Method and device for controlling vehicle

Abstract

The invention provides a method and device for controlling a vehicle. The vehicle is controlled to operate in an autonomous driving mode in which the vehicle travels without being manipulated by an operator of the vehicle. A request is received to switch to a manual driving mode in which the vehicle is driven with manipulation by an operator. In response to the request, a maneuvering range associated with a function of the vehicle is determined as a function of a driving situation of the vehicle. The vehicle is controlled to operate in a manual driving mode in which an operator's manipulation is limited according to a manipulation range.

Description

Technical Field

[0001] The present disclosure relates generally to control devices and methods related to vehicles, and more particularly, to methods and devices for controlling vehicles to operate in an autonomous driving mode or a manual driving mode. Background Art

[0002] Various functions that improve driver convenience are installed in vehicles.

[0003] For example, an automatic steering function may be provided to automatically steer the vehicle.

[0004] The automatic steering function originated from the related Electric Power Steering (EPS) and has developed to the level of including Lane Keeping Assist System (LKAS), which goes beyond simple steering support.

[0005] When a vehicle selectively switches between an autonomous driving mode and a manual driving mode, a driver driving the vehicle may have difficulty adapting to changes in a controlled object of the vehicle.

[0006] For example, when driving a vehicle in an autonomous driving mode, the vehicle may be converted to a manual driving mode in response to a driver's selection or an emergency. In the above situation, the driver may need time to adapt to driving the vehicle or manipulating a steering device or pedal.

[0007] In addition, when driving a vehicle in a manual driving mode, the vehicle can be converted to an autonomous driving mode in response to a driver's selection or an emergency. In the above situation, the vehicle is required to drive in an autonomous driving mode that takes into account the driving situation of the vehicle, thereby increasing driver convenience. Summary of the invention

[0008] Technical issues

[0009] One aspect of the present disclosure provides a method and apparatus for controlling a vehicle to operate in an autonomous driving mode or a manual driving mode.

[0010] Technical Solution

[0011] According to an embodiment of the present disclosure, a method for a controller to control a vehicle is provided. The vehicle is controlled to operate in an autonomous driving mode in which the vehicle travels without being manipulated by an operator of the vehicle. A request to switch to a manual driving mode in which the vehicle travels under the manipulation of an operator is received. In response to the request, a manipulation range related to a function of the vehicle is determined according to a driving condition of the vehicle. The vehicle is controlled to operate in a manual driving mode in which the manipulation of the operator is limited according to the manipulation range.

[0012] According to another embodiment of the present disclosure, a method for a controller to control a vehicle is provided. The vehicle is controlled to operate in a manual driving mode in which the vehicle travels by manipulation of an operator. A request to switch to an autonomous driving mode in which the vehicle travels without manipulation by an operator is received. The operator's intention is determined based on the driving situation of the vehicle. The vehicle is controlled to operate in the autonomous driving mode formulated according to the operator's intention.

[0013] According to another embodiment of the present disclosure, a controller for controlling a vehicle is provided. The controller includes a mode switching receiver configured to receive a request to switch to a manual driving mode when the vehicle is operating in an autonomous driving mode, wherein in the autonomous driving mode, the vehicle travels without being manipulated by the operator of the vehicle, and in the manual driving mode, the vehicle travels under the manipulation of the operator. The controller also includes a driving state determiner configured to determine a manipulation range related to a function of the vehicle according to the driving condition of the vehicle in response to a request. The controller also includes a driving mode controller configured to control the vehicle to operate in a manual driving mode in which the operator's manipulation is limited according to the manipulation range.

[0014] According to another embodiment of the present disclosure, a method for a controller to control a vehicle is provided. The driving condition of the vehicle is determined based on at least one of the road on which the vehicle is traveling, surrounding vehicles, the state of the operator of the vehicle, and the manipulation of the steering device of the vehicle. Based on the driving condition of the vehicle, a driving mode is selected from a first manual driving mode, a second manual driving mode, and an autonomous driving mode, wherein: in the first manual driving mode, the operator's manipulation is restricted; in the second manual driving mode, the operator's manipulation is not restricted; in the autonomous driving mode, the vehicle automatically travels without being manipulated by the operator. The vehicle is controlled to operate in the selected driving mode.

[0015] Beneficial effects of the present invention

[0016] Effects that can be obtained by or expected according to the exemplary embodiments are directly disclosed or suggested in the following detailed description. For example, various effects expected according to the exemplary embodiments will be described in the detailed description provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or other aspects, features and advantageous effects of the present disclosure will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0019] Figure 2A is a block diagram showing a controller for controlling a vehicle according to an embodiment of the present disclosure;

[0020] Figure 2B is a block diagram showing a vehicle system including a controller according to an embodiment of the present disclosure;

[0021] Figure 3A is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0022] Figure 3B The present invention is shown in the embodiment of the present invention. Figure 3A A flowchart of a process in which a controller controls a vehicle;

[0023] Figure 4A is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0024] Figure 4B The present invention is shown in the embodiment of the present invention. Figure 4A A flowchart of a process in which a controller controls a vehicle;

[0025] Figure 5A is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0026] Figure 5B The present invention is shown in the embodiment of the present invention. Figure 5A A flowchart of a process in which a controller controls a vehicle;

[0027] Fig. 6A is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0028] Figure 6B The present invention is shown in the embodiment of the present invention. Fig. 6A A flowchart of a process in which a controller controls a vehicle;

[0029] Figure 6C The present invention is shown in the embodiment of the present invention. Fig. 6A A flowchart of a process in which a controller controls a vehicle;

[0030] Figures 7 to 9 is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure;

[0031] Figures 10 to 14 is a flowchart showing a process in which a controller controls a vehicle according to an embodiment of the present disclosure; and

[0032] Fig.15 is a block diagram illustrating a controller according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Embodiments of the present disclosure are described in detail with reference to the accompanying drawings. Although the same or similar components are shown in different drawings, these components may be indicated by the same or similar reference numerals. Detailed descriptions of structures or processes known in the art may be omitted to avoid making the subject matter of the present disclosure unclear.

[0034] As used herein, expressions such as “having”, “may have”, “including” and “may include” refer to the presence of corresponding features (e.g., elements such as numbers, functions, operations or components) without excluding the presence of at least one additional feature.

[0035] As used herein, expressions such as "A or B", "at least one of A or / and B", and "one or more of A or / and B" may include every possible combination of the items listed together. For example, the expression "A or B", "at least one of A and B", or "one or more of A and B" may mean: (1) including at least one A; (2) including at least one B; or (3) including both at least one A and at least one B.

[0036] Expressions such as “first,” “second,” etc. may modify a variety of elements regardless of the order and / or importance of the elements, and the expressions are only used to distinguish one element from another but are not intended to limit the corresponding elements.

[0037] When a particular element (e.g., a first element) is described as being operably or communicatively coupled to another element (e.g., a second element) or operably or communicatively coupled / connected to another element (e.g., a second element), it should be understood that the particular element may be directly coupled to (or directly coupled to) the other element, or coupled via another element (e.g., a third element). Conversely, when a particular element (e.g., a first element) is referred to as being "directly coupled" to or "directly coupled / connected to" another element (e.g., a second element), it should be understood that there are no other elements (e.g., a third element) between the particular element and the other element.

[0038] As used herein, the expression "configured to" may be interchangeable with "suitable for," "capable of," "designed to," "adapted to," "manufactured to," and "capable of," as appropriate. The expression "configured to" may not necessarily refer to "specially designed to" at the hardware level. Instead, in certain circumstances, the expression "a device configured to" may mean that the device "is capable of" completing a specified operation together with another device or component. For example, the phrase "a processor configured to perform A, B, and C" may refer to a dedicated processor (such as an embedded processor) that performs the corresponding operations, or a general-purpose processor (such as a central processing unit (CPU) or an application processor (AP)) that is capable of performing the corresponding operations by executing one or more software programs stored on a memory device.

[0039] In this article, terminology is used to describe a specific embodiment and is not intended to limit the scope of another exemplary embodiment. Unless otherwise specified, singular expression may include plural expression. The term used herein (including technical terms or scientific terms) may have the same meaning as the meaning generally understood by the technicians of the field described herein. The term used in this article and defined in the dictionary may be interpreted according to the same or similar context used in the related art, and unless otherwise specified in this article, these terms should not be interpreted as idealized or over-formalized meanings. The term defined herein may not be interpreted in a manner that excludes the embodiments of the present disclosure.

[0040] According to an embodiment, the autonomous driving mode may refer to a mode in which the vehicle automatically travels without the intervention of a driver (e.g., a vehicle passenger sitting in the driver's seat or a vehicle operator). The autonomous driving mode may be referred to as an automatic driving mode. In addition, according to an embodiment, the manual driving mode may refer to a mode in which the vehicle manually travels under the manipulation of the driver. In addition, according to an embodiment, the semi-autonomous driving mode may refer to the vehicle operating according to a manual driving mode in which the manipulation of the driver is partially restricted. The semi-autonomous driving mode may be referred to as a semi-automatic driving mode or a semi-manual driving mode.

[0041] Depending on the implementation, the controller may be a part of the vehicle or an external device mounted on the vehicle.

[0042] When the controller is part of a vehicle, the controller may be an advanced driver assistance system such as an advanced driver assistance system (ADAS) or a part of the above system. In addition, the controller may be an electronic control device (such as an electronic control unit (ECU)) that electronically controls various functions related to driving a vehicle, or a part of the above device.

[0043] When the controller is an external device mounted on a vehicle, the controller can be a driving assistance device such as an OBD, a global positioning system (GPS), etc. connected to a vehicle connector (e.g., an on-board diagnostic system (OBD) component, an OBD connector, etc.), or a part of the above devices.

[0044] In addition, the controller can be a portable telephone device, a smart phone, a tablet personal computer (PC), a mobile phone, a video phone, an e-book reader, a desktop personal computer, a laptop personal computer, a netbook computer, a personal digital assistant (PDA), a portable multimedia player (PMP), an MP3 player, a mobile medical device, a camera, an Internet of Things device, and a wearable device, or can be a part of them.

[0045] According to an embodiment, a vehicle may be a device that carries a person or a cargo to move the person or the cargo. The vehicle may include, for example, a car, an airplane, a motorcycle, a ship or a train.

[0046] Figure 1 is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure.

[0047] refer to Figure 1 In (a), the vehicle 10 may be operated in an autonomous driving mode in which the vehicle travels on the curved road 101 without driver control.

[0048] When the vehicle 10 is operated in the autonomous driving mode, the controller may receive a request to switch to the manual driving mode, in which the vehicle is driven by the driver. For example, the user may press the manual switch button 11 provided on the dashboard of the vehicle 10.

[0049] In addition, the controller may receive switching requests based on events occurring based on the driver's state (e.g., at least one of the driver's hand position, foot position, body position, and facial position), switching requests based on events occurring based on an emergency situation of the vehicle 10, and switching requests occurring based on the surrounding environment of the vehicle 10.

[0050] The request to switch the vehicle 10 to the manual driving mode according to the various methods described above may be applied to all the embodiments described below.

[0051] In response to the received switching request, the controller may determine the driver's manipulation range of one of the plurality of driving functions required to drive the vehicle 10 according to the driving situation of the vehicle 10 .

[0052] For example, the controller may determine a steering range related to a steering function of the vehicle 10 that can be manipulated by the driver according to the degree of curvature of the road on which the vehicle 10 is traveling. Specifically, the controller may obtain curvature information of the road by referring to a map on which the vehicle is traveling. The map of the road on which the vehicle 10 is traveling may be stored in a memory of the vehicle 10 or may be received from a device (e.g., a server or a cloud server) outside the vehicle 10.

[0053] The controller may use the obtained curvature information of the road to determine the turning angle of the steering device 201 (e.g., steering wheel) provided on the vehicle 10 that can be turned by the driver. In addition, the controller may use at least one of the lane information, the degree of the guardrail, and other obstacle information of the road on which the vehicle 10 is traveling to determine the steering range that can be manipulated by the driver. In this article, determining the driver's maneuvering range may refer to a range that can be manipulated by the driver or a range that cannot be manipulated by the driver.

[0054] like Figure 1 As shown in (b), when determining the range that can be manipulated by the driver, the controller may control the vehicle 10 to operate in a manual driving mode in which the driver's manipulation is partially restricted. For example, the controller may control the vehicle 10 to operate in a manual driving mode in which the turning angle of the steering device 201 is restricted. For example, when the range of the turning angle that the steering device 201 of the vehicle 10 can turn without restriction is θ11, the controller may control the vehicle 10 so that the range of the turning angle that the steering device 201 turns can be θ12.

[0055] Thus, when a request to switch from the autonomous driving mode to the manual driving mode is received, the controller 100 may control the vehicle 10 to operate in the manual driving mode in which the driver's manipulation is partially restricted for driving safety of the vehicle 10 .

[0056] In addition, when a request to switch from a manual driving mode to an autonomous driving mode is received, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode that takes into account a variety of autonomous driving parameters, such as the driver's state, the vehicle's state, and the vehicle's surroundings.

[0057] Figure 2A is a block diagram illustrating a controller of a vehicle according to an embodiment of the present disclosure.

[0058] refer to Figure 2A , the controller 100 includes a mode switching receiver 101 , a driving state determiner 102 and a driving mode controller 103 .

[0059] The mode switching receiver 101, the driving state determiner 102, and the driving mode controller 103 may be modules included in at least one processor. In addition, the mode switching receiver 101, the driving state determiner 102, and the driving mode controller 103 may be collectively referred to as a processor.

[0060] The mode switching receiver 101, the driving state determiner 102, and the driving mode controller 103 may be distinguished according to their functions, and the name of each unit may be different according to the implementation. Each unit may include a software module or a hardware module.

[0061] When the vehicle 10 is operated in the autonomous driving mode, the mode switching receiver 101 may receive a request to switch to a manual driving mode in which the vehicle travels with the driver's manipulation. In addition, when the vehicle 10 is operated in the manual driving mode, the mode switching receiver 101 may receive a request to switch to an autonomous driving mode in which the vehicle travels without the driver's manipulation.

[0062] For example, the mode switching receiver 101 may receive a switching request according to a user manipulation of selecting a manual switching user interface (e.g., a manual switching button) or an automatic switching user interface (e.g., an automatic switching button) provided on the vehicle 10 as a switching request. In addition, the mode switching receiver 101 may receive a switching request according to an event occurring based on a driver's state, a vehicle's state, or a surrounding environment of the vehicle.

[0063] In response to the switching request through the mode switching receiver 101 , the driving state determiner 102 may determine the driver's manipulation range of one of the plurality of driving functions of the vehicle 10 according to the driving situation of the vehicle 10 .

[0064] For example, the driving state determiner 102 may determine a steering range related to a steering function of the vehicle 10 that can be manipulated by the driver according to a degree of curvature of a road on which the vehicle 10 is traveling or traffic regulations.

[0065] Furthermore, the driving state determiner 102 may determine an acceleration range related to an acceleration function of the vehicle 10 that may be manipulated by the driver according to a degree of curvature of a road on which the vehicle 10 is traveling or traffic regulations.

[0066] Furthermore, the driving state determiner 102 may determine a steering range associated with a steering function of the vehicle 10 or an acceleration range associated with an acceleration function of the vehicle 10 that may be manipulated by the driver according to a state of another vehicle in an adjacent lane on the road.

[0067] According to an embodiment, when the driving state determiner 102 determines the steering range that can be manipulated by the driver, the driving state determiner 102 may determine the turning angle of the steering device that can be turned by the driver and is provided on the vehicle 10. In addition, when the driving state determiner 102 determines the acceleration range that can be manipulated by the driver, the driving state determiner 102 may determine the inclination angle at which the acceleration device provided on the vehicle 10 can be tilted or determine the speed increase rate according to the slope of the acceleration device.

[0068] The driving state determiner 102 may determine the intention of the driver who drives the vehicle 10 according to the driving state of the vehicle 10 .

[0069] For example, the driving state determiner 102 may determine the intention of the driver to drive the vehicle 10 based on at least one of the driver's state, the state of the vehicle 10, and the surrounding environment of the vehicle 10. For example, when it is determined that the driver's intention is to reduce the speed of the vehicle, the driving mode controller 103 may control the vehicle 10 to operate in an autonomous driving mode in which the speed is limited.

[0070] The driving mode controller 103 may control the vehicle 10 to operate in the manual driving mode or the autonomous driving mode according to the result determined in the driving state determiner 102 .

[0071] For example, the driving mode controller 103 may control the vehicle 10 to operate in a manual driving mode in which the driver's manipulation is partially limited according to the range of the manipulation determined in the driving state determiner 102 .

[0072] Furthermore, the driving mode controller 103 may control the vehicle 10 to operate in an autonomous driving mode in which the autonomous driving mode is formulated according to the intention of the driver determined in the driving state determiner 102 .

[0073] Figure 2B is a block diagram of a system regarding a vehicle including a controller according to an embodiment of the present disclosure.

[0074] refer to Figure 2B , the vehicle 10 may include an ADAS as an example of a controller 100, an ECU 206 that performs general control related to driving of the vehicle 10 (such as driving / braking / steering of the vehicle 10), a door controller 204 that controls a door of the vehicle 10, a door 205, a steering device 201 (e.g., a steering wheel), an acceleration device 202 (e.g., an accelerator pedal), a deceleration device 208 (e.g., a brake pedal), a communicator 207, and a sensor 203.

[0075] Specifically, the ECU 206 can determine the fuel injection amount and the ignition timing by sensing the state of the vehicle 10 so that the engine of the vehicle 10 remains in order. For example, the ECU 206 can calibrate the water temperature sensor and the oxygen sensor, and can adjust the conversion ratio of the injector based on the manifold absolute pressure (MAP) of the ignition timing and the MAP of the fuel injection, wherein the MAP of the ignition timing and the MAP of the fuel injection are pre-established by considering the speed of the engine of the vehicle 10, the intake air amount, the intake pressure, and the opening degree of the accelerator.

[0076] In addition, the communicator 207 can perform communication with an external device 300 (e.g., a cloud server) located outside the vehicle 10 by using a remote communication module or a near field communication module. When the remote communication module is used, the communicator 207 can perform communication with the external device 300 according to communication standards such as the Institute of Electrical and Electronics Engineers (IEEE), the third generation (3G), the third generation partnership project (3GPP), the long term evolution (LTE), and GPS. When the near field communication module is used, the communicator 207 can perform communication with the external device 300 according to communication standards such as Wi-Fi, Bluetooth, Zigbee, Picocast, etc.

[0077] In addition, when performing communication according to a wired communication method, the communicator 207 may use, for example, a 20-pin connector, a 16-pin connector, or a universal serial bus (USB) connector. The communicator 207 may perform communication according to communication protocols such as on-board diagnostic version 1 (OBD-1), OBD-2, European on-board diagnostics (EOBD), Korean on-board diagnostics (KOBD), K-Line, RS-232, controller area network (CAN), and the like.

[0078] The sensor 203 may sense the surroundings of the vehicle 10 or the situation of the driver driving the vehicle 10. The sensor 203 may include an object sensor such as a Lidar sensor, a radar sensor, an ultrasonic sensor, and a visual sensor to sense the surroundings of the vehicle 10. Herein, the surroundings of the vehicle 10 may refer to information about another vehicle located in the surrounding area of ​​the vehicle 10 or information about an object or person located near the vehicle 10.

[0079] In addition, the sensor 203 may include a noise sensor, a motion sensor, a video sensor, a touch sensor, etc. to sense the driver's condition. In this article, the driver's condition may represent the driver's fatigue or the driver's driving posture. Specifically, the driver's fatigue can be determined by tracking the driver's gaze and the driver's facial movement.

[0080] In addition, the sensor 203 may also include at least one of an acceleration sensor, a gyroscope sensor, an illumination sensor, a proximity sensor, a pressure sensor, a noise sensor (e.g., a microphone), a video sensor (e.g., a camera module), a temperature sensor, a vibration sensor, and a timer.

[0081] According to an embodiment, the sensor 203 and the ECU 206 may be implemented as a part of the controller 100 or a unit separate from the controller 100. In addition, the ECU 206 and a part of the sensor 203 may be implemented as a part of the controller 100. In addition, according to an embodiment, the controller 100 sensing specific information (e.g., the surrounding environment of the vehicle 10, the state of the driver, the state of the vehicle 10) may include receiving the sensing result through the sensor 203 or the ECU 206 provided separately from the controller 100 and directly sensing through the controller 100.

[0082] The vehicle 10 may further include a memory storing various programs and data for controlling the vehicle 10. According to an embodiment, at least a portion of the memory may be included in the controller 100 or the ECU 206 of the vehicle 10. In addition, the memory may be included in one area of ​​the vehicle 10 or may be electrically connected to the controller 100.

[0083] The memory may include, for example, an internal memory or an external storage. The internal memory may include at least one of a volatile memory (e.g., a dynamic random access memory (RAM) (DRAM), a static RAM (SRAM), a synchronous dynamic RAM (SDRAM)), a non-volatile memory (e.g., a one-time programmable read-only memory (ROM) (OTPROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a mask ROM, a flash ROM), a flash memory (e.g., a NAND flash memory or a NOR flash memory), a hard disk drive, or a solid-state drive (SSD).

[0084] The external storage may also include, for example, a flash drive such as Compact Flash (CF), Secure Digital (SD), Micro Secure Digital (Micro-SD), Mini Secure Digital (Mini-SD), Extreme Digital (xD), MultiMedia Card (MMC), or Memory Stick.

[0085] The program stored in the memory may be implemented as software, firmware, hardware, or a combination of at least two of them.

[0086] At least a portion of the program may be implemented by the controller 100 of the vehicle 10 .

[0087] For example, the controller may call instructions of a program stored in the memory and may receive a request to switch to a manual driving mode in which the vehicle travels with the driver at the controls based on calculations based on the called instructions when the vehicle 10 is operating in the autonomous driving mode.

[0088] In response to the received switching request, the controller 100 can determine the range of control of one of multiple driving functions performed by the driver on the vehicle 10 based on the driving state of the vehicle 10, and can control the vehicle 10 to operate in a manual driving mode in which the driver's control is partially restricted according to the determined range of control.

[0089] Alternatively, the controller may call instructions of a program stored in memory and may receive a request to switch to an autonomous driving mode in which the vehicle travels without driver input based on calculations based on the called instructions while the vehicle 10 is operating in the manual driving mode.

[0090] In response to the received switching request, the controller 100 may determine the driver's intention to drive the vehicle 10 according to the driving state of the vehicle 10 and control the vehicle 10 to operate in an autonomous driving mode in which the determined driver's intention is formulated.

[0091] Return to reference Figure 2B , the vehicle 10 may be operated, for example, in an autonomous driving mode.

[0092] In the situation described above, when the driver selects the manual driving mode button, the ECU 206 may transmit a request signal for switching to the manual driving mode generated according to the selection of the button to the controller (eg, ADAS) 100 .

[0093] The controller 100 may receive a request signal for switching to the manual driving mode and determine the driving state of the vehicle 10 based on the value sensed in the sensor 203. In addition, the controller 100 may determine the driver's manipulation range of one of the plurality of driving functions performed by the vehicle 10 according to the determined driving state.

[0094] For example, the controller 100 may obtain a map from an external device 300 (e.g., a cloud) through the communicator 207 to determine the maneuvering range. In addition, the controller 100 may obtain a map from a memory of the vehicle 10. The map may be a high-precision map. A high-precision map may be a map in which information about roads may be recorded in centimeters. The high-precision map may include a variety of information, such as lane information, traffic rules information, and curved and inclined road information of the road on which the vehicle 10 is traveling.

[0095] The controller 100 may determine the steering angle of the steering device 201 as the range of the driver's manipulation by considering the road state (eg, the degree of curvature or the road surface state) using the obtained map.

[0096] According to the range of the determined manipulation, the controller 100 may send a signal to the ECU 206 to control the vehicle 10 to operate in a manual driving mode in which the driver's manipulation is partially restricted. When the ECU 206 receives the control signal, the ECU 206 may operate the vehicle 10 in a manual driving mode in which the manipulation of the steering device 201 is partially restricted.

[0097] Figure 3A is a diagram showing a scenario in which a controller controls a vehicle according to an embodiment of the present disclosure.

[0098] refer to Figure 3A (a), the controller 100 may receive a request to switch to the manual driving mode while the vehicle 10 is operating in the autonomous driving mode.

[0099] In response to the received switching request, the controller 100 may determine a steering range related to the steering function of the vehicle that can be manipulated by the driver according to the traffic rules of the road on which the vehicle 10 is traveling. For example, the controller 100 may determine whether to change the lane 301 on which the vehicle 10 is traveling based on the traffic rules of the lane 301. When the vehicle 10 cannot change the lane 301 (for example, the vehicle is traveling in a solid lane), the controller 100 may determine a steering range related to the steering function of the vehicle 10 that can be manipulated by the driver.

[0100] like Figure 3A As shown in (b) of FIG. 1 , when the steering range is determined, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the steering range is limited.

[0101] For example, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the rotation angle of the steering device 201 is limited. Specifically, when the range of angles that the steering device 201 of the vehicle 10 can rotate without restriction is θ31, the controller 100 may control the vehicle 10 so that the range of the rotation angle of the steering device 201 can be θ32.

[0102] Figure 3B is a diagram showing an embodiment of the present disclosure Figure 3A Flow chart of a process in which the controller 100 controls the vehicle 10 .

[0103] refer to Figure 3B , in step S311 , the vehicle 10 operates in the autonomous driving mode.

[0104] In step S312 , it is determined whether the controller 100 receives a request to switch to the manual driving mode of the vehicle 10 .

[0105] When receiving the switching request, the controller 100 determines a steering range related to the steering function of the vehicle 10 that can be manipulated by the driver according to traffic regulations of the path on which the vehicle 10 is traveling.

[0106] Specifically, in step S313 , the controller 100 senses the lane in which the vehicle 10 is currently traveling.

[0107] In step S314 , the controller 100 confirms the traffic regulations on the sensed lane.

[0108] For example, the controller 100 may obtain information about a map and traffic rules related to a lane sensed by the vehicle 10. The information about the map and traffic rules may be obtained from a memory or an external device 300 (e.g., a server, a cloud server, a navigation integrated with the vehicle 10 or installed on the outside of the vehicle 10). The controller 100 may confirm whether the lane in which the vehicle 10 is traveling is a solid lane or whether the local area in which the vehicle 10 is traveling is a no-U-turn area by using the obtained information.

[0109] In step S315 , based on the sensed lane and the traffic regulation on the sensed lane, the controller 100 determines whether the vehicle 10 is located in an area where the lane can be changed.

[0110] When the vehicle 10 is located in an area where the lane cannot be changed, in step S316, the controller 100 controls the vehicle 10 to operate in a manual driving mode in which the steering range that can be manipulated by the driver is limited. For example, the controller 100 can limit the steering range that can be manipulated by the driver so that the vehicle 10 cannot move out of the solid line.

[0111] When the vehicle 10 is located in the area where the lane can be changed, in step S317, the controller 100 controls the vehicle 10 to operate in a manual driving mode in which the steering range of the vehicle 10 is not limited. In addition, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the steering range that can be manipulated by the driver is limited, but the steering range is wider than the steering range that can be manipulated by the driver in step S316.

[0112] Figure 4A is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0113] refer to Figure 4A(a), the controller 100 may receive a request to switch to the manual driving mode while the vehicle 10 is operating in the autonomous driving mode.

[0114] In response to the received switching request, the controller 100 may determine the steering range related to the steering function of the vehicle that can be manipulated by the driver according to the state of the other vehicle 401 in the adjacent lane. For example, the controller 100 may determine whether the other vehicle 401 in the adjacent lane is located within a specific distance from the vehicle 10. When the other vehicle 401 is located within a specific distance from the vehicle 10, the controller 100 may determine the steering range related to the steering function of the vehicle 10 that can be manipulated by the driver. In addition, the controller 100 may determine the collision possibility by using information about the speed and distance of the other vehicle 401. When the collision possibility is less than a preset value, the controller 100 may determine the steering range related to the steering function of the vehicle 10 that can be manipulated by the driver.

[0115] like Figure 4A As shown in (b) of FIG. 1 , when the steering range is determined, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the steering range is limited.

[0116] For example, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the rotation angle of the steering device 201 is limited. Specifically, when the angle that the steering device 201 of the vehicle 10 can rotate without restriction is θ41, the controller 100 may control the vehicle 10 so that the range of the rotation angle of the steering device 201 can be θ42.

[0117] In addition, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the acceleration range of the vehicle 10 is limited. For example, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the acceleration range of the acceleration device 202 is limited.

[0118] Figure 4B is a diagram showing an embodiment of the present disclosure Figure 4A Flowchart of the process of a controller controlling a vehicle.

[0119] refer to Figure 4B , in step S411 , the vehicle 10 operates in an autonomous driving mode.

[0120] The controller 100 may sense whether there is another vehicle on the path of the vehicle 10 .

[0121] Specifically, in step S412 , the controller 100 determines whether there is an emergency vehicle (eg, a patrol car or an ambulance) in the lane of the vehicle 10 .

[0122] When there is an emergency vehicle in the path of the vehicle 10 , the controller 100 controls the vehicle 10 to change to another lane in step S413 .

[0123] In the above situation, the controller 100 determines whether or not a request to switch to the manual driving mode is received in step S414 .

[0124] When a switching request is received, the controller 100 determines a steering range associated with a steering function of the vehicle 10 that can be manipulated by the driver according to the state of an adjacent lane.

[0125] Specifically, in step S415 , the controller 100 determines whether the emergency vehicle is located within a certain distance (eg, 10 m) from the vehicle 10 .

[0126] When the rescue vehicle is within a certain distance from the vehicle 10, in step S416, the controller 100 controls the vehicle 10 to operate in a manual driving mode in which the steering range that can be manipulated by the driver is limited. For example, the controller 100 can limit the steering range that can be manipulated by the driver so that the vehicle 10 cannot enter an adjacent lane.

[0127] When the rescue vehicle is located outside the certain distance from the vehicle 10 , the controller 100 controls the vehicle 10 to operate in a manual driving mode in which the steering range that can be manipulated by the driver is not limited in step S417 .

[0128] Figure 5A is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0129] refer to Figure 5A (a), the vehicle 10 may operate in the autonomous driving mode toward the destination 511. For example, when it is determined that the driver is overly fatigued, the controller 100 may control the vehicle 10 to designate the destination 511 as a rest area and operate in the autonomous driving mode.

[0130] In the above situation, the controller 100 may receive a request to switch to the manual driving mode. For example, the controller 100 may receive a request to switch to the manual driving mode according to an event occurring based on the driver's state (eg, the driver's fatigue level decreases).

[0131] like Figure 5AAs shown in (b), in response to the received switching request, the controller 100 can control the vehicle 10 in the manual driving mode. In addition, the controller 100 can notify the user that the vehicle 10 is switched to the manual driving mode. For example, the controller 100 can make the manual driving mode button of the vehicle 10 flash or generate an alarm sound. Thus, the driver can manually control the vehicle 10.

[0132] Figure 5B is a diagram showing an embodiment of the present disclosure Figure 5A Flow chart of a process in which the controller 100 controls the vehicle 10 .

[0133] refer to Figure 5B In step S511, the vehicle 10 is operated in a manual driving mode.

[0134] In step S512, the controller 100 senses the condition (eg, fatigue) of the driver of the vehicle 10. For example, the sensor 203 of the vehicle 10 may sense the driver's fatigue based on the driver's activity pattern (eg, blinking, shaking head).

[0135] In step S513 , based on the sensed fatigue level, the controller 100 determines whether the driver's fatigue level is greater than or equal to a specific value.

[0136] When the driver's fatigue level is greater than or equal to a specific value, the controller 100 controls the vehicle 10 to operate in the autonomous driving mode in step S514 .

[0137] In this case, the controller 100 may change the destination or the path that the vehicle 10 is traveling. The changed destination may be a nearby rest area or a local area where the driver can take a break and can park the vehicle.

[0138] In step S513 , when the driver's fatigue level is less than a specific value, the controller 100 returns to step S512 and continues to sense the driver's fatigue level.

[0139] In step S515 , the controller 100 continues to sense the driver's state (eg, the driver's fatigue level) even when the vehicle 10 is operating in the autonomous driving mode.

[0140] In step S516, based on the sensed fatigue, the controller 100 determines whether the fatigue of the driver driving the vehicle 10 is less than a specific value. Here, the 'specific value' of step S516 is different from the 'specific value' of step S513. However, the present disclosure is not limited thereto, and according to the intention of the maker of the 'specific value', the 'specific value' of step S516 may be the same as the 'specific value' of step S513.

[0141] When the driver's fatigue is less than a certain value, the controller 100 receives a request to switch to the manual driving mode with respect to the vehicle 10. In step S517, in response to the received switching request, the controller 100 controls the vehicle 10 to operate in the manual driving mode again.

[0142] At step S516 , when the driver's fatigue level is not less than the specific value, the controller 100 returns to step S515 and continues to sense the driver's fatigue level.

[0143] Fig. 6A is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0144] When the vehicle 10 is operating in an autonomous driving mode, situations may occur where the driver unexpectedly attempts to steer the vehicle 10 .

[0145] This may occur when the driver wants to manually change the driving path due to the presence of an obstacle that the sensor 203 (e.g., object sensor) of the vehicle 10 fails to sense, or when the driver attempts to open the door of the vehicle 10 when the vehicle 10 is temporarily parked.

[0146] In response to an emergency situation, controller 100 may control vehicle 10 to operate partially in an autonomous driving mode.

[0147] refer to Fig. 6A (a), the controller 100 may sense the driver's manipulation that recognizes an emergency situation when the vehicle 10 is operating in the autonomous driving mode. For example, the controller 100 may abnormally turn the steering device 201 or sense the driver's manipulation that applies force on the steering device 201 to avoid the obstacle 601 and suddenly change the current driving path. In addition, the controller 100 may sense the user input of selecting an emergency button set on the dashboard of the vehicle 10. In this article, the emergency button may include a manual driving mode button set to select so as to quickly switch from the autonomous driving mode to the manual driving mode and a separately set emergency button.

[0148] When sensing that the driver's manipulation is abnormally manipulating the steering device 201 , the controller 100 may determine an emergency situation in which the sensor 203 fails to sense the obstacle 601 .

[0149] Next, if Fig. 6AAs shown in (b) of FIG. 1 , the controller 100 may control the vehicle 10 to partially operate in an autonomous driving mode, wherein the vehicle 10 provides a new path 603 to avoid an obstacle 601 by considering the driver's path 602. Thus, the controller 100 may control the vehicle 10 to avoid the obstacle 601 so that the driver can drive toward the optimized safe path 603.

[0150] According to another embodiment, the controller 100 may control the vehicle 10 to operate in the manual driving mode until the controller 100 generates a new path in an emergency by sensing the driver's state.

[0151] Figure 6B is a diagram showing an embodiment of the present disclosure Fig. 6A Flowchart of the process of a controller controlling a vehicle.

[0152] refer to Figure 6B , in step S611 , the vehicle 10 operates in an autonomous driving mode.

[0153] In step S612 , the vehicle 10 senses the manipulation of the steering device 201 according to the driver's manipulation.

[0154] When the manipulation of the steering device 201 is sensed, the vehicle 10 determines whether the manipulation of the steering device 201 is performed according to the user's intention in step S613 .

[0155] When it is determined that the manipulation is performed according to the user's intention, the controller 100 re-plans the driving path of the vehicle 10 to another path in step S614.

[0156] Meanwhile, at step S613 , when the manipulation is not performed according to the user's intention, the controller 100 may maintain the travel path of the vehicle 10 as the previous path in step S615 .

[0157] Figure 6C is a diagram showing an embodiment of the present disclosure Fig. 6A A flow chart describing a process by which a controller controls a vehicle.

[0158] refer to Figure 6C , at step S621 , the vehicle 10 operates in the autonomous driving mode.

[0159] In step S622, the controller 100 senses a rotation value of the steering device 201. The rotation value may be, for example, at least one of a rotation speed and a rotation force at which the steering device 201 is rotated.

[0160] In step S623 , the controller 100 determines whether the sensed rotation value is greater than or equal to a critical value.

[0161] When the sensed rotation value is greater than or equal to the critical value, in step S624 , the controller 100 senses the direction guided by the steering device 201 .

[0162] Furthermore, in step S625 , the controller 100 determines whether the lane in which the vehicle 10 is traveling can be changed toward the direction guided by the steering device 201 .

[0163] When the lane of the vehicle 10 cannot be changed, in step S628, the controller 100 switches the vehicle 10 to an emergency state. For example, the controller 100 may flash the emergency lights of the vehicle 10, keep the safety equipment provided on the vehicle 10 ready, and quickly reduce the speed of the vehicle 10.

[0164] When the lane of the vehicle 10 can be changed, in step S626, the controller 100 controls so that the lane of the vehicle 10 can be changed toward the direction guided by the steering device 201. In addition, in step S627, the controller 100 determines whether there is an obstacle on the changed path of the vehicle 10. When there is an obstacle, in step S628, the controller 100 switches the vehicle 10 to an emergency state.

[0165] When switching into the emergency state, in step S629 , the controller 100 controls the vehicle 10 to operate in the manual driving mode until a new path avoiding the emergency situation is established.

[0166] When the vehicle 10 is operated in the manual driving mode, in step S630, the controller 100 reestablishes the driving path in the autonomous driving mode of the vehicle 10 to another path. In this case, the controller 100 may sense the curvature and road surface state of the road on which the vehicle 10 is traveling, and formulate a new path on which the vehicle 10 will travel based on the sensing described above. In addition, the controller 100 may formulate a new path on which the vehicle 10 will travel by using information about lanes on the path of the vehicle 10 (e.g., a solid line or a center line) or information about guardrails.

[0167] When the new path is formulated, in step S631, the controller 100 controls the vehicle 10 to operate in the autonomous driving mode on the re-formulated path. In addition, the controller 100 can control the vehicle 10 to continue to operate in the manual driving mode according to the user's selection.

[0168] Referring back to step S623, when it is determined that the sensed rotation value of the steering device 201 is less than the critical value, in step S632, the controller 100 senses the force applied to the steering device 201 of the vehicle 10. The applied force may be the force of the driver pulling the steering device 201 toward the driver.

[0169] In step S633, it is determined whether the applied force is greater than or equal to a critical value. Here, the 'critical value' of step S633 is different from the 'critical value' of step S623. However, the present disclosure is not limited to this, and according to the intention of the maker of the 'critical value', the 'critical value' of step S633 may be the same as the 'critical value' of step S623. As described above with respect to steps S625 to S631, when the applied force is greater than or equal to the critical value, the controller 100 controls the vehicle 10 to operate in an autonomous driving mode on the re-formulated path by considering whether to change the lane of the vehicle 10.

[0170] When the applied force is less than the critical value, the controller 100 determines whether another emergency event occurs in step S634. Another emergency event may occur according to the user selecting an emergency button on the dashboard of the vehicle 10.

[0171] When no emergency occurs, the controller 100 continues to operate in the autonomous driving mode and returns to step S621.

[0172] When an emergency occurs, the controller 100 senses the driver's state in step S635.

[0173] In step S636, the controller 100 determines whether the driver's state is normal or abnormal based on the sensed driver's state. The normal state of the driver may mean that the positions of the driver's hands and feet are in normal positions in the vehicle 10 (for example, the foot position is in the center of the pedal, and the angles of both hands are within a specific range of the steering wheel). At the same time, the abnormal state of the driver may mean that the positions of the driver's hands and feet are in abnormal positions in the vehicle 10.

[0174] When the driver's state is normal, in step S629 , the controller 100 controls the vehicle 10 to operate in the manual driving mode.

[0175] When the driver's state is abnormal, in step S635, the controller 100 senses the driver's state until the driver's state returns to normal. Even when an emergency of the vehicle 10 occurs, the controller 100 can control the vehicle 10 to continue operating in the autonomous driving mode.

[0176] Figure 7is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0177] refer to Figure 7 (a), the vehicle 10 may stop (or park) when the vehicle 10 is operating in the autonomous driving mode. In the above situation, the controller 100 may sense that the user attempts to open the door of the vehicle 10.

[0178] When sensing that the user is trying to open the door, the controller 100 can sense objects around the vehicle 10 by using the sensor 203 (e.g., object sensor). In addition, the controller 100 can recognize the surrounding environment of the vehicle 10 by using information about the road on which the vehicle 10 is located (e.g., shoulder road position, sidewalk road position).

[0179] like Figure 7 As shown in (b), based on the sensing result or recognition result about the surrounding environment, the controller 100 can control the vehicle 10 to open the door 205-2 in a safe direction without an object, while preventing the door 205-1 from opening when there is an object in the surrounding area. In addition, when approaching a sidewalk, the controller 100 can control the vehicle 10 to open the door 205-2.

[0180] Figure 8 is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0181] refer to Figure 8 (a), the vehicle 10 can be operated in an autonomous driving mode.

[0182] When the vehicle 10 is operated in the autonomous driving mode, the controller 100 may receive a request to switch to the manual driving mode. For example, the controller 100 may receive a request to switch to the manual driving mode according to a user manipulation by pressing a manual switching button 11 provided on the dashboard of the vehicle 10.

[0183] In response to the received switching request, the controller 100 may determine an acceleration range associated with the acceleration function of the vehicle 10 that may be manipulated by the driver according to traffic regulations of the road on which the vehicle 10 is traveling.

[0184] For example, the controller 100 may obtain at least one of information on whether there is a speed camera 801, a speed limit range, a speed limit area, and a speed control area on the road where the vehicle 10 is traveling. The information on the speed limit range may be obtained from the memory of the vehicle 10 or the external device 300.

[0185] The controller 100 can use the obtained information to determine the acceleration range that can be manipulated by the driver. For example, the controller 100 can determine the inclination angle at which the acceleration device of the vehicle 10 can be tilted. In addition, the controller 100 can limit the speed increase rate of the vehicle 10 according to the slope of the acceleration device in the vehicle 10.

[0186] like Figure 8 As shown in (b) of FIG. 1 , when determining the acceleration range that can be manipulated by the driver, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the acceleration range of the acceleration device 202 of the vehicle 10 is limited. For example, when the inclination angle range that the acceleration device 202 of the vehicle 10 can tilt without restriction is θ81, the controller 100 may control the vehicle 10 so that the inclination angle range that the acceleration device 202 tilts may be θ82.

[0187] Fig. 9 is a diagram illustrating a scenario in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0188] refer to Fig. 9 , the vehicle 10 may be operated in an autonomous driving mode in which the vehicle is traveling on a curved road 901 .

[0189] The controller 100 may receive a request to switch to the manual driving mode when the vehicle 10 is operating in the autonomous driving mode. For example, the controller may receive a request to switch to the manual driving mode according to a user manipulation by pressing a manual switching button 11 provided on the dashboard of the vehicle 10.

[0190] In response to the received switching request, the controller 100 may determine an acceleration range associated with the acceleration function of the vehicle that can be manipulated by the driver according to the degree of curvature of the road on which the vehicle 10 is traveling.

[0191] For example, the controller 100 may obtain at least one of curvature information, slope information, road surface information, and weather information about a road on which the vehicle 10 is traveling.

[0192] The controller 100 may use the obtained information to determine an acceleration range that may be manipulated by the driver.

[0193] like Fig. 9As shown in (b) of FIG. 1 , when determining the acceleration range that can be manipulated by the driver, the controller 100 may control the vehicle 10 to operate in a manual driving mode in which the acceleration range of the acceleration device 202 in the vehicle 10 is limited. For example, when the inclination angle range that the acceleration device 202 of the vehicle 10 can tilt without restriction is θ91, the controller 100 may control the vehicle 10 so that the inclination angle range that the acceleration device 202 tilts may be θ92.

[0194] Fig.10 is a flowchart illustrating a process in which a controller controls a vehicle according to an embodiment of the present disclosure.

[0195] refer to Fig.10 , in step S1001 , the vehicle 10 operates in an autonomous driving mode.

[0196] In the above situation, in step S1002, the controller 100 senses the driving condition of the vehicle 10. For example, the controller 100 may sense at least one of the state of the driver, the state of the vehicle 10, and the surrounding environment of the vehicle 10 (e.g., whether there are obstacles, lane information).

[0197] In step S1003 , the controller 100 determines whether the driver of the vehicle 10 is in a dangerous situation by using the sensed driving situation.

[0198] When the driver faces a dangerous situation, in step S1004 , the controller 100 controls the vehicle 10 to end the autonomous driving mode and operate in the manual driving mode.

[0199] When it is determined that the driver is not facing a dangerous situation, in step S1005 , the controller 100 determines whether a request to switch to the manual driving mode is received.

[0200] When the request to switch to the manual driving mode is received, in step S1006 , the vehicle 10 is operated in the manual driving mode.

[0201] When maneuvering in the manual driving mode, in step S1007, the controller 100 senses the driving condition of the vehicle 10. The controller 100 senses at least one of the state of the driver, the state of the vehicle 10, and the surrounding environment of the vehicle 10 as the driving condition of the vehicle 10.

[0202] When sensing the state of the driver, the controller 100 may, for example, sense at least one of the hand position, foot position, gaze, and number of blinks regarding the driver.

[0203] When sensing the state of the vehicle 10, the controller 100 may sense and compare the previous speed and the current speed of the vehicle 10. In addition, the controller 100 may sense the emergency setting of the vehicle 10. For example, the controller 100 may sense whether the emergency lights of the vehicle 10 are flashing or whether the vehicle sends an emergency signal.

[0204] When sensing the surroundings of the vehicle 10, the controller 100 may sense and compare the previous lane and the current lane of the vehicle 10. In addition, the controller 100 may sense and compare the previous driving path and the current driving path of the vehicle 10. In addition, the controller 100 may sense another vehicle in the surrounding area.

[0205] In step S1008 , the controller 100 determines the driver's intention based on the sensed driving condition of the vehicle 10 .

[0206] For example, when the current speed is greater than the previous speed when compared over a certain period of time, the controller 100 may determine that the driver's intention is to accelerate the vehicle 10 .

[0207] Furthermore, when the current speed is less than the previous speed when compared within a certain time, the controller 100 may determine that the driver's intention is to reduce the speed of the vehicle 10 .

[0208] Furthermore, by comparing the previous lane and the current lane within a certain time, when the path of the vehicle 10 changes and the vehicle 10 overtakes another vehicle ahead, the controller 100 can determine that the driver's intention is to overtake the vehicle ahead.

[0209] Furthermore, by comparing the previous lane and the current lane within a certain time, when the vehicle 10 does not return to the previous lane within a certain time after the lane change of the vehicle 10, the controller 100 may determine that the driver's intention is only to change lanes.

[0210] Furthermore, by comparing the previous path and the current path over a certain period of time, when the path of the vehicle 10 changes, the controller 100 can determine that the driver's intention is to leave the current path and change to a new path.

[0211] Furthermore, when the vehicle 10 senses an emergency setting, the controller 100 may determine that the driver's intention is emergency driving in an emergency situation.

[0212] Furthermore, when another vehicle is continuously sensed to maintain a certain distance near the vehicle 10 for a certain period of time, the controller 100 may determine that the driver's intention is to follow the other vehicle.

[0213] When the vehicle 10 is operating in the manual driving mode, the controller 100 determines whether a request to switch to the autonomous driving mode of the vehicle 10 is received in step S1009 .

[0214] When receiving the request to switch to the autonomous driving mode, in step S1010 , the controller 100 controls the vehicle 10 to operate in the autonomous driving mode formulated according to the driver's intention determined in step S1008 .

[0215] For example, when it is determined that the driver's intention is to accelerate the vehicle 10, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that the vehicle 10 can travel at the road speed limit or at the maximum speed at which autonomous driving can be performed.

[0216] Furthermore, when it is determined that the driver's intention is to reduce the speed of the vehicle 10 , the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that the vehicle 10 can travel by limiting the speed while maintaining a safe distance from surrounding vehicles.

[0217] Furthermore, when it is determined that the driver's intention is to overtake, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that the vehicle 10 may return to the lane in which the vehicle 10 was traveling before overtaking the other car.

[0218] Furthermore, when it is determined that the driver's intention is only to change lanes, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that the vehicle 10 can travel in the current lane.

[0219] Furthermore, when it is determined that the driver's intention is to change to a new path, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that the vehicle 10 can travel on the current path.

[0220] Furthermore, when determining that the driver's intention is to emergency drive in an emergency situation, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that driving can be performed toward a location designated by the driver while ignoring road signals.

[0221] Furthermore, when it is determined that the driver's intention is to follow another vehicle, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that driving can be performed by maintaining a specific distance from the other vehicle.

[0222] Furthermore, when it is determined that the driver's intention is to change the destination, the controller 100 may control the vehicle 10 to operate in an autonomous driving mode formulated so that driving can be performed toward the changed destination.

[0223] refer to Fig.10 , in step S1008, the controller 100 determines the intention of the driver. When a request to switch to the autonomous driving mode of the vehicle 10 is received at step S1009, the vehicle 10 may operate in the autonomous driving mode formulated according to the determined intention of the driver in step S1010. However, the order of the operations described above may be changed.

[0224] For example, when a request to switch to the autonomous driving mode of the vehicle 10 is received in step S1009, the controller 100 may sense the driving condition of the vehicle 10 in step S1007. Furthermore, in step S1008, the controller 100 may determine the driver's intention based on the sensed driving condition, and control the vehicle 10 to operate in the autonomous driving mode formulated according to the determined intention.

[0225] Fig.11 is a flowchart illustrating a process in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0226] The controller 100 may perform a noise filtering function so that the vehicle 10 may not be operated in the manual driving mode due to unnecessary actions of the driver when operating in the autonomous driving mode.

[0227] For example, when the vehicle 10 is traveling in the autonomous driving mode, when the driver is not observing the area ahead or the driver's driving posture is abnormal or the position of the driver's hand on the steering device is abnormal, the controller 100 may ignore the driver's input. In addition, when the driver uses an entertainment device that is not related to controlling the vehicle 10, the controller 100 may ignore the driver's input when the driver uses the entertainment device.

[0228] refer to Fig.11 , in step S1101 , the vehicle 10 operates in an autonomous driving mode.

[0229] In the above situation, in step S1102 , the controller 100 senses the state of the driver.

[0230] For example, the controller 100 may sense at least one of the driver's gaze, the position where the driver holds the steering device 201 , and the driver's posture.

[0231] The controller 100 may determine the driver's intention based on the information regarding the sensed driver's state.

[0232] For example, in step S1103 , when determining the driver's intention, the controller 100 may determine whether the driver's intention is to be ready to drive.

[0233] When it is determined that the driver's intention is to be ready to drive, the controller 100 controls the vehicle 10 to operate in the manual driving mode in step S1104. In addition, the controller 100 may prepare so that the vehicle 10 can operate in the manual driving mode.

[0234] When it is determined that the driver's intention is not ready to drive, the controller 100 may ignore the determined driver's intention and control the vehicle 10 to continue operating in the autonomous driving mode in step S1106 .

[0235] In another example, in step S1105, when determining the driver's intention, the controller 100 determines whether the driver uses a device unrelated to driving the vehicle 10. For example, the controller 100 may determine whether the driver uses an entertainment device unrelated to driving, such as a portable phone, a tablet computer, or a smart watch.

[0236] When the driver uses a device not related to driving, the controller 100 determines that the driver's intention is not to control the vehicle 10 and controls the vehicle 10 to continue operating in the autonomous driving mode in step S1106 .

[0237] When the driver uses a driving-related device (eg, navigation), the controller 100 determines that the driver's intention is to get ready for driving and controls the vehicle 10 to operate in the manual driving mode in step S1104 .

[0238] Fig.12 is a flowchart illustrating a process in which a controller controls a vehicle according to another embodiment of the present disclosure.

[0239] refer to Fig.12 , in step S1201, the vehicle 10 operates in an autonomous driving mode.

[0240] In step S1202 , the controller 100 senses pressure applied to the steering device 201 .

[0241] In step S1203 , the controller 100 determines whether the applied pressure is greater than or equal to a critical value.

[0242] When the pressure is less than the critical value, the controller 100 controls the vehicle 10 to continue operating in the autonomous driving mode in step S1204 .

[0243] Meanwhile, when the pressure is greater than or equal to the critical value, in step S1205, the controller 100 determines at time point t that the vehicle 10 is operated in the manual driving mode. When the manual driving mode is determined, in step S1206, the controller 100 senses the driving condition of the vehicle 10 at time point t-1 before time point t. For example, the controller 100 may sense at least one of the state of the driver, the state of the vehicle 10 (e.g., the position of the vehicle 10), and the surrounding environment of the vehicle 10 (e.g., an obstacle, another vehicle, a lane) at time point t-1.

[0244] In step S1207 , the controller 100 determines the driver's manipulation range of one of a plurality of driving functions (eg, steering function, acceleration function) in the vehicle 10 according to the sensed driving condition of the vehicle.

[0245] In step S1208 , the controller 100 controls the vehicle 10 at the time point t+1 to operate in the manual driving mode in which the driver's manipulation is partially restricted according to the range of the determined manipulation.

[0246] Therefore, when a change occurs at time point t in which the controlled object performs an operation from the autonomous driving mode to the manual driving mode, the controller 100 can sense the driving situation of the vehicle 10 at time point t-1, and control the vehicle 10 to operate in the manual driving mode at time point t+1 by considering the sensing result of the vehicle 10. Therefore, time for the driver to adapt to the driving of the vehicle 10 can be provided despite the rapid change of the controlled object.

[0247] In addition, the controller 100 can control the vehicle 10 to switch from the autonomous driving mode to the manual driving mode according to the critical value of the pressure applied to the steering device 201. Therefore, the controller 100 can determine whether the rapid change is just the driver's error or the driver's intention to switch to the manual driving mode.

[0248] Fig.13 is a flowchart illustrating a process in which a controller controls a vehicle according to another embodiment.

[0249] refer to Fig.13 , in step S1301, the controller 100 controls the vehicle 10 to operate in an autonomous driving mode in which the vehicle 10 travels without driver manipulation.

[0250] When the vehicle 10 is operating in the autonomous driving mode, the controller 100 determines whether a request to switch to the manual driving mode is received in step S1302 .

[0251] When a request to switch to the manual driving mode is received, the controller 100 determines the driver's manipulation range of one of the plurality of driving functions in the vehicle 10 according to the driving situation of the vehicle 10 in step S1303 .

[0252] For example, the controller 100 may determine a steering range related to the steering function of the vehicle 10 that can be manipulated by the driver according to the degree of curvature of the road on which the vehicle 10 is traveling or traffic regulations. In addition, the controller 100 may determine an acceleration range related to the acceleration function of the vehicle 10 that can be manipulated by the driver according to the degree of curvature of the road on which the vehicle 10 is traveling or traffic regulations. In addition, the controller 100 may determine a steering range related to the steering function of the vehicle 10 that can be manipulated by the driver or an acceleration range related to the acceleration function of the vehicle 10 according to the state of another vehicle on a lane adjacent to the lane on which the vehicle 10 is traveling. In addition, the controller 100 may determine a turning angle of a steering device 201 provided on the vehicle 10 that can be turned by the driver. In addition, the controller 100 may determine a tilt angle at which an acceleration device 202 provided on the vehicle 10 can be tilted, or determine a speed increase rate according to the slope of the acceleration device 202.

[0253] When the driver's manipulation range is determined, the controller 100 controls the vehicle 10 to operate in a manual driving mode in which the driver's manipulation is partially restricted according to the determined manipulation range in step S1304.

[0254] Fig.14 is a flowchart illustrating a process in which the controller 100 controls the vehicle 10 according to another embodiment of the present disclosure.

[0255] refer to Fig.14 In step S1401, the controller 100 controls the vehicle 10 to operate in the manual driving mode.

[0256] When the vehicle 10 is operating in the manual driving mode, the controller 100 determines whether a request to switch to the autonomous driving mode is received in step S1402 .

[0257] When the request is received, in step S1403, the controller 100 determines the intention of the driver driving the vehicle 10 according to the driving condition of the vehicle 10. For example, the controller 100 may determine the intention of the driver driving the vehicle 10 based on at least one of the state of the driver, the state of the vehicle 10, and the surrounding environment of the vehicle 10.

[0258] In step S1404, the controller 100 controls the vehicle 10 to operate in an autonomous driving mode formulated according to the determined driver's intention. For example, when it is determined that the driver's intention is to reduce the speed of the vehicle 10, the controller 100 controls the vehicle 10 to operate in an autonomous driving mode with a limited speed.

[0259] According to various embodiments, when the vehicle 10 is switched from the manual driving mode to the autonomous driving mode, the controller 100 may control the vehicle 10 to switch to the autonomous driving mode by considering various autonomous driving parameters that recognize the state of the driver.

[0260] For example, while the vehicle 10 is operating in the manual driving mode, a call or message may be received at the driver's portable terminal.

[0261] In order to confirm the received call or message, the driver may unlock the lock screen of the portable terminal, hold the portable terminal, or recognize a fingerprint through the portable terminal.

[0262] When sensing the driver's manipulation of confirming a call or message, the portable terminal may transmit a signal requesting the driver's driving situation or an autonomous driving mode.

[0263] In response, controller 100 may control vehicle 10 to operate in an autonomous driving mode.

[0264] According to another embodiment, the driver may experience fatigue while operating the vehicle 10 in the manual driving mode.

[0265] The controller 100 may sense abnormal driving of the vehicle 10. In addition, the controller 100 may determine that the driver feels tired based on the driver's gaze or motion.

[0266] Thus, the controller 100 can forcibly control the vehicle 10 to operate in the autonomous driving mode. In addition, after a certain time, the controller 100 can provide a user interface to ask the driver whether the vehicle 10 is operated in the manual driving mode again. When the driver performs an input to operate the vehicle 10 in the manual driving mode through the user interface, the controller 100 can control the vehicle 10 to operate in the manual driving mode.

[0267] According to another embodiment, the controller 100 may continue to sense the moving speed of the vehicle 10 while the vehicle 10 is operating in the manual driving mode.

[0268] Therefore, when the driver is annoyed, the controller 100 may provide a user interface to inquire whether the vehicle 10 is to be operated in the autonomous driving mode. When the driver performs an input to operate the vehicle 10 in the autonomous driving mode through the user interface, the controller 100 may operate the vehicle in the autonomous driving mode.

[0269] According to various embodiments, when the vehicle 10 is operated in the autonomous driving mode, the controller 100 may control the vehicle 10 to selectively operate in the manual driving mode according to an object manipulated by a driver.

[0270] For example, when it is determined that the driver manipulates at least one of the steering device 201 , the acceleration device 202 , the deceleration device 208 , and the shifting device, the controller 100 may control the vehicle 10 to switch to the manual driving mode.

[0271] When the driver manipulates the headlights or taillights of the vehicle 10, the controller 100 may control the vehicle 10 to switch to an autonomous driving mode formulated according to the driver's intention. For example, when it is determined that the driver manipulates the left turn signal of the vehicle, the controller 100 may control the vehicle 10 to travel in the autonomous driving mode while turning left or moving to the left lane. In another example, when the driver selects the emergency stop button, the controller 100 may control the vehicle 10 to travel in the autonomous driving mode in which the vehicle 10 stops while moving toward the edge lane of the road.

[0272] Furthermore, when the driver manipulates the air conditioning, radio, or seat position of the vehicle 10 , the controller 100 may control the vehicle 10 to continue to operate in the autonomous driving mode in which the vehicle 10 was previously operating.

[0273] refer to Fig.15 , a block diagram shows a controller according to an embodiment of the present disclosure.

[0274] The controller 100 may be implemented as a portable terminal device.

[0275] The portable terminal device includes a communication interface 2115 , a controller 2130 (eg, a processor), a storage device 2120 (eg, a memory), a GPS chip 2150 , a microphone 2180 , a camera 2185 , a speaker 2190 , and a sensor 2195 .

[0276] The communication interface 2115 may perform communication with various types of external devices (eg, the vehicle 10 or a server) according to communication methods in various formats. The controller 2130 may perform communication with various external devices by using the communication interface 2115 .

[0277] The communication interface 2115 may perform communication according to a WiFi method and a Bluetooth method. The communication interface 2115 may, for example, first send and receive a variety of connection information (such as SSID and session key), connect communication by using the connection information, and transceive a variety of information. In addition, the communication interface 2115 may perform communication according to IEEE, Zigbee, 3G, 3GPP, and LTE.

[0278] The storage device 2120 may store various programs and data required to operate the portable terminal device. Specifically, the storage device 2120 may store programs and data to generate various UIs constituting a screen.

[0279] The GPS chip 2150 is configured to receive GPS signals from GPS satellites and calculate the current position of the portable terminal device.

[0280] When a navigation program is used or when the current location of the driver is requested, the controller 2130 may calculate the driver's location by using the GPS chip 2150 .

[0281] In addition, when the location of the vehicle 10 is requested, the controller 2130 may calculate the location of the vehicle 10 by using the GPS chip 2150 .

[0282] The speaker 2190 may output audio data. For example, the speaker 2190 may output an alarm sound for switching the driving mode of the vehicle 10. In addition, the speaker 2190 may output audio data indicating the state of the driver, the state of the vehicle, or the state of surrounding equipment, or output an alarm sound notifying an emergency.

[0283] Microphone 2180 is configured to receive input of the driver's voice or other sounds, and convert the driver's voice or other sounds into audio data. Controller 2130 may use the driver's voice input through microphone 2180 during a call, or may store the audio data in storage device 2120 after the driver's voice is converted into audio data. Meanwhile, microphone 2180 may be implemented as a stereo microphone to receive sounds input from multiple locations.

[0284] In addition, the microphone 2180 may receive sounds generated in the area around the vehicle 10 and convert them into audio data. The controller 2130 may determine the state of the driver, the state of the vehicle 10, or the surrounding state of the vehicle 10 based on the converted audio data.

[0285] The camera 2185 is arranged to take still images or videos according to the control of the driver. The camera 2185 may include both a front camera and a rear camera. As described above, the camera 2185 may be used to obtain an image of the driver while tracking the driver's gaze. In addition, the camera 2185 may take pictures of the driver or the inner area or outer area of ​​the vehicle 10. The controller 2130 may determine the state of the driver, the state of the vehicle 10, or the surrounding environment state of the vehicle 10 based on the data taken.

[0286] The sensor 2195 may sense the surrounding environment of the portable terminal device, user interaction, or a state change in the portable terminal device. For example, the sensor 2195 may transmit the sensed value or information extracted from the sensed value to the controller 2130.

[0287] The sensor 2195 may include a variety of sensors. For example, the sensor 2195 may include at least one of a touch sensor, an acceleration sensor, a gyro sensor, an illumination sensor, a proximity sensor, a pressure sensor, a noise sensor (e.g., a microphone), a video sensor (e.g., a camera module), a pen sensor, and a timer.

[0288] The controller 2130 may receive a request to switch the driving mode of the vehicle 10. For example, the controller 2130 may receive a request to switch the driving mode from the communicator 207 of the vehicle 10 according to the driver's manipulation of pressing a manual switch button of the vehicle 10. In addition, the controller 2130 may receive a request to switch the driving mode according to an event occurring based on a value sensed in the sensor 203 or in the sensor 2195 of the vehicle 10.

[0289] In response to the received switching request, the controller 2130 may determine the driver's manipulation range of one of the plurality of driving functions in the vehicle 10 according to the driving situation of the vehicle 10. For example, the controller 2130 may determine the driving situation of the vehicle 10 based on the value sensed in the sensor 203 of the vehicle 10. In addition, the controller 2130 may determine the driving situation of the vehicle 10 based on the value sensed in the microphone 2180, the camera 2185, or the sensor 2195 of the vehicle 10.

[0290] The controller 2130 may determine, based on the determined driving situation, a range of manipulation by the driver of one of the plurality of driving functions in the vehicle 10. In addition, based on the determined manipulation range, the controller 2130 may send a control command to the vehicle 10 through the communication interface 2115 to operate the vehicle 10 in a manual driving mode in which the driver's manipulation is partially restricted.

[0291] In addition, the controller 2130 may determine the intention of the driver driving the vehicle 10 according to the determined driving situation. In addition, the controller 2130 may send a control command to the vehicle 10 through the communication interface 2115 to operate the vehicle 10 in an autonomous driving mode formulated according to the determined driver's intention.

[0292] The controller 2130 includes a RAM 2131, a ROM 2132, a CPU 2133, a graphics processing unit (GPU) 2134, and a bus 2135. The RAM 2131, the ROM 2132, the CPU 2133, and the GPU 2134 may be connected to each other through the bus 2135.

[0293] The CPU 2133 may access the storage device 2120 and perform booting by using an operating system (O / S) stored in the storage device 2120. In addition, the CPU 2133 may perform various operations by using various programs, contents, and data stored in the storage device 2120.

[0294] The ROM 2132 may store a command set for system startup. When a power-on command is input and power is supplied, the CPU 2133 may copy the O / S stored in the storage device 2120 to the RAM 2131 according to the command stored in the ROM 2132, and start the system by executing the O / S. When the startup is completed, the CPU 2133 may copy various programs stored in the storage device 2120 to the RAM 2131, and perform various operations by executing the programs copied to the RAM 2131.

[0295] When booting of the electronic device 100 is completed, the GPU 2134 may display a UI on the touch screen.

[0296] Meanwhile, although the controller 2130 is described as including the RAM 2131, the ROM 2132, the CPU 2133, and the GPU 2134, the controller 2130 may not be limited thereto. The controller 2130 may include some of the RAM 2131, the ROM 2132, the CPU 2133, and the GPU 2134, and the controller 2130 may be connected to other units outside the controller 2130.

[0297] The method (eg, operation) according to the embodiment may be performed by at least one processor (eg, the controller 100 ) executing instructions included in at least one program among programs stored in a computer-readable storage medium.

[0298] When the above-described instructions are executed by a processor (eg, the controller 100), at least one processor may perform a function corresponding to the instructions.Herein, for example, the computer-readable storage medium may be a memory.

[0299] The program may be included in a computer-readable storage medium such as a hard disk, a floppy disk, a magnetic medium (e.g., a tape), an optical medium (e.g., a compact disc ROM (CD-ROM), a digital versatile disk (DVD)), a magneto-optical medium (e.g., a floppy disk), and a hardware device (e.g., a ROM, a RAM, a flash memory). In this case, the storage medium may be included as part of the configuration of the vehicle 10. However, the storage medium may be attached via a port of the vehicle 10 or included in an external device (e.g., a cloud, a server, another electronic device) located outside the vehicle 10. In addition, the program may be distributed and stored in multiple storage media. In this article, at least a portion of the multiple storage media may be located on an external device of the vehicle 10.

[0300] The instructions may include high-level language codes that can be executed by a computer using an interpreter and machine codes that can be generated by a compiler. The hardware devices described above may be configured to operate as at least one software module to perform operations according to various embodiments, or the software modules described above may be configured to operate as at least one hardware device to perform operations according to various embodiments.

[0301] The present disclosure may be used in conjunction with the manufacture of integrated circuits, chipsets, or systems on a chip (SoC). Those skilled in the art will know how to cut wafers and package dies to manufacture integrated circuits. Integrated circuits so manufactured are considered part of the present disclosure.

[0302] While the present disclosure has been shown and described with reference to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. A method for a controller to control a vehicle, the method comprising: controlling the vehicle to operate in an autonomous driving mode in which the vehicle travels without being manipulated by an operator of the vehicle; receiving a request to switch to a manual driving mode in which the vehicle is driven while being controlled by the operator; In response to the request, determining whether a maneuvering range associated with a function of the vehicle is unrestricted in the manual driving mode based on at least one of a state of the operator, a state of the vehicle, and a surrounding environment of the vehicle; as well as controlling the vehicle to operate in the manual driving mode with a limited or unlimited maneuvering range associated with a function of the vehicle, Wherein, the determination includes: sensing a road on which the vehicle is traveling, Identify traffic regulations associated with the sensed road, determining whether the vehicle is located in an area where lane change is permitted based on information about the sensed road and the traffic regulations, and Based on a result of determining whether the vehicle is located in a lane change-permitting area, it is determined whether the maneuvering range associated with the function of the vehicle is not restricted in the manual driving mode.

2. The method according to claim 1, wherein: Determining the manipulation range includes: A steering range associated with a steering function of the vehicle that can be manipulated by the operator is determined according to a curvature of a road on which the vehicle is traveling or traffic regulations.

3. The method according to claim 1, wherein: Determining the manipulation range includes: An acceleration range associated with an acceleration function of the vehicle that can be manipulated by the operator is determined according to a degree of curvature of a road on which the vehicle is traveling or traffic regulations.

4. The method according to claim 1, wherein: Determining the manipulation range includes: A steering range or an acceleration range related to a steering function of the vehicle that can be manipulated by the operator is determined according to a state of another vehicle in a lane adjacent to the lane in which the vehicle is traveling.

5. The method according to claim 1, wherein: When the steering range that can be maneuvered by the operator is determined, determining the maneuvering range includes determining a turning angle at which a steering device of the vehicle can be turned by the operator.

6. The method according to claim 1, wherein: When the acceleration range that can be manipulated by the operator is determined, determining the manipulation range includes: determining an inclination angle at which an acceleration device of the vehicle can be inclined; or The speed increase rate is determined according to the slope of the acceleration device.

7. The method according to claim 1, wherein: The request to switch to the manual driving mode includes at least one of the following items: a switching request generated when the operator presses a manual switching button, a switching request based on an event occurring based on the state of the operator, a switching request based on an event occurring based on the state of the vehicle, and a switching request based on an event occurring based on the surrounding environment of the vehicle.

8. A controller for controlling a vehicle, comprising: a mode switch receiver configured to receive a request to switch to a manual driving mode when the vehicle is operating in an autonomous driving mode, wherein: in the autonomous driving mode, the vehicle is driven without being manipulated by an operator of the vehicle; and in the manual driving mode, the vehicle is driven with being manipulated by the operator; a driving state determiner configured to determine, in response to the request, whether a maneuvering range associated with a function of the vehicle is not restricted in the manual driving mode based on at least one of a state of the operator, a state of the vehicle, and a surrounding environment of the vehicle; and a driving mode controller configured to control the vehicle to operate in the manual driving mode with a restricted or unrestricted maneuvering range associated with a function of the vehicle, Wherein, the driving state determiner is configured as: sensing a road on which the vehicle is traveling, Identify traffic regulations associated with the sensed road, determining whether the vehicle is located in an area where lane change is permitted based on information about the sensed road and the traffic regulations, and Based on a result of determining whether the vehicle is located in a lane change-permitting area, it is determined whether the maneuvering range associated with the function of the vehicle is not restricted in the manual driving mode.

9. The controller according to claim 8, wherein: When determining the maneuvering range, the driving state determiner is further configured to determine a steering range related to a steering function of the vehicle that can be manipulated by the operator according to a degree of curvature of a road on which the vehicle is traveling or traffic regulations.

10. The controller according to claim 8, wherein: When determining the maneuvering range, the driving state determiner is further configured to determine an acceleration range related to an acceleration function of the vehicle that can be manipulated by the operator according to a degree of curvature of a road on which the vehicle is traveling or traffic regulations.

11. The controller according to claim 8, wherein: When determining the maneuvering range, the driving state determiner is further configured to determine a steering range or an acceleration range related to the steering function of the vehicle that can be manipulated by the operator based on the state of another vehicle in a lane adjacent to the lane in which the vehicle is traveling.

12. The controller according to claim 8, wherein: When the steering range that can be maneuvered by the operator is determined as the maneuvering range, the driving state determiner is further configured to determine a turning angle by which a steering device of the vehicle can be turned by the operator.

13. The controller according to claim 8, wherein: When the acceleration range manipulable by the operator is determined as the manipulative range, the driving state determiner is further configured to determine an inclination angle at which an acceleration device of the vehicle can be inclined or determine a speed increase rate according to a slope of the acceleration device.

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