Apparatus and method for controlling automated driving

Abstract

The invention discloses an apparatus and a method for controlling automatic driving of a host vehicle. The apparatus identifies other vehicle driving information including at least one of a relative speed between the host vehicle and a preceding vehicle, a relative distance between the host vehicle and the preceding vehicle, an acceleration of the preceding vehicle, an average deceleration amount of a vehicle behind the host vehicle, and an average deceleration amount of a vehicle behind the host vehicle by using a sensor device. An instantaneous maximum deceleration amount of the rear vehicle, and / or a deceleration timing of the rear vehicle. The apparatus also identifies an unresponsive state duration of a user within the host vehicle. When the non-response state duration is greater than or equal to a specified duration, the apparatus performs emergency stop control on the host vehicle by using at least a portion of the other vehicle driving information.

Description

Technical Field

[0001] The present disclosure generally relates to an automatic driving control device and method thereof, and more particularly to a technology for executing an emergency stop function when a user's unresponsive state continues. Background Art

[0002] As autonomous vehicles become more popular, various technologies related to autonomous driving have been developed. Depending on the level of control, autonomous driving can be classified into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and / or fully autonomous driving.

[0003] Generally, in an automatic driving control function, various types of control algorithms (or functions) for driving control of a host vehicle are being developed.

[0004] For example, when the user's unresponsive state continues for a certain time or longer, the automatic driving control device can decelerate the host vehicle to prevent a dangerous situation from occurring.

[0005] The user's unresponsive state may include, for example, a hands-off state of the host vehicle and / or a state regarding the direction the user is facing when controlling the host vehicle based on an in-cabin camera (ICC). For example, the ICC may include at least one interior camera located in at least one area of ​​the host vehicle's interior.

[0006] When deceleration control (e.g., emergency stop control) is performed on the host vehicle based on the duration of the user's unresponsive state, the automatic driving control device can calculate (or identify) the deceleration used for the deceleration control by using information about the driving condition of the vehicle in front of the host vehicle.

[0007] However, when the deceleration control is performed while the host vehicle is driving, there is a possibility of collision with another vehicle driving behind or on the side of the host vehicle and the front vehicle. Therefore, when only the driving information of the front vehicle is used, a dangerous situation may occur. Summary of the invention

[0008] The present disclosure aims to solve the above-mentioned problems occurring in the prior art while completely maintaining the advantages achieved by the prior art.

[0009] Various aspects of the present disclosure provide an automatic driving control device and method, which can identify other vehicle driving information by using sensor equipment, including information about the driving conditions of a vehicle in front of the main vehicle (sometimes also referred to as the "front vehicle" in this document) and / or a vehicle behind the main vehicle (sometimes also referred to as the "rear vehicle" in this document), and can perform emergency stop control on the main vehicle based on at least a portion of the other vehicle driving information.

[0010] Various aspects of the present disclosure provide an automatic driving control device and method that can identify the duration of an unresponsive state of a user in a host vehicle. When it is determined that the duration of the unresponsive state is greater than or equal to a predetermined threshold time, the automatic driving control device and method can perform emergency stop control by using other vehicle driving information.

[0011] Aspects of the present disclosure provide an automatic driving control apparatus and method, which can identify the reliability of driving information of a rear vehicle and can perform emergency stop control by using corresponding information when it is determined that the reliability is greater than or equal to a specified value.

[0012] Various aspects of the present disclosure provide an automatic driving control device and method that can identify decelerations with different values ​​based on whether there are vehicles ahead and behind the host vehicle through emergency stop control using different algorithms. The automatic driving control device and method can perform deceleration control on the host vehicle based on the identified deceleration.

[0013] Various aspects of the present disclosure provide an automatic driving control device and method that can perform emergency stop control by further using driving information not only from the front vehicle and the rear vehicle but also from the side vehicles (for example, vehicles cutting into the driving lane from the left lane and / or the right lane of the driving lane of the main vehicle).

[0014] Aspects of the present disclosure provide an automatic driving control apparatus and method that can perform emergency stop control by further using information on vehicle models of a leading vehicle and / or a rearward vehicle.

[0015] The technical problems to be solved by the present disclosure are not limited to the above problems. On the contrary, ordinary technicians in the field to which the present disclosure belongs should more clearly understand other technical problems not mentioned in this article from the following description.

[0016] According to one aspect of the present disclosure, a device for automatic driving control of a main vehicle is disclosed. The device includes a sensor device and a memory storing instructions. The device also includes a controller, which is operably connected to the sensor device and the memory. The instructions, when executed by the controller, may cause the controller to identify other vehicle driving information including at least one of the following by using the sensor device: the relative speed between the main vehicle and the front vehicle, the relative distance between the main vehicle and the front vehicle, the acceleration of the front vehicle, the average deceleration amount of the rear vehicle of the main vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof. The front vehicle may be a vehicle driving in front of the main vehicle and the rear vehicle may be a vehicle driving behind the main vehicle. The instructions, when executed by the controller, may also cause the controller to identify the duration of the unresponsive state of the user in the main vehicle. The instructions, when executed by the controller, may also cause the controller to perform emergency stop control on the main vehicle by using at least a portion of the other vehicle driving information when the duration of the unresponsive state is greater than or equal to a specified duration.

[0017] According to one embodiment, the instructions, when executed by the controller, may cause the controller to identify front vehicle driving information, which includes at least one of the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to identify rear vehicle driving information, which includes at least one of the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control by using the front vehicle driving information and the rear vehicle driving information when the duration of the unresponsive state is greater than or equal to the specified duration.

[0018] According to one embodiment, the instructions, when executed by the controller, may cause the controller to recognize first identification information corresponding to the rear vehicle. The instructions, when executed by the controller, may also cause the controller to apply aging to the reliability of the rear vehicle driving information obtained until the time point when the first identification information is changed, in response to recognizing that the first identification information is changed to second identification information corresponding to another vehicle different from the rear vehicle. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control by using the rear vehicle driving information obtained until the time point when the first identification information is recognized again before the reliability decreases based on the aging so that the reliability is less than or equal to a specified value.

[0019] According to one embodiment, the instruction, when executed by the controller, may cause the controller to identify first identification information corresponding to the rear vehicle. The instruction, when executed by the controller, may also cause the controller to apply aging to the reliability of the rear vehicle driving information obtained until the time point when the first identification information changes, in response to recognizing that the first identification information changes to second identification information corresponding to another vehicle different from the rear vehicle. The instruction, when executed by the controller, may also cause the controller to identify further information about the rear vehicle when the first identification information is recognized again after the reliability decreases based on the aging so that the reliability is less than or equal to a specified value, the further information having a specified amount determined based on a reliability level. The instruction, when executed by the controller, may still cause the controller to perform the emergency stop control by using the information when the information satisfies a specified condition.

[0020] According to one embodiment, the instruction, when executed by the controller, may cause the controller to perform the emergency stop control on the main vehicle in one or both of the following situations: i) a hands-off state of the main vehicle is identified for a first duration or longer, or ii) when the main vehicle is controlled based on an in-cabin camera (ICC), the direction in which the user is facing identified by using the sensor device is not included in the specified direction for a second time or longer.

[0021] According to one embodiment, the instructions, when executed by the controller, may cause the controller to perform the emergency stop control on the host vehicle based on a predetermined basic deceleration when it is recognized that neither the front vehicle nor the rear vehicle exists. The instructions, when executed by the controller, may also cause the controller to control the driving of the host vehicle by repeatedly and periodically using a first jerk deceleration having a value greater than the basic deceleration when performing the emergency stop control.

[0022] According to one embodiment, the instructions, when executed by the controller, may cause the controller to identify a first required deceleration for the emergency stop control by using at least one of the following: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof when the instructions are executed by the controller. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control on the host vehicle based on a smaller value of a predetermined basic deceleration and the first required deceleration. The instructions, when executed by the controller, may also cause the controller to control the driving of the host vehicle by repeatedly and periodically using a second jerk deceleration having a value greater than the smaller value when performing the emergency stop control.

[0023] According to one embodiment, the instructions, when executed by the controller, may cause the automatic driving control device to, when recognizing that the leading vehicle does not exist and the rear vehicle exists, identify the average deceleration of the rear vehicle and the instantaneous maximum deceleration of the rear vehicle by using at least one of the following: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. The instructions, when executed by the controller, may also cause the controller to control the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration when performing the emergency stop control, the value of the third jerk deceleration being less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0024] According to one embodiment, the instructions, when executed by the controller, may cause the controller to identify a first required deceleration for the emergency stop control by using at least one of the following when both the front vehicle and the rear vehicle are identified: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to identify an average deceleration of the rear vehicle and an instantaneous maximum deceleration of the rear vehicle by using at least one of the following: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof. The instructions, when executed by the controller, may also still cause the controller to perform the emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. When executed by the controller, the instructions may still cause the controller to control the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration when performing the emergency stop control, wherein the value of the third jerk deceleration is less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0025] According to one embodiment, the instructions, when executed by the controller, may cause the controller to identify a first required deceleration for the emergency stop control by using at least one of the following when both the front vehicle and the rear vehicle are identified: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination of the relative speed, the relative distance, and the acceleration. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control on the host vehicle based on a predetermined basic deceleration when the first required deceleration is greater than the predetermined basic deceleration and less than the average deceleration of the rear target. The instructions, when executed by the controller, may also cause the controller to control the driving of the host vehicle by repeatedly and periodically using a fourth jerk deceleration when performing the emergency stop control, the value of the fourth jerk deceleration being less than the instantaneous maximum deceleration of the rear vehicle and greater than the basic deceleration.

[0026] According to one embodiment, the instructions, when executed by the controller, may cause the controller to identify a first required deceleration for the emergency stop control by using at least one of the following when both the front vehicle and the rear vehicle are identified: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination of the relative speed, the relative distance, the acceleration, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to identify a control time based on at least one of the following when the first required deceleration is greater than a predetermined basic deceleration and an instantaneous maximum deceleration of the rear vehicle: the relative distance between the host vehicle and the front vehicle, the relative speed between the host vehicle and the rear vehicle, the relative distance between the host vehicle and the rear vehicle, or a combination thereof. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control during the control time based on the instantaneous maximum deceleration of the rear vehicle.

[0027] According to one embodiment, when the instructions are executed by the controller, the controller may identify a fifth jerk deceleration based on the relative distance between the host vehicle and the vehicle ahead and the instantaneous maximum deceleration, and notify execution of the emergency stop control. When the instructions are executed by the controller, the controller may also control the driving of the host vehicle by repeatedly and periodically using the fifth jerk deceleration during the control time.

[0028] According to one embodiment, the instruction, when executed by the controller, may cause the controller to perform the emergency stop control on the main vehicle in response to identifying that the at least one other vehicle cuts into the driving lane of the main vehicle from at least one of a left lane located to the left of the driving lane of the main vehicle, a right lane located to the right of the driving lane of the main vehicle, or a combination thereof, by using at least one of: an average deceleration amount of at least one other vehicle, an instantaneous maximum deceleration of the at least one other vehicle, a deceleration reaction speed of the at least one other vehicle, or a combination thereof.

[0029] According to one embodiment, the instructions, when executed by the controller, may cause the controller to further identify vehicle model information of each of the leading vehicle and the trailing vehicle by using the sensor device. The instructions, when executed by the controller, may also cause the controller to perform the emergency stop control on the host vehicle based on the deceleration identified by further using the vehicle model information.

[0030] According to one aspect of the present disclosure, a method for autonomous control of a main vehicle is provided. The method includes identifying, by a controller, other vehicle driving information including at least one of the following: the relative speed between the main vehicle and the vehicle in front, the relative distance between the main vehicle and the vehicle in front, the acceleration of the vehicle in front, the average deceleration of the vehicle behind the main vehicle, the instantaneous maximum deceleration of the vehicle behind the main vehicle, the deceleration timing of the vehicle behind the main vehicle, or a combination thereof. The vehicle in front may be a vehicle driving in front of the main vehicle and the vehicle behind the main vehicle may be a vehicle driving behind the main vehicle. The method also includes identifying, by the controller, the duration of an unresponsive state of a user in the main vehicle. The method also includes, by the controller, performing emergency stop control on the main vehicle by using at least a portion of the other vehicle driving information when the duration of the unresponsive state is greater than or equal to a specified time.

[0031] According to one embodiment, executing the emergency stop control on the main vehicle may include executing the emergency stop control on the main vehicle by the controller in one or both of the following situations: i) a hands-off state of the main vehicle is identified as lasting for a first duration or longer, or ii) when the main vehicle is controlled based on ICC, the direction in which the user is facing, as identified by using the sensor device, is not included in the specified direction for a second time or longer.

[0032] According to one embodiment, the method may further include executing, by the controller, the emergency stop control on the host vehicle based on a predetermined basic deceleration. The method may additionally include, when executing the emergency stop control, controlling, by the controller, the driving of the host vehicle by repeatedly and periodically using a first jerk deceleration having a value greater than the basic deceleration.

[0033] According to one embodiment, the method may further include, when it is recognized that the front vehicle exists and the rear vehicle does not exist, identifying, by the controller, a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof. The method may additionally include, by the controller, performing the emergency stop control on the host vehicle based on a smaller value of a predetermined basic deceleration and the first required deceleration. The method may also include, when performing the emergency stop control, controlling, by the controller, the driving of the host vehicle by repeatedly and periodically using a second jerk deceleration having a value greater than the smaller value.

[0034] According to one embodiment, the method may further include, when it is recognized that the leading vehicle does not exist and the trailing vehicle exists, identifying, by the controller, an average deceleration of the trailing vehicle and an instantaneous maximum deceleration of the trailing vehicle by using at least one of the following: the average deceleration amount of the trailing vehicle, the instantaneous maximum deceleration amount of the trailing vehicle, the deceleration timing of the trailing vehicle, or a combination thereof. The method may further include, by the controller, performing the emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. The method may further include, when performing the emergency stop control, controlling the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration having a value less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0035] According to one embodiment, the method may further include, when both the front vehicle and the rear vehicle are identified, identifying, by the controller, a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof. The method may further include, when the predetermined basic deceleration is greater than the first required deceleration, identifying, by the controller, an average deceleration of the rear vehicle and an instantaneous maximum deceleration of the rear vehicle by using at least one of: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof. The method may further include, by the controller, performing the emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. The method may additionally include, when performing the emergency stop control, controlling, by the controller, the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration having a value less than the instantaneous maximum deceleration and greater than the second required deceleration. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0038] Figure 2 is a conceptual diagram showing the operation of the automatic driving control device according to an embodiment of the present disclosure;

[0039] Figure 3is a flow chart of an automatic driving control method according to an embodiment of the present disclosure;

[0040] Figure 4 is a diagram showing a deceleration used when an automatic driving control device performs emergency stop control according to an embodiment of the present disclosure;

[0041] Figure 5 is a flowchart of an automatic driving control method according to an embodiment of the present disclosure; and

[0042] Figure 6 A computing system related to an automatic driving control method according to an embodiment of the present disclosure is shown.

[0043] In the drawings, the same or similar components are marked with the same or similar reference numerals. DETAILED DESCRIPTION

[0044] Hereinafter, embodiments of the present disclosure are described in detail with reference to the accompanying drawings. In the accompanying drawings, even if the same or equivalent components are shown on different drawings, the same or equivalent components are represented by the same reference numerals. In addition, in the following description, detailed descriptions related to well-known functions or configurations are omitted, which may unnecessarily obscure the subject matter of the present disclosure.

[0045] When describing the elements of the embodiments of the present disclosure, the terms first, second, A, B, (a), (b) etc. can be used in this article. These terms are only used to distinguish one element from another element. These terms do not limit the properties, order or priority of the corresponding elements. In addition, unless otherwise defined, all terms (including technical and scientific terms) used herein should be interpreted according to the conventions in the field to which the present disclosure belongs. It should be understood that the terms used in this article should be interpreted as having the meaning consistent with its meaning in the context of the present disclosure and the related art. Unless clearly defined in this article, these terms should not be interpreted with idealized or overly formal meanings.

[0046] In the following, reference Figure 1-6 Various embodiments of the present disclosure are described in detail. When a component, device, element, etc. of the present disclosure is described as having a purpose or performing an operation, function, etc., the component, device or element should be considered herein as being "configured to" meet the purpose or perform the operation or function.

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

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

[0049] According to one embodiment, the sensor device 110 may obtain (or identify) various information for driving of the host vehicle.

[0050] For example, the sensor device 110 may include at least one sensor including at least one of a camera, a radar, a light detection and ranging (LiDAR), or any combination thereof.

[0051] The sensor device 110 may identify information about driving of at least one other vehicle driving adjacent to the host vehicle (eg, driving information of another vehicle).

[0052] For example, the sensor device 110 may identify information about the driving of a front vehicle driving in front of the host vehicle. The sensor device 110 may identify the front vehicle driving information, which includes at least one of the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or any combination thereof.

[0053] As another example, the sensor device 110 may identify information about the driving of a rear vehicle driving behind the host vehicle. For example, the sensor device 110 may identify at least one of an average deceleration amount of the rear vehicle, an instantaneous maximum deceleration amount of the rear vehicle, a deceleration timing of the rear vehicle, or any combination thereof. In one example, the controller 130 may identify rear vehicle driving information by using the information about the rear vehicle identified by the sensor device 110, which includes at least one of an average deceleration of the rear vehicle, an instantaneous maximum deceleration of the rear vehicle, or any combination thereof.

[0054] As yet another example, the sensor device 110 may identify information about at least one other vehicle that is driving in a side lane located on the side of the host vehicle (e.g., a left lane and / or a right lane relative to the driving lane in which the host vehicle is driving) and then cuts into the driving lane in which the host vehicle is driving.

[0055] In one embodiment, the sensor device 110 may also identify vehicle model information of at least one other vehicle driving adjacent to the host vehicle. In one example, the controller 130 may further use the vehicle model information to identify a deceleration for executing driving control (eg, deceleration control) on the host vehicle.

[0056] For example, the sensor device 110 may obtain identification information of at least one other vehicle driving adjacent to the main vehicle. The identification information may include identification (ID) information corresponding to the at least one other vehicle. For example, in response to recognizing the presence of a rear vehicle, the sensor device 110 may obtain (or recognize) first identification information corresponding to the rear vehicle. When the rear vehicle is driving in a lane different from that of the main vehicle, or when another vehicle different from the rear vehicle has entered between the main vehicle and the rear vehicle, the sensor device 110 may recognize that the first identification information corresponding to the rear vehicle is changed to second identification information corresponding to the other vehicle.

[0057] The sensor device 110 may identify information about the state of at least one user in the host vehicle. For example, the sensor device 110 may identify a hands-off state of the host vehicle (e.g., a state in which the user does not grip the steering wheel). As another example, when the host vehicle is controlled based on a specified control method (e.g., ICC), the sensor device 110 may identify the direction in which the user is facing. For example, the sensor device 110 may determine whether the direction in which the user is facing is included in a specified direction (e.g., a direction within a specific angle relative to the front).

[0058] The sensor device 110 may obtain information by using at least one sensor or may recognize the obtained information based on other external components (eg, a communication device).

[0059] According to one embodiment, the memory 120 may store instructions or data. For example, the memory 120 may store one or more instructions that, when executed by the controller 130, cause the automatic driving control device 100 to perform various operations.

[0060] In one embodiment, the memory 120 and the controller 130 may be implemented as one chipset. The controller 130 may include at least one of a communication processor or a modem.

[0061] The memory 120 may store various information related to the automatic driving control device 100. For example, the memory 120 may store information about the operation history of the controller 130. As another example, the memory 120 may store information related to the state and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, the controller 130, or any combination thereof).

[0062] According to one embodiment, the controller 130 may be operably connected to the sensor device 110 and / or the memory 120. The controller 130 may control operations of the sensor device 110 and / or the memory 120.

[0063] For example, the controller 130 may identify at least one of a relative speed between the host vehicle and a front vehicle, a relative distance between the host vehicle and a front vehicle, an acceleration of the front vehicle, or any combination thereof by using the sensor device 110 .

[0064] As another example, the controller 130 may identify at least one of an average deceleration amount of a rear vehicle of the host vehicle, an instantaneous maximum deceleration amount of the rear vehicle, a deceleration timing of the rear vehicle, or any combination thereof by using the sensor device 110. For example, the controller 130 may identify at least one of an average deceleration rate, an instantaneous maximum deceleration rate, or any combination thereof of the rear vehicle by using at least a portion of the identified information about the rear vehicle.

[0065] In some examples, controller 130 may identify other vehicle driving information, including preceding vehicle driving information and / or following vehicle driving information.

[0066] In one embodiment, the controller 130 may determine whether the duration of the unresponsive state of the user in the host vehicle is greater than or equal to a specified duration.

[0067] For example, when recognizing that the hands-off state of the host vehicle continues for a first duration or longer, the controller 130 may recognize that the duration of the user's unresponsive state is greater than or equal to a designated duration.

[0068] As another example, when the direction that the user faces and is identified by using the sensor device 110 is not included in the specified direction for a second period of time or longer and the controller 130 controls the host vehicle based on a specified component (e.g., ICC), the controller 130 may recognize that the duration of the user's unresponsive state is greater than or equal to the specified duration. The specified direction may include a direction within a specified angle range based on the forward direction of the host vehicle.

[0069] When the unresponsive state duration is greater than or equal to a designated duration, the controller 130 may perform emergency stop control by using the front vehicle driving information and the rear vehicle driving information.

[0070] For example, the controller 130 may identify first identification information corresponding to the rear vehicle by using the sensor device 110. In response to identifying that the first identification information changes to second identification information corresponding to another vehicle different from the rear vehicle (e.g., in response to identifying that the rear vehicle deviates, disappears, or is no longer located behind the host vehicle and another vehicle is driving behind the host vehicle), the controller 130 may apply aging to the reliability of the rear vehicle driving information obtained until the time point when the first identification information changes. Aging may include a data processing technique for reducing reliability over time.

[0071] When the first identification information is recognized again before the reliability decreases based on aging so that the reliability is less than or equal to a specified value (for example, when it is determined that the rear vehicle is driving behind the main vehicle again), the controller 130 can perform emergency stop control by using the rear vehicle driving information obtained before the identified time point.

[0072] On the other hand, when the first identification information is recognized again after the reliability decreases based on aging so that the reliability is less than or equal to the specified value, the controller 130 may recognize further information about the rear vehicle, the further information having a specified amount determined based on the reliability level. For example, the controller 130 may also recognize information about the rear vehicle in proportion to the rate at which the reliability decreases depending on aging. When the information thus further identified satisfies a specified condition (for example, when the reliability of the rear vehicle driving information calculated based on the information thus further identified becomes 1), the controller 130 may perform emergency stop control by using the information thus further identified.

[0073] The controller 130 may identify the deceleration and / or jerk deceleration for emergency stop control on the host vehicle based on different methods depending on whether there is a preceding vehicle and / or a following vehicle of the host vehicle.

[0074] For example, when it is identified that the front vehicle and the rear vehicle do not exist, the controller 130 may perform emergency stop control on the main vehicle based on a predetermined basic deceleration. The predetermined basic deceleration may be, for example, a value set by the manufacturer when manufacturing the main vehicle, or may be a setting value that can be changed by updating after manufacturing the main vehicle. As another example, the predetermined basic deceleration may be a value identified by a predefined method (or equation) to calculate the deceleration for emergency stop control based on the real-time driving speed of the main vehicle. When performing emergency stop control, the controller 130 may control the driving of the main vehicle by repeatedly and periodically using a first jerk deceleration having a value greater than the basic deceleration. Due to the control of the first jerk deceleration, a sense of heterogeneity may be provided to the user. Therefore, the user may perceive that the emergency stop control is being performed through the sense of heterogeneity.

[0075] For example, when it is recognized that the front vehicle exists and the rear vehicle does not exist, the controller 130 may identify the first required deceleration for emergency stop control by using at least one of the following: the relative speed between the main vehicle and the front vehicle, the relative distance between the main vehicle and the front vehicle, the acceleration of the front vehicle, or any combination thereof. For example, the first required deceleration may be the same value as the predetermined basic deceleration. For example, the controller 130 may perform emergency stop control on the main vehicle based on the smaller value of the predetermined basic deceleration and the first required deceleration. For example, when the controller 130 performs emergency stop control, the controller 130 may control the driving of the main vehicle by repeatedly and periodically using the second jerk deceleration, the value of which is greater than the smaller value of the predetermined basic deceleration and the first required deceleration. Due to the control by the second jerk deceleration, a sense of non-uniformity may be provided to the user, and the user may perceive that the emergency stop control is being performed by the sense of non-uniformity.

[0076] When it is identified that the front vehicle does not exist and the rear vehicle exists, the controller 130 can identify the average deceleration and instantaneous maximum deceleration of the rear vehicle by using at least one of the following: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount, the deceleration timing, or any combination thereof. The controller 130 can perform emergency stop control on the main vehicle based on a second required deceleration having a value less than the average deceleration. When the controller 130 performs emergency stop control, the controller 130 can control the driving of the main vehicle by repeatedly and periodically using a third jerk deceleration, the value of which is less than the instantaneous maximum deceleration and greater than the second required deceleration. Due to the control by the third jerk deceleration, a sense of non-uniformity can be provided to the user. Therefore, the user can perceive that the emergency stop control is being performed through the sense of non-uniformity.

[0077] When the front vehicle and the rear vehicle are identified, the controller 130 can identify the first required deceleration for emergency stop control by using at least one of the following: the relative speed between the main vehicle and the front vehicle, the relative distance between the main vehicle and the front vehicle, the acceleration of the front vehicle, or any combination thereof. When the predetermined basic deceleration is greater than the first required deceleration, the controller 130 can identify the average deceleration and the instantaneous maximum deceleration of the rear vehicle by using at least one of the following: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount, the deceleration timing, or any combination thereof. The controller 130 can perform emergency stop control on the main vehicle based on the second required deceleration having a value less than the average deceleration. When performing the emergency stop control, the controller 130 can control the driving of the main vehicle by repeatedly and periodically using a third jerk deceleration, the value of which is less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0078] As described above, when the front vehicle and the rear vehicle are identified, the controller 130 can identify the first required deceleration for emergency stop control by using at least one of the following: the relative speed between the main vehicle and the front vehicle, the relative distance between the main vehicle and the front vehicle, the acceleration of the front vehicle, or any combination thereof. When the first required deceleration is greater than the predetermined basic deceleration and less than the average deceleration of the rear vehicle, the controller 130 can perform emergency stop control on the main vehicle based on the predetermined basic deceleration. When performing emergency stop control, the controller 130 can control the driving of the main vehicle by repeatedly and periodically using the fourth jerk deceleration, the value of which is less than the instantaneous maximum deceleration of the rear vehicle and greater than the basic deceleration. Due to the control of the fourth jerk deceleration, the user can be provided with a sense of non-uniformity. Therefore, the user can perceive that the emergency stop control is being performed through the sense of non-uniformity.

[0079] As described above, when the front vehicle and the rear vehicle are identified, the controller 130 may identify the first required deceleration for emergency stop control by using at least one of the following: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or any combination thereof. When the first required deceleration is greater than the predetermined basic deceleration and the instantaneous maximum deceleration of the rear vehicle, the controller 130 may identify the control time based on at least one of the following: the relative distance between the host vehicle and the front vehicle, the relative speed between the host vehicle and the rear vehicle, the relative distance between the host vehicle and the rear vehicle, or any combination thereof. The controller 130 may perform emergency stop control during the identified control time based on the instantaneous maximum deceleration of the rear vehicle. When performing emergency stop control, the controller 130 may identify the fifth jerk deceleration based on the relative distance to the front vehicle and the instantaneous maximum deceleration, and may control the driving of the host vehicle by repeatedly and periodically using the fifth jerk deceleration during the control time. Due to the control by the fifth jerk deceleration, the user may be provided with a sense of non-uniformity. Therefore, the user can perceive that the emergency stop control is being performed by sensing the non-uniformity. In one example, after the control time has passed (e.g., a time during which it is recognized that a dangerous situation may not occur due to the rear vehicle), the controller 130 can perform the emergency stop control by using the required deceleration calculated based on the driving information of the front vehicle until the host vehicle stops.

[0080] In response to identifying that at least one other vehicle cuts into the driving lane of the main vehicle from at least one of the left lane, the right lane, or any combination thereof, the controller 130 may perform emergency stop control on the main vehicle by using at least one of the following: the average deceleration amount of at least one other vehicle, the instantaneous maximum deceleration of at least one other vehicle, the deceleration reaction speed of at least one other vehicle, or any combination thereof.

[0081] The controller 130 may also identify vehicle model information of each of the front vehicle and the rear vehicle by using the sensor device 110. The controller 130 may perform emergency stop control on the host vehicle based on the identified deceleration by further using the vehicle model information.

[0082] Figure 2 is a block diagram showing components of an automatic driving control device according to an embodiment of the present disclosure.

[0083] According to one embodiment, an autonomous driving control device (e.g., Figure 1 The automatic driving control device 100 in the embodiment includes a sensor device 210 (for example, corresponding to Figure 1 At least one of the sensor device 110), the behavior analysis device 220, the emergency stop controller 230, the drive device 240, or any combination thereof.

[0084] Figure 2 The structures of the components shown are examples, and the embodiments of the present disclosure are not limited thereto. Figure 2 At least a portion of the components shown (e.g., the behavior analysis device 220 and / or the emergency stop controller 230) may be implemented as Figure 1 The controller 130 and / or the sensor device 110 may be a part of the controller 130 and / or the sensor device 110 or may be implemented as a single chip together with the controller 130 and / or the sensor device 110. In general, at least part of the operation of at least some of the components described in more detail below (e.g., the behavior analysis device 220 and / or the emergency stop controller 230) may be implemented by Figure 1 The controller 130 and / or the sensor device 110 are executed (or under the control of the controller 130).

[0085] The sensor device 210 may recognize information about a front object and / or a rear object through at least one sensor and may provide at least a portion of the recognized information to the behavior analysis device 220 .

[0086] For example, sensor device 210 may identify the presence of a leading vehicle driving in front of the host vehicle and / or a rearward vehicle driving behind the host vehicle.

[0087] When the presence of at least one other vehicle including a preceding vehicle and / or a following vehicle is recognized, the sensor device 210 may recognize driving information of the at least one other vehicle thus recognized.

[0088] For example, sensor device 210 may identify a relative distance and / or relative speed between at least one other vehicle and the host vehicle. As another example, sensor device 210 may identify an acceleration of at least one other vehicle.

[0089] The behavior analysis device 220 may analyze (or identify) an average deceleration amount and an instantaneous maximum deceleration amount of corresponding identification information of an identified object (e.g., at least one other vehicle) by using at least a portion of the information identified by the sensor device 210. The behavior analysis device 220 may determine (e.g., calculate) the reliability of information about the rear object (or rear vehicle).

[0090] The behavior analysis device 220 may generate (or identify) identification information corresponding to at least one other vehicle. The behavior analysis device 220 may then analyze the average deceleration amount and / or the instantaneous maximum deceleration amount of the corresponding identification information.

[0091] The behavior analysis device 220 may identify the reliability of driving information (e.g., rear vehicle driving information) about at least one other vehicle (e.g., rear vehicle). The reliability may be identified based on at least one of a data acquisition period of the vehicle driving information of the other vehicle, data accuracy of the vehicle driving information of the other vehicle, or any combination thereof.

[0092] The behavior analysis device 220 may provide the result of determining and identifying the at least one other vehicle to the emergency stop controller 230 .

[0093] When the emergency stop control condition is satisfied, the emergency stop controller 230 may perform the host vehicle deceleration control based on the object behavior analysis result identified by the behavior analysis device 220 .

[0094] For example, when a dangerous situation is determined to be likely to occur based on the status of at least one user (e.g., a driver) in the main vehicle, the emergency stop control may include driving control for reducing the driving speed of the main vehicle and stopping the main vehicle based on the identified specified deceleration.

[0095] The emergency stop controller 230 may identify the user's unresponsive state duration. When the unresponsive state duration is greater than or equal to a specified duration, the emergency stop controller 230 may perform an emergency stop control on the host vehicle by using at least a portion of other vehicle driving information identified by the behavior analysis device 220.

[0096] For example, the emergency stop controller 230 may identify the required deceleration and / or jerk deceleration for the emergency stop control of the host vehicle based on other vehicle driving information. The emergency stop controller 230 may further identify the required deceleration and / or jerk deceleration for the emergency stop control of the host vehicle based on at least one of the following: whether there is at least one other vehicle including a front vehicle and a rear vehicle, the relative speed between the at least one other vehicle and the host vehicle, the relative distance between the at least one other vehicle and the host vehicle, the acceleration of the at least one other vehicle, the average deceleration of the at least one other vehicle, the instantaneous maximum deceleration of the at least one other vehicle, the deceleration timing of the at least one other vehicle, the average deceleration of the at least one other vehicle, the instantaneous maximum deceleration of the at least one other vehicle, or any combination thereof. The emergency stop controller 230 may provide an indication of the required deceleration and / or jerk deceleration to the drive device 240.

[0097] In one embodiment, the emergency stop controller 230 may perform emergency stop control on the host vehicle based on information about at least one other vehicle, as described above with reference to FIG. Figure 1 As described.

[0098] The driving device 240 may control the driving of the host vehicle by using the desired deceleration and / or the jerk deceleration recognized by the emergency stop controller 230 .

[0099] For example, actuation devices 240 may control the driving of the host vehicle based on a desired deceleration and / or a jerk deceleration by using at least one actuation device.

[0100] Figure 3 is a flowchart of an automatic driving control method according to an embodiment of the present disclosure.

[0101] According to one embodiment, an autonomous driving control device (e.g., Figure 1 The automatic driving control device) can be executed Figure 3 For example, at least some components (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130 in the embodiment may be configured to perform Figure 3 operation.

[0102] In one embodiment, operations S310-S398 may be performed as follows. Figure 3 The operations are performed sequentially as shown in the figure, but the present disclosure is not limited thereto. For example, the order of the operations may be changed and / or at least two operations may be performed in parallel. Figure 3 Simply repeat or can be from Figure 3 is omitted from the description to avoid redundancy.

[0103] In operation S310 , the automatic driving control device may recognize sensor information by using the sensor device and may determine whether there is a front target (eg, a front vehicle) based on the sensor information.

[0104] For example, the automatic driving control device may determine whether there is a leading vehicle driving ahead of the host vehicle among at least one other vehicle driving adjacent to the host vehicle as identified by using the sensor device.

[0105] When it is determined that there is a front target (eg, a front vehicle) (Yes in Operation S310 ), the automatic driving control device may perform Operation S320 .

[0106] On the other hand, when it is determined that there is no front target (eg, front vehicle) (No in operation S310 ), the automatic driving control device may perform operation S315 .

[0107] In operation S315 , the automatic driving control device may determine whether there is a rear target (eg, a rear vehicle) based on the sensor information.

[0108] For example, the automatic driving control device may determine whether there is a rear vehicle driving behind the host vehicle among at least one other vehicle driving adjacent to the host vehicle as identified by using the sensor device.

[0109] When it is determined that there is a rear target (eg, a rear vehicle) (yes in operation S315 ), the automatic driving control device may perform operation S317 .

[0110] On the other hand, when it is determined that there is no rear target (eg, rear vehicle) (No in operation S315 ), the automatic driving control device may perform operation S392 .

[0111] In operation S317, the automatic driving control device may determine the reliability of the rear target. The automatic driving control device may also determine whether the reliability satisfies a specified condition.

[0112] For example, when it is determined that the reliability of the identified information about the rear target is greater than or equal to a specified value, the automatic driving control device may determine that the reliability satisfies the specified condition. Therefore, the automatic driving control device may determine that the corresponding information can be used for driving control of the host vehicle.

[0113] When it is determined that the reliability of the rear target satisfies the specified condition (yes in operation S317), the automatic driving control device may perform operation S396.

[0114] On the other hand, when it is determined that the reliability of the rear target does not satisfy the specified condition ("No" in operation S317), the automatic driving control device may perform operation S392.

[0115] In operation S392, the automatic driving control device may perform a first emergency stop control.

[0116] For example, when it is recognized that neither the front target nor the rear target exists, the automatic driving control device may perform a first emergency stop control on the host vehicle based on a predetermined basic deceleration. In this case, when performing the first emergency stop control, the automatic driving control device may control the driving of the host vehicle by repeatedly and periodically using a first jerk deceleration having a value greater than the basic deceleration.

[0117] In operation S396, the automatic driving control device may perform a third emergency stop control.

[0118] For example, when it is recognized that the front target does not exist and the rear target exists, the automatic driving control device can identify the average deceleration and instantaneous maximum deceleration of the rear target by using at least one of the following: the average deceleration amount of the rear target, the instantaneous maximum deceleration amount, the deceleration timing, or any combination thereof. In this case, the automatic driving control device can perform a third emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. In addition, when performing the third emergency stop control, the automatic driving control device can control the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration whose value is less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0119] In operation S320, the automatic driving control device may determine whether there is a rear target (eg, a rear vehicle) based on the sensor information.

[0120] For example, the automatic driving control device may determine whether there is a rear vehicle driving behind the host vehicle among at least one other vehicle driving adjacent to the host vehicle as identified by using the sensor device.

[0121] When it is determined that there is a rear target (eg, a rear vehicle) (Yes in Operation S320 ), the automatic driving control device may perform Operation S330 .

[0122] On the other hand, when it is determined that there is no rear target (eg, rear vehicle) (NO in operation S320), the automatic driving control device may perform operation S394.

[0123] In operation S330 , the automatic driving control device may determine the reliability of the rear target and may determine whether the reliability satisfies a specified condition.

[0124] For example, when it is determined that the reliability of the identified information about the rear target is greater than or equal to a specified value, the automatic driving control device may determine that the reliability satisfies the specified condition. Therefore, the automatic driving control device may determine that the corresponding information can be used for driving control of the host vehicle.

[0125] When it is determined that the reliability of the rear target satisfies the specified condition (yes in operation S330), the automatic driving control device may perform operation S398.

[0126] On the other hand, when it is determined that the reliability of the rear target does not satisfy the specified condition ("No" in operation S330), the automatic driving control device may perform operation S394.

[0127] In operation S398, the automatic driving control device may perform a fourth emergency stop control.

[0128] For example, when both a front target and a rear target are identified (for example, when both the front target and the rear target are identified to exist), the autonomous driving control device may identify the first required deceleration for the fourth emergency stop control by using at least one of the following: the relative speed between the main vehicle and the front target, the relative distance between the main vehicle and the front target, the acceleration of the front target, or any combination thereof.

[0129] When the predetermined basic deceleration is greater than the first required deceleration, the automatic driving control device may identify the average deceleration and the instantaneous maximum deceleration of the rear vehicle by using at least one of the following: the average deceleration amount of the rear target, the instantaneous maximum deceleration amount, the deceleration timing / or any combination thereof. In this case, the automatic driving control device may perform a fourth emergency stop control on the host vehicle based on a second required deceleration having a value less than the average deceleration. In addition, when performing the fourth emergency stop control, the automatic driving control device may control the driving of the host vehicle by repeatedly and periodically using a third jerk deceleration having a value less than the instantaneous maximum deceleration and greater than the second required deceleration.

[0130] When the first required deceleration is greater than the predetermined basic deceleration and less than the average deceleration of the rear target, the automatic driving control device may perform a fourth emergency stop control on the host vehicle based on the predetermined basic deceleration. In addition, when performing the fourth emergency stop control, the automatic driving control device may control the driving of the host vehicle by repeatedly and periodically using a fourth jerk deceleration whose value is less than the instantaneous maximum deceleration of the rear target and greater than the basic deceleration.

[0131] When the first required deceleration is greater than the predetermined basic deceleration and the instantaneous maximum deceleration of the rear vehicle, the automatic driving control device may identify the control time based on at least one of the following: the relative distance between the main vehicle and the front target, the relative speed between the main vehicle and the rear target, the relative distance between the main vehicle and the rear target, or any combination thereof. In this case, the automatic driving control device may perform the fourth emergency stop control during the control time based on the instantaneous maximum deceleration of the rear target. In addition, when the fourth emergency stop control is performed based on the instantaneous maximum deceleration of the rear target, the automatic driving control device may identify the fifth jerk deceleration based on the relative distance to the front target and the instantaneous maximum deceleration of the rear target. Then, the automatic driving control device may control the driving of the main vehicle by repeatedly and periodically using the fifth jerk deceleration during the identified control time.

[0132] In operation S394, the automatic driving control device may perform a second emergency stop control.

[0133] When it is determined that the rear target does not exist, or the reliability of the identified information about the rear target does not satisfy the specified conditions, the automatic driving control device may perform the second emergency stop control based on the driving information of the front target.

[0134] When it is recognized that a front target exists and a rear target does not exist, or when a front target exists and the reliability of information about the rear target does not meet a specified standard, the automatic driving control device may identify a first required deceleration for a second emergency stop control by using at least one of the following: a relative speed between the main vehicle and the front vehicle, a relative distance between the main vehicle and the front vehicle, an acceleration of the front vehicle, or any combination thereof. In this case, the automatic driving control device may perform a second emergency stop control on the main vehicle based on a smaller value of a predetermined basic deceleration and a first required deceleration. In addition, when performing the second emergency stop control, the automatic driving control device may control the driving of the main vehicle by repeatedly and periodically using a second jerk deceleration whose value is greater than the smaller value between the basic deceleration and the first required deceleration.

[0135] Figure 4 is a diagram showing a deceleration used when an automatic driving control device performs emergency stop control according to an embodiment of the present disclosure.

[0136] Reference Figure 4 According to one embodiment, the autonomous driving control device (e.g., Figure 1 The automatic driving control device 100 in the embodiment may identify the required deceleration for emergency stop control of the host vehicle.

[0137] At the first time point t1, the automatic driving control device may recognize that the conditions for emergency stop control are met.

[0138] For example, the automatic driving control device may recognize that the user's unresponsive state duration is maintained such that the unresponsive state duration is greater than or equal to a specified time, and may activate the emergency stop control.

[0139] In an embodiment of the present disclosure, the condition for activating the emergency stop control may be related to the duration of the user's unresponsive state, but the embodiment of the present disclosure is not limited thereto. For example, the condition for activating the emergency stop control may be provided based on at least one of the driving information of the host vehicle, driving performance, component information for driving, surrounding conditions, or any combination thereof.

[0140] The automatic driving control device may activate the emergency stop control of the host vehicle at the first time point t1, and may be based on the required deceleration a 1 A deceleration control is performed on the host vehicle.

[0141] For example, you can Figure 3 The emergency stop control method identified in the description is used to calculate the required deceleration a 1 .

[0142] The automatic driving control device may perform deceleration control on the host vehicle based on the specified deceleration slope from the first time point t1 until the real-time deceleration of the host vehicle becomes the required deceleration a 1 .

[0143] When based on the required deceleration a 1 When performing emergency stop control on the host vehicle, the automatic driving control device may repeatedly use the jerk deceleration a identified based on the specified standard based on the specified period "p" j (or apply it to the driving device) to control the driving of the host vehicle. Jerk deceleration a j The usage time (or authorization time) may be a predetermined time (eg, a second time t2).

[0144] For example, the jerk deceleration a j The absolute value of the required deceleration a 1 The absolute value of is greater than the predetermined amount "J".

[0145] Based on the required deceleration a 1 When the emergency stop control is performed on the host vehicle, the automatic driving control device may perform deceleration control on the host vehicle until the real-time deceleration of the host vehicle becomes the jerk deceleration a based on the predefined jerk deceleration slope. j .

[0146] Figure 5 is a flowchart of an automatic driving control method according to an embodiment of the present disclosure.

[0147] According to one embodiment, an autonomous driving control device (e.g., Figure 1 The automatic driving control device) can be executed Figure 5 For example, at least some components (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130 in the embodiment may be configured to perform Figure 5 operation.

[0148] In one embodiment, operations S510-S540 may be performed sequentially, but the present disclosure is not limited thereto. For example, the order of the operations may be changed and / or at least two operations may be performed in parallel. Figure 5 Simply repeat or can be from Figure 5 is omitted from the description to avoid redundancy.

[0149] In operation S510, the automatic driving control apparatus may identify other vehicle driving information of at least one other vehicle by using a sensor device.

[0150] For example, the automatic driving control device may identify driving information of at least one other vehicle driving adjacent to the host vehicle.

[0151] For example, when there is a leading vehicle driving in front of the main vehicle, the automatic driving control device can identify the leading vehicle driving information, which includes at least one of the relative speed between the main vehicle and the leading vehicle, the relative distance between the main vehicle and the leading vehicle, the acceleration of the leading vehicle, or any combination thereof.

[0152] As another example, when there is a rear vehicle driving behind the host vehicle, the automatic driving control device may identify rear vehicle driving information, which includes at least one of an average deceleration amount, an instantaneous maximum deceleration amount, a deceleration timing, or any combination thereof of the rear vehicle. The automatic driving control device may also identify at least one of an average deceleration rate, an instantaneous maximum deceleration rate, or any combination thereof of the rear vehicle based on the identified information.

[0153] The automatic driving control device may identify the reliability of at least a portion of the other vehicle driving information thus identified. When the reliability satisfies a specified standard (e.g., the reliability is greater than or equal to a reference value), the automatic driving control device may control the host vehicle using only the information corresponding to the corresponding reliability.

[0154] In operation S520 , the automatic driving control device may identify a non-responsive state duration of a user in the host vehicle.

[0155] For example, the user's unresponsive state may include a hands-off state of the host vehicle (e.g., a state in which the user is not holding the steering wheel) and / or a state in which the direction the user is facing is not included in the specified directions, while controlling the host vehicle based on a specified control algorithm.

[0156] In operation S530 , the automatic driving control device may determine whether the unresponsive state duration is greater than or equal to a specified duration.

[0157] For example, the autonomous driving control device may determine whether a hands-off state of the host vehicle is recognized to continue for a first duration or longer.

[0158] As another example, when controlling the main vehicle based on ICC, the autonomous driving control device may determine whether the direction the user is facing, as identified by using the sensor device, is not included in the specified direction for a second duration or longer.

[0159] When the unresponsive state duration is greater than or equal to the designated duration (“Yes” in operation S530 ), the automatic driving control device may perform operation S540 .

[0160] When the unresponsive state duration is less than the designated duration (“No” in operation S530 ), the automatic driving control device may return to operation S510 .

[0161] In operation S540 , the automatic driving control device may perform emergency stop control on the host vehicle by using at least a portion of the other vehicle driving information.

[0162] For example, the automatic driving control device may calculate the required deceleration and the jerk deceleration for emergency stop control in different methods depending on whether there is a leading vehicle or a trailing vehicle.

[0163] For example, the autonomous driving control device may calculate the required deceleration and the jerk deceleration based on at least one of: the relative speed between at least one other vehicle and the host vehicle, the relative distance between at least one other vehicle and the host vehicle, the acceleration of at least one other vehicle, the average deceleration of at least one other vehicle, the instantaneous maximum deceleration of at least one other vehicle, the deceleration timing of at least one other vehicle, or any combination thereof.

[0164] The automatic driving control device may perform emergency stop control on the host vehicle based on the calculated required deceleration and jerk deceleration. In one embodiment, the automatic driving control device may perform the above reference Figure 3 Description of the emergency stop control.

[0165] Figure 6 A computing system configured to execute an autonomous driving control method according to an embodiment of the present disclosure is shown.

[0166] Reference Figure 6 , a computing system 1000 configured to execute an autonomous driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected to each other via a bus 1200.

[0167] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0168] Accordingly, the operations of the methods or algorithms described in conjunction with the embodiments of the present disclosure may be implemented directly by a hardware module, a software module, or a combination of a hardware module and a software module executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as a random access memory (RAM), a flash memory, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk drive, a removable disk, or a compact disk-ROM (CD-ROM).

[0169] The storage medium may be coupled to the processor 1100. Alternatively, the storage medium may be integrated with the processor 1100. The processor 1100 may read information from the storage medium and may write information in the storage medium. The processor and the storage medium may be implemented by an application specific integrated circuit (ASIC). The ASIC may be provided in a user terminal. Alternatively, the processor and the storage medium may be implemented by separate components in a user terminal.

[0170] The above description is only an example of the technical idea of ​​the present disclosure. A person skilled in the art to which the present disclosure belongs may make various modifications and variations without departing from the basic features of the present disclosure.

[0171] Therefore, the embodiments of the present disclosure are not intended to limit but to explain the technical ideas of the present disclosure. The scope and spirit of the present disclosure are not limited to the above embodiments. The protection scope of the present disclosure should be interpreted by the attached claims, and all equivalents thereof should be interpreted as included in the scope of the present disclosure.

[0172] The description of the automatic driving control device and the method thereof according to the embodiments of the present disclosure is as follows.

[0173] According to at least one embodiment of the present disclosure, the automatic driving control device can adaptively identify the deceleration by using the behavior status of the leading vehicle and / or the rear vehicle (for example, the relative speed between the main vehicle and the leading vehicle and / or the rear vehicle, the relative distance between the main vehicle and the leading vehicle and / or the rear vehicle, the acceleration of the leading vehicle and / or the rear vehicle, the average deceleration of the leading vehicle and / or the rear vehicle, the instantaneous maximum deceleration of the leading vehicle and / or the rear vehicle, the deceleration timing of the leading vehicle and / or the rear vehicle, or at least one of any combination thereof) to perform emergency stop control on the main vehicle.

[0174] According to at least one embodiment of the present disclosure, in order to calculate the deceleration, the autonomous driving control device may use information from other vehicles (e.g., the vehicle in front and / or the vehicle behind) that may collide with the main vehicle, thereby reducing the risk of collision due to emergency stops.

[0175] According to at least one embodiment of the present disclosure, when the duration of the user's unresponsive state exceeds (or is greater than or equal to) a specified duration, the automatic driving control device may perform emergency stop control. In this case, the automatic driving control device may calculate the deceleration through different adaptive algorithms based on whether there is another vehicle that may collide with the host vehicle, thereby enhancing usability.

[0176] A person having ordinary skill in the art to which the present disclosure pertains may understand various effects directly or indirectly from the above description.

[0177] In the above, although the present disclosure has been described with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto. On the contrary, a person skilled in the art to which the present disclosure belongs may make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure claimed in the attached claims.

Claims

1. A device for controlling automatic driving of a host vehicle, the device comprising: Sensor equipment; a memory configured to store instructions; and a controller operatively connected to the sensor device and the memory, wherein the instructions, when executed by the controller, cause the controller to: identifying other vehicle driving information including at least one of the following: a relative speed between the host vehicle and a front vehicle, a relative distance between the host vehicle and the front vehicle, an acceleration of the front vehicle, an average deceleration amount of a rear vehicle driving behind the host vehicle, an instantaneous maximum deceleration amount of the rear vehicle, a deceleration timing of the rear vehicle, or a combination thereof, wherein the front vehicle is a vehicle driving in front of the host vehicle and the rear vehicle is a vehicle driving behind the host vehicle, identifying a duration of an unresponsive state of a user within the host vehicle, and When the unresponsive state duration is greater than or equal to a specified duration, emergency stop control is performed on the host vehicle by using at least a portion of the other vehicle driving information.

2. The apparatus of claim 1 , wherein the instructions, when executed by the controller, cause the controller to: identifying front vehicle driving information, the front vehicle driving information comprising at least one of the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof; identifying rear vehicle driving information, the rear vehicle driving information comprising at least one of the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof; and When the no-response state duration is greater than or equal to the specified duration, the emergency stop control is performed by using the leading vehicle driving information and the trailing vehicle driving information.

3. The apparatus of claim 2, wherein the instructions, when executed by the controller, cause the controller to: identifying first identification information corresponding to the rear vehicle; in response to recognizing that the first identification information is changed to second identification information corresponding to another vehicle different from the rear vehicle, applying aging to the reliability of the rear vehicle driving information obtained until a time point when the first identification information is changed; and When the first identification information is recognized again before the reliability decreases based on the aging so that the reliability is less than or equal to a specified value, the emergency stop control is performed by using the rear vehicle driving information obtained until the time point.

4. The apparatus of claim 2, wherein the instructions, when executed by the controller, cause the controller to: identifying first identification information corresponding to the rear vehicle; in response to recognizing that the first identification information is changed to second identification information corresponding to another vehicle different from the rear vehicle, applying aging to the reliability of the rear vehicle driving information obtained until a time point when the first identification information is changed; When the first identification information is recognized again after the reliability decreases based on the aging so that the reliability is less than or equal to a specified value, recognizing further information about the following vehicle, the further information having a specified amount determined based on a reliability level; and When the further information about the following vehicle satisfies a prescribed condition, the emergency stop control is performed by using the further information about the following vehicle.

5. The apparatus of claim 1 , wherein the instructions, when executed by the controller, cause the controller to: The emergency stop control is performed on the main vehicle in one or both of the following situations: i) a hands-off state of the main vehicle is identified to last for a first duration or longer, or ii) when the main vehicle is controlled based on an in-cabin camera (ICC), the direction in which the user is facing identified by using the sensor device is not included in a specified direction for a second duration or longer.

6. The apparatus of claim 1 , wherein the instructions, when executed by the controller, cause the controller to: executing the emergency stop control on the host vehicle based on a predetermined basic deceleration when it is recognized that neither the leading vehicle nor the trailing vehicle exists; and While the emergency stop control is being executed, the driving of the host vehicle is controlled by repeatedly and periodically using a first jerk deceleration having a value greater than the predetermined basic deceleration.

7. The apparatus of claim 1 , wherein the instructions, when executed by the controller, cause the controller to: identifying a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof, when it is recognized that the front vehicle exists and the rear vehicle does not exist; executing the emergency stop control on the host vehicle based on a smaller value of a predetermined basic deceleration and the first required deceleration; as well as While the emergency stop control is being executed, the driving of the host vehicle is controlled by repeatedly and periodically using a second jerk deceleration having a value greater than the smaller value.

8. The device of claim 1, wherein the instructions, when executed by the controller, cause the controller to: When it is recognized that the leading vehicle does not exist and the trailing vehicle exists, identifying an average deceleration of the trailing vehicle and an instantaneous maximum deceleration of the trailing vehicle by using at least one of: the average deceleration amount of the trailing vehicle, the instantaneous maximum deceleration amount of the trailing vehicle, the deceleration timing of the trailing vehicle, or a combination thereof; executing the emergency stop control on the host vehicle based on a second required deceleration having a value smaller than the average deceleration; as well as While the emergency stop control is being executed, the driving of the host vehicle is controlled by repeatedly and periodically using a third jerk deceleration having a value smaller than the instantaneous maximum deceleration and larger than the second required deceleration.

9. The device of claim 1, wherein the instructions, when executed by the controller, cause the controller to: identifying a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof when both the front vehicle and the rear vehicle are identified; identifying an average deceleration of the rear vehicle and an instantaneous maximum deceleration of the rear vehicle by using at least one of: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof; executing the emergency stop control on the host vehicle based on a second required deceleration having a value smaller than the average deceleration; as well as While the emergency stop control is being executed, the driving of the host vehicle is controlled by repeatedly and periodically using a third jerk deceleration having a value smaller than the instantaneous maximum deceleration and larger than the second required deceleration.

10. The device of claim 1, wherein the instructions, when executed by the controller, cause the controller to: identifying a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof when both the front vehicle and the rear vehicle are identified; when the first required deceleration is greater than a predetermined basic deceleration and less than an average deceleration of the rear vehicles, performing the emergency stop control on the host vehicle based on the predetermined basic deceleration; and When the emergency stop control is executed, the driving of the host vehicle is controlled by repeatedly and periodically using a fourth jerk deceleration having a value smaller than an instantaneous maximum deceleration of the rear vehicle and larger than the predetermined basic deceleration.

11. The apparatus of claim 1 , wherein the instructions, when executed by the controller, cause the controller to: identifying a first required deceleration for the emergency stop control by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof when both the front vehicle and the rear vehicle are identified; When the first required deceleration is greater than a predetermined basic deceleration and an instantaneous maximum deceleration of the rear vehicle, identifying a control time based on at least one of: the relative distance between the host vehicle and the front vehicle, the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the rear vehicle, or a combination thereof; and The emergency stop control is performed during the control time based on the instantaneous maximum deceleration of the rear vehicle.

12. The apparatus of claim 11, wherein the instructions, when executed by the controller, cause the controller to: identifying a fifth jerk deceleration based on the relative distance between the host vehicle and the leading vehicle and the instantaneous maximum deceleration; and When the emergency stop control is executed, driving of the host vehicle is controlled by repeatedly and periodically using the fifth jerk deceleration during the control time.

13. The device of claim 1, wherein the instructions, when executed by the controller, cause the controller to: In response to identifying that at least one other vehicle cuts into the driving lane of the main vehicle from at least one of a left lane located to the left of the driving lane of the main vehicle, a right lane located to the right of the driving lane, or a combination thereof, the emergency stop control is performed on the main vehicle by using at least one of: an average deceleration amount of the at least one other vehicle, an instantaneous maximum deceleration of the at least one other vehicle, a deceleration reaction speed of the at least one other vehicle, or a combination of the average deceleration amount of the at least one other vehicle, the instantaneous maximum deceleration of the at least one other vehicle, the deceleration reaction speed of the at least one other vehicle, or a combination thereof.

14. The device of claim 1, wherein the instructions, when executed by the controller, cause the controller to: further identifying vehicle model information of one or both of the leading vehicle and the trailing vehicle by using the sensor device; and The emergency stop control is performed on the host vehicle based on the deceleration identified by further using the vehicle model information.

15. A method for autonomous driving control of a host vehicle, the method comprising: identifying, by a controller using a sensor device, other vehicle driving information including at least one of the following: a relative speed between the host vehicle and a leading vehicle, a relative distance between the host vehicle and the leading vehicle, an acceleration of the leading vehicle, an average deceleration amount of a vehicle behind the host vehicle, an instantaneous maximum deceleration amount of the rear vehicle, a deceleration timing of the rear vehicle, or a combination thereof, wherein the leading vehicle is a vehicle driving in front of the host vehicle and the rear vehicle is a vehicle driving behind the host vehicle; identifying, by the controller, a duration of an unresponsive state of a user within the host vehicle; as well as When the unresponsive state duration is greater than or equal to a specified duration, emergency stop control is performed by the controller on the host vehicle by using at least a portion of the other vehicle driving information.

16. The method of claim 15, wherein performing the emergency stop control on the host vehicle comprises: The emergency stop control is performed on the main vehicle by the controller in one or both of the following situations: i) a hands-off state of the main vehicle is identified as lasting for a first duration or longer, or ii) when the main vehicle is controlled based on ICC, the direction in which the user is facing, identified by using the sensor device, is not included in the specified direction for a second time or longer.

17. The method according to claim 15, further comprising: When it is recognized that neither the leading vehicle nor the trailing vehicle exists, the controller performs the emergency stop control on the host vehicle based on a predetermined basic deceleration; as well as While the emergency stop control is being executed, driving of the host vehicle is controlled by the controller by repeatedly and periodically using a first jerk deceleration having a value greater than the predetermined basic deceleration.

18. The method according to claim 15, further comprising: identifying, by the controller, a first required deceleration for the emergency stop control when it is recognized that the front vehicle exists and the rear vehicle does not exist, by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination of the relative speed, the relative distance, the acceleration, or a combination thereof; executing, by the controller, the emergency stop control on the host vehicle based on a smaller value of a predetermined basic deceleration and the first required deceleration; as well as While the emergency stop control is being executed, driving of the host vehicle is controlled by the controller by repeatedly and periodically using a second jerk deceleration having a value greater than the smaller value.

19. The method according to claim 15, further comprising: When it is recognized that the leading vehicle does not exist and the trailing vehicle exists, identifying, by the controller, an average deceleration of the trailing vehicle and an instantaneous maximum deceleration of the trailing vehicle by using at least one of: the average deceleration amount of the trailing vehicle, the instantaneous maximum deceleration amount of the trailing vehicle, the deceleration timing of the trailing vehicle, or a combination thereof; executing, by the controller, the emergency stop control on the host vehicle based on a second required deceleration having a value smaller than the average deceleration; as well as When the emergency stop control is performed, the driving of the host vehicle is controlled by the controller by repeatedly and periodically using a third jerk deceleration having a value smaller than the instantaneous maximum deceleration and larger than the second required deceleration.

20. The method of claim 15, further comprising: identifying, by the controller, a first required deceleration for the emergency stop control when both the front vehicle and the rear vehicle are identified by using at least one of: the relative speed between the host vehicle and the front vehicle, the relative distance between the host vehicle and the front vehicle, the acceleration of the front vehicle, or a combination thereof; identifying, by the controller, an average deceleration of the rear vehicle and an instantaneous maximum deceleration of the rear vehicle by using at least one of: the average deceleration amount of the rear vehicle, the instantaneous maximum deceleration amount of the rear vehicle, the deceleration timing of the rear vehicle, or a combination thereof; executing, by the controller, the emergency stop control on the host vehicle based on a second required deceleration having a value smaller than the average deceleration; as well as When the emergency stop control is performed, the driving of the host vehicle is controlled by the controller by repeatedly and periodically using a third jerk deceleration having a value smaller than the instantaneous maximum deceleration and larger than the second required deceleration.

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