an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the specified angle interval and a maximum value of the specified angle interval, for example. For example, the seat back angle adjustment device according to the second stage notification 260 may control the back angle of the seat within a shorter cycle and a wider angle interval than the first stage notification 250.

[0093] For example, the second stage notification 260 using the second notification device may include an operation of repeatedly applying a braking force of a specified size to the host vehicle 201 by using the braking device. The second stage notification 260 using the braking device may include an operation of slowing down the travel speed of the host vehicle 201 based on, for example, a control signal in the form of a pulse having a specified size. For example, the braking device according to the second stage notification 260 may repeatedly slow down the travel speed of the host vehicle 201 based on a higher level (e.g., a greater deceleration) than the first stage notification 250.

[0094] For example, if the second notification device fails at the time point when the second stage notification 260 needs to be provided, the automatic driving control device may provide the second stage notification 260 by utilizing another notification device (e.g., the first notification device). For example, the second stage notification 260 utilizing the first notification device may include the following notification functions, which include adjusting the length of the seat belt corresponding to the user, generating vibrations in the seat where the user sits, or at least one of any combination thereof.

[0095] For example, the second stage notification 260 using the first notification device may include an operation of adjusting the length of the seat belt with a second intensity greater than the first intensity based on a second cycle shorter than the first cycle by using the seat belt length adjustment device.

[0096] For example, the second stage notification 260 using the first notification device may include an operation of generating vibrations in at least one area (eg, a seat cushion) of a seat where the user sits at a second intensity based on a second cycle by using a seat vibrator.

[0097] According to the example, the time from the first time point 205 to the second time point 215 can be defined as a transition demand (TD) execution time 210, the first time point 205 is the time point when an event related to the control right transfer occurs, and the second time point 215 is the time point when the second stage notification 260 is executed. For example, the TD execution time 210 can be defined as a limit time for notifying a user that a control right transfer is required. If the limit time is exceeded, the automatic driving control device can reduce the driving speed of the vehicle 201.

[0098] According to the example, when the autonomous driving control device is executing the second stage notification 260, the autonomous driving control device can control the host vehicle 201 based on the first MRM (or MRM stage 1), including an operation of slowing down the driving speed of the host vehicle 201 to the first acceleration.

[0099] According to the example, if the driving speed of the host vehicle 201 is less than a specified value (e.g., 0 m / s), the automatic driving control device may reduce the driving speed of the host vehicle 201 within the third time 222, the third time 222 being the time from the second time point 215 to the third time point 225, the second time point 215 being the time point for executing the second stage notification 260. In addition, the automatic driving control device may display the second stage notification 260 through visual and / or auditory content, using a display device (e.g., Figure 1 The display device 140 in the display device 140 provides the user with at least one of the driving conditions of the vehicle 201, information indicating the need for control transfer, or any combination thereof.

[0100] According to an example, when the first stage notification 250 or the second stage notification 260 is executed, the autonomous driving control device may receive a manual seat angle adjustment input from the user.

[0101] For example, when the first stage notification 250 or the second stage notification 260 is performed by using the seat angle adjustment device, the automatic driving control apparatus may receive a manual seat angle adjustment input from the user for a specific time.

[0102] For example, if the manual seat angle adjustment input continues for a specific time exceeding a predefined time, the autonomous driving control device can recognize that the corresponding manual seat angle adjustment input is a response intention regarding the transfer of control to the user, and can terminate (or release) the autonomous driving control of the vehicle 201.

[0103] For example, if the manual seat angle adjustment input continues for a specific time not greater than a predefined time, the autonomous driving control device may continue to provide notification or may perform autonomous driving control.

[0104] According to the example, if no response regarding the control right transfer is received until the third time point 225, the automatic driving control device may terminate the driving of the host vehicle 201. For example, the automatic driving control device may slow down the driving speed of the host vehicle 201 to zero, and may disable the driving of the host vehicle 201 and / or the automatic driving control of the automatic driving control device.

[0105] Figure 3 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0106] According to an example, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can control the host vehicle 301 in the autonomous driving mode. For example, the autonomous driving control device can control the host vehicle 301 in the autonomous driving mode based on the autonomous driving stage having a specified stage (e.g., level 3) or higher.

[0107] According to an example, when controlling the host vehicle 301 in the autonomous driving mode based on the autonomous driving mode (e.g., dynamic driving task (DDT)), the autonomous driving control device may recognize that an emergency situation occurs at a first time point 305. For example, the emergency situation may include situations other than Figure 2 In other words, the emergency situation may include driving situations that have not been previously stored. For example, the emergency situation may include an operation error of the automatic driving control device, an unpredictable situation related to the driving of the host vehicle 301 (e.g., an accident, lane departure, an intruding vehicle, an external environment change, or at least one of any combination thereof), or at least one of any combination thereof.

[0108] According to the example, if an emergency situation is identified, the autonomous driving control device may omit the waiting time at the first time and / or the execution of the first stage notification, and if the emergency situation occurs, the second stage notification 360 may be immediately executed at the first time point 305 (e.g., Figure 2 For example, when the second stage notification 360 is executed based on the occurrence of an emergency, the automatic driving control device can control the host vehicle 301 based on the second MRM (or MRM stage 2) to slow down the driving speed of the host vehicle 301 to a second acceleration greater than the first acceleration.

[0109] According to the example, within the fourth time 312 from the first time point 305 to the second time point 315, the automatic driving control device may reduce the driving speed of the host vehicle 301 to the second acceleration. If no response regarding the control right transfer is received until the second time point 315, the automatic driving control device may terminate the driving of the host vehicle 301. For example, the automatic driving control device may slow down the driving speed of the host vehicle 301 to zero, and may disable the driving of the host vehicle 301 and / or the automatic driving control of the automatic driving control device.

[0110] Figure 4 An example of a flowchart of an automatic driving control device according to an example of the present invention is shown.

[0111] According to an example, an autonomous driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 4 For example, the components included in the automatic driving control device (for example, Figure 1 At least some of the notification device 110, the control device 120, the memory 130 and / or the display device 140) may be configured to perform Figure 4 steps.

[0112] In the following examples, steps S410 to S475 may be performed sequentially, but are not always performed sequentially. For example, the order of the steps may be changed, and at least two steps may be performed in parallel. In addition, the steps described in detail or omitted in conjunction with the reference may be briefly described. Figure 4 Corresponding or identical descriptions are given above to avoid redundancy. Additionally or alternatively, at least some of steps S410 to S475 may be omitted.

[0113] According to an example, the autonomous driving control device may control the host vehicle in the autonomous driving mode ( S410 ).

[0114] For example, the autonomous driving control device may control the host vehicle in the autonomous driving mode based on an autonomous driving stage having a designated stage (eg, level 3) or higher.

[0115] According to an example, the automatic driving control device may determine whether a request for a control right transfer occurs ( S415 ).

[0116] For example, when controlling the vehicle in the autonomous driving mode, the autonomous driving control device can recognize that a situation has occurred in which control of the vehicle needs to be transferred to the user.

[0117] For example, if a control authority transfer request occurs (eg, yes in step S415 ), the automatic driving control device may execute step S420 .

[0118] For example, if the control authority transfer request situation does not occur (eg, No in step S415 ), the automatic driving control device may repeat step S410 .

[0119] According to an example, the automatic driving control device may determine an operating state transition condition (S420).

[0120] For example, the automatic driving control device may determine the operating state transition condition of the vehicle. For example, the operating state transition condition may include a condition related to the driving state of the vehicle.

[0121] According to an example, the automatic driving control device may determine whether the generated control right transfer request situation corresponds to the predicted situation ( S425 ).

[0122] For example, the predicted situation may include a situation related to a predefined driving of the vehicle stored in the memory. For example, the predicted situation may include at least one of the traffic volume of the road on which the vehicle is traveling, the driving speed of the vehicle, the driving state of the vehicle in front of the vehicle, or any combination thereof. For example, the predicted situation may include a predefined reference parameter. In other words, the event may include various pre-stored information about the driving situation of the vehicle.

[0123] For example, an unpredicted situation may include an emergency situation. For example, an emergency situation may include a situation that is different from a predicted situation. In other words, an emergency situation may include a driving situation that has not been previously stored. For example, an emergency situation may include an operating error of an automatic driving control device, an unpredictable situation related to the driving of the vehicle (e.g., an accident, lane departure, an intruding vehicle, a change in the external environment, or at least one of any combination thereof), or at least one of any combination thereof.

[0124] For example, if the situation requiring the control right transfer is a predicted situation (for example, yes in step S425), the automatic driving control device may execute step S430. For example, the situation requiring the control right transfer is a predicted situation may be the same as Figure 2 In other words, the steps after step S430 can be used as described above. Figure 2 The operation of the automatic driving control device is replaced.

[0125] For example, if the situation requiring the control right transfer is not the predicted situation (e.g., No in step S425), the automatic driving control device may execute step S435. For example, the situation requiring the control right transfer is not the predicted situation may be the same as Figure 3 In other words, step S435 can be replaced by the above example. Figure 3 The operation of the automatic driving control device is replaced.

[0126] According to the example, if the situation requiring the control right transfer is not the predicted situation, the automatic driving control device may start the MRM control (S435). The operation of the automatic driving control device after step S435 may be described as above. Figure 3 description instead.

[0127] According to an example, the automatic driving control device may start transfer request (TD) control ( S430 ).

[0128] For example, the autonomous driving control device may display information about transferring control of the vehicle to the user, and may wait to receive a response from the user regarding the control transfer input in the first place.

[0129] According to an example, the automatic driving control device may determine whether the control right of the vehicle is transferred to the driver (or user) within the first time (S440).

[0130] For example, the automatic driving control device may determine whether a response regarding the transfer of control authority is received from the user within the first time.

[0131] For example, if a response regarding the transfer of control authority is received from the user within the first time (eg, yes in step S440 ), the automatic driving control device may execute step S445 .

[0132] According to the example, the automatic driving control device may release the automatic driving mode (S445).

[0133] For example, based on receiving the response, the autonomous driving control device can transfer control of the vehicle to the user and can release (or disable) the autonomous driving mode.

[0134] For example, if a response regarding the transfer of control authority is not received from the user within the first time (eg, No in step S440 ), the automatic driving control device may execute step S450 .

[0135] According to an example, the autonomous driving control device may generate a tactile warning stage 1 (e.g., Figure 2 (S450) of the first stage notification 250).

[0136] For example, tactile warning stage 1 may include a first stage notification using a notification device.

[0137] For example, the description of the first phase notification can be as follows Figure 1 and Figure 2 The description of the first phase notification will be used instead.

[0138] According to an example, the automatic driving control device may determine whether the control right of the vehicle is transferred to the driver (or user) within the second time (S455).

[0139] For example, the automatic driving control device may determine whether a response regarding the transfer of control authority is received from the user within the second time.

[0140] For example, if a response regarding the transfer of control authority is received from the user within the second time (eg, yes in step S455 ), the automatic driving control device may execute step S460 .

[0141] According to an example, the autonomous driving control device may release the autonomous driving mode (S460).

[0142] For example, based on receiving the response, the autonomous driving control device can transfer control of the vehicle to the user and can release (or disable) the autonomous driving mode.

[0143] For example, if no response regarding the transfer of control authority is received from the user within the second time (eg, No in step S455 ), the automatic driving control device may execute step S465 .

[0144] According to an example, the autonomous driving control device may generate a tactile warning stage 2 (e.g., Figure 2 (S465) of the second stage notification 260).

[0145] For example, tactile alert stage 2 may include a second stage notification using a notification device.

[0146] For example, the description of the second phase notification can be used as above Figures 1 to 3 The description of the first phase notification will be used instead.

[0147] According to an example, the automatic driving control device may determine whether the control right of the host vehicle is transferred to the driver (or user) immediately before stopping (S470).

[0148] For example, when executing tactile warning stage 2, the autonomous driving control device may determine whether a response regarding the transfer of control authority is received from the user. For example, the autonomous driving control device may transfer the control authority to the user based on receiving the response regarding the transfer of control authority.

[0149] For example, if control is transferred to the user when executing tactile warning stage 2 (e.g., yes in step S470), the autonomous driving control device can execute step S475.

[0150] According to the example, the automatic driving control device may release the automatic driving mode (S475).

[0151] For example, based on receiving the response, the autonomous driving control device can transfer control of the vehicle to the user and can release (or disable) the autonomous driving mode.

[0152] For example, if control is not transferred to the user when executing tactile warning stage 2 (e.g., No in step S470), the autonomous driving control device can repeat step S465.

[0153] Figure 5 An example of a flowchart of an automatic driving control device according to an example of the present invention is shown.

[0154] According to an example, an autonomous driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 5 For example, at least some of the components included in the automatic driving control device (e.g., Figure 1 The notification device 110, the control device 120, the memory 130 and / or the display device 140) may be configured to perform Figure 5 operation.

[0155] In the following examples, steps S510 to S548 may be performed sequentially, but are not always performed sequentially. For example, the order of the steps may be changed, and at least two steps may be performed in parallel. In addition, the steps described in detail or omitted in conjunction with the reference may be briefly described. Figure 5 The above descriptions corresponding to or identical descriptions are given to avoid redundancy.

[0156] According to the example, according to Figure 5 The operation of the autonomous driving control device may be referred to as the operation after the autonomous driving control device recognizes the occurrence of an emergency situation when the autonomous driving control device performs autonomous driving control of the vehicle based on an autonomous driving mode of a specified stage or higher.

[0157] According to an example, the automatic driving control apparatus may start MRM control ( S510 ).

[0158] For example, MRM control can be performed using the Figure 3 In other words, the MRM control of step S510 may be a control operation performed by the autonomous driving control device after the autonomous driving control device omits TD execution.

[0159] According to an example, the automatic driving control device may determine whether there is a risk of collision with the host vehicle ( S520 ).

[0160] For example, if there is a risk of collision with the host vehicle (eg, yes in step S520 ), the autonomous driving control device may execute steps S532 to S538 .

[0161] According to an example, the autonomous driving control device may generate a tactile warning stage 3 ( S532 ).

[0162] For example, the automatic driving control device may perform the third stage notification by utilizing the notification device. For example, the third stage notification may include a notification function having the strongest intensity and / or the shortest period by utilizing at least one notification device among the multiple notification devices included in the notification device. In other words, the third stage notification may include utilizing the most powerful notification function of the notification device. The occurrence of the third stage notification may be defined as an EM situation.

[0163] For example, the third stage notification may include the following notification function, which is achieved by utilizing at least two or more notification devices (eg, Figure 1 The first notification device and the second notification device in the method are used to provide notifications to the user.

[0164] According to an example, the autonomous driving control device may provide a third stage notification ( S534 ).

[0165] For example, based on the period and / or intensity corresponding to tactile warning stage 3, the autonomous driving control device may provide a notification function by utilizing at least one of the first notification device, the second notification device, or any combination thereof.

[0166] According to an example, the automatic driving control device may determine whether the control right is transferred to the driver immediately before stopping (S536).

[0167] For example, if control of the vehicle is transferred to the driver before the vehicle is about to stop (e.g., yes in step S536), the automatic driving control device can execute step S538.

[0168] For example, if control of the vehicle is not transferred to the driver before the vehicle is about to stop (e.g., No in step S536), the automatic driving control device may repeat step S534.

[0169] According to an example, the automatic driving control device may release the automatic driving mode (S538).

[0170] For example, based on receiving a response from the user regarding the transfer of control rights, the autonomous driving control device can transfer control of the vehicle to the user and can release (or disable) the autonomous driving mode.

[0171] For example, if there is a risk of collision with the host vehicle (eg, yes in step S520 ), the autonomous driving control device may execute steps S542 to S548 .

[0172] According to an example, the autonomous driving control device may generate a tactile warning stage 2 ( S542 ).

[0173] For example, the automatic driving control device may perform the second stage notification by utilizing the notification device. For example, the occurrence of the second stage notification may be defined as an immediate MRM situation. In other words, the occurrence of the second stage notification of step S542 may be defined as an immediate MRM situation in which the TD performance control is omitted and the MRM control is immediately performed.

[0174] According to an example, the autonomous driving control device may provide a second stage notification ( S544 ).

[0175] For example, the automatic driving control device may activate the first notification device and / or the second notification device based on a period corresponding to tactile warning stage 2. For example, the operation period of the notification function corresponding to tactile warning stage 2 may be longer than the operation period corresponding to the above-mentioned tactile warning stage 3. The operation intensity of the notification function corresponding to tactile warning stage 2 may be less than the operation intensity corresponding to the above-mentioned tactile warning stage 3.

[0176] According to an example, the automatic driving control device may determine whether the control right is transferred to the driver just before stopping (S546).

[0177] For example, if control of the vehicle is transferred to the driver before the vehicle is about to stop (for example, yes in step S546), the automatic driving control device can execute step S548.

[0178] For example, if control of the vehicle is not transferred to the driver before the vehicle is about to stop (e.g., No in step S546), the automatic driving control device may repeat step S544.

[0179] According to the example, the automatic driving control device may release the automatic driving mode (S548).

[0180] For example, based on receiving a response from the user regarding the transfer of control rights, the autonomous driving control device can transfer control of the vehicle to the user and can release (or disable) the autonomous driving mode.

[0181] Figure 6 An example of the operation of the automatic driving control device according to an example of the present invention is shown.

[0182] According to the example, in Figure 6 The components and operations shown in Figure 2 Description to reference and / or replace Figure 2 In other words, according to Figure 6 The operation of the autonomous driving equipment may include Figure 2 Operations performed additionally and / or alternatively in the operation of an automatic driving device.

[0183] According to an example, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can control the host vehicle 601 in the autonomous driving mode. For example, the autonomous driving control device can control the host vehicle 601 in the autonomous driving mode based on the autonomous driving stage having a specified stage (e.g., level 3) or higher.

[0184] According to the example, when the vehicle 601 is controlled in an autonomous driving mode based on an autonomous driving mode (e.g., a dynamic driving task (DDT)), the autonomous driving control device can identify an event related to a transfer of control of the vehicle 601 occurring at a first time point 605.

[0185] According to the example, at the first time point 605, the autonomous driving control device may display information about the control right transfer to the user based on the occurrence of the identified event. For example, the autonomous driving control device may display information about the control right transfer to the user by using a display device (e.g., Figure 1 The display device 140 in the figure is used to provide the user with various information indicating that the user needs to perform control.

[0186] According to an example, if no response regarding the control right transfer is received from the user within the first time 612, the automatic driving control device may determine a first notification device (e.g., Figure 1 110 in the notification device 110) is working properly. For example, if the first notification device is working properly, the automatic driving control device may perform the first stage notification 650 by utilizing the first notification device. For example, if the first notification device is not working properly (for example, if the first notification device is broken), the automatic driving control device may perform the first stage notification 650 by utilizing a notification device determined based on a specific priority (for example, the second notification device). For example, if a response regarding the control right transfer is received from the user within the first time 612, the automatic driving control device may transfer the control right of the host vehicle 601 to the user, and then the control of the automatic driving mode may be terminated.

[0187] For example, the first stage notification 650 using the first notification device may include the following notification functions, which include at least one of adjusting the length of the seat belt corresponding to the user, generating vibration in the seat where the user sits, or any combination thereof.

[0188] For example, the first stage notification 650 using the first notification device may include an operation of adjusting the length of the safety belt with a first intensity based on a first cycle by using the safety belt length adjustment device. The first cycle may include, for example, a first contraction section for winding the safety belt with a first intensity and a first idle section. The first contraction section and / or the first idle section may be set values ​​that can be changed by a user and / or a manufacturer.

[0189] For example, the first stage notification 650 using the first notification device may include an operation of generating vibrations in at least one area (eg, a seat cushion) of a seat where the user sits with a first intensity based on a first cycle by using a seat vibrator.

[0190] For example, if the first notification device fails at the time point when the first stage notification 650 needs to be provided, the automatic driving control device may provide the first stage notification 650 by utilizing another notification device (e.g., the second notification device). For example, the first stage notification 650 utilizing the second notification device may include the following notification functions, which include at least one of changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the host vehicle, or any combination thereof.

[0191] For example, the first stage notification 650 using the second notification device may include an operation of adjusting the backrest angle of the seat within a specified angle interval based on a specified cycle by using the seat back angle adjustment device. The first stage notification 650 using the seat back angle adjustment device may include an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the specified angle interval and a maximum value of the specified angle interval, for example. For example, the specified cycle may be a set value changeable by a user and / or a manufacturer.

[0192] For example, the first stage notification 650 using the second notification device may include an operation of repeatedly applying a braking force of a specified magnitude to the host vehicle 601 by using the braking device. The first stage notification 650 using the braking device may include an operation of slowing down the travel speed of the host vehicle 601 based on, for example, a control signal in the form of a pulse having a specified magnitude.

[0193] For example, the first stage notification 650 may be executed on the premise that the automatic driving control device recognizes that the user is seated with the seat belt fastened. In other words, the automatic driving control device may continuously recognize whether the seat belt is fastened after the first time point 605. If it is recognized that the user is seated with the seat belt fastened, the automatic driving control device may normally execute the first stage notification 650.

[0194] According to the example, if a response regarding the control right transfer is not received from the user within the second time 614 from the time point of executing the first stage notification 650, the automatic driving control device may perform the second stage notification 660 by utilizing the notification device. For example, if a response regarding the control right transfer is received from the user within the second time 614, the automatic driving control device may transfer the control right of the host vehicle 601 to the user, and then the control of the automatic driving mode may be terminated.

[0195] For example, the second stage notification 660 using the second notification device may include the following notification functions, which include changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or at least one of any combination thereof.

[0196] For example, the second stage notification 660 using the second notification device may include an operation of adjusting the back angle of the seat within a specified angle interval based on a specified cycle by using the seat back angle adjustment device. The second stage notification 660 using the seat back angle adjustment device may include an operation of gradually and repeatedly changing the seat angle within a range between a minimum value of the specified angle interval and a maximum value of the specified angle interval, for example. For example, the seat back angle adjustment device according to the second stage notification 660 may control the back angle of the seat within a shorter cycle and a wider angle interval than the first stage notification 650.

[0197] For example, the second stage notification 660 using the second notification device may include an operation of repeatedly applying a braking force of a specified size to the host vehicle 601 by using the braking device. The second stage notification 660 using the braking device may include an operation of slowing down the travel speed of the host vehicle 601 based on, for example, a control signal in the form of a pulse having a specified size. For example, the braking device according to the second stage notification 660 may repeatedly slow down the travel speed of the host vehicle 601 based on a higher level (e.g., a greater deceleration) than the first stage notification 650.

[0198] For example, if the second notification device fails at the time point when the second stage notification 660 needs to be provided, the automatic driving control device may provide the second stage notification 660 by utilizing another notification device (e.g., the first notification device). For example, the second stage notification 660 utilizing the first notification device may include the following notification functions, which include adjusting the length of the seat belt corresponding to the user, generating vibrations in the seat where the user sits, or at least one of any combination thereof.

[0199] For example, the second stage notification 660 using the first notification device may include an operation of adjusting the length of the seat belt with a second intensity greater than the first intensity based on a second cycle shorter than the first cycle by using the seat belt length adjustment device.

[0200] For example, the second stage notification 660 using the first notification device may include an operation of generating vibrations in at least one area (eg, a seat cushion) of a seat where the user sits at a second intensity based on a second cycle by using a seat vibrator.

[0201] According to the example, the time from the first time point 605 to the second time point 615 can be defined as the transfer request (TD) execution time 610, the first time point 205 is the time point when the event related to the control right transfer occurs, and the second time point 215 is the time point when the second stage notification 660 is executed. For example, the TD execution time 610 can be defined as a limit time for notifying the user that the control right needs to be transferred. If the limit time is exceeded, the automatic driving control device can reduce the driving speed of the vehicle 601.

[0202] According to the example, when the autonomous driving control device is executing the second stage notification 660, the autonomous driving control device can control the host vehicle 601 based on the first MRM (or MRM stage 1), including an operation of slowing down the driving speed of the host vehicle 601 to the first acceleration.

[0203] According to the example, when a third time 622 has passed since the second time point 615 (which is the time point of executing the second stage notification 660), the automatic driving control device may reduce the driving speed of the host vehicle 601. In addition, the automatic driving control device may display the vehicle 601 through visual and / or auditory content, using a display device (e.g., Figure 1 The display device 140 in the display device 140 provides the user with at least one of the driving conditions of the vehicle 601, information indicating the need for control transfer, or any combination thereof.

[0204] According to an example, when the first stage notification 650 or the second stage notification 660 is executed, the autonomous driving control device may receive a manual seat angle adjustment input from the user.

[0205] For example, when the first stage notification 650 or the second stage notification 660 is performed by utilizing the seat angle adjustment device, the automatic driving control apparatus may receive a manual seat angle adjustment input from the user for a specific time.

[0206] For example, if the manual seat angle adjustment input lasts for a specific period of time exceeding a predefined time, the autonomous driving control device can recognize that the corresponding manual seat angle adjustment input is a response intention regarding the transfer of control to the user, and can terminate (or release) the autonomous driving control of the vehicle 601.

[0207] For example, if the manual seat angle adjustment input continues for a specific time not greater than a predefined time, the autonomous driving control device may continue to provide notification or may perform autonomous driving control.

[0208] According to the example, if no response regarding the control right transfer is received until the third time point 625, the automatic driving control device may terminate the driving of the host vehicle 601. For example, the automatic driving control device may slow down the driving speed of the host vehicle 601 to zero, and may disable the driving of the host vehicle 601 and / or the automatic driving control of the automatic driving control device.

[0209] According to an example, if no response regarding the control right transfer is received from the user within the third time 622, the automatic driving control device may perform the third stage notification 670 within the fourth time 624 until the third time point 625. For example, the third stage notification 670 may include a notification function of providing a notification to the user by utilizing the first notification device and the second notification device included in the notification device.

[0210] For example, the third stage notification 670 may include the following notification function, which includes an operation intensity set to an intensity greater than the intensity of the first notification function and the intensity of the second notification function, and its operation cycle is set to an operation cycle smaller than the operation cycle of the first notification function and the operation cycle of the second notification function.

[0211] For example, the third stage notification 670 may include a control function that slows down the travel speed of the host vehicle with an acceleration having an absolute value greater than the absolute value of the second acceleration for decelerating the host vehicle 601 within the third time 622 .

[0212] According to the example, if no response regarding the control right transfer is received from the user within the fourth time 624 from the time point of executing the third stage notification 670, the driving speed of the vehicle 601 can be reduced until the third time point 625 when the driving speed of the vehicle 601 is less than a specified value (e.g., 0 m / s). In addition, the automatic driving control device can provide the user with at least one of the driving situation of the vehicle 601, information indicating the need to transfer the control right, or any combination thereof through visual and / or auditory content and using a display device.

[0213] According to the example, if no response regarding the control right transfer is received until the third time point 625, the automatic driving control device may terminate the driving of the host vehicle 601. For example, the automatic driving control device may slow down the driving speed of the host vehicle 601 to zero, and may disable the driving of the host vehicle 601 and / or the automatic driving control of the automatic driving control device.

[0214] According to the example, the above-described operation performed by the automatic driving control device as the third notification 670 is an example, and examples of the present invention are not limited thereto.

[0215] For example, the autonomous driving control device may perform the third stage notification 670 by utilizing at least some of the other components including the above examples (e.g., a tactile function providing device including at least one of seat cushion vibration, headrest vibration, sound notification, or any combination thereof).

[0216] For example, the automatic driving control device may change the cycle of the notification function to perform the third stage notification 670. For example, the automatic driving control device may shorten the cycle of the third stage notification 670 as time passes.

[0217] Figure 7 An example of the operation of the notification device according to the example of the present invention is shown.

[0218] According to an example, a notification device (e.g., Figure 1 The notification device 110) may include multiple notification devices of various types.

[0219] Referring to reference numeral 710, according to an example, the notification device may include a seat belt length adjustment device. The seat belt length adjustment device may be a component of a first notification device among a plurality of notification devices included in the notification device.

[0220] For example, the automatic driving control device may provide a notification function to the first user 715 by using a seat belt length adjustment device to shrink the length of the seat belt 712 corresponding to the first user 715 (or fastened to the user's body).

[0221] For example, the seat belt length adjustment device may wrap around the seat belt 712 fastened to a portion of the body of the first user 715 in a first direction 716. In this case, when the body of the first user 715 moves in a second direction 718, the first user 715 may sense the notification function of the seat belt length adjustment device.

[0222] Referring to reference numeral 720, according to an example, the notification device may include a seat back angle adjustment device. The seat back angle adjustment device may be a component of a second notification device among a plurality of notification devices included in the notification device.

[0223] For example, the automatic driving control device can provide the notification function to the second user (not shown) by changing the angle of the backrest 725 of the seat on which the second user (not shown) sits by using the seat back angle adjustment device.

[0224] For example, the seat back angle adjustment device can repeatedly change the angle of the backrest 725 of the seat where the second user sits within the specified angle range 727. In this case, when the second user's body moves back and forth according to the angle of the backrest 725, the second user can perceive the notification function of the seat back angle adjustment device.

[0225] Figure 8 An example of a flowchart of an automatic driving control method according to an example of the present invention is shown.

[0226] According to an example, an autonomous driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 8 For example, the components included in the automatic driving control device (for example, Figure 1 At least some of the notification device 110, the control device 120, the memory 130 and / or the display device 140) may be configured to perform Figure 8 steps.

[0227] In the following examples, steps S810 to S850 may be performed sequentially, but are not always performed sequentially. For example, the order of the steps may be changed, and at least two steps may be performed in parallel. In addition, the steps described in detail or omitted in conjunction with the reference may be briefly described. Figure 8 The above descriptions corresponding to or identical descriptions are given to avoid redundancy.

[0228] According to an example, when controlling the host vehicle in the automatic driving mode, the automatic driving control device may recognize that an event related to a transfer of control rights of the host vehicle occurs (S810).

[0229] For example, an event related to the transfer of control of the vehicle may include information about the driving condition of the vehicle. For example, the event may include at least one of the traffic volume on the road on which the vehicle is traveling, the driving speed of the vehicle, the driving state of the vehicle in front of the vehicle, or any combination thereof. For example, the event may include a predefined reference parameter. In other words, the event may include various pre-stored information about the driving condition of the vehicle.

[0230] For example, the autonomous driving control device can identify an emergency situation. If an emergency situation is identified, the above Figure 3 The description of the operation of the automatic driving control device is replaced by a description of the operation of the automatic driving control device.

[0231] According to an example, if a response regarding the control right transfer is not received from the user within the first time, the automatic driving control device may determine whether the first notification device is operating normally (S820).

[0232] For example, a response regarding the transfer of control may include at least one of a steering wheel control of the host vehicle, pressure on an accelerator pedal and / or brake pedal of the host vehicle, a touch input to a display of the host vehicle, or any combination thereof.

[0233] According to an example, the automatic driving control device may determine whether the first notification device is normal ( S830 ).

[0234] For example, if the first notification device operates normally (eg, yes in step S830 ), the automatic driving control device may execute step S840 .

[0235] For example, if the first notification device does not work properly (eg, No in step S830 ), the automatic driving control device may execute step S850 .

[0236] According to an example, the automatic driving control device may provide a notification to the user by utilizing a first notification means ( S840 ).

[0237] For example, if the first notification device operates normally, the automatic driving control device may provide the user with the following notification, which includes at least one of adjusting the length of the seat belt corresponding to the user by utilizing the first notification device, generating vibrations in the seat in which the user sits by utilizing the first notification device, or any combination thereof.

[0238] According to an example, the automatic driving control device may provide a notification to the user by utilizing a second notification means ( S850 ).

[0239] For example, if the first notification device does not work properly, the automatic driving control device can provide the user with the following notification, which includes at least one of changing the backrest angle of the seat corresponding to the user based on a specified period by utilizing the second notification device, repeatedly applying a braking force of a specified magnitude to the vehicle, or any combination thereof.

[0240] Fig. 9 An example of a computing system related to an automatic driving control method according to an example of the present invention is shown.

[0241] refer to Fig. 9 , 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 connected to each other via a bus 1200.

[0242] 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).

[0243] Therefore, the steps of the method or algorithm described in conjunction with the examples disclosed in this specification may be directly implemented using a hardware module, a software module, or a combination of a hardware module and a software module executed by the processor 1100. The software module may exist in 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 programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk drive, a removable disk, or a compact disk ROM (CD-ROM).

[0244] The storage medium may be connected to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be implemented using 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 using separate components in a user terminal.

[0245] The present invention is intended to solve the above-mentioned problems in the prior art while completely maintaining the advantages achieved by the prior art.

[0246] An example of the present invention provides an autonomous driving control device and method thereof, which, when identifying the need to transfer control rights, uses a notification device to gradually provide different types of notification functions to the user based on at least one of various cycles, intensities or any combination thereof.

[0247] An example of the present invention provides an automatic driving control device and a method thereof, which provides a notification function to a user by selectively utilizing a first notification device and a second notification device, wherein the first notification device includes at least one of a seat belt length adjustment device, a seat vibrator, or any combination thereof, and the second notification device includes at least one of a seat back angle adjustment device, a vehicle speed adjustment device (for example, a braking device), or any combination thereof.

[0248] An example of the present invention provides an automatic driving control device, which provides a notification function to a user by selectively utilizing at least one of the remaining notification devices if a problem occurs in the working state of at least one of a plurality of notification devices.

[0249] The technical problems solved by the present invention are not limited to the aforementioned problems. According to the following description, those skilled in the art to which the present invention belongs will clearly understand any other technical problems not mentioned herein.

[0250] According to an example of the present invention, an automatic driving control device includes a notification device, a memory storing instructions, and a control device operably connected to the notification device and the memory, the notification device including a first notification device and a second notification device. For example, when the instruction is executed by the control device, the instruction causes the automatic driving control device to: identify the occurrence of an event related to the control right transfer of the vehicle when the vehicle is controlled in the automatic driving mode; if a response regarding the control right transfer is not received from the user within the first time, determine whether the first notification device is working properly; if the first notification device is working properly, provide notification to the user by using the first notification device; if the first notification device is not working properly, provide notification to the user by using the second notification device.

[0251] According to an example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: provide a notification to the user by using a second notification device if no response regarding the transfer of control authority is received from the user within a second time from the time point when the notification is started using the first notification device; and control the vehicle based on a first minimum risk strategy (MRM) when providing the notification to the user using the second notification device, the first minimum risk strategy including an operation to slow down the driving speed of the vehicle at a first acceleration.

[0252] According to the example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: provide notification to the user by using both the first notification device and the second notification device if no response regarding the transfer of control authority is received from the user within a third time from the time point when the notification is started to be provided to the user using the second notification device.

[0253] According to an example, the autonomous driving control device may further include a display device. For example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: provide information to the user about at least one of an event related to the control right transfer, a notification using the first notification device, a notification using the second notification device, or a combination of the event, the notification using the first notification device, and the notification using the second notification device by using the display device.

[0254] According to the example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: when controlling the vehicle in the autonomous driving mode, if an operational error, an unpredictable situation, or a combination of the operational error and the unpredictable situation of the automatic driving control device occurs, immediately provide a notification to the user by utilizing a first notification device.

[0255] According to the example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: control the vehicle based on a second MRM while immediately providing a notification to the user by utilizing a first notification device, the second MRM including an operation to slow down the driving speed of the vehicle with a second acceleration greater than the first acceleration.

[0256] According to the example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: if the first notification device operates normally, provide the following notification to the user by utilizing the first notification device, which includes adjusting the length of the seat belt corresponding to the user by utilizing the first notification device, generating vibrations in the seat where the user sits, or at least one of a combination of adjusting the length of the seat belt and generating vibrations.

[0257] According to the example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: if the first notification device does not work properly, provide the following notification to the user by utilizing the second notification device, which includes changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or at least one of a combination of changing the backrest angle and applying braking force.

[0258] According to an example, when the instruction is executed by the control device, the instruction may cause the automatic driving control apparatus to: repeatedly apply a braking force in the form of pulses of a specified magnitude by utilizing the second notification device.

[0259] According to an example, when the instruction is executed by the control device, the instruction may cause the autonomous driving control device to: turn off the notification device and terminate the autonomous driving mode if a response regarding the transfer of control authority is received from the user within the first time or the second time.

[0260] According to an example of the present invention, an automatic driving control method includes: when controlling the vehicle in the automatic driving mode, the control device recognizes the occurrence of an event related to the transfer of control rights of the vehicle; if no response regarding the transfer of control rights is received from the user within the first time, the control device determines whether the first notification device is working normally; if the first notification device is working normally, the control device provides notification to the user by utilizing the first notification device; if the first notification device is not working normally, the control device provides notification to the user by utilizing the second notification device.

[0261] According to the example, the automatic driving control method may further include: if no response regarding the transfer of control authority is received from the user within a second time from the time point when the notification is provided by utilizing the first notification device, the control device provides the notification to the user by utilizing the second notification device, and the control device controls the vehicle based on the first MRM, the first MRM including an operation of slowing down the driving speed of the vehicle at a first acceleration when providing the notification to the user by utilizing the second notification device.

[0262] According to the example, the automatic driving control method may further include: if no response regarding the transfer of control authority is received from the user within a third time from the time point when the notification is started to be provided to the user using the second notification device, the control device provides notification to the user by using both the first notification device and the second notification device.

[0263] According to the example, the automatic driving control method may further include: the control device using a display device to provide a user with at least one information about an event related to the transfer of control rights, a notification using a first notification device, a notification using a second notification device, or a combination of the event, the notification using the first notification device, and the notification using the second notification device.

[0264] According to the example, the automatic driving control method may further include: when controlling the vehicle in the automatic driving mode, if an operational error, an unpredictable situation, or a combination of an operational error and an unpredictable situation of the automatic driving control device occurs, the control device immediately provides a notification to the user by utilizing a first notification device.

[0265] According to the example, immediately providing a notification to a user by utilizing a first notification device may include: when immediately providing a notification to a user by utilizing the first notification device, a control device controls the vehicle based on a second MRM, and the second MRM includes an operation to slow down the driving speed of the vehicle with a second acceleration greater than the first acceleration.

[0266] According to the example, if the first notification device operates normally, the control device providing notification to the user by utilizing the first notification device may include: if the first notification device operates normally, the control device providing the following notification to the user by utilizing the first notification device, which includes adjusting the length of the seat belt corresponding to the user by utilizing the first notification device, generating vibrations in the seat where the user sits, or at least one of a combination of adjusting the length of the seat belt and generating vibrations.

[0267] According to the example, if the first notification device does not work properly, the control device providing notification to the user by utilizing the second notification device may include: if the first notification device does not work properly, the control device providing the following notification to the user by utilizing the second notification device, which includes changing the backrest angle of the seat corresponding to the user based on a specified period, repeatedly applying a braking force of a specified magnitude to the vehicle, or at least one of a combination of changing the backrest angle and applying a braking force.

[0268] According to an example, repeatedly applying the braking force of a specified magnitude to the host vehicle by the control device may further include: repeatedly applying the braking force of a specified magnitude in the form of pulses by the control device using the second notification device.

[0269] According to an example, the automatic driving control method may further include: if a response regarding the transfer of control rights is received from the user within the first time or the second time, turning off the notification device including the first notification device and the second notification device and terminating the automatic driving mode.

[0270] The above description is merely an example of the technical concept of the present invention, and those skilled in the art may make various modifications and changes without departing from the essential characteristics of the present invention.

[0271] Therefore, the examples of the present invention are not intended to limit but to explain the technical concept of the present invention, and the scope and spirit of the present invention are not limited by the above examples. The protection scope of the present invention should be interpreted by the attached claims, and all equivalent forms thereof should be interpreted as included in the scope of the present invention.

[0272] A description of an example autonomous driving control device and method thereof according to the present invention is as follows.

[0273] According to at least one example of the present invention, when controlling the vehicle based on the automatic driving mode, if it is identified that the control right needs to be transferred to the user, the automatic driving control device can provide the user with a notification about the transfer of control right by utilizing at least a portion of various types of notification devices.

[0274] Furthermore, according to at least one example of the present invention, an autonomous driving control device may reduce manufacturing costs by utilizing components located in the vehicle to provide notifications regarding transfers of control authority.

[0275] Furthermore, according to at least one example of the present invention, by not utilizing parameters related to the driving environment of the host vehicle, driving control of the host vehicle can be performed while maintaining a consistent and comfortable driving feeling.

[0276] Furthermore, according to at least one example of the present invention, if at least one notification device among a plurality of notification devices included in the host vehicle does not function normally, a notification function may be adaptively provided by utilizing one of the remaining notification devices that function normally.

[0277] Furthermore, various effects directly or indirectly realized by the present invention can be provided.

[0278] Although the present invention has been described above with reference to the examples and drawings, the present invention is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

Claims

1. A device for automatic driving control, the device comprising: A feedback device, comprising a first feedback device and a second feedback device; a memory configured to store instructions; as well as a control device operatively connected to the feedback device and the memory; Wherein, when the instruction is executed by the control device, the instruction causes the device to: Detecting events related to a transfer of control of the host vehicle in automated driving mode; determining whether the first feedback device is operating in a normal state based on not receiving a response from the user regarding the control right transfer within the first time period; Based on determining that the first feedback device is operating in a normal state, outputting a first feedback via the first feedback device; Based on determining that the first feedback device is not operating in a normal state, a second feedback is output via the second feedback device.

2. The device for automatic driving control according to claim 1, wherein: When the instructions are executed by the control device, the instructions cause the device to: Outputting second feedback via a second feedback device based on not receiving a response from the user regarding the transfer of control rights within a second time period, wherein the second time period is related to a feedback output time of the first feedback device; When the second feedback is output, the host vehicle is controlled based on a first minimum risk strategy including an operation of slowing down the travel speed of the host vehicle at a first deceleration rate.

3. The device for automatic driving control according to claim 2, wherein: When the instructions are executed by a control device, the instructions cause the device to: Based on not receiving a response from the user regarding the control transfer within a third time period, a plurality of feedbacks are output via both the first feedback device and the second feedback device, wherein the third time period is related to the feedback output time of the second feedback device.

4. The device for automatic driving control according to claim 1, further comprising: Display device; Wherein, when the instruction is executed by the control device, the instruction causes the device to: By outputting information about at least one of the following using a display device: Events related to a change of control, First feedback, Second feedback, or A combination of the event, the first feedback, and the second feedback.

5. The device for automatic driving control according to claim 1, wherein: When the instructions are executed by the control device, the instructions cause the device to: In the automatic driving mode, based on the occurrence of an operational error of the equipment, an unpredictable situation, or a combination of an operational error and an unpredictable situation, a third feedback is output via at least one of the first feedback device or the second feedback device.

6. The device for automatic driving control according to claim 5, wherein: When the instructions are executed by the control device, the instructions cause the device to: When the first feedback is output, the host vehicle is controlled based on a second minimum risk strategy, the second minimum risk strategy including an operation to slow down the travel speed of the host vehicle at a second deceleration, the second deceleration being greater than a first deceleration associated with the first minimum risk strategy.

7. The device for automatic driving control according to claim 1, wherein: When the instructions are executed by the control device, the instructions cause the device to: Based on the first feedback device working in a normal state, the first feedback is outputted by performing at least one of the following: Adjust the length of the safety belt in relation to the user, Produce vibrations in the seat relative to the user, or Adjust the length of the seat belt and the combination of vibrations.

8. The device for automatic driving control according to claim 1, wherein: When the instructions are executed by the control device, the instructions cause the device to: Based on the first feedback device not working in a normal state, outputting a second feedback by performing at least one of the following: Change the backrest angle of the seat in relation to the user based on a specified period, Repeatedly apply a specified amount of braking force to the vehicle, or A combination of changing the backrest angle and repeatedly applying braking force.

9. The device for automatic driving control according to claim 8, wherein: When the instructions are executed by the control device, the instructions cause the device to: The second feedback is outputted by repeatedly applying a braking force in the form of pulses of a specified magnitude using the second feedback device.

10. The device for automatic driving control according to claim 2, wherein: When the instructions are executed by the control device, the instructions cause the device to: Based on receiving a response from the user regarding the transfer of control authority within the first time period or the second time period, turning off the feedback device and disabling the autonomous driving mode.

11. A method for automatic driving control, the method comprising: In the automatic driving mode, the control device detects an event related to a transfer of control of the host vehicle; Based on the fact that no response regarding the control right transfer is received from the user within the first time period, the control device determines whether the first feedback device is operating in a normal state; Based on determining that the first feedback device is not operating in a normal state, the control device controls output of second feedback via the second feedback device, wherein the second feedback is different from the first feedback associated with the first feedback device.

12. The method according to claim 11, further comprising: Based on not receiving a response from the user regarding the control right transfer within a second time period, the control device controls the output of the second feedback, wherein the second time period is related to the feedback output time of the first feedback device; When the second feedback is output, the host vehicle is controlled by the control device based on a first minimum risk strategy including an operation of slowing down the travel speed of the host vehicle at a first deceleration.

13. The method according to claim 12, further comprising: Based on not receiving a response from the user regarding the control right transfer within a third time period, the control device controls the output of multiple feedbacks via both the first feedback device and the second feedback device, wherein the third time period is related to the feedback output time of the second feedback device.

14. The method according to claim 11, further comprising: The control device controls the output of information about at least one of the following using the display device: Events related to a change of control, First feedback, Second feedback, or A combination of the event, the first feedback, and the second feedback.

15. The method according to claim 11, further comprising: In the automatic driving mode, based on the occurrence of an operational error, an unpredictable situation, or a combination of an operational error and an unpredictable situation of the automatic driving control device, the control device controls the output of a third feedback via at least one of the first feedback device or the second feedback device.

16. The method according to claim 15, further comprising: When the first feedback is output, the host vehicle is controlled by the control device based on a second minimum risk strategy, wherein the second minimum risk strategy includes an operation to slow down the travel speed of the host vehicle at a second deceleration, and the second deceleration is greater than the first deceleration associated with the first minimum risk strategy.

17. The method according to claim 11, further comprising: The output of the first feedback is controlled by the control device by performing at least one of the following: Adjust the length of the safety belt in relation to the user, Produce vibrations in the seat relative to the user, or Adjust the length of the seat belt and the combination of vibrations.

18. The method according to claim 11, wherein: The output of controlling the second feedback includes: The output of the second feedback is controlled by the control device by performing at least one of the following: Change the backrest angle of the seat in relation to the user based on a specified period, Repeatedly apply a specified amount of braking force to the vehicle, or A combination of changing the backrest angle and repeatedly applying braking force.

19. The method according to claim 18, wherein: Repeated application of braking force includes: The control device repeatedly applies a braking force in the form of pulses of a specified magnitude by utilizing the second feedback device.

20. The method of claim 12, further comprising: Based on receiving a response from the user regarding the transfer of control authority within the first time period or the second time period, the first feedback device and the second feedback device are turned off and the automatic driving mode is disabled.

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