Autonomous driving control apparatus and method thereof

Abstract

The invention relates to an autonomous driving control apparatus and a method thereof. The autonomous driving control apparatus may include a sensor device, a memory, and a control device. For example, the autonomous driving control apparatus identifies information related to at least one of a traveling state of a host vehicle, a driving mode of the host vehicle, a traveling road of the host vehicle, a behavior state of at least one other vehicle adjacent to the host vehicle, and a combination of the traveling state, the driving mode, the traveling road, and the behavior state using a sensor device, at least one parameter variable control for deceleration control of the host vehicle is activated using the information, and deceleration of the host vehicle is controlled using a minimum value among at least one parameter identified based on the at least one parameter variable control thus activated.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Korean Patent Application No. 10-2023-0087869, filed on Jul. 6, 2023, which is hereby incorporated by reference in its entirety for all purposes. Technical Field

[0003] The present disclosure relates to an autonomous driving control apparatus and method thereof, and more particularly, to a technique for controlling deceleration of a host vehicle in consideration of an overall driving environment. Background Art

[0004] As autonomous vehicles become more common, various technologies related to autonomous driving are being developed. Depending 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] Meanwhile, in the autonomous driving control function, various functions (e.g., smart cruise control (SCC)) that control a control amount (e.g., acceleration and / or deceleration) related to the travel speed of the host vehicle are being developed. For example, when performing autonomous driving control on the host vehicle, the autonomous driving control device may control the acceleration and / or deceleration of the host vehicle within a specific limited range.

[0006] The autonomous driving control apparatus according to the related art may finally identify the final required acceleration for controlling the host vehicle in consideration of the difference between the required acceleration identified (or calculated) by the control device for controlling the host vehicle and the actual acceleration of the host vehicle identified using the sensor. For example, the autonomous driving control apparatus may identify the final required acceleration based on a required acceleration limit range set according to the driving speed of the host vehicle and / or a required acceleration limit range set based on a required acceleration value calculated according to the autonomous driving control algorithm.

[0007] However, because the method according to the related art determines the control amount for controlling acceleration and / or deceleration of the host vehicle based on a unified standard, the control amount can only be calculated as conservatively as possible for the safety or riding comfort of the user.

[0008] In addition, because the method according to the related art does not fully consider the vehicle type and the driving condition of the main vehicle (for example, the driving status of other vehicles, the driving mode of the main vehicle, the state of the driving road, and at least one of any combination thereof), when rapid deceleration is required, a dangerous situation of collision with external objects may occur.

[0009] The information included in this background of the disclosure is only for enhancement of understanding of the general background of the disclosure and should not be taken as an acknowledgment or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Summary of the invention

[0010] Various aspects of the present disclosure are intended to provide a function of controlling the deceleration of a main vehicle by using information related to at least one of the driving state of the main vehicle, the driving mode of the main vehicle, the driving road of the main vehicle, the behavior state of at least one other vehicle adjacent to the main vehicle, and any combination thereof.

[0011] Various aspects of the present invention relate to providing the following functions: identifying data related to the deceleration of another vehicle ahead of the host vehicle, and activating a parameter variable control for changing the parameters of the deceleration control of the host vehicle based on whether the amount (or volume) and / or accuracy of the data meets predetermined conditions.

[0012] Various aspects of the present disclosure are directed to providing a function of activating grade-based parameter variable control based on at least one of whether the grade of a driving road on which the host vehicle is traveling is included in a predetermined range, a desired acceleration, an actual acceleration of the host vehicle, and any combination thereof.

[0013] Various aspects of the present disclosure are directed to providing functionality for identifying a driving mode of a host vehicle and, based on characteristics of the driving mode, activating parameter variable control based on at least one of the identified driving mode, a desired acceleration for each speed interval of the driving mode, an actual acceleration of the host vehicle, and any combination thereof.

[0014] Various aspects of the present disclosure are intended to provide a function of permanently storing (or applying) a parameter changed by a variable control of one parameter among at least one variable control of parameters for deceleration control of a main vehicle based on the characteristics of a driving mode, and restoring the changed parameter to an original state by the variable control of other parameters when the satisfaction state of the condition required to activate the variable control of the corresponding parameter is released.

[0015] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present disclosure belongs from the following description.

[0016] According to one aspect of the present disclosure, an autonomous driving control device includes a sensor device, a memory storing instructions, and a control device operatively connected to the sensor device and the memory. For example, in response to execution of the control device, the instructions cause the autonomous driving control device to: use the sensor device to identify information related to at least one of a driving state of a host vehicle, a driving mode of the host vehicle, a driving road of the host vehicle, a behavior state of at least one other vehicle adjacent to the host vehicle, and a combination of the driving state, the driving mode, the driving road, and the behavior state, use the information to activate at least one parameter variable control for deceleration control of the host vehicle, and use the minimum value of at least one parameter identified based on the at least one parameter variable control activated thereby to control the deceleration of the host vehicle.

[0017] According to an exemplary embodiment of the present disclosure, the instruction, in response to execution of a control device, may enable the autonomous driving control device to: use a sensor device to identify a behavior state of at least one other vehicle present in front of the main vehicle, the behavior state including data about deceleration of the at least one other vehicle, activate a first parameter variable control based on the behavior state of the at least one other vehicle when at least one of the amount of data, the accuracy of the data, and a combination of the amount of data and the accuracy of the data satisfies a predetermined condition, and based on the first parameter variable control, control the deceleration of the main vehicle by using a first parameter identified by the behavior state of the at least one other vehicle.

[0018] According to an exemplary embodiment of the present disclosure, the instruction, in response to the execution of the control device, can enable the autonomous driving control device: when the number of the data about the first vehicle among the at least one other vehicle is repeatedly identified within a predetermined number of cycles or more, or when other data about the first vehicle is identified a predetermined number of times or more than the predetermined number of times, and the difference between the other data and the data is less than a predetermined value, determine that at least one of the number of the data, the accuracy of the data, and a combination of the number of the data and the accuracy of the data satisfies the predetermined condition.

[0019] According to an exemplary embodiment of the present disclosure, the instruction, in response to the execution of the control device, can enable the autonomous driving control device: when identifying the identification information of the second vehicle different from the first vehicle while identifying the first data related to the behavior of the first vehicle among the at least one other vehicle, determine whether to identify the second vehicle instead of the first vehicle as the target vehicle for the first parameter variable control; when the second vehicle is not identified as the target vehicle within the first cycle, set the reliability to a random value between 0 and 1 within a second cycle (which is a cycle after the first cycle) and obtain second data about the second vehicle; and when the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and the combination of the quantity of the second data and the accuracy of the second data is 1, determine that at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

[0020] According to an exemplary embodiment of the present disclosure, the instruction, in response to execution of the control device, can enable the autonomous driving control device to: use a sensor device to identify the slope of the driving road, and based on the slope, determine whether to activate the second parameter variable control based on at least one of whether the slope is included in a predetermined range, a first required acceleration, an actual acceleration of the main vehicle, and a combination of whether the slope is included in the predetermined range, the first required acceleration, and the actual acceleration of the main vehicle.

[0021] According to an exemplary embodiment of the present invention, the instruction, in response to execution of the control device, can enable the autonomous driving control device to: activate the second parameter variable control when the slope is included in a predetermined range and the difference between the first required acceleration and the actual acceleration is greater than or equal to a reference value, and based on the second parameter variable control, control the deceleration of the host vehicle by using a second parameter identified by the difference.

[0022] According to an exemplary embodiment of the present disclosure, the instruction, in response to execution of the control device, can enable the autonomous driving control device to: use the sensor device to identify the driving mode of the host vehicle, and based on the characteristics of the driving mode, determine whether to activate the third parameter variable control based on at least one of the driving mode, the second required acceleration for each speed interval of the driving mode, the actual acceleration of the host vehicle, and a combination of the driving mode, the second required acceleration for each speed interval of the driving mode, and the actual acceleration of the host vehicle.

[0023] According to an exemplary embodiment of the present invention, the instruction, in response to execution of the control device, can enable the autonomous driving control device to: activate a third parameter variable control when the number of error data including a difference between a second required acceleration and an actual acceleration is greater than or equal to a predetermined number, and based on the third parameter variable control, control the deceleration of the host vehicle by a third parameter, the third parameter being identified by using an average error value of the error data.

[0024] According to an exemplary embodiment of the present disclosure, the instruction, in response to the execution of the control device, can enable the autonomous driving control device: while controlling the deceleration of the main vehicle by using a minimum value corresponding to a first parameter generated based on the behavior state of the at least one other vehicle or a second parameter generated based on the slope of the driving road, based on identifying that the behavior state or the slope does not satisfy the conditions for generating the parameter, the parameter used to control the deceleration of the main vehicle is restored to the value before the minimum value was used.

[0025] According to an exemplary embodiment of the present disclosure, the instruction, in response to the execution of the control device, can enable the autonomous driving control device: while controlling the deceleration of the main vehicle based on the minimum value corresponding to the first parameter or the second parameter, when it is identified that the behavior state or the slope does not satisfy the condition for generating the parameter, determine whether there is a history of applying a third parameter generated based on the characteristics of the driving mode of the main vehicle to control the deceleration, and when such a history exists, change the parameter used to control the deceleration of the main vehicle to a value to which the third parameter is applied.

[0026] According to one aspect of the present disclosure, an autonomous driving control method includes: a control device uses a sensor device to identify information related to a driving state of a main vehicle, a driving mode of the main vehicle, a driving road of the main vehicle, a behavior state of at least one other vehicle adjacent to the main vehicle, and at least one of a combination of the driving state, the driving mode, the driving road, and the behavior state; the control device activates at least one parameter variable control for deceleration control of the main vehicle by using the information, and the control device controls the deceleration of the main vehicle using a minimum value among at least one parameter identified based on the at least one parameter variable control activated thereby.

[0027] According to an exemplary embodiment of the present disclosure, controlling the deceleration of the main vehicle by the control device may further include: the control device uses the sensor device to identify the behavior state of at least one other vehicle existing in front of the main vehicle, the behavior state including data about the deceleration of the at least one other vehicle, and when at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies a predetermined condition, the control device activates a first parameter variable control based on the behavior state of the at least one other vehicle, and the control device controls the deceleration of the main vehicle based on the first parameter variable control by using the first parameter identified by the behavior state of the at least one other vehicle.

[0028] According to an exemplary embodiment of the present invention, when at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition, activating the first parameter variable control by the control device based on the behavior state of at least one other vehicle may further include: when the quantity of the data regarding a first vehicle among the at least one other vehicle is repeatedly identified within a predetermined number of cycles or more, or other data regarding the first vehicle is identified a predetermined number of times or more than the predetermined number of times, and the difference between the other data and the data is less than a predetermined value, the control device determines that at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

[0029] According to an exemplary embodiment of the present invention, when at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition, activating the first parameter variable control by the control device based on the behavior state of at least one other vehicle may further include: when identifying the first data about the behavior of the first vehicle among at least one other vehicle and identifying the identification information of a second vehicle different from the first vehicle, determining by the control device whether to identify the second vehicle instead of the first vehicle as the target vehicle for the first parameter variable control, when the second vehicle is not identified as the target vehicle within the first cycle, setting the reliability to a random value between 0 and 1 within a second cycle which is a cycle after the first cycle, and obtaining second data about the second vehicle; and when the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and the combination of the quantity of the second data and the accuracy of the second data is 1, determining by the control device that at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

[0030] According to an exemplary embodiment of the present disclosure, controlling the deceleration of the main vehicle by the control device may further include: the control device using a sensor device to identify the slope of the driving road, and the control device determining whether to activate the second parameter variable control based on the slope, based on whether the slope is included in a predetermined range, the first required acceleration, the actual acceleration of the main vehicle, and at least one of a combination of whether the slope is included in the predetermined range, the first required acceleration, and the actual acceleration of the main vehicle.

[0031] According to an exemplary embodiment of the present invention, controlling the deceleration of the main vehicle by the control device may further include: when the slope is included in a predetermined range and the difference between the first required acceleration and the actual acceleration is greater than or equal to a reference value, activating the second parameter variable control by the control device, and controlling the deceleration of the main vehicle by using the second parameter determined by the difference based on the second parameter variable control by the control device.

[0032] According to an exemplary embodiment of the present disclosure, controlling the deceleration of the main vehicle by the control device may further include: the control device using the sensor device to identify the driving mode of the main vehicle; and the control device determining whether to activate the third parameter variable control based on the characteristics of the driving mode, based on the driving mode, the second required acceleration for each speed interval of the driving mode, the actual acceleration of the main vehicle, and at least one of a combination of the driving mode, the second required acceleration for each speed interval of the driving mode, and the actual acceleration of the main vehicle.

[0033] According to an exemplary embodiment of the present invention, controlling the deceleration of the main vehicle by the control device may further include: when the number of error data including the difference between the second required acceleration and the actual acceleration is greater than or equal to a predetermined number, activating the third parameter variable control by the control device, and controlling the deceleration of the main vehicle by the control device based on the third parameter variable control, by using the third parameter identified by the average error value of the error data.

[0034] According to an exemplary embodiment of the present disclosure, the autonomous driving control method may further include: while controlling the deceleration of the main vehicle by using the minimum value corresponding to the first parameter generated based on the behavior state of the at least one other vehicle or the second parameter generated based on the slope of the driving road, the control device restores the parameter used to control the deceleration of the main vehicle to the value before using the minimum value based on identifying that the behavior state or the slope does not satisfy the condition for generating the parameter.

[0035] According to an exemplary embodiment of the present disclosure, the autonomous driving control method may further include: while controlling the deceleration of the main vehicle based on the minimum value corresponding to the first parameter or the second parameter, when it is identified that the behavior state or the slope does not satisfy the condition for generating the parameter, the control device determines whether there is a history of applying a third parameter generated based on the characteristics of the driving mode of the main vehicle to control the deceleration; and when the history exists, the control device changes the parameter used to control the deceleration of the main vehicle to a value to which the third parameter is applied.

[0036] The methods and apparatus of the present disclosure have other features and advantages that will be apparent from or set forth in more detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain certain principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a block diagram illustrating components of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure;

[0038] Figure 2 is a block diagram illustrating components of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure;

[0039] Figure 3 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure;

[0040] Figure 4 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure;

[0041] Figure 5 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure;

[0042] Figure 6 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure;

[0043] Figure 7 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure; and

[0044] Figure 8 A computing system related to an autonomous driving control method according to an exemplary embodiment of the present disclosure is shown.

[0045] It will be appreciated that the accompanying drawings are not necessarily drawn to scale, and that they present somewhat simplified representations of various features illustrating the basic principles of the present disclosure. The intended design features of the present disclosure as included herein (including, for example, specific dimensions, orientations, locations, and shapes) will be determined in part by the specific intended application and use environment.

[0046] In the drawings, reference numbers refer to the same or equivalent parts of the present disclosure throughout the several figures of the drawing.

[0047] In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. DETAILED DESCRIPTION

[0048] Reference will now be made in detail to various embodiments of the present disclosure, examples of which are shown in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with exemplary embodiments of the present disclosure, it should be understood that this specification is not intended to limit the present disclosure to those exemplary embodiments of the present disclosure. On the other hand, the present disclosure is intended to cover not only the exemplary embodiments of the present disclosure, but also various replacements, modifications, equivalents and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0049] Hereinafter, various exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. When adding reference numerals to components of the various drawings, it should be noted that the same components have the same reference numerals even though they are shown in another drawing. In addition, when describing exemplary embodiments of the present disclosure, detailed descriptions associated with known functions or configurations will be omitted when they may unnecessarily obscure the subject matter of the present disclosure.

[0050] When describing the elements of the exemplary embodiments of the present disclosure, the terms first, second, A, B, (a), (b), etc. can be used in this article. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, and are independent of the properties, order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical terms and scientific terms used herein will be interpreted as the customary terms of the field to which the present disclosure belongs. It should be understood that the terms used in this article should be interpreted as including the meaning consistent with their meaning in the context of the present disclosure and the related art, and shall not be interpreted in an idealized or overly formalized sense, unless so defined herein.

[0051] In the following, reference will be made to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 Various embodiments of the present disclosure are described in detail.

[0052] Figure 1 is a block diagram illustrating components of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure.

[0053] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus 100 may include at least one of a sensor device 110 , a memory 120 , a control device 130 , and any combination thereof. Figure 1 The configuration of the autonomous driving control device 100 shown in FIG. 1 is an example, and the embodiments of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may further include Figure 1 Components not shown in the figure (for example, at least one of an interface device, a communication device, a display device, and any combination thereof).

[0054] According to an exemplary embodiment of the present disclosure, the sensor device 110 may obtain (or sense) various information for driving the host vehicle.

[0055] For example, the sensor device 110 may include at least one sensor including at least one of a camera, a radio detection and ranging (RADAR), a laser radar (LiDAR), and any combination thereof.

[0056] For example, the sensor device 110 may identify information related to at least one of a driving state of the host vehicle, a driving mode of the host vehicle, a driving road of the host vehicle, an area adjacent to the host vehicle, and any combination thereof.

[0057] For example, the sensor device 110 may identify information related to the driving state of the host vehicle, the information including at least one of the actual (or real-time) driving speed of the host vehicle, the driving direction of the host vehicle, the driving acceleration and / or deceleration of the host vehicle, and any combination thereof. For example, the control device 130 may compare the required acceleration determined (or identified) for controlling the host vehicle with the actual deceleration of the host vehicle traveling based on the required acceleration, and may identify the difference between the required acceleration and the actual deceleration.

[0058] For example, the sensor device 110 may identify a driving mode of the host vehicle. The host vehicle (e.g., an autonomous driving control device) may be configured to control the driving of the host vehicle based on various driving modes (e.g., an economy mode, a comfort mode, or a sport mode). For example, the driving modes may be classified based on at least one of fuel economy, limited driving speed, limited driving acceleration and / or deceleration, and any combination thereof.

[0059] For example, the sensor device 110 may identify various information related to the driving road of the host vehicle. For example, the sensor device 110 may identify the slope of the driving road on which the host vehicle is driving. For example, the control device 130 may be configured to determine (or identify) whether the identified slope is included in a predetermined range.

[0060] For example, the sensor device 110 may identify various information related to the host vehicle's adjacent area. For example, the sensor device 110 may identify information about at least one other vehicle placed in the host vehicle's adjacent area (e.g., the front area) (e.g., the other vehicle's travel speed, the other vehicle's travel acceleration and / or deceleration, or the other vehicle's travel direction).

[0061] According to an exemplary embodiment of the present disclosure, the memory 120 may store instructions or data. For example, the memory 120 may store one or more instructions that, when executed by the control device 130, cause the autonomous driving control apparatus 100 to perform various operations.

[0062] For example, the memory 120 and the control device 130 may be implemented as one chipset. The control device 130 may include at least one of a communication processor and a modem.

[0063] In various exemplary embodiments of the present disclosure, the control device 120 may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0064] According to an exemplary embodiment of the present disclosure, the control device 130 may be operably connected to the sensor device 110 and / or the memory 120. For example, the control device 130 may be configured to control the operation of the sensor device 110 and / or the memory 120.

[0065] For example, the control device 130 can use the sensor device 110 to identify information related to at least one of the driving state of the main vehicle, the driving mode of the main vehicle, the driving road of the main vehicle, the behavior state of at least one other vehicle adjacent to the main vehicle, and any combination thereof.

[0066] For example, the control device 130 may use at least a portion of the identified information to activate at least one parameter variable control for controlling deceleration of the host vehicle.

[0067] For example, when generating a control amount required for controlling the deceleration of the host vehicle based on at least a portion of the identified information, parameter variable control can be used. For example, parameter variable control can be a control algorithm for changing a parameter (e.g., limit deceleration) used to generate the control amount.

[0068] For example, the control device 130 may be configured to control the deceleration of the host vehicle using a minimum value among the at least one parameter identified based on the at least one parameter variable control activated thereby.

[0069] For example, the control device 130 may be configured to determine whether to activate the first parameter variable control based on the behavior state of at least one other vehicle placed in an area adjacent to the main vehicle, and may be configured to control the deceleration of the main vehicle using a first parameter generated based on the first parameter variable control.

[0070] For example, the control device 130 may identify the behavior state of at least one other vehicle, which includes data on at least one deceleration of at least one other vehicle located in front of the main vehicle, using the sensor device 110. In other words, the control device 130 may identify at least one other vehicle that exists in front of the main vehicle and has the possibility of colliding with the main vehicle when the main vehicle travels at a specific deceleration, and may identify the behavior state of the at least one other vehicle including the deceleration, the travel speed, and the travel direction.

[0071] For example, the control device 130 may be configured to determine whether at least one of the amount (or volume) of data about the behavior state of at least one other vehicle, the accuracy of the data, and any combination thereof satisfies a predetermined condition.

[0072] For example, when the number of data on the first vehicle among the at least one other vehicle is repeatedly identified within a specified number of cycles or more (e.g., 1000 cycles), or other data on the first vehicle (the difference between the other data and the data is a predetermined value or less than a predetermined value (e.g., the difference in acceleration value is 0.2 m / s 2 )) is identified more than a predetermined number of times (for example, 5 times), the control device 130 can identify (or determine) that at least one of the quantity of the data, the accuracy of the data, and any combination thereof meets the predetermined condition.

[0073] For example, while the control device 130 identifies the first data on the behavior of the first vehicle among the at least one other vehicle, when the identification information of the second vehicle different from the first vehicle is identified, the control device 130 may be configured to determine whether to identify the second vehicle instead of the first vehicle as the target vehicle for the first parameter variable control. In other words, it may be determined whether the first vehicle is no longer likely to collide with the host vehicle, and / or whether the driving direction, driving speed, and / or driving acceleration of the first vehicle are not related to the behavior of the host vehicle.

[0074] For example, when the second vehicle is not identified as a target vehicle within the first cycle, the control device 130 can set the reliability to a random value between 0 and 1 (e.g., 0.5) within a second cycle (which is a cycle after the first cycle), and second data about the second vehicle can be obtained.

[0075] For example, when the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and any combination thereof is 1 (for example, when the reliability of the second data is identified as 1 in the process of obtaining the second data after the reliability of the second data is set to an arbitrary value), the control device 130 can be configured to determine that at least one of the quantity of the data, the accuracy of the data, and any combination thereof satisfies a predetermined condition.

[0076] For example, when at least one of the amount of data, the accuracy of data, and any combination thereof satisfies a predetermined condition (e.g., when the reliability of the data is 1), the control device 130 may activate the first parameter variable control. The first parameter variable control may include a deceleration control algorithm that changes the deceleration limit value of the host vehicle to a first parameter based on, for example, the behavior state of other vehicles.

[0077] For example, the control device 130 may be configured to determine whether to activate the second parameter variable control based on the gradient of the travel road, and may be configured to control the deceleration of the host vehicle using the second parameter generated based on the second parameter variable control.

[0078] For example, the control device 130 may use the sensor device 110 to identify the slope of the driving road on which the main vehicle is traveling. For example, the control device 130 may be configured to determine whether the slope is included in a predetermined range. For example, the control device 130 may take into account the slope of the driving road, the driving state of the main vehicle, and the surrounding conditions to identify the first required acceleration generated for controlling the main vehicle. For example, the control device 130 may identify the actual (or real-time) acceleration of the main vehicle traveling based on the first required acceleration. For example, the control device 130 may be configured to determine whether to activate the second parameter variable control based on the slope based on at least one of whether the slope is included in the predetermined range, the first required acceleration, the actual acceleration of the main vehicle, and any combination thereof.

[0079] For example, when the slope is included in a predetermined range (e.g., a climbing interval range with a slope exceeding 4% or a climbing interval range with a slope less than -4%) and the difference between the first required acceleration and the actual acceleration is greater than or equal to a reference value (e.g., 0.2 m / s 2 ), the control device 130 can activate the second parameter variable control.

[0080] For example, the control device 130 may identify the second parameter based on the second parameter variable control. For example, the second parameter may be determined (or identified) by a gain value, which is set by the control device 130 in proportion to the difference between the first required acceleration and the actual acceleration. For example, the second parameter variable control may include a deceleration control algorithm that changes the deceleration limit value of the host vehicle to the second parameter based on the slope of the driving road on which the host vehicle is traveling, and / or the difference between the first required acceleration and the actual acceleration.

[0081] For example, the control device 130 may be configured to determine whether to activate the third parameter variable control based on characteristics of the driving mode of the host vehicle, and may be configured to control deceleration of the host vehicle using a third parameter generated based on the third parameter variable control.

[0082] For example, the control device 130 may identify the driving mode of the host vehicle using the sensor device 110. The control device 130 may identify the driving mode of the host vehicle using a component other than the sensor device 110 (eg, a communication device).

[0083] For example, the control device 130 may identify the characteristics of the driving mode of the host vehicle. For example, the control device 130 may identify the real-time driving mode of the host vehicle among various driving modes (e.g., economy mode, comfort mode, and sport mode). The control device 130 may identify the characteristics of the identified driving mode (e.g., at least one of fuel economy, limited driving speed, limited driving acceleration and / or deceleration, required acceleration for each speed interval, and any combination thereof).

[0084] For example, based on at least one of the driving mode, the second required acceleration for each speed interval of the driving mode, the actual acceleration of the host vehicle, and any combination thereof, the control device 130 may be configured to determine whether to activate the third parameter variable control based on the characteristics of the driving mode.

[0085] For example, the control device 130 may identify a second desired acceleration for each speed interval required in the real-time driving mode of the host vehicle. The control device 130 may be configured to control the host vehicle using the second desired acceleration and may use the sensor device 110 to identify the actual acceleration of the host vehicle.

[0086] For example, when the number of error data including the difference between the second required acceleration and the actual acceleration is greater than or equal to a predetermined number (eg, 300) (or a specified capacity), the control device 130 may activate the third parameter variable control.

[0087] For example, the control device 130 may identify the third parameter based on the third parameter variable control. The third parameter may be determined (or identified) by a gain value, which is set by the control device 130 by using, for example, an average error value of the error data. For example, the third parameter variable control may include a deceleration control algorithm that changes the deceleration limit value of the host vehicle to the third parameter based on at least one of the average error value of the error data, the difference between the second required acceleration and the actual acceleration, and any combination thereof.

[0088] For example, when there are a plurality of parameters identified based on at least one parameter variable control (eg, when all of the first parameter and the third parameter are identified), the deceleration of the host vehicle may be controlled using a minimum value among the plurality of parameters.

[0089] For example, when at least a portion of the conditions for activating at least one parameter variable control are no longer satisfied, the control device 130 may restore or change the parameters for controlling the deceleration.

[0090] For example, when the control device 130 uses a minimum value corresponding to a first parameter generated based on a behavioral state of at least one other vehicle or a second parameter generated based on the slope of a driving road to control the deceleration of the main vehicle, the control device 130 may restore the parameter used to control the deceleration of the main vehicle to the value before the minimum value was used based on recognizing that the behavioral state or the slope does not satisfy the condition for generating the parameter.

[0091] For example, while the control device 130 controls the deceleration of the main vehicle based on the minimum value corresponding to the first parameter or the second parameter, when it is identified that the behavior state or the slope does not satisfy the conditions for generating the parameters, the control device 130 can be configured to determine whether there is a history of controlling the deceleration by applying a third parameter generated based on the characteristics of the driving mode of the main vehicle.

[0092] For example, when there is a deceleration control history based on the third parameter, the parameter for controlling the deceleration of the host vehicle can be changed to a value to which the third parameter is applied. In other words, instead of restoring the parameter for initial deceleration to an initial state, the parameter for initial deceleration can be changed to a value to which the third parameter is applied.

[0093] For example, the control device 130 may store in the memory 120 at least one of parameters (e.g., a first parameter, a second parameter, and a third parameter) identified when the control device 130 performs at least one parameter variable control, a history of at least one parameter variable control, and any combination thereof.

[0094] Figure 2 is a block diagram illustrating components of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure.

[0095] According to an exemplary embodiment of the present disclosure, in an autonomous driving control device (eg, Figure 1 The control device 130 in the autonomous driving control apparatus 100 may include at least one of other vehicle behavior checking devices 210, driving condition checking devices 220, parameter setting devices 230, alarm and driving control devices 240, and any combination thereof.

[0096] exist Figure 2 The components of the control device 130 shown in FIG. 1 are examples, and the embodiments of the present disclosure are not limited thereto. For example, the components shown as being included in Figure 2 At least part of the components in the control device 130 in the embodiment may be implemented as a separate chip physically separated from the control device 130. For another example, Figure 2 At least a portion of the components in the control device 130 in the embodiment (e.g., the other vehicle behavior checking device 210 and / or the driving condition checking device 220) may be implemented as another component having an autonomous driving control device (e.g., Figure 1 A single chip of the sensor device 110).

[0097] For example, the other vehicle behavior checking device 210 may identify information related to a behavior state of at least one other vehicle adjacent to the host vehicle.

[0098] For example, the other vehicle behavior checking device 210 may identify the deceleration (eg, longitudinal direction deceleration) of at least one other vehicle located in front of the host vehicle.

[0099] For example, the other vehicle behavior checking device 210 may be configured to determine whether the deceleration of at least one other vehicle ahead is less than a predetermined deceleration value for driving control of the host vehicle.

[0100] For example, when the deceleration of at least one other vehicle ahead is less than a predetermined deceleration value for driving control of the host vehicle, the control device 130 may activate the first parameter variable control.

[0101] For example, the driving condition checking device 220 may analyze the behavior of the host vehicle according to the driving condition of the host vehicle, and may be configured to determine whether a predetermined maximum deceleration limit parameter needs to be changed.

[0102] For example, the driving condition checking device 220 may be configured to determine whether the slope of the road on which the host vehicle is driving is included in a predetermined range. When the slope of the road is included in the predetermined range, the driving condition checking device 220 may change the parameter (e.g., limit deceleration) for controlling the deceleration of the host vehicle based on at least one of the magnitude of the slope, the difference between the first required acceleration and the actual acceleration of the host vehicle, and any combination thereof.

[0103] For example, the driving condition checking device 220 may identify the characteristics of the driving mode of the host vehicle, may identify the second required acceleration for each speed interval of each driving mode, and may identify the difference between the second required acceleration and the actual acceleration of the host vehicle. For example, the control device 130 may change the parameter for controlling the deceleration of the host vehicle based on at least one of the amount (or volume) of data about the driving mode, the average error of multiple pieces of data, the difference between the second required acceleration and the actual acceleration of the vehicle, and any combination thereof.

[0104] For example, the parameter setting device 230 may set and change various parameters for controlling the deceleration of the host vehicle.

[0105] For example, the parameter setting device 230 can set and change the parameter (e.g., limit deceleration) for deceleration of the host vehicle. For example, the parameter setting device 230 can change the parameter (e.g., limit deceleration) for controlling the deceleration of the host vehicle to at least one parameter generated (or identified) based on activation of at least one parameter variable control.

[0106] For example, after the parameter for controlling the deceleration of the host vehicle is changed to the first parameter and / or the second parameter generated (or identified) by the first parameter variable control and / or the second parameter variable control, when it is identified that the condition for activating the first parameter variable control and / or the second parameter variable control is no longer satisfied, the parameter setting device 230 may restore the parameter for controlling the deceleration of the host vehicle to the initial value again. For the restoration, the parameter setting device 230 may apply a restoration gain.

[0107] For example, after the parameter for controlling the deceleration of the host vehicle is changed to the first parameter and / or the second parameter generated (or identified) by the first parameter variable control and / or the second parameter variable control, when it is identified that the condition for activating the first parameter variable control and / or the second parameter variable control is no longer satisfied, the parameter setting device 230 may further determine whether there is a third parameter variable control history. For example, when there is a third parameter variable control history, the parameter setting device 230 may change the parameter for controlling the deceleration of the host vehicle to a value to which the third parameter is applied based on the third parameter variable control history.

[0108] For example, the alert and driving controls 240 may provide information to the user regarding parameter changes via visual and / or audible content and may be configured to control the driving of the host vehicle.

[0109] For example, the warning and driving control device 240 may provide the user with a real-time process related to the parameter variable control and various information obtained through the sensor device 110 in real time through an output device (eg, a display and / or a speaker).

[0110] For example, the alert and driving control device 240 may identify a changed deceleration control parameter based on at least one parameter variable control, and may be configured to control deceleration of the host vehicle based on the identified parameter.

[0111] Figure 3 is an operation flow chart of the autonomous driving control device according to an exemplary embodiment of the present disclosure.

[0112] According to an exemplary embodiment of the present disclosure, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100) can execute Figure 3 For example, at least some components (e.g., Figure 1 The sensor device 110, the memory 120 and / or the control device 130 in the embodiment may be configured to perform Figure 3 Operations in .

[0113] In the following embodiments, operations S310 to S340 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 3 The above descriptions are provided to correspond to or be identical to the descriptions to avoid redundancy.

[0114] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may recognize the behavior of a leading vehicle ( S310 ).

[0115] For example, the autonomous driving control apparatus may recognize a behavior (eg, deceleration) of at least one leading vehicle present in a front area of ​​the host vehicle.

[0116] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify reliability based on the behavior of the leading vehicle ( S320 ).

[0117] For example, the autonomous driving control device may identify reliability using the minimum value of the identified deceleration of the leading vehicle.

[0118] For example, the autonomous driving control device can identify reliability based on at least one of the number of data identified for each identification information (ID) of at least one leading vehicle, the accuracy of the data, the period in which the data is identified, the number of times the error between the minimum value and other values ​​is identified, and any combination thereof.

[0119] For example, the autonomous driving control device may be configured to determine whether to identify the second front vehicle instead of the first front vehicle as the target vehicle for the first parameter variable control without identifying the identification information of the first front vehicle identified as the target vehicle. In this case, when the second front vehicle is not identified as the target vehicle in the first cycle, the autonomous driving control device may set the reliability to a random value between 0 and 1 (e.g., 0.5) in the second cycle after the first cycle, and the second data about the second front vehicle may be obtained. For example, when the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and any combination thereof is 1, the autonomous driving control device may be configured to determine that at least one of the quantity of the data, the accuracy of the data, and any combination thereof satisfies a predetermined condition.

[0120] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may be configured to determine whether the reliability is a designated value ( S330 ).

[0121] For example, the designated value may be 1. However, this is an example, and embodiments of the present disclosure are not limited thereto.

[0122] For example, when the reliability is a designated value (eg, operation S330 -Yes), the autonomous driving control apparatus may perform operation S340 .

[0123] For example, when the reliability is not a designated value (eg, operation S330 —No), the autonomous driving control apparatus may perform operation S335 .

[0124] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may deactivate the parameter variable control based on the behavior of the leading vehicle ( S335 ).

[0125] For example, the autonomous driving control apparatus may deactivate the first parameter variable control based on the behavior of the preceding vehicle, and may be configured to thereby control the deceleration of the host vehicle based on initially set parameters (eg, limit deceleration).

[0126] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may activate parameter variable control based on the behavior of the leading vehicle and may store the behavior of the leading vehicle in a memory ( S340 ).

[0127] For example, the autonomous driving control device may be configured to generate (or identify) a first parameter by performing a first parameter variable control based on the behavior of the leading vehicle, and the first parameter and / or at least a portion of the behavior of the leading vehicle identified when generating the first parameter may be stored in a memory.

[0128] For example, the autonomous driving control apparatus may perform deceleration control of the host vehicle based on the first parameter.

[0129] Figure 4 is an operation flow chart of an autonomous driving control device according to an exemplary embodiment of the present disclosure.

[0130] According to an exemplary embodiment of the present disclosure, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100) can execute Figure 4 For example, at least some components (e.g., Figure 1 The sensor device 110, the memory 120 and / or the control device 130 in the embodiment may be configured to perform Figure 4 Operations in .

[0131] In the following embodiments, operations S410 to S450 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 4 The above descriptions are provided to correspond to or be identical to the descriptions to avoid redundancy.

[0132] According to an exemplary embodiment of the present invention, the autonomous driving control apparatus may recognize a slope of a driving road using a sensor device ( S410 ).

[0133] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may be configured to determine whether the slope is included in a predetermined range ( S420 ).

[0134] For example, when the slope is included in the predetermined range (eg, operation S420 —Yes), the autonomous driving control apparatus may perform operation S430 .

[0135] For example, when the slope is not included in the predetermined range (eg, operation S420 —No), the autonomous driving control apparatus may perform operation S425 .

[0136] For example, the autonomous driving control device may deactivate the second parameter variable control based on the behavior of the preceding vehicle, and may be configured to thereby control the deceleration of the host vehicle based on the initially set parameters (eg, limit deceleration).

[0137] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a difference between a required speed control amount and a speed change rate of the host vehicle ( S430 ).

[0138] For example, the autonomous driving control device can be configured to control the travel of the main vehicle based on a required acceleration determined according to the slope of the driving road and / or the driving conditions of the main vehicle, can identify the actual acceleration of the main vehicle, and can identify the difference between the required acceleration and the actual acceleration.

[0139] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may be configured to determine whether the difference is greater than or equal to a reference value ( S440 ).

[0140] For example, the autonomous driving control device may identify a difference between a first required acceleration and an actual acceleration of the host vehicle, and may be configured to determine whether the identified difference is greater than or equal to a reference value.

[0141] For example, when the difference is greater than or equal to the reference value (eg, operation S440 -Yes), the autonomous driving control apparatus may perform operation S450 .

[0142] For example, when the difference is less than the reference value (eg, operation S440 -No), the autonomous driving control apparatus may perform operation S425 .

[0143] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may deactivate the driving road-based parameter variable control ( S425 ).

[0144] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may activate parameter variable control based on a driving road and may store a plurality of pieces of information for parameter variation in a memory ( S450 ).

[0145] For example, the autonomous driving control device may be configured to generate (or identify) a second parameter by performing variable control of the second parameter based on the driving road, and the second parameter and / or at least a portion of the behavior of the leading vehicle identified when generating the second parameter may be stored in a memory.

[0146] For example, the autonomous driving control apparatus may perform deceleration control of the host vehicle based on the second parameter.

[0147] Figure 5 is an operation flow chart of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure.

[0148] According to an exemplary embodiment of the present disclosure, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100) can execute Figure 5 For example, at least some components (e.g., Figure 1 The sensor device 110, the memory 120 and / or the control device 130 in the embodiment may be configured to perform Figure 5 operation.

[0149] In the following embodiments, operations S510 to S540 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 5 The above descriptions are provided to correspond to or be identical to the descriptions to avoid redundancy.

[0150] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may recognize a driving mode of a host vehicle ( S510 ).

[0151] For example, the autonomous driving control apparatus may identify a driving mode for driving control of the host vehicle among various driving modes (eg, an economy mode, a comfort mode, and a sport mode).

[0152] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a difference between a required speed control amount and a speed change rate of the host vehicle for each speed section according to a driving mode ( S520 ).

[0153] For example, the autonomous driving control device may identify a required speed control amount (or required acceleration) set for each speed interval of the identified driving mode, may identify an actual acceleration of the host vehicle, and may identify a difference between the required speed control amount and the actual acceleration.

[0154] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may be configured to determine whether the number of data regarding the identified difference is greater than or equal to a predetermined number ( S530 ).

[0155] For example, the autonomous driving control device may be configured to determine whether the number of data on the difference between the required acceleration and the actual acceleration is greater than or equal to a predetermined number (eg, 300) (or a designated capacity).

[0156] For example, when the number of data on the difference between the required acceleration and the actual acceleration is greater than or equal to a predetermined number (eg, operation S530 —Yes), the autonomous driving control apparatus may perform operation S540 .

[0157] For example, when the number of data on the difference between the required acceleration and the actual acceleration is less than a predetermined number (eg, operation S530 —No), the autonomous driving control apparatus may perform operation S535 .

[0158] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may deactivate the parameter variable control based on the plurality of pieces of data related to the identified difference ( S535 ).

[0159] For example, the autonomous driving control apparatus may deactivate the third parameter variable control based on the identified pieces of data of the difference, and may be configured to thereby control the deceleration of the host vehicle based on the initially set parameters (eg, limit deceleration).

[0160] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may activate parameter variable control based on pieces of data regarding the identified difference, and may store pieces of information for parameter variation in a memory ( S540 ).

[0161] For example, the autonomous driving control device may be configured to generate (or identify) a third parameter by performing variable control of a third parameter based on multiple difference data, and the third parameter and / or at least a portion of the behavior of the leading vehicle identified when generating the third parameter may be stored in a memory.

[0162] For example, the autonomous driving control apparatus may perform deceleration control of the host vehicle based on the third parameter.

[0163] Figure 6 is an operation flow chart of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure.

[0164] According to an exemplary embodiment of the present disclosure, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100) can execute Figure 6 For example, at least some components (e.g., Figure 1 The sensor device 110, the memory 120 and / or the control device 130 in the embodiment may be configured to perform Figure 6 operation.

[0165] In the following embodiments, operations S610 to S640 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 6 The above descriptions are provided to correspond to or be identical to the descriptions to avoid redundancy.

[0166] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a first parameter for parameter variable control based on the behavior of a leading vehicle ( S610 ).

[0167] For example, autonomous driving control equipment can be based on Figure 3 The above operation described in Identify the first parameter.

[0168] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a second parameter for parameter variable control based on a driving road ( S620 ).

[0169] For example, autonomous driving control equipment can be based on Figure 4 The above operation described in Identify the second parameter.

[0170] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a third parameter for parameter variable control based on a plurality of pieces of data regarding a difference between a required acceleration identified based on a driving mode and an actual acceleration of a host vehicle ( S630 ).

[0171] For example, the autonomous driving control device can be based on the above Figure 5 The operation described in identifies a third parameter.

[0172] According to the exemplary embodiment of the present disclosure, the autonomous driving control apparatus may identify a minimum value among the identified parameters as a final control amount ( S640 ).

[0173] For example, the autonomous driving control apparatus may identify a minimum value among the first parameter, the second parameter, and the third parameter identified based on operations S610 to S630 as a final control amount for the deceleration control of the host vehicle.

[0174] Figure 7is an operation flow chart of an autonomous driving control apparatus according to an exemplary embodiment of the present disclosure.

[0175] According to an exemplary embodiment of the present disclosure, an autonomous driving control device (eg, Figure 1 The autonomous driving control device 100) can execute Figure 7 For example, at least some components (e.g., Figure 1 The sensor device 110, the memory 120 and / or the control device 130 in the embodiment may be configured to perform Figure 7 operation.

[0176] In the following embodiments, operations S710 to S730 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 7 The above descriptions are provided to correspond to or be identical to the descriptions to avoid redundancy.

[0177] According to an exemplary embodiment of the present disclosure, the autonomous driving control device can use a sensor device to identify information related to at least one of the driving state of the main vehicle, the driving mode of the main vehicle, the driving road of the main vehicle, the behavior state of at least one other vehicle adjacent to the main vehicle, and any combination thereof (S710).

[0178] For example, the information related to the driving state of the host vehicle may include at least one of the driving acceleration and / or deceleration of the host vehicle, the driving speed of the host vehicle, the driving direction of the host vehicle, and any combination thereof.

[0179] For example, information related to the driving mode of the main vehicle may include the required acceleration for each speed range of the driving mode in which the main vehicle is actually driven, among various driving modes (e.g., economy mode, comfort mode, and sport mode) available when the autonomous driving control device is configured to control the main vehicle.

[0180] For example, the information related to the driving road may include information related to the grade of the driving road on which the host vehicle is driving.

[0181] For example, information related to the behavioral state of at least one other vehicle adjacent to the main vehicle may include information related to at least one of the driving acceleration of at least one other vehicle located in the area in front of the main vehicle, the driving speed of at least one other vehicle, the driving direction of at least one other vehicle, and any combination thereof.

[0182] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may activate at least one parameter variable control for deceleration control of the host vehicle using the recognized information ( S720 ).

[0183] For example, the autonomous driving control device may activate at least one parameter variable control and may be configured to generate (or identify) parameters corresponding to each parameter variable control.

[0184] According to an exemplary embodiment of the present disclosure, the autonomous driving control apparatus may be configured to control deceleration of the host vehicle using a minimum value among at least one parameter identified based on at least one parameter variable control activated thereby ( S730 ).

[0185] For example, the autonomous driving control apparatus may set the identified minimum value as a limit deceleration value for deceleration.

[0186] Figure 8 A computing system related to an autonomous driving control method according to an exemplary embodiment of the present disclosure is shown.

[0187] refer to Figure 8 , a computing system 1000 related to an 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 1600 , and a network interface 1700 connected to each other via a bus 1200 .

[0188] 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 memory 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).

[0189] Thus, the operations of the methods or algorithms described in conjunction with the exemplary embodiments included in the specification may be directly implemented using hardware modules, software modules, or a combination of hardware modules and software modules, which are executed by the processor 1100. The software modules may reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk drive, a removable disk, or a compact disk ROM (CD-ROM).

[0190] The storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information into the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be implemented with 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 with separate components in a user terminal.

[0191] The above description is merely an example of the technical concept of the present disclosure, and various modifications and changes may be made by those skilled in the art without departing from the essential characteristics of the present disclosure.

[0192] Therefore, the various exemplary embodiments of the present disclosure are not intended to limit but to explain the technical concept of the present disclosure, and the scope and spirit of the present disclosure are not limited by the above-mentioned embodiments. The protection scope of the present disclosure should be interpreted by the attached claims, and all equivalents thereof should be interpreted as included in the scope of the present disclosure.

[0193] A description of an autonomous driving control apparatus and method thereof according to an exemplary embodiment of the present disclosure is as follows.

[0194] According to at least one embodiment of the present disclosure, the autonomous driving control device may be configured to generate parameters for changing the limit values ​​of acceleration and / or deceleration of the host vehicle using information related to the driving condition of the host vehicle or at least one other vehicle located in an adjacent area.

[0195] In addition, according to at least one embodiment of the present disclosure, the autonomous driving control device can flexibly control the acceleration and / or deceleration of the main vehicle by using at least one of the difference between the required acceleration determined (or identified) by the control device for control and the real-time actual acceleration of the main vehicle traveling based on the required acceleration value, the driving condition of the main vehicle, and any combination thereof, rather than uniformly generating the control amount for the driving control of the main vehicle.

[0196] Furthermore, according to at least one embodiment of the present disclosure, by changing the deceleration limit value of the host vehicle in consideration of the driving conditions of other vehicles in an adjacent area, the possibility of a dangerous situation occurring in relative relationship with other vehicles can be minimized.

[0197] Furthermore, various effects directly or indirectly understood by the present disclosure can be provided.

[0198] Furthermore, terms such as “unit”, “module” and the like included in the specification mean a unit for processing at least one function or operation, which can be implemented by hardware, software or a combination thereof.

[0199] For ease of explanation and accurate definition of the appended claims, the terms "up", "down", "inside", "outside", "upward", "downward", "upward", "downward", "front", "rear", "rear", "inside", "outside", "inside", "outside", "inside", "outside", "forward", and "rearward" are used to describe features of the exemplary embodiments with reference to the locations of such features shown in the drawings. It should be further understood that the term "connected" or its derivatives refer to both direct and indirect connections.

[0200] The term "and / or" may include any combination of the multiple related listed items or the multiple related listed items. For example, "A and / or B" includes all three cases, such as "A", "B" and "A and B".

[0201] In this specification, unless otherwise stated, a singular expression includes a plural expression unless the context clearly indicates otherwise.

[0202] In an exemplary embodiment of the present invention, "at least one of A and B" may refer to "at least one of A or B" or "at least one of a combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more of a combination of one or more of A and B".

[0203] In the exemplary embodiments of the present disclosure, it should be understood that terms such as “including” or “having” are intended to specify the presence of features, quantities, steps, operations, elements, parts, or a combination thereof described in the specification, and do not exclude the possibility of adding or existing one or more other features, quantities, steps, operations, elements, parts, or a combination thereof.

[0204] For the purpose of illustration and description, the foregoing descriptions of specific exemplary embodiments of the present disclosure have been presented. They are not intended to be exhaustive or to limit the present disclosure to the precise form disclosed, and it is apparent that many modifications and variations are possible in light of the above teachings. In order to illustrate certain principles of the present invention and their practical applications, exemplary embodiments have been selected and described to enable other persons skilled in the art to carry out and utilize various exemplary embodiments of the present disclosure and various substitutions and modifications thereof. The scope of the present disclosure is intended to be limited by the appended claims and their equivalents.

Claims

1. An autonomous driving control device, the device comprising: Sensor device; a memory configured to store instructions; as well as a control device operatively connected to the sensor device and the memory, The instructions, in response to execution of the control device, cause the autonomous driving control device to: identifying, using a sensor device, information related to at least one of a driving state of a host vehicle, a driving mode of the host vehicle, a driving road of the host vehicle, a behavior state of at least one other vehicle adjacent to the host vehicle, and a combination of the driving state, the driving mode, the driving road, and the behavior state; activating at least one parameter variable control for deceleration control of the host vehicle using the information; and Deceleration of the host vehicle is controlled using a minimum value among the at least one parameter identified based on the at least one parameter variable control activated thereby.

2. The device according to claim 1, in, The at least one variable parameter control includes a first variable parameter control, and The instructions, in response to execution of the control device, cause the autonomous driving control device to: identifying, using a sensor device, a behavior state of at least one other vehicle present in front of the host vehicle, the behavior state including data regarding a deceleration of the at least one other vehicle; activating the first parameter variable control based on a behavior state of the at least one other vehicle in response to at least one of the amount of the data, the accuracy of the data, and a combination of the amount of the data and the accuracy of the data satisfying a predetermined condition; and Based on the first parameter variable control, deceleration of the host vehicle is controlled by using a first parameter identified by using a behavior state of the at least one other vehicle.

3. The device according to claim 2, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: In response to the quantity of the data regarding a first vehicle among the at least one other vehicle being repeatedly identified within a predetermined number of cycles or more, or the other data regarding the first vehicle being identified a predetermined number of times or more, and the difference between the other data and the data being less than a predetermined value, it is determined that at least one of the quantity of the data, the accuracy of the data, and a combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

4. The device according to claim 2, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: in response to identifying identification information of a second vehicle different from the first vehicle while identifying first data on behavior of a first vehicle among the at least one other vehicle, determining whether to identify the second vehicle instead of the first vehicle as a target vehicle for the first parameter variable control; In response to the second vehicle not being identified as the target vehicle in a first cycle, setting the reliability to a random value between 0 and 1 in a second cycle, the second cycle being a cycle after the first cycle, and obtaining second data about the second vehicle; as well as In response to the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and the combination of the quantity of the second data and the accuracy of the second data being 1, it is determined that at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

5. The device according to claim 1, in, The at least one variable parameter control includes a second variable parameter control, and The instructions, in response to execution of the control device, cause the autonomous driving control device to: identifying the slope of the driving road using the sensor device; and Based on the slope, it is determined whether to activate the second parameter variable control based on whether the slope is included in a predetermined range, a first required acceleration, an actual acceleration of the main vehicle, and at least one of a combination of whether the slope is included in the predetermined range, the first required acceleration, and the actual acceleration of the main vehicle.

6. The device according to claim 5, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: activating the second parameter variable control in response to the slope being included in the predetermined range and the difference between the first required acceleration and the actual acceleration being greater than or equal to a reference value; and Based on the second parameter variable control, deceleration of the host vehicle is controlled by using a second parameter identified by using the difference.

7. The device according to claim 1, in, The at least one variable parameter control includes a third variable parameter control, and The instructions, in response to execution of the control device, cause the autonomous driving control device to: identifying a driving mode of the host vehicle using the sensor device; and Based on the characteristics of the driving mode, it is determined whether to activate the third parameter variable control based on at least one of the driving mode, the second required acceleration for each speed interval of the driving mode, the actual acceleration of the host vehicle, and a combination of the driving mode, the second required acceleration for each speed interval of the driving mode, and the actual acceleration of the host vehicle.

8. The device according to claim 7, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: activating a third parameter variable control in response to the number of error data including a difference between the second required acceleration and the actual acceleration being greater than or equal to a predetermined number; as well as Based on the third parameter variable control, deceleration of the host vehicle is controlled by a third parameter identified by using an average error value of the error data.

9. The device according to claim 1, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: While controlling the deceleration of the main vehicle using a minimum value corresponding to a first parameter generated based on the behavior state of at least one other vehicle or a second parameter generated based on the slope of the driving road, based on identifying that the behavior state or the slope of the driving road does not satisfy the conditions for generating the parameters, the parameter used to control the deceleration of the main vehicle is restored to the value before the minimum value was used.

10. The device according to claim 9, wherein: The instructions, in response to execution by the control device, cause the autonomous driving control apparatus to: while controlling the deceleration of the host vehicle based on the minimum value corresponding to the first parameter or the second parameter, in response to recognizing that the behavior state or the slope does not satisfy the condition for generating a parameter, determining whether there is a history of applying a third parameter generated based on characteristics of the driving mode of the host vehicle to control the deceleration; as well as In response to the existence of the history, a parameter for controlling deceleration of the host vehicle is changed to a value to which the third parameter is applied.

11. An autonomous driving control method, the method comprising: identifying, by a control device using a sensor device, information related to at least one of a driving state of a host vehicle, a driving mode of the host vehicle, a driving road of the host vehicle, a behavior state of at least one other vehicle adjacent to the host vehicle, and a combination of the driving state, the driving mode, the driving road, and the behavior state; using the information by the control device to activate at least one parameter variable control for deceleration control of the host vehicle; as well as The deceleration of the host vehicle is controlled by the control device using a minimum value among the at least one parameter identified based on the at least one parameter variable control thus activated.

12. The method according to claim 11, in, The at least one variable parameter control includes a first variable parameter control, and Wherein, controlling the deceleration of the host vehicle by the control device further comprises: identifying, by the control device, using the sensor device, a behavior state of the at least one other vehicle present in front of the host vehicle, the behavior state including data regarding a deceleration of the at least one other vehicle; activating, by the control device, the first parameter variable control based on the behavior state of the at least one other vehicle in response to at least one of the amount of the data, the accuracy of the data, and a combination of the amount of the data and the accuracy of the data satisfying a predetermined condition; and The control device variably controls the deceleration of the host vehicle by using the first parameter identified by the behavior state of the at least one other vehicle based on the first parameter.

13. The method according to claim 12, wherein: In response to at least one of the amount of the data, the accuracy of the data, and a combination of the amount of the data and the accuracy of the data satisfying the predetermined condition, activating, by the control device, the first parameter variable control based on the behavior state of the at least one other vehicle further comprises: In response to the quantity of the data regarding a first vehicle among the at least one other vehicle being repeatedly identified within a predetermined number of cycles or more, or the other data regarding the first vehicle being identified a predetermined number of times or more, and the difference between the other data and the data being less than a predetermined value, the control device determines that at least one of the quantity of the data, the accuracy of the data, and a combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

14. The method according to claim 12, wherein: In response to at least one of the amount of the data, the accuracy of the data, and a combination of the amount of the data and the accuracy of the data satisfying the predetermined condition, activating, by the control device, the first parameter variable control based on the behavior state of the at least one other vehicle further comprises: determining, by the control device, whether to identify the second vehicle instead of the first vehicle as a target vehicle for the first parameter variable control in response to identifying identification information of a second vehicle different from the first vehicle while identifying first data on the behavior of the first vehicle among the at least one other vehicle; In response to the second vehicle not being identified as the target vehicle in a first cycle, setting the reliability to a random value between 0 and 1 by the control device in a second cycle, the second cycle being a cycle after the first cycle, and obtaining second data about the second vehicle; and In response to the reliability identified based on at least one of the quantity of the second data, the accuracy of the second data, and the combination of the quantity of the second data and the accuracy of the second data being 1, the control device determines that at least one of the quantity of the data, the accuracy of the data, and the combination of the quantity of the data and the accuracy of the data satisfies the predetermined condition.

15. The method according to claim 11, in, The at least one variable parameter control includes a second variable parameter control, and Wherein, controlling the deceleration of the host vehicle by the control device further comprises: identifying, by the control device, a slope of the driving road using the sensor device; and The control device determines, based on the slope, whether the slope is included in a predetermined range, a first required acceleration, an actual acceleration of the host vehicle, and at least one of a combination of whether the slope is included in the predetermined range, the first required acceleration, and the actual acceleration of the host vehicle. To determine whether to activate the second parameter variable control.

16. The method according to claim 15, wherein: Controlling the deceleration of the host vehicle by the control device further comprises: activating, by the control device, the second parameter variable control in response to the gradient being included in the predetermined range and the difference between the first required acceleration and the actual acceleration being greater than or equal to a reference value; and The deceleration of the host vehicle is controlled by the control device based on the second parameter variably controlled by the second parameter identified by using the difference.

17. The method according to claim 11, in, The at least one variable parameter control includes a third variable parameter control, and Wherein, controlling the deceleration of the host vehicle by the control device further comprises: identifying, by the control device, a driving mode of the host vehicle using the sensor device; and Whether to activate the third parameter variable control is determined by the control device based on the characteristics of the driving mode, based on at least one of the driving mode, the second required acceleration for each speed interval of the driving mode, the actual acceleration of the host vehicle, and a combination of the driving mode, the second required acceleration for each speed interval of the driving mode, and the actual acceleration of the host vehicle.

18. The method according to claim 17, wherein: Controlling the deceleration of the host vehicle by the control device further comprises: activating, by the control device, the third parameter variable control in response to the number of error data including a difference between the second required acceleration and the actual acceleration being greater than or equal to a predetermined number; and The deceleration of the host vehicle is controlled by a third parameter by the control device based on the third parameter, the third parameter being identified by using an average error value of the error data.

19. The method according to claim 11, further comprising: While controlling the deceleration of the main vehicle using a minimum value corresponding to a first parameter generated based on the behavior state of at least one other vehicle or a second parameter generated based on the slope of the driving road, the control device restores the parameter used to control the deceleration of the main vehicle to a value before using the minimum value based on identifying that the behavior state or the slope of the driving road does not satisfy the condition for generating the parameter.

20. The method according to claim 19, further comprising: while controlling the deceleration of the host vehicle based on a minimum value corresponding to the first parameter or the second parameter, in response to recognizing that the behavior state or the slope does not satisfy the condition for generating a parameter, determining by the control device whether there is a history of applying a third parameter generated based on characteristics of the driving mode of the host vehicle to control the deceleration; as well as When the history exists, a parameter for controlling the deceleration of the host vehicle is changed by the control device to a value to which the third parameter is applied.

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