Apparatus and method for controlling automated driving

Abstract

The present invention provides an apparatus for controlling automatic driving, including: a sensor; a storage unit that stores instructions; and a controller operably connected to the sensor and the storage, in which, when the instructions are executed by the controller, the apparatus: detects information related to at least one of the first vehicle and the second vehicle based on the sensor; judging whether the distance between the first vehicle and the second vehicle meets at least one of a distance condition or not and whether the driving speed of the first vehicle meets a speed condition or not; and control the first vehicle by inducing a first deceleration based on at least a portion of the information and both the distance condition and the speed condition being not satisfied; or control the first vehicle by inducing a second deceleration greater than the first deceleration based on satisfying at least one of the distance condition and the speed condition.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0104997 filed in the Korean Intellectual Property Office on August 10, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an apparatus and method for controlling automatic driving, and more particularly, to a technology for adaptively performing stopping control of a host vehicle based on vehicle distance and / or driving speed. Background Art

[0004] As autonomous vehicles become more common, various technologies related to autonomous driving are being developed. Autonomous driving can be classified into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and / or fully autonomous driving, depending on its level of control.

[0005] At the same time, in the automatic driving control function, various types of control algorithms (or functions) can be used for driving control of the main vehicle.

[0006] For example, the automatic driving control device may identify the deceleration used for parking control of the main vehicle based on at least one of information about surrounding objects of the main vehicle (e.g., the vehicle in front) (e.g., the distance between the vehicle in front and the main vehicle), driving information of the main vehicle (e.g., the driving speed), the relative speed between the surrounding objects and the main vehicle, or any combination thereof.

[0007] For example, the automatic driving control device can use various control devices (such as at least one of the electronic braking system (EBS), electronic stability control (ESC), electronic parking brake (EPB) or any combination thereof) to perform parking control (or deceleration control).

[0008] For example, the EBS may include electronically controlled compressed air brakes. The EBS may perform functions related to at least one of electronically controlled braking, integrated hitch force control, brake control based on an anti-lock braking system (ABS), vibration control based on a traction control system (TCS), trajectory stabilization using an electronic stability program (ESP), or adaptive cruise control (ACC), or any combination thereof.

[0009] For example, if a stop signal is received from the autonomous driving control, the ESC may continue (eg, without causing any discomfort to the user) to perform the stop control until it is determined that the host vehicle is in a stopped state based on the host vehicle's driving speed.

[0010] For example, if a stop signal is received from the automatic driving control device, the EPB may perform a stop state maintaining control to maintain a completely stopped state after determining that the host vehicle is in a stop state based on the driving speed of the host vehicle.

[0011] However, when deceleration control is performed during the driving of the host vehicle, the closer the host vehicle reaches the stopping distance determined as a target by the automatic driving control device, the smaller the error in the distance between the host vehicle and surrounding objects or the relative speed, the driving speed, etc., and thus there may be a problem that the deceleration control amount of the deceleration control converges to 0. Due to such a problem, it may be difficult for the host vehicle to stop completely. Therefore, the automatic driving control device may perform the function of achieving a completely stopped state and maintaining the stopped state by sending a separate control signal (e.g., a Stop flag parking signal) to a separate controller. Summary of the invention

[0012] According to the present invention, a device may include: a sensor; a storage unit configured to store instructions; and a controller operably connected to the sensor and the storage unit, wherein when the instructions are executed by the controller, the device can: detect information related to at least one of a first vehicle and a second vehicle based on the sensor; determine whether the distance between the first vehicle and the second vehicle satisfies a distance condition and whether the driving speed of the first vehicle satisfies at least one of a speed condition; and control the first vehicle in the following manner: based on at least a portion of the information and both the distance condition and the speed condition are not satisfied, control the first vehicle by inducing a first deceleration; or based on satisfying at least one of the distance condition and the speed condition, control the first vehicle by inducing a second deceleration greater than the first deceleration.

[0013] For this device, when the instructions are executed by the controller, the device: determines a third deceleration greater than the first deceleration based on the distance being less than a threshold distance; and controls the first vehicle by inducing the third deceleration.

[0014] For this device, when the instructions are executed by the controller, the device: based on a slope, controls the first vehicle to change from a first deceleration to a third deceleration within a time period.

[0015] For this device, when the instructions are executed by the controller, the device: determines a third deceleration greater than the first deceleration based on the driving speed being less than a threshold speed; and controls the first vehicle by inducing the third deceleration.

[0016] For this device, when the controller executes the instruction, the device: based on a slope, controls the first vehicle to change from a first deceleration to a third deceleration within a time period.

[0017] For this device, when the instructions are executed by the controller, the device: controls the first vehicle to change from a first deceleration to a third deceleration within a time period based on a first slope and a distance less than a threshold distance; and controls the first vehicle to change from a fourth deceleration to a fifth deceleration greater than the third deceleration within another time period based on a second slope greater than the first slope and a driving speed less than a threshold speed at a time point when the first vehicle is controlled based on the fourth deceleration.

[0018] For this device, when the controller executes the instruction, the device is caused to: recognize that the first vehicle is parked based on the parking deceleration greater than the first deceleration and based on the driving speed, and maintain the parking state of the first vehicle.

[0019] For this device, when the instructions are executed by the controller, the device: maintains the parking state of the first vehicle within a time period starting from the time point when it is determined based on information that the automatic driving control of the first vehicle needs to be terminated; and terminates the automatic driving control of the first vehicle after the time period has passed.

[0020] According to the present invention, a method may include: detecting information related to at least one of a first vehicle and a second vehicle through a controller and based on a sensor; determining whether the distance between the first vehicle and the second vehicle satisfies a distance condition and whether the driving speed of the first vehicle satisfies at least one of a speed condition; and controlling the first vehicle in the following manner: controlling the first vehicle by inducing a first deceleration based on at least a portion of the information and based on the fact that both the distance condition and the speed condition are not satisfied; or controlling the first vehicle by inducing a second deceleration greater than the first deceleration based on the satisfaction of at least one of the distance condition and the speed condition.

[0021] The method may also include determining a third deceleration greater than the first deceleration based on the distance being less than a threshold distance; and controlling the first vehicle by inducing the third deceleration.

[0022] For this method, controlling the first vehicle includes: controlling the first vehicle to change from a first deceleration to a third deceleration within a time period based on a slope.

[0023] The method may further include: determining a third deceleration greater than the first deceleration based on the travel speed being less than a threshold speed; and controlling the first vehicle by inducing the third deceleration.

[0024] For this method, controlling the first vehicle includes: controlling the first vehicle to change from a first deceleration to a third deceleration within a time period based on a slope.

[0025] For this method, controlling the first vehicle includes: based on a first slope and a distance less than a threshold distance, controlling the first vehicle to change from a first deceleration to a third deceleration within a time period; and based on a second slope greater than the first slope and a driving speed less than a threshold speed at a time point when the first vehicle is controlled based on the fourth deceleration, controlling the first vehicle to change from a fourth deceleration to a fifth deceleration greater than the third deceleration within another time period.

[0026] This method may also include: maintaining the parking state of the first vehicle by the controller within a time period starting from a time point when a situation in which the automatic driving control of the first vehicle needs to be terminated is determined based on information; and terminating the automatic driving control of the first vehicle by the controller after the time period has passed.

[0027] According to the present invention, a non-transitory computer-readable recording medium storing a program, when executing the program, causes a controller to perform the following control: based on a sensor detecting information related to at least one of a first vehicle and a second vehicle; judging whether the distance between the first vehicle and the second vehicle satisfies a distance condition and whether the driving speed of the first vehicle satisfies at least one of a speed condition; and controlling the first vehicle in the following manner: based on at least a portion of the information and both the distance condition and the speed condition are not satisfied, controlling the first vehicle by inducing a first deceleration; or based on satisfying at least one of the distance condition and the speed condition, controlling the first vehicle by inducing a second deceleration greater than the first deceleration.

[0028] For this non-transitory computer readable recording medium, when the program is executed, the controller is caused to perform the following control: based on the distance being less than a threshold distance, determining a third deceleration greater than the first deceleration; and controlling the first vehicle by inducing the third deceleration.

[0029] For this non-transitory computer readable recording medium, when the program is executed, the controller performs the following control: based on the driving speed being less than the threshold speed, determining a third deceleration greater than the first deceleration; and controlling the first vehicle by inducing the third deceleration.

[0030] For this non-transitory computer-readable recording medium, when the program is executed, the controller performs the following control: based on the first slope and the distance less than the threshold distance, the first vehicle is controlled to change from the first deceleration to the third deceleration within a time period; and based on the second slope greater than the first slope and the driving speed less than the threshold speed at the time point when the first vehicle is controlled based on the fourth deceleration, the first vehicle is controlled to change from the fourth deceleration to the fifth deceleration greater than the third deceleration within another time period.

[0031] For this non-transitory computer-readable recording medium, when the program is executed, the controller performs the following control: maintaining the parking state of the first vehicle within a time period starting from the time point when it is determined based on information that the automatic driving control of the first vehicle needs to be terminated; and terminating the automatic driving control of the first vehicle after the time period has passed. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0033] Figure 1 An example of components of an automatic driving control device according to an embodiment of the present invention is shown;

[0034] Figure 2 An example of components of an automatic driving control device according to an embodiment of the present invention is shown;

[0035] Figure 3 An example of deceleration for host vehicle parking control according to an embodiment of the present invention is shown;

[0036] Figure 4 An example of an automatic driving control method according to an embodiment of the present invention is shown;

[0037] Figure 5 An example of an automatic driving control method according to an embodiment of the present invention is shown;

[0038] Figure 6 An example of signal flow between components used by an automatic driving control device to perform normal parking control according to an embodiment of the present invention is shown;

[0039] Figure 7 An example of signal flow between components used by an automatic driving control device to perform parking control based on a first required deceleration according to an example of the present invention is shown;

[0040] Figure 8 An example of a signal flow between components used by an automatic driving control device to perform parking control based on a second required deceleration according to an example of the present invention is shown;

[0041] Fig. 9 An example of an automatic driving control method according to an embodiment of the present invention is shown; and

[0042] Fig.10 An example of a computing system related to an automatic driving control method according to an embodiment of the present invention is shown.

[0043] Regarding the description of the drawings, the same or similar drawing reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0044] Hereinafter, examples of embodiments of the present invention will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it should be noted that the same or equivalent components are designated by the same reference numerals even if they are shown in other drawings. In addition, when describing the embodiments of the present invention, if it is determined that the relevant known configuration or function interferes with the understanding of the embodiments of the present invention, its detailed description will be omitted.

[0045] When describing components according to embodiments of the present invention, terms such as first, second, "A", "B", "(a)", "(b)", etc. may be used. These terms are intended only to distinguish a component from other components, and these terms do not limit the nature, order or sequence of the components. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by ordinary technicians in the field to which the present invention belongs. It should also be understood that, unless explicitly defined as such herein, terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art, and will not be interpreted in an idealized or overly formal sense.

[0046] In the following, reference will be made to Figures 1 to 6 Embodiments of the present invention are described in detail.

[0047] Figure 1 An example of components of an automatic driving control device according to an embodiment of the present invention is shown.

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

[0049] According to one example, the sensor 110 may acquire (or identify) various information used in driving the host vehicle.

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

[0051] For example, the sensor 110 may identify information on the travel of at least one other vehicle traveling adjacent to the host vehicle.

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

[0053] For example, the sensor 110 may identify information about the host vehicle. For example, the sensor 110 may identify the real-time driving speed of the host vehicle. For example, the sensor 110 may identify at least one of the real-time deceleration amount or deceleration slope of the host vehicle or any combination thereof.

[0054] According to one example, the storage unit 120 may store instructions or data. For example, the storage unit 120 may store one or more instructions that, when executed by the controller 130, enable the automatic driving control device 100 to perform various operations.

[0055] For example, the storage part 120 may be implemented as one chipset with the controller 130. The controller 130 may include at least one of a communication processor or a modem.

[0056] For example, the storage unit 120 may store various information related to the automatic driving control device 100. For example, the storage unit 120 may store information on the operation history of the controller 130. For example, the storage unit 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 110, or the controller 130, or any combination thereof).

[0057] According to an example, the controller 130 may be operably connected to the sensor 110 and / or the storage 120. For example, the controller 130 may control the operation of the sensor 110 and / or the storage 120.

[0058] For example, the controller 130 may use the sensor 110 to identify information of at least one of a host vehicle or a leading vehicle, or any combination thereof.

[0059] For example, the controller 130 may use the sensor 110 to identify at least one of the host vehicle's travel speed, acceleration, real-time deceleration amount, deceleration slope, or any combination thereof.

[0060] For example, the controller 130 may use the sensor 110 to identify at least one of a driving speed, a real-time deceleration amount, a deceleration slope, a vehicle distance between the host vehicle and a preceding vehicle ahead of the host vehicle, or any combination thereof.

[0061] For example, the controller 130 may identify a first deceleration for parking control of the host vehicle based on at least a portion of the information identified using the sensor 110 .

[0062] For example, the controller 130 may enable the host vehicle parking control based on at least a portion of the information. Here, the controller 130 may identify the first deceleration as the control amount of the parking control.

[0063] For example, the controller 130 may perform parking control on the host vehicle based on the first deceleration.For example, the controller 130 may reduce the travel speed of the host vehicle based on the first deceleration.

[0064] For example, when performing parking control based on the first deceleration, the controller 130 may determine whether at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition.

[0065] For example, if it is recognized that the vehicle distance between the host vehicle and the preceding vehicle is less than a specified distance when the parking control is performed, the controller 130 may determine that the vehicle distance satisfies a specified condition.

[0066] For example, if it is identified that the driving speed of the host vehicle is less than a specified speed when the parking control is performed, the controller 130 may determine that the driving speed satisfies the specified condition.

[0067] For example, if at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition, the controller 130 may perform parking control on the host vehicle based on the deceleration being greater than the first deceleration.

[0068] For example, if it is identified that the vehicle distance is less than a specified distance (e.g., 6 m), the controller 130 may continue to perform parking control on the host vehicle based on a first required deceleration greater than the first deceleration. Here, the controller 130 may gradually increase the control amount of the parking control from the first deceleration to the first required deceleration based on the first slope. In other words, the controller 130 may increase the deceleration of the parking control from the first deceleration to the first required deceleration based on the first slope.

[0069] For example, if it is identified that the driving speed of the host vehicle is less than a specified speed (e.g., 1 km / h), the controller 130 may continue to perform parking control on the host vehicle based on a second required deceleration greater than the first deceleration. Here, the controller 130 may gradually increase the control amount of the parking control from the first deceleration to the second required deceleration based on the second slope. In other words, the controller 130 may increase the deceleration of the parking control from the first deceleration to the second required deceleration based on the second slope.

[0070] For example, when performing parking control on the host vehicle at a first required deceleration, the controller 130 may change the control amount of the parking control based on a second required deceleration.

[0071] For example, if it is identified that the distance between the host vehicle and the vehicle ahead is less than the specified distance when the parking control is performed on the host vehicle based on the first deceleration, the controller 130 may gradually increase the control amount of the parking control from the first deceleration to the first required deceleration based on the first slope. Here, in the process of increasing the control amount based on the first slope, the controller 130 may identify that the travel speed of the host vehicle is less than the specified speed at a time point when the control amount is the first value. In this case, the controller 130 may gradually increase the control amount of the parking control of the host vehicle from the first value to the second required deceleration based on the second slope.

[0072] For example, the second desired deceleration and the second slope may be greater than the first desired deceleration and the first slope, respectively.

[0073] For example, the controller 130 may monitor the driving speed of the host vehicle in real time. For example, the controller 130 may identify that the host vehicle is stopped based on the driving speed of the host vehicle. In this case, the controller 130 may maintain the stopped state of the host vehicle based on a stop deceleration greater than the first deceleration, the first required deceleration, and / or the second required deceleration. In other words, when the host vehicle is stopped, the controller 130 may maintain the stopped state by continuously applying the stop deceleration.

[0074] For example, the controller 130 may identify a situation where the operation of the automatic driving control device 100 needs to be terminated based on various information about the situation in which the host vehicle is traveling.

[0075] For example, the situation where the operation needs to be terminated may include a situation where the control of the automatic driving control device 100 (e.g., automatic driving control) is no longer needed or manual control is needed. The situation where the operation needs to be terminated may include, for example, a situation where the user leaves the host vehicle, a situation where there is no user in the host vehicle, a situation where the host vehicle is expected to collide with an external object (e.g., another vehicle), or at least one of any combination thereof.

[0076] For example, if a situation requiring termination of operation is identified, the controller 130 may maintain the parking state of the main vehicle based on the parking deceleration within a specified time period (e.g., 10 minutes) from the time point when this situation is identified, and terminate the operation of the automatic driving control device 100 after the specified time period has passed.

[0077] Figure 2 An example of components of an automatic driving control device according to an embodiment of the present invention is shown.

[0078] According to one example, an automatic driving control device (e.g. Figure 1The automatic driving control device 100 in the embodiment may include at least one of a host vehicle state sensor 212, a front vehicle sensor 214, a drive unit 220, a controller 240, or any combination thereof. For example, the controller 240 may include at least one of a first required deceleration generation unit 242, a second required deceleration generation unit 244, a control determination device 245, or any combination thereof.

[0079] Figure 2 The structure of the components shown is an example, and the embodiments of the present invention are not limited thereto. Figure 2 At least a portion of the components shown (eg, the host vehicle status sensor 212 and the front vehicle sensor 214) may be implemented as Figure 1 The controller 130 and / or the sensor 110 in the embodiment of the present invention may be implemented as a part of the controller 130 and / or the sensor 110, or may be implemented as a chip with the controller 130 and / or the sensor 110. In other words, at least a part of the operation of at least a part of the components to be described later may be implemented by Figure 1 The controller 130 and / or sensor 110 in the embodiment may be executed (or under the control of the controller 130).

[0080] For example, the host vehicle status sensor 212 may identify various information regarding the host vehicle status.

[0081] For example, the host vehicle status sensor 212 may identify at least one of the host vehicle's real-time driving speed, real-time deceleration amount, deceleration slope, or any combination thereof.

[0082] For example, the front vehicle sensor 214 may recognize various information of the front vehicle.

[0083] For example, the front vehicle sensor 214 may identify front vehicle information including at least one of a vehicle distance, a relative speed, a relative distance between the host vehicle and the front vehicle, an acceleration of the front vehicle, or any combination thereof.

[0084] For example, the controller 240 may identify the deceleration of the host vehicle parking control based on information identified by the host vehicle status sensor 212 and the front vehicle sensor 214 .

[0085] For example, the controller 240 may generate the required deceleration for the host vehicle parking control using the first required deceleration generating portion 242 and / or the second required deceleration generating portion 244 .

[0086] For example, if at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition, the controller 240 may apply one of the first required deceleration and the second required deceleration to the parking control of the host vehicle via the judgment of the control determination device 245 .

[0087] For example, if it is recognized that the distance between the host vehicle and the preceding vehicle is less than a specified distance, the controller 240 may send a first required deceleration to the driving portion 220 to continue the parking control based on the first required deceleration greater than the first deceleration applied to the initial parking control.

[0088] In this case, the controller 240 may perform the parking control of the host vehicle via the driving portion 220 while gradually increasing the control amount of the parking control of the host vehicle from the first deceleration to the first required deceleration based on the first slope.

[0089] For example, if it is recognized that the travel speed of the host vehicle is less than a designated speed, the controller 240 may transmit a second required deceleration to the driving portion 220 to continue to perform parking control based on the second required deceleration greater than the first required deceleration.

[0090] In this case, the controller 240 may perform the parking control of the host vehicle via the driving portion 220 while gradually increasing the control amount of the parking control of the host vehicle from the first deceleration to the second required deceleration based on the second slope.

[0091] Figure 3 An example of deceleration for host vehicle parking control according to an embodiment of the present invention is shown.

[0092] According to one example, an automatic driving control device (e.g. Figure 1 The automatic driving control device 100 in the embodiment may adjust the required deceleration of the main vehicle parking control based on whether at least one of the vehicle distance between the main vehicle and the vehicle ahead, the driving speed of the main vehicle, or any combination thereof satisfies a specified condition.

[0093] For example, the graph according to reference numeral 310 may be a desired deceleration for a host vehicle parking maneuver identified by the autonomous driving control device based on field oriented control (FOC).

[0094] For example, before the first time point t1 , the automatic driving control device may apply a required deceleration based on a graph according to reference numeral 310 to the driving portion of the host vehicle via a method according to the related art.

[0095] For example, at a first time point t1, the automatic driving control device may recognize that the distance between the host vehicle and the vehicle ahead is less than a specified distance. Accordingly, from the first time point t1 to the second time point t2, the automatic driving control device may apply a first required deceleration based on a graph according to reference numeral 350 to the driving portion of the host vehicle. In particular, the automatic driving control device may perform parking control based on the first required deceleration (which is based on the first deceleration used immediately before the first time point t1) so that when the parking control is performed via the required deceleration at the first time point t1, the user does not experience discomfort caused by the parking control.

[0096] For example, the automatic driving control device may gradually increase the control amount of the host vehicle parking control from the first deceleration to the first required deceleration based on the first slope from the first time point t1 to the second time point t2. The graph according to reference numeral 350 shows that the y value (e.g., the required deceleration) gradually decreases, but this is a graph in which the deceleration of the deceleration driving speed is represented by a negative value for convenience, and the above description may be explained with reference to the absolute value of the first required deceleration.

[0097] For example, the designated distance may be 6 m, but it may be a set value that can be changed by an operation of a user and / or a developer.

[0098] For example, at the second time point t2, the automatic driving control device may recognize that the driving speed of the host vehicle is less than the specified speed. Therefore, from the second time point t2 to the third time point t3, the automatic driving control device may apply the first required deceleration to the driving portion of the host vehicle based on the graph according to reference numeral 350. In particular, the automatic driving control device may apply the first required deceleration based on the second required deceleration (which is based on the first value used immediately before the second time point t2, such as Figure 3 The parking control is performed by using the y value of the reference numeral 350 corresponding to t2 in FIG. 1 , so that when the parking control is performed via the required deceleration at the second time point t2, the user does not experience discomfort caused by the parking control.

[0099] For example, the automatic driving control device may gradually increase the control amount of the host vehicle parking control from the first value to the second required deceleration based on the second slope from the second time point t2 to the third time point t3. The graph according to reference numeral 350 shows that the y value (e.g., the required deceleration) gradually decreases, but this is a graph in which the deceleration of the deceleration driving speed is represented by a negative value for convenience, and the above description may be explained with reference to the absolute value of the second required deceleration.

[0100] For example, at the third time point t3, the automatic driving control device may recognize that the host vehicle is parked based on the driving speed of the host vehicle. For example, when it is recognized that the driving speed of the host vehicle is a specified value (e.g., 0 km / h), the automatic driving control device may recognize that the host vehicle is completely parked.

[0101] In this case, the automatic driving control device can increase the parking deceleration (e.g., 3.5 m / s) greater than the first deceleration. 2 ) is applied to the main vehicle (or the driving unit used for the main vehicle to travel) to maintain the main vehicle in a completely parked state.

[0102] For example, when a situation requiring termination of the operation of the automatic driving control device is identified, the automatic driving control device may maintain the parking state of the host vehicle based on the parking deceleration for a specified time period (e.g., 10 minutes) from the time point when the situation is identified, and terminate the operation of the automatic driving control device after the specified time period has passed. The situation requiring termination of the operation may include, for example, at least one of a situation in which a user leaves the host vehicle, a situation in which there is no user in the host vehicle, a situation in which the host vehicle is expected to collide with an external object (e.g., another vehicle), or any combination thereof.

[0103] Figure 4 An example of an automatic driving control method according to an embodiment of the present invention is shown.

[0104] According to one example, an automatic driving control device (e.g. Figure 1 The automatic driving control device in Figure 4 For example, at least a portion of the components (e.g. Figure 1 The sensor 110, storage unit 120 and / or controller 130 in the embodiment may be configured to perform Figure 4 Operations in .

[0105] In the following examples, the operations of S410 to S470 may be performed sequentially, but not necessarily sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Figure 4 , the content corresponding to or repeated with the above content can be briefly described or omitted.

[0106] According to one example, the automatic driving control device may determine whether braking of the host vehicle is required (S410).

[0107] For example, the automatic driving control device can determine whether it is necessary to reduce the driving speed of the main vehicle based on the driving path, driving speed, distance to the vehicle in front, etc. of the main vehicle.

[0108] According to one example, the automatic driving control device may determine whether braking is required (S420).

[0109] For example, if it is identified that the driving speed of the host vehicle requires braking (eg, step S420 —Yes), the automatic driving control device may execute step S430 .

[0110] For example, if it is identified that the driving speed of the host vehicle does not require braking (eg, step S420 —No), the automatic driving control device may repeat step S410 .

[0111] According to one example, the automatic driving control device may identify the vehicle distance and the driving speed (S430).

[0112] For example, the automatic driving control device can perform deceleration control on the host vehicle based on the first deceleration while continuously identifying the distance to the vehicle in front and / or the real-time driving speed of the host vehicle.

[0113] According to one example, the automatic driving control device may determine whether the distance between the host vehicle and the vehicle in front is less than a specified distance (S440).

[0114] For example, the vehicle distance may be 6 m, but this is an example and the embodiments of the present invention are not limited thereto.

[0115] For example, if the vehicle distance is less than a specified distance (eg, step S440-yes), the automatic driving control device may execute step S450.

[0116] For example, if the vehicle distance is equal to or greater than a specified distance (eg, step S440-No), the automatic driving control device may execute step S445.

[0117] According to one example, the automatic driving control device may determine whether the driving speed of the host vehicle is less than a specified value (or specified speed) (S445).

[0118] For example, the designated value may be 1 km / h, but this is an example and the embodiments of the present invention are not limited thereto.

[0119] For example, if the driving speed is less than a specified value (eg, step S445-yes), the automatic driving control device may execute step S470.

[0120] For example, if the driving speed is equal to or greater than a specified value (eg, step S445-No), the automatic driving control device may repeat step S430.

[0121] According to one example, the automatic driving control device may perform a first braking control (S450).

[0122] For example, if it is recognized that the distance between the host vehicle and the preceding vehicle is less than a specified distance, the automatic driving control device may activate a first braking control that continues to perform parking control based on a first required deceleration greater than the first deceleration.

[0123] For example, the automatic driving control device may gradually increase the control amount of the host vehicle parking control from the first deceleration to the first required deceleration based on the first slope.

[0124] According to one example, the automatic driving control device may determine whether the driving speed is less than a specified value (S460).

[0125] For example, if the driving speed is less than a specified value (eg, step S460-yes), the automatic driving control device may execute step S470.

[0126] For example, if the driving speed is equal to or greater than a specified value (eg, step S460-No), the automatic driving control device may repeat step S450.

[0127] According to one example, the automatic driving control device may perform a second braking control (S470).

[0128] For example, if it is recognized that the travel speed is less than a designated speed, the automatic driving control device may gradually increase the control amount of the host vehicle parking control from the first deceleration to the second required deceleration based on the second slope.

[0129] Figure 5 An example of an automatic driving control method according to an embodiment of the present invention is shown.

[0130] According to one example, an automatic driving control device (e.g. Figure 1 The automatic driving control device in Figure 5 For example, at least a portion of the components (e.g. Figure 1 The sensor 110, storage unit 120 and / or controller 130 in the embodiment may be configured to perform Figure 5 Operations in .

[0131] In the following examples, the operations of S510 to S560 may be performed sequentially, but not necessarily sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Figure 5 , the content corresponding to or repeated with the above content can be briefly described or omitted.

[0132] According to one example, the automatic driving control device may identify the driving speed of the host vehicle after the braking control (or parking control) (S510).

[0133] For example, the automatic driving control device may monitor the driving speed of the host vehicle in real time when performing braking control based on at least one of the first deceleration, the first required deceleration, the second required deceleration, or any combination thereof.

[0134] According to one example, the automatic driving control device may determine whether the driving speed of the host vehicle is equal to or less than a specified value (S520).

[0135] For example, the designated value may be 0 km / s, but this is an example and the embodiments of the present invention are not limited thereto.

[0136] For example, if the driving speed of the host vehicle is equal to or less than a specified value (eg, step S520 —Yes), the automatic driving control device may execute step S530 .

[0137] For example, if the driving speed of the host vehicle exceeds a specified value (eg, step S520-No), the automatic driving control device may repeat step S510.

[0138] According to one example, the automatic driving control device may maintain the braking state (or parking state) of the host vehicle based on the designated deceleration (S530).

[0139] For example, the specified deceleration can be -3.5m / s 2 , but this is an example and the embodiments of the present invention are not limited thereto.

[0140] According to one example, the autonomous driving control device may determine whether an autonomous driving termination situation has occurred (S540).

[0141] For example, an autonomous driving termination situation (or a situation required for operation termination) may include at least one of a situation in which a user leaves the main vehicle, a situation in which there is no user in the main vehicle, a situation in which the main vehicle is expected to collide with an external object (such as another vehicle), or any combination thereof.

[0142] For example, if an automatic driving termination situation occurs (eg, step S540-yes), the automatic driving control device may execute step S550.

[0143] For example, if the autonomous driving termination situation does not occur (eg, step S540-No), the autonomous driving control device may repeat step S530.

[0144] According to one example, the automatic driving control device may determine whether a specified time period has passed (S550).

[0145] For example, the designated time period may be 10 minutes, but this is an example and embodiments of the present invention are not limited thereto.

[0146] For example, if the specified time period has passed (eg, step S550 —Yes), the automatic driving control device may execute step S560 .

[0147] For example, if the specified time period has not passed (eg, step S550 —No), the automatic driving control device may repeatedly perform step S530 .

[0148] According to one example, the automatic driving control device may terminate the braking control (S560).

[0149] For example, the autonomous driving control device may terminate all autonomous driving control of the host vehicle, including braking control, and terminate the operation of the autonomous driving control device.

[0150] Figure 6An example of signal flows between components used by an automatic driving control device to perform general parking control according to an embodiment of the present invention is shown.

[0151] Referring to reference numeral 610, according to one example, an automatic driving control device (eg Figure 1 The automatic driving control device 100 in the embodiment may determine that the main vehicle needs to be braked during the execution of the automatic driving control of the main vehicle.

[0152] For example, the automatic driving control device may calculate the first deceleration based on at least one of the vehicle distance (Clearance Term) between the main vehicle and another vehicle (eg, the vehicle in front), the real-time driving speed (Rel Spd Term), the real-time acceleration (Rel Accel Term), or any combination thereof.

[0153] Referring to reference numeral 620, according to one example, the autonomous driving control device may identify the first deceleration (FOC ReqAccel) by performing PID control (PID Sum) based on a value obtained by multiplying the vehicle distance (Clearance Term), the real-time driving speed (Rel Spd Term), and the real-time acceleration (Rel Accel Term) by gain values ​​Ki, Kp, and Kd, respectively.

[0154] Figure 7 An example of signal flows between components used by an automatic driving control device to perform parking control based on a first required deceleration according to an example of the present invention is shown.

[0155] Referring to reference numeral 710, according to one example, an automatic driving control device (eg Figure 1 The automatic driving control device 100 in the embodiment may determine that the host vehicle requires additional braking during the process of performing braking control on the host vehicle at the first deceleration.

[0156] For example, if the first brake control activation signal (eg, Soft Stop 1 start flag) is less than 0 (eg, the first brake control is OFF), the automatic driving control device may use the following Figure 7 Braking control is performed using the first deceleration (FOC ReqAccel) shown.

[0157] For example, if the first brake control activation signal (e.g., Soft Stop 1 start flag) is greater than 0 (e.g., the first brake control is turned on (ON)), the automatic driving control device may connect the soft stop circuit according to reference numeral 730 to the lower side using the switch element according to reference numeral 710. Therefore, the automatic driving control device may output the first required deceleration (Soft Stop 1Req Accel) multiplied by the feedback gain The value obtained.

[0158] For example, at the time point when the automatic driving control device starts to activate the first brake control (or the time point when the state of Soft Stop 1 is activated), the first brake control activation signal may be changed to a trigger form (e.g., 0->1->0). Based on recognizing that the first brake control activation signal has changed in the above form, the automatic driving control device may control the host vehicle based on the overwritten deceleration (e.g., the first required deceleration) starting from the initially recognized deceleration (e.g., the first deceleration).

[0159] Referring to figure numeral 720, according to one example, the autonomous driving control device may use at least one of the real-time driving speed (RelSpd), the vehicle distance (Clearance), the specified distance (Target_distance(m)) (e.g., 6m), the first slip rate (SoftStop1_Slew) (e.g., -0.1), or any combination thereof to identify the first required deceleration.

[0160] Referring to reference numeral 730, according to one example, if the vehicle distance (Clearance) is less than the specified distance (Target_distance(m)), the automatic driving control device may be based on a value obtained by multiplying the real-time driving speed (Rel Spd) and the vehicle distance (Clearance) and the specified distance (Target_distance(m)) by gain values ​​spdGain and distGain, respectively, a first glide rate (Soft Stop1_Slew), and a value obtained by multiplying the first required deceleration (Soft Stop 1ReqAccel) by a feedback gain The value obtained is used to identify the first required deceleration (Soft Stop 1Req Accel).

[0161] Figure 8 An example of signal flows between components used by an automatic driving control device to perform parking control based on a second required deceleration according to an example of the present invention is shown.

[0162] Referring to reference numeral 810, according to one example, an automatic driving control device (eg Figure 1The automatic driving control device 100 in the embodiment may determine whether the second braking control (or the second parking control) based on the second required deceleration is being performed on the host vehicle.

[0163] For example, if the existing brake control state signal (eg, Old State = !Soft Stop 2) is less than 0, the automatic driving control device may Figure 8 The output is shown as the first deceleration (FOC Req Accel).

[0164] For example, if the existing brake control state signal (eg, Old State = !Soft Stop 2) is greater than 0, the automatic driving control device may use the switch element according to reference numeral 810 to connect the switch circuit according to reference numeral 820 to the lower side (eg, Soft Stop 2Req Accel).

[0165] Referring to reference numeral 820 , according to one example, the automatic driving control device may determine that additional braking of the host vehicle is required during the process of performing braking control on the host vehicle at a first deceleration or a first required deceleration.

[0166] For example, if the second brake control activation signal (e.g., Soft Stop 2 start flag) is less than 0 (e.g., the second brake control is OFF), the automatic driving control device may use the second brake control activation signal (e.g., Soft Stop 2 start flag) according to the following example: Figure 8 The switching element shown with reference numeral 810 outputs a signal to perform brake control.

[0167] For example, if the second brake control activation signal (e.g., Soft Stop 2 start flag) is greater than 0 (e.g., the second brake control is turned on (ON)), the automatic driving control device may output to the Soft Stop 2 circuit a second required deceleration (Soft Stop 2 Req Accel) output from the Soft Stop circuit according to reference numeral 830 multiplied by the feedback gain The value obtained.

[0168] For example, at the time point when the automatic driving control device starts to activate the second brake control (or the time point when the state of Soft Stop 2 is activated), the second brake control activation signal may be changed to a trigger form (e.g., 0->1->0). Based on recognizing that the second brake control activation signal has changed in the above form, the automatic driving control device may control the host vehicle based on the deceleration (e.g., the second deceleration) overwritten from the initially recognized deceleration (e.g., the second deceleration) or the first required deceleration (e.g., the second required deceleration).

[0169] For example, the autopilot control device may output a second glide rate (SoftStop2_Slew) (eg, −0.4) to the Soft Stop2 circuit according to reference numeral 830 .

[0170] Referring to reference numeral 830, according to one example, if the second brake control activation signal (e.g., Soft Stop2start flag) is greater than 0 (e.g., if the driving speed of the host vehicle is less than a specified speed (e.g., 1 km / h)), the automatic driving control device may be based on the second slip rate (SoftStop2_Slew) and by multiplying the second required deceleration (Soft Stop 2_Req Accel) by the feedback gain The value obtained is used to identify the second required deceleration (Soft Stop 2_Req Accel).

[0171] Fig. 9 An example of an automatic driving control method according to an embodiment of the present invention is shown.

[0172] According to one example, an automatic driving control device (e.g. Figure 1 The automatic driving control device in Fig. 9 For example, at least a portion of the components (e.g. Figure 1 The sensor 110, storage unit 120 and / or controller 130 in the embodiment may be configured to perform Fig. 9 Operations in .

[0173] In the following examples, the operations of S910 to S940 may be performed sequentially, but not necessarily sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel with each other. Fig. 9 , the content corresponding to or repeated with the above content can be briefly described or omitted.

[0174] According to one example, the autonomous driving control device may collect (or identify) information of at least one of a host vehicle, a leading vehicle, or any combination thereof using a sensor ( S910 ).

[0175] According to one example, the automatic driving control device may perform parking control on the host vehicle at the identified first deceleration based on the collected information ( S920 ).

[0176] For example, the automatic driving control device may perform parking control on the host vehicle based on a first deceleration as a preset deceleration. The first deceleration may be a set value that can be changed by a user and / or a developer.

[0177] According to one example, the automatic driving control device may determine whether at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition during the execution of parking control (S930).

[0178] For example, the autonomous driving control device may determine whether the distance between vehicles is less than a specified distance, or whether the driving speed is less than a specified speed, or any combination thereof.

[0179] For example, if at least one of the vehicle distance, driving speed, or any combination thereof satisfies a specified condition (eg, step S930-yes), the automatic driving control device may execute step S940.

[0180] For example, if the vehicle distance and driving speed do not meet the specified conditions (eg, step S930-No), the automatic driving control device may repeat step S920.

[0181] According to one example, the automatic driving control device may perform parking control on the host vehicle based on a deceleration greater than a first deceleration (S940).

[0182] Fig.10 An example of a computing system related to an automatic driving control method according to an embodiment of the present invention is shown.

[0183] refer to Fig.10 , a computing system 1000 related to the autonomous driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700 connected via a bus 1200.

[0184] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes and processes commands stored in the memory 1300 and / or the storage device 1600. 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 ROM (Read Only Memory) and a RAM (Random Access Memory).

[0185] Therefore, the operation of the method or algorithm described in conjunction with the examples disclosed herein may be directly embodied in hardware, software modules, or a combination thereof implemented by the processor 1100. The software module may reside on a storage medium (e.g., the memory 1300 and / or the storage device 1600) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, and CD-ROM.

[0186] An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from the storage medium and can also write information to the storage medium. In another method, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another method, the processor and the storage medium can reside in a user terminal as separate components.

[0187] The present invention is to solve the above-mentioned problems in the prior art while maintaining the advantages achieved by the prior art unchanged.

[0188] An example of the present invention provides an automatic driving control device that can use a sensor to identify information of at least one of a host vehicle, a leading vehicle, or any combination thereof, and identify a deceleration for parking control of the host vehicle based on the identified information.

[0189] Another example of the present invention provides an automatic driving control device, which can perform parking control on the main vehicle based on a greater deceleration based on whether at least one of the distance between the main vehicle and the vehicle ahead, the driving speed of the main vehicle, or any combination thereof meets specific conditions during the execution of parking control.

[0190] Another example of the present invention provides an automatic driving control device, which can gradually increase the control amount of the parking control from the deceleration applied before the identification to the first required deceleration based on a first slope if the vehicle distance is identified as being less than a specified distance during the execution of the parking control.

[0191] Another example of the present invention provides an automatic driving control device. If, in the process of increasing the control amount based on a first slope, it is identified that the driving speed of the main vehicle is less than a specified speed at a time point when the control amount has a first value, the automatic driving control device can gradually increase the control amount from the first value to a second required deceleration greater than the first required deceleration based on a second slope greater than the first slope.

[0192] Another example of the present invention provides an automatic driving control device, which can maintain the parking state of the main vehicle based on a parking deceleration greater than the control amount applied to the parking control if the main vehicle is in a completely parked state based on the driving speed of the main vehicle.

[0193] Another example of the present invention provides an automatic driving control device, which can terminate its operation after a specified time period if it is identified based on the driving speed of the main vehicle that the automatic driving control of the main vehicle needs to be terminated after the main vehicle is in a complete stop state.

[0194] The technical problems to be solved by the present invention are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention belongs from the following description.

[0195] According to an embodiment of the present invention, a device for controlling automatic driving includes a sensor, a storage unit storing one or more instructions, and a controller operably connected to the sensor and the storage unit. For example, when the controller executes the instructions, the device: uses the sensor to identify information about at least one of a host vehicle, a front vehicle, or any combination thereof, to perform parking control on the host vehicle based on a first deceleration identified by at least a portion of the information, and if at least one of the vehicle distance, the driving speed, or any combination thereof meets a specified condition during the execution of the parking control, then the parking control is performed on the host vehicle based on a deceleration greater than the first deceleration.

[0196] In one embodiment, when the controller executes the instruction, the device: if it is identified that the distance between the host vehicle and the vehicle ahead is less than a specified distance during the execution of the parking control, the parking control is continued based on a first required deceleration greater than the first deceleration.

[0197] In one embodiment, when the controller executes the instructions, the device gradually increases the control amount of parking control from the first deceleration to the first required deceleration based on the first slope if it is recognized that the vehicle distance is less than a specified distance.

[0198] In one embodiment, when the controller executes the instructions, the device: if it is identified that the driving speed of the host vehicle is less than a specified speed during the execution of the parking control, continues to execute the parking control based on a second required deceleration greater than the first deceleration.

[0199] In one embodiment, when the controller executes the instructions, the device: if it is identified that the driving speed is less than the designated speed, gradually increases the control amount of the parking control from the first deceleration to the second required deceleration based on the second slope.

[0200] In one embodiment, when the instructions are executed by the controller, the device: if it is identified that the distance between the host vehicle and the vehicle ahead is less than a specified distance during the execution of the parking control, gradually increase the control amount of the parking control from a first deceleration to a first required deceleration based on a first slope; and if it is identified that the driving speed of the host vehicle is less than a specified speed at a time point when the control amount has a first value during the process of increasing the control amount based on the first slope, gradually increase the control amount from the first value to a second required deceleration greater than the first required deceleration based on a second slope greater than the first slope.

[0201] In one embodiment, when the instructions are executed by the controller, the device is configured to: if the host vehicle is identified as parked based on the driving speed of the host vehicle, maintain the parked state of the host vehicle based on a parking deceleration greater than the first deceleration.

[0202] In one embodiment, when the controller executes the instruction, the device: when a situation that requires termination of the operation of the automatic driving control device is identified based on the information, the parking state of the main vehicle is maintained based on the parking deceleration within a specified time period from the time point when the situation is identified, and the operation of the automatic driving control device is terminated after the specified time period has passed.

[0203] According to another example of the present invention, a method for controlling automatic driving includes: using information from at least one of a sensor main vehicle, a front vehicle or any combination thereof through a controller, performing parking control on the main vehicle with a first deceleration identified based on at least a portion of the information through the controller, and if during the execution of the parking control, at least one of the vehicle distance, the driving speed of the main vehicle or any combination thereof meets a specified condition, performing parking control on the main vehicle based on a deceleration greater than the first deceleration through the controller.

[0204] In one embodiment, if during the execution of parking control, at least one of the vehicle distance, the driving speed of the host vehicle, or any combination thereof satisfies a specified condition, executing parking control on the host vehicle based on a deceleration greater than a first deceleration by a controller may also include: if during the execution of parking control, it is identified that the vehicle distance between the host vehicle and a vehicle ahead is less than a specified distance, continuing to execute parking control by the controller based on a first required deceleration greater than the first deceleration.

[0205] In one embodiment, if during the execution of parking control, at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition, executing parking control on the host vehicle based on a deceleration greater than a first deceleration by a controller may also include: if it is identified that the vehicle distance is less than a specified distance, gradually increasing a control amount of the parking control from the first deceleration to a first required deceleration based on a first slope by the controller.

[0206] In one embodiment, if during the execution of the parking control, at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition, executing the parking control on the host vehicle based on a deceleration greater than a first deceleration by a controller may also include: if during the execution of the parking control, it is identified that the driving speed of the host vehicle is less than a specified speed, continuing to execute the parking control by the controller based on a second required deceleration greater than the first deceleration.

[0207] In one embodiment, if during the execution of parking control, at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition, executing parking control on the host vehicle based on a deceleration greater than a first deceleration by a controller may also include: if it is identified that the driving speed is less than a specified speed, gradually increasing a control amount of the parking control from the first deceleration to a second required deceleration based on a second slope by the controller.

[0208] In one embodiment, if at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition during the execution of the parking control, executing the parking control on the main vehicle based on a deceleration greater than the first deceleration by the controller may also include: if it is identified during the execution of the parking control that the vehicle distance between the main vehicle and the vehicle ahead is less than a specified distance, gradually increasing the control amount of the parking control from the first deceleration to the first required deceleration based on a first slope by the controller, and if it is identified during the process of increasing the control amount based on the first slope that the driving speed of the main vehicle at the time point when the control amount has a first value is less than the specified speed, gradually increasing the control amount from the first value to a second required deceleration greater than the first required deceleration based on a second slope greater than the first slope.

[0209] In one embodiment, the method may further include, when it is identified that the main vehicle is parked based on the driving speed of the main vehicle, maintaining the parking state of the main vehicle based on a parking deceleration greater than a first deceleration by a controller, and when a situation requiring termination of the operation of the automatic driving control device is identified based on information, maintaining the parking state of the main vehicle based on the parking deceleration by the controller within a specified time period from the time point when the situation is identified, and terminating the operation of the automatic driving control device by the controller after the specified time period has passed.

[0210] According to another example of the present invention, a computer-readable recording medium contains a program for executing a method for automatic driving control, and the method includes: using information from a sensor of at least one of a main vehicle, a front vehicle, or any combination thereof through a controller, performing parking control on the main vehicle with a first deceleration identified based on at least a portion of the information through the controller, and if during the execution of the parking control, at least one of the vehicle distance, the driving speed of the main vehicle, or any combination thereof meets a specified condition, performing parking control on the main vehicle based on a deceleration greater than the first deceleration through the controller.

[0211] In one embodiment, if during the execution of parking control, at least one of the vehicle distance, the driving speed of the host vehicle, or any combination thereof satisfies a specified condition, executing parking control on the host vehicle based on a deceleration greater than a first deceleration by a controller may also include: if during the execution of parking control, it is identified that the vehicle distance between the host vehicle and a vehicle ahead is less than a specified distance, continuing to execute parking control by the controller based on a first required deceleration greater than the first deceleration.

[0212] In one embodiment, if at least one or any combination of the vehicle distance or the driving speed satisfies a specified condition when performing the parking control, performing the parking control on the host vehicle based on a deceleration greater than a first deceleration by the controller may also include: if it is identified that the driving speed of the host vehicle is less than a specified speed during the execution of the parking control, continuing to perform the parking control by the controller based on a second required deceleration greater than the first deceleration.

[0213] In one embodiment, if at least one of the vehicle distance, the driving speed, or any combination thereof satisfies a specified condition during the execution of the parking control, executing the parking control on the main vehicle based on a deceleration greater than the first deceleration by the controller may also include: if it is identified during the execution of the parking control that the vehicle distance between the main vehicle and the vehicle ahead is less than a specified distance, gradually increasing the control amount of the parking control from the first deceleration to the first required deceleration based on a first slope by the controller, and if it is identified during the process of increasing the control amount based on the first slope that the driving speed of the main vehicle at the time point when the control amount has a first value is less than the specified speed, gradually increasing the control amount from the first value to a second required deceleration greater than the first required deceleration based on a second slope greater than the first slope.

[0214] In one embodiment, the method may include: when the main vehicle is identified as parked based on the driving speed of the main vehicle, maintaining the parking state of the main vehicle based on a parking deceleration greater than a first deceleration by a controller; when a situation requiring termination of the operation of the automatic driving control device is identified based on information, maintaining the parking state of the main vehicle based on the parking deceleration by the controller within a specified time period from the time point when the situation is identified, and terminating the operation of the automatic driving control device by the controller after the specified time period has passed.

[0215] The above description is merely an example of the technical concept of the present invention, and those skilled in the art may make various modifications and changes without departing from the essential features of the present invention.

[0216] Therefore, the examples disclosed in the present invention are not intended to limit the technical ideas of the present invention, but to illustrate the present invention, and the scope of the technical ideas of the present invention is not limited by the examples. The scope of the present invention should be interpreted as being covered by the scope of the attached claims, and all technical ideas falling within the scope of the claims should be interpreted as being included in the scope of the present invention.

[0217] Effects of the apparatus and method for controlling automatic driving according to the present invention are as follows.

[0218] According to at least one example of the present invention, in order to perform deceleration control and parking control on the main vehicle, the automatic driving control device can control the main vehicle by dividing the parking control section into a general control section, a first section based on a first required deceleration, a second section based on a second required deceleration, and a complete parking section, thereby providing each section with the function of performing optimal parking control.

[0219] Additionally or alternatively, according to at least one example of the present invention, if the driving conditions, the relative relationship with the vehicle in front, etc. change during the execution of parking control, the parking control can be performed by flexibly and smoothly changing the required deceleration, thereby minimizing the discomfort caused to the user during parking control.

[0220] Additionally or alternatively, according to at least one example of the present invention, the automatic driving control device may independently perform parking control without using a separate braking device, thereby reducing the production cost and manufacturing cost required to manufacture the parking control device.

[0221] Furthermore, various effects directly or indirectly recognized through this document may be provided.

[0222] Although the present invention has been described above with reference to the examples and drawings, the present invention is not limited thereto and various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present invention as claimed in the following claims.

Claims

1. A device comprising: sensor; a storage unit configured to store instructions; and a controller operably connected to the sensor and the storage unit, Wherein, when the instruction is executed by the controller, the device: detecting information related to at least one of the first vehicle and the second vehicle based on the sensor; determining at least one of whether a distance between the first vehicle and the second vehicle satisfies a distance condition and whether a travel speed of the first vehicle satisfies a speed condition; and The first vehicle is controlled by: Based on at least a portion of the information and both the distance condition and the speed condition not being satisfied, controlling the first vehicle by inducing a first deceleration; or Based on satisfying at least one of the distance condition and the speed condition, the first vehicle is controlled by inducing a second deceleration greater than the first deceleration.

2. The device according to claim 1, wherein: When the instructions are executed by the controller, the device: determining a third deceleration greater than the first deceleration based on the distance being less than a threshold distance; and The first vehicle is controlled by inducing the third deceleration.

3. The device according to claim 2, wherein: When the instructions are executed by the controller, the device: Based on a slope, the first vehicle is controlled to change from the first deceleration to the third deceleration within a period of time.

4. The device according to claim 1, wherein: When the instructions are executed by the controller, the device: determining a third deceleration greater than the first deceleration based on the travel speed being less than a threshold speed; and The first vehicle is controlled by inducing the third deceleration.

5. The device according to claim 4, wherein: When the instructions are executed by the controller, the device: Based on a slope, the first vehicle is controlled to change from the first deceleration to the third deceleration within a period of time.

6. The device according to claim 1, wherein: When the instructions are executed by the controller, the device: controlling the first vehicle to change from the first deceleration to a third deceleration within a time period based on the first slope and based on the distance being less than a threshold distance; as well as Based on a second slope greater than the first slope and the travel speed being less than a threshold speed at a time point when the first vehicle is controlled based on a fourth deceleration, the first vehicle is controlled to change from the fourth deceleration to a fifth deceleration greater than the third deceleration within another time period.

7. The device according to claim 1, wherein: When the instructions are executed by the controller, the device: Based on the parking deceleration being greater than the first deceleration and on the recognition that the first vehicle is parked based on the travel speed, the parking state of the first vehicle is maintained.

8. The device according to claim 7, wherein: When the instructions are executed by the controller, the device: maintaining the parking state of the first vehicle for a period of time starting from a point in time when a situation requiring termination of the automatic driving control of the first vehicle is determined based on the information; as well as The autonomous driving control of the first vehicle is terminated after the time period has passed.

9. A method comprising the following steps: detecting, by a controller and based on a sensor, information related to at least one of the first vehicle and the second vehicle; determining at least one of whether a distance between the first vehicle and the second vehicle satisfies a distance condition and whether a travel speed of the first vehicle satisfies a speed condition; as well as The first vehicle is controlled by: controlling the first vehicle by inducing a first deceleration based on at least a portion of the information and based on both the distance condition and the speed condition being unsatisfied; or Based on satisfying at least one of the distance condition and the speed condition, the first vehicle is controlled by inducing a second deceleration greater than the first deceleration.

10. The method according to claim 9, further comprising: determining a third deceleration greater than the first deceleration based on the distance being less than a threshold distance; as well as The first vehicle is controlled by inducing the third deceleration.

11. The method according to claim 10, wherein: Controlling the first vehicle includes controlling the first vehicle to change from the first deceleration to the third deceleration within a time period based on a slope.

12. The method according to claim 9, further comprising: determining a third deceleration greater than the first deceleration based on the travel speed being less than a threshold speed; as well as The first vehicle is controlled by inducing the third deceleration.

13. The method according to claim 12, wherein: Controlling the first vehicle includes controlling the first vehicle to change from the first deceleration to the third deceleration within a time period based on a slope.

14. The method according to claim 9, wherein: Controlling the first vehicle comprises: Based on the first slope and based on the distance being less than a threshold distance, controlling the first vehicle to change from the first deceleration to a third deceleration within a period of time; and Based on a second slope greater than the first slope and the travel speed being less than a threshold speed at a time point when the first vehicle is controlled based on a fourth deceleration, the first vehicle is controlled to change from the fourth deceleration to a fifth deceleration greater than the third deceleration within another time period.

15. The method according to claim 9, further comprising: maintaining, by the controller, a parking state of the first vehicle for a period of time starting from a point in time when a situation requiring termination of the automatic driving control of the first vehicle is determined based on the information; as well as Automatic driving control of the first vehicle is terminated by the controller after the time period has passed.

16. A non-transitory computer-readable recording medium storing a program which, when executed, causes a controller to perform the following control: detecting information related to at least one of the first vehicle and the second vehicle based on a sensor; determining at least one of whether a distance between the first vehicle and the second vehicle satisfies a distance condition and whether a travel speed of the first vehicle satisfies a speed condition; as well as The first vehicle is controlled by: controlling the first vehicle by inducing a first deceleration based on at least a portion of the information and both the distance condition and the speed condition being unsatisfied; or Based on satisfying at least one of the distance condition and the speed condition, the first vehicle is controlled by inducing a second deceleration greater than the first deceleration.

17. The non-transitory computer readable recording medium according to claim 16, when the program is executed, causes the controller to perform the following control: determining a third deceleration greater than the first deceleration based on the distance being less than a threshold distance; and The first vehicle is controlled by inducing the third deceleration.

18. The non-transitory computer readable recording medium according to claim 16, when the program is executed, causes the controller to perform the following control: determining a third deceleration greater than the first deceleration based on the travel speed being less than a threshold speed; and The first vehicle is controlled by inducing the third deceleration.

19. The non-transitory computer readable recording medium according to claim 16, when the program is executed, causes the controller to perform the following control: Based on the first slope and based on the distance being less than a threshold distance, controlling the first vehicle to change from the first deceleration to a third deceleration within a period of time; and Based on a second slope greater than the first slope and the travel speed being less than a threshold speed at a time point when the first vehicle is controlled based on a fourth deceleration, the first vehicle is controlled to change from the fourth deceleration to a fifth deceleration greater than the third deceleration within another time period.

20. The non-transitory computer readable recording medium according to claim 16, when the program is executed, causes the controller to perform the following control: maintaining the parking state of the first vehicle for a period of time starting from a point in time when a situation requiring termination of the automatic driving control of the first vehicle is determined based on the information; and The autonomous driving control of the first vehicle is terminated after the time period has passed.

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