Apparatus and method for controlling vehicle

Abstract

The invention relates to an apparatus and method for controlling a vehicle. A vehicle control apparatus may include a collision risk determination device, a collision determination device, and a processor. The processor may determine, by the collision risk determination device, whether an external object is present within a specified distance from the vehicle. The processor may obtain, by a collision determination device, an impact value associated with a collision between the vehicle and an external object based on acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle. The processor may identify a collision between the vehicle and an external object based on an impact value exceeding an impact threshold, and may change a driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on identifying the collision between the vehicle and the external object.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to Korean Patent Application No. 10-2023-0127178 filed in the Korean Intellectual Property Office on September 22, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a vehicle control apparatus and method thereof, and more particularly, to a technology for identifying a collision between a vehicle and an external object. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] As vehicle technology develops, the era of autonomous driving is coming, in which vehicles travel on roads by using their own judgment. An autonomous vehicle may include an autonomous driving system for autonomous driving and may perform autonomous driving based on the autonomous driving system.

[0006] When an impact is applied to the autonomous vehicle, it is necessary to change from the autonomous driving mode (or driving assistance mode) to the normal driving mode in which the autonomous vehicle is manually operated by the user. However, when the impact to the autonomous vehicle is evaluated based only on the acceleration of the vehicle, the autonomous vehicle may be identified as colliding with an external object even when the vehicle encounters a speed bump, or the vehicle is driving through a pothole or a sharp curve on the road. Summary of the invention

[0007] The present disclosure has been made to solve the above-mentioned problems occurring in the prior art while keeping the advantages achieved by the prior art intact.

[0008] An aspect of the present disclosure provides a vehicle control apparatus and method for identifying a collision between a vehicle and an external object by using a distance and an impact value between the vehicle and the external object.

[0009] Another aspect of the present disclosure provides a vehicle control apparatus and method that accurately recognizes a collision between a vehicle and an external object by recognizing the collision between the vehicle and the external object based on an acceleration acting on the vehicle and a distance between the vehicle and the external object.

[0010] An aspect of the present disclosure provides a vehicle control apparatus and method thereof, which accurately operates in a driving mode of a vehicle by determining the driving mode of the vehicle based on recognition of a collision between the vehicle and an external object.

[0011] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein should be clearly understood by ordinary technicians in the field to which the present disclosure belongs from the following description.

[0012] According to one aspect of the present disclosure, a vehicle control device may include: a collision risk determination device, a collision determination device, and a processor. The processor may determine whether an external object exists within a specified distance from the vehicle through the collision risk determination device, and may obtain an impact value associated with a collision between the vehicle and the external object through the collision determination device based on an acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle. In addition, the processor may identify a collision between the vehicle and the external object based on the impact value exceeding an impact threshold, and may change the driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on the identification of a collision between the vehicle and the external object.

[0013] In an embodiment, the acceleration acting on the vehicle may include a lateral acceleration acting in a lateral direction of the vehicle, a longitudinal acceleration acting in a longitudinal direction of the vehicle, and a vertical acceleration acting in a vertical direction of the vehicle.

[0014] In an embodiment, the processor may identify an external object within a specified distance from the vehicle for a specified time, and may identify a collision between the vehicle and the external object based on the impact value exceeding an impact threshold for a specified time.

[0015] The vehicle control apparatus according to the embodiment may further include a communication circuit. The processor may receive object information including a type of the external object and a state of the external object through the communication circuit, and may change the impact threshold based on the object information.

[0016] In an embodiment, the processor may change the impact threshold based on the type of the external object. For example, when the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof, the processor may change the impact threshold to a first impact threshold. When the type of the external object is a second type indicating a passenger vehicle, the processor may change the impact threshold to a second impact threshold exceeding the first impact threshold, and when the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof, the processor may change the impact threshold to a third impact threshold exceeding the second impact threshold.

[0017] In an embodiment, the state of the external object includes at least one of a speed of the external object, a direction from which the external object approaches the vehicle, and any combination thereof.

[0018] In an embodiment, the processor may apply a first weight to the impact threshold based on the type of the external object and may apply a second weight to the impact threshold based on a relative speed between the external object and the vehicle.

[0019] The vehicle control device according to the embodiment may further include a communication circuit. The processor may i) when the impact value exceeds the impact threshold, and ii) when the difference between the impact value and the impact threshold exceeds the reference value, change the driving mode of the vehicle from the first mode to the second mode, and simultaneously reduce the speed of the vehicle. The processor may transmit a signal indicating that the vehicle is in an emergency state to an external electronic device including a server through the communication circuit.

[0020] In an embodiment, the processor may make a request to change the driving mode of the vehicle from the first mode to the second mode, and may limit the acceleration of the vehicle based on the fact that the impact value exceeds the impact threshold and the difference between the impact value and the impact threshold is less than or equal to the reference value.

[0021] In an embodiment, the impact threshold may include a threshold acceleration, a threshold yaw rate, and a threshold roll rate. The processor may identify that the impact value exceeds the impact threshold based on the fact that the acceleration acting on the vehicle exceeds the threshold acceleration, the yaw rate of the vehicle exceeds the threshold yaw rate, and the roll rate of the vehicle exceeds the threshold roll rate, and may identify a collision between the vehicle and the external object based on the impact value exceeding the impact threshold.

[0022] According to one aspect of the present disclosure, a vehicle control method may include: determining by a processor whether an external object exists within a specified distance from a vehicle through a collision risk determination device; obtaining by a collision determination device an impact value associated with a collision between the vehicle and the external object based on an acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle; identifying a collision between the vehicle and the external object based on the impact value exceeding an impact threshold; and changing a driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on identifying a collision between the vehicle and the external object.

[0023] In an embodiment, the acceleration acting on the vehicle may include a lateral acceleration acting in a lateral direction of the vehicle, a longitudinal acceleration acting in a longitudinal direction of the vehicle, and a vertical acceleration acting in a vertical direction of the vehicle.

[0024] According to an embodiment, the vehicle control method may further include identifying an external object within a designated distance from the vehicle for a designated time, and identifying a collision between the vehicle and the external object based on the impact value exceeding the impact threshold for the designated time.

[0025] According to an embodiment, the vehicle control method may further include receiving object information including a type of the external object and a state of the external object through the communication circuit, and changing the impact threshold based on the object information.

[0026] According to an embodiment, the vehicle control method may further include: changing the impact threshold to a first impact threshold based on the type of the external object being a first type including at least one of pedestrians, bicycles, two-wheeled vehicles, and any combination thereof; changing the impact threshold to a second impact threshold exceeding the first impact threshold based on the type of the external object being a second type including a passenger vehicle; and changing the impact threshold to a third impact threshold exceeding the second impact threshold based on the type of the external object being a third type including at least one of a truck, a bus, and any combination thereof.

[0027] In an embodiment, the state of the external object includes at least one of a speed of the external object, a direction from which the external object approaches the vehicle, and any combination thereof.

[0028] According to an embodiment, the vehicle control method may further include applying a first weight to the impact threshold based on a type of the external object, and applying a second weight to the impact threshold based on a relative speed between the external object and the vehicle.

[0029] According to an embodiment, the vehicle control method may further include: i) when the impact value exceeds the impact threshold, and ii) when the difference between the impact value and the impact threshold exceeds a reference value, changing the driving mode of the vehicle from the first mode to the second mode and simultaneously reducing the speed of the vehicle; and transmitting a signal indicating that the vehicle is in an emergency state to an external electronic device including a server through a communication circuit.

[0030] According to an embodiment, the vehicle control method may further include making a request to change the driving mode of the vehicle from the first mode to the second mode and limiting the acceleration of the vehicle based on the fact that the impact value exceeds the impact threshold and the difference between the impact value and the impact threshold is less than or equal to the reference value.

[0031] In an embodiment, the impact threshold may include a threshold acceleration, a threshold yaw rate, and a threshold roll rate. The vehicle control method may further include: identifying that the impact value exceeds the impact threshold based on the fact that the acceleration acting on the vehicle exceeds the threshold acceleration, the yaw rate of the vehicle exceeds the threshold yaw rate, and the roll rate of the vehicle exceeds the threshold roll rate; and identifying a collision between the vehicle and an external object based on the impact value exceeding the impact threshold. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0033] Figure 1 is an example of a block diagram showing a vehicle control device according to an embodiment of the present disclosure;

[0034] Figure 2 is an example showing association with an external object recognized within a specified distance from a vehicle in an embodiment of the present disclosure;

[0035] Figure 3 is an example showing association with the acceleration of a vehicle, the yaw rate of a vehicle, and the roll rate of a vehicle in an embodiment of the present disclosure;

[0036] Figure 4 is a flowchart showing a vehicle control method according to an embodiment of the present disclosure;

[0037] Figure 5 is a flowchart showing a vehicle control method according to an embodiment of the present disclosure; and

[0038] Figure 6 is a block diagram illustrating a computing system associated with a vehicle control apparatus or a vehicle control method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Hereinafter, some embodiments of the present disclosure are described in detail with reference to the accompanying drawings. When adding reference numerals to components of the respective drawings, it should be noted that the same components have the same reference numerals even though they are shown in another drawing. In addition, when describing the embodiments of the present disclosure, detailed descriptions associated with known functions or configurations are omitted when they may unnecessarily obscure the subject matter of the present disclosure.

[0040] 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, but do not limit the corresponding elements, and are independent of the properties, order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical terms and scientific terms used herein will be interpreted as the customary terms of the field to which the present disclosure belongs. It should be understood that the terms used herein should be interpreted as having the same meaning as their meaning in the context of the present disclosure and the related art, and should not be interpreted as idealized or too formal meanings, unless clearly defined in this article.

[0041] 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” satisfy the purpose or perform the operation or function.

[0042] In the following, see Figures 1 to 6Various embodiments of the present disclosure are described in detail.

[0043] Figure 1 An example of a block diagram of a vehicle control device according to an embodiment of the present disclosure is shown.

[0044] refer to Figure 1 The vehicle control device 100 according to an embodiment of the present disclosure may be implemented inside or outside the vehicle, and some components included in the vehicle control device 100 may be implemented inside or outside the vehicle. In one form, the vehicle control device 100 may be integrated with an internal control unit of the vehicle, and may be implemented by a separate device so as to be connected to the control unit of the vehicle by means of a separate connection device. For example, the vehicle control device 100 may further include Figure 1 Components not shown.

[0045] See also Figure 1 The vehicle control apparatus 100 according to the embodiment may include a processor 110, a collision risk determination device 120, and a collision determination device 130. For example, the vehicle control apparatus 100 may further include a communication circuit 140.

[0046] The processor 110 , the collision risk determination device 120 , the collision determination device 130 , or the communication circuit 140 may be electrically connected and / or operably coupled to each other through electronic components including a communication bus.

[0047] Hereinafter, the fact that various hardware are operably coupled may include the fact that a direct and / or indirect connection between the various hardware is established by wire and / or wirelessly so that second hardware among the various hardware is controlled by the first hardware.

[0048] Although various blocks are shown, embodiments are not limited thereto. Figure 1 Some of the various hardware in the vehicle control device 100 may be included in a single integrated circuit including a system on a chip (SoC). The type and / or number of hardware included in the vehicle control device 100 is not limited to Figure 1 For example, the vehicle control device 100 may include Figure 1 Only some of the various hardware are shown.

[0049] The vehicle control device 100 according to the embodiment may include hardware for processing data based on one or more instructions. The hardware for processing data may include a processor 110 .

[0050] For example, the hardware for processing data may include an arithmetic and logic unit (ALU), a floating point unit (FPU), a field programmable gate array (FPGA), a central processing unit (CPU), and / or an application processor (AP). The processor 110 may have a structure of a single-core processor, or may have a structure of a multi-core processor including a dual-core, quad-core, hexa-core, or octa-core.

[0051] The communication circuit 140 included in the vehicle control apparatus 100 according to the embodiment may include a hardware component for supporting transmission and / or reception of a signal between the vehicle control apparatus 100 and an external electronic device.

[0052] For example, the communication circuit 140 may include at least one of a modem, an antenna, or an optical / electronic (O / E) converter, and any combination thereof. For example, the communication circuit 140 may support transmission and / or reception of signals based on various types of protocols, including at least one of Ethernet, local area network (LAN), wide area network (WAN), wireless fidelity (WiFi), Bluetooth, Bluetooth low energy (BLE), ZigBee, long term evolution (LTE), 5G new radio (NR), controller area network (CAN), local interconnect network (LIN), and any combination thereof.

[0053] The collision risk determination device 120 included in the vehicle control device 100 according to the embodiment may include at least one of a camera, a LiDAR, a radar, and any combination thereof. For example, the collision risk determination device 120 may include a hardware component for identifying an external object. For example, the collision risk determination device 120 may receive information associated with an external object. The collision risk determination device 120 may identify the distance between the vehicle and the external object.

[0054] The collision determination device 130 included in the vehicle control apparatus 100 according to the embodiment may include at least one of a gyro sensor, an angular velocity sensor, an acceleration sensor, a yaw rate sensor, a roll rate sensor, and any combination thereof.

[0055] In an embodiment, the collision determination device 130 may receive sensor data from at least one of a gyro sensor, an angular velocity sensor, an acceleration sensor, a yaw rate sensor, a roll rate sensor, and any combination thereof. The collision determination device 130 may obtain an impact value associated with an impact or an impact force applied to the vehicle based on the sensor data received from at least one of the gyro sensor, the angular velocity sensor, the acceleration sensor, the yaw rate sensor, the roll rate sensor, and any combination thereof.

[0056] The processor 110 of the vehicle control apparatus 100 according to the embodiment may determine whether an external object exists within a specified distance from the vehicle through the collision risk determination device 120 .

[0057] For example, the processor 110 may set a boundary area that is spaced a specified distance from the vehicle. The processor 110 may identify an external object within the boundary area based on setting the boundary area that is spaced a specified distance from the vehicle.

[0058] For example, the processor 110 may form a gray area within the boundary area. For example, the gray area may be formed within the boundary area and may be formed based on a reference distance that is less than a specified distance. For example, the reference distance may be obtained based on applying a specified ratio (e.g., about 50%) to the specified distance.

[0059] The processor 110 of the vehicle control device 100 according to the embodiment can obtain the impact value associated with the collision between the vehicle and the external object based on the acceleration acting on the vehicle, the yaw rate of the vehicle, and the roll rate of the vehicle through the collision determination device 130. Hereinafter, the acceleration acting on the vehicle may include the amount of change of the acceleration acting on the vehicle.

[0060] In an embodiment, the processor 110 may obtain an impact value associated with a collision between the vehicle and an external object based on at least one of an acceleration acting on the vehicle, a yaw rate of the vehicle, a roll rate of the vehicle, a pitch rate of the vehicle, and any combination thereof.

[0061] For example, the acceleration acting on the vehicle may include a lateral acceleration acting on the lateral direction of the vehicle, a longitudinal acceleration acting on the longitudinal direction of the vehicle, and a vertical acceleration acting on the vertical direction of the vehicle. For example, the lateral direction of the vehicle may include a direction corresponding to the left surface or the right surface of the vehicle. For example, the longitudinal direction of the vehicle may include a direction corresponding to the front surface or the rear surface of the vehicle. For example, the vertical direction of the vehicle may include a direction corresponding to the top surface or the bottom surface of the vehicle.

[0062] In an embodiment, the processor 110 may obtain an impact value based on the acceleration acting on the vehicle. In an embodiment, the processor 110 may obtain an impact value based on the yaw rate of the vehicle, the roll rate of the vehicle, and the pitch rate of the vehicle. In an embodiment, the processor 110 may obtain an impact value based on at least one of the acceleration acting on the vehicle, the yaw rate of the vehicle, the roll rate of the vehicle, the pitch rate of the vehicle, and any combination thereof, and may identify a collision between the vehicle and an external object based on the obtained impact value.

[0063] For example, the processor 110 may obtain an impact value based on inertial measurement unit (IMU) sensor data. For example, the IMU sensor data may include at least one of an acceleration acting on the vehicle, a yaw rate of the vehicle, a roll rate of the vehicle, a pitch rate of the vehicle, and any combination thereof. For example, the processor 110 may obtain an impact value based on the IMU sensor data, and may identify a collision between the vehicle and an external object by using the obtained impact value.

[0064] In an embodiment, the processor 110 may identify a collision between the vehicle and the external object based on an impact value associated with the collision between the vehicle and the external object exceeding an impact threshold.

[0065] For example, the processor 110 may identify an external object that is within a specified distance from the vehicle for a specified time, and may identify a collision between the vehicle and the external object based on the fact that the impact value exceeds the impact threshold for a specified time.

[0066] For example, the processor 110 may identify an external object within a boundary area within a specified time, and may identify a collision between the vehicle and the external object based on an impact value exceeding an impact threshold for a specified time.

[0067] For example, the processor 110 may identify an external object within a gray area formed in the boundary area within a specified time, and may identify a collision between the vehicle and the external object based on an impact value exceeding an impact threshold for a specified time.

[0068] In an embodiment, the processor 110 may receive object information including a type of the external object and a state of the external object through the communication circuit 140 .

[0069] For example, the type of external object may include at least one of a pedestrian, a bicycle, a two-wheeled vehicle, a powered two-wheeled vehicle (PTW), a passenger vehicle, a truck, a bus, and any combination thereof. For example, a PTW may include a two-wheeled electric vehicle with a motorcycle. However, a PTW is not limited to a two-wheeled electric vehicle. For example, a PTW may include various types of vehicles in which passengers are exposed to the outside, such as a three-wheeled electric vehicle. The type of external object is not limited to the above examples.

[0070] For example, the state of the external object may include at least one of a speed of the external object, a direction from which the external object approaches the vehicle, and any combination thereof.

[0071] In an embodiment, the processor 110 may recognize that the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof. For example, the processor 110 may recognize that the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof based on the object information received through the communication circuit 140. For example, when the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof, the processor 110 may change the impact threshold to a first impact threshold. For example, the first impact threshold may include a threshold for identifying a collision between a vehicle and a small external object including a pedestrian.

[0072] In an embodiment, the processor 110 may recognize that the type of the external object is a second type indicating a passenger vehicle. For example, the processor 110 may recognize that the type of the external object is a second type indicating a passenger vehicle based on the object information received through the communication circuit 140. For example, the processor 110 may change the impact threshold to a second impact threshold that exceeds the first impact threshold based on the type of the external object being the second type including a passenger vehicle. For example, the second impact threshold may include a threshold for identifying a collision between the vehicle and a medium-sized external object that is larger in size than a small external object including a pedestrian and smaller in size than a large external object including a truck.

[0073] In an embodiment, the processor 110 may recognize that the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof. For example, the processor 110 may recognize that the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof based on the object information received through the communication circuit 140. For example, when the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof, the processor 110 may change the impact threshold to a third impact threshold exceeding the second impact threshold. For example, the third impact threshold may include a threshold for identifying a collision between the vehicle and a large external object whose size is larger than that of a medium-sized external object including a passenger vehicle.

[0074] In an embodiment, the processor 110 may apply a weight to the impact threshold based on the type of the external object. For example, the processor 110 may identify that the type of the external object is one of a first type including at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof, a second type including a passenger vehicle, and a third type including at least one of a truck, a bus, and any combination thereof. For example, the processor 110 may apply a weight corresponding to the type of the external object based on whether the type of the external object is one of the first type, the second type, or the third type.

[0075] For example, the processor 110 may apply a first weight to the impact threshold based on the type of the external object. For example, the processor 110 may apply a second weight to the impact threshold based on the relative speed between the external object and the vehicle. For example, when the relative speed between the external object and the vehicle is large, the processor 110 may apply a relatively large second weight to the impact threshold.

[0076] For example, when the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof, the processor 110 may apply a first partial weight (partial weight) included in the first weight to the impact threshold.

[0077] For example, when the type of the external object is a second type indicating a passenger vehicle, the processor 110 may apply a second partial weight included in the first weight to the impact threshold. For example, the second partial weight may include a partial weight greater than the first partial weight.

[0078] For example, when the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof, the processor 110 may apply a third partial weight included in the first weight to the impact threshold. For example, the third partial weight may include a partial weight greater than the second partial weight.

[0079] For example, the processor 110 may apply a second weight to the impact threshold based on the relative speed between the external object and the vehicle. For example, when the relative speed between the external object and the vehicle is large, the processor 110 may apply a relatively large second weight to the impact threshold.

[0080] For example, the processor 110 may apply a fourth partial weight included in the second weight to the impact threshold based on a relative speed between the external object identified in a first section and the vehicle.

[0081] For example, the processor 110 may apply a fifth partial weight included in the second weight to the impact threshold based on the relative speed between the external object and the vehicle identified in the second section including the minimum value corresponding to the maximum value of the first section. For example, the fifth partial weight may include a partial weight greater than the fourth partial weight.

[0082] The relative speed between the external object and the vehicle is described in the case of the first section and in the case of the second section. However, the embodiments of the present disclosure are not limited to the above embodiments. For example, the processor 110 may divide the relative speed between the external object and the vehicle into a first section, a second section, and a third section. The fourth partial weight corresponding to the first section, the fifth partial weight corresponding to the second section, or the sixth partial weight corresponding to the third section may be applied to the impact threshold.

[0083] In an embodiment, the processor 110 may identify a threshold acceleration included in the impact threshold, a threshold yaw rate included in the impact threshold, and a threshold roll rate included in the impact threshold. For example, the impact threshold may include a threshold acceleration, a threshold yaw rate, and a threshold roll rate. For example, the threshold acceleration may include a threshold lateral acceleration, a threshold longitudinal acceleration, and a threshold vertical acceleration.

[0084] In an embodiment, the processor 110 may identify that the acceleration acting on the vehicle exceeds a threshold acceleration.

[0085] For example, the processor 110 may identify that the lateral acceleration acting on the vehicle exceeds a threshold lateral acceleration. For example, the processor 110 may identify that the longitudinal acceleration acting on the vehicle exceeds a threshold longitudinal acceleration. For example, the processor 110 may identify that the vertical acceleration acting on the vehicle exceeds a threshold vertical acceleration.

[0086] For example, the processor 110 may identify that the yaw rate of the vehicle exceeds a threshold yaw rate.For example, the processor 110 may identify that the roll rate of the vehicle exceeds a threshold roll rate.

[0087] For example, based on the fact that the acceleration acting on the vehicle exceeds the threshold acceleration, the yaw rate of the vehicle exceeds the threshold yaw rate, and the roll rate of the vehicle exceeds the threshold roll rate, the processor 110 can identify that the impact value exceeds the impact threshold. For example, the processor 110 can identify a collision between the vehicle and an external object based on the impact value exceeding the impact threshold.

[0088] For example, processor 110 may identify a collision between the vehicle and an external object based on the fact that a lateral acceleration acting on the vehicle exceeds a threshold lateral acceleration, a longitudinal acceleration acting on the vehicle exceeds a threshold longitudinal acceleration, a vertical acceleration acting on the vehicle exceeds a threshold vertical acceleration, a yaw rate of the vehicle exceeds a threshold yaw rate, and a roll rate of the vehicle exceeds a threshold roll rate.

[0089] In an embodiment, the processor 110 may obtain an impact value associated with a collision between the vehicle and the external object through the collision determination device 130 based on the acceleration acting on the vehicle, the yaw rate of the vehicle, and the roll rate of the vehicle. The processor 110 may identify a collision between the vehicle and the external object based on the impact value exceeding an impact threshold. The processor 110 may change the driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on identifying a collision between the vehicle and the external object.

[0090] In an embodiment, when the impact value exceeds the impact threshold and when the difference between the impact value and the impact threshold exceeds the reference value, the processor 110 may reduce the speed of the vehicle and may simultaneously change the driving mode of the vehicle from the first mode to the second mode. The processor 110 may transmit a signal (e.g., an SOS signal) indicating that the vehicle is in an emergency state to an external electronic device including a server through the communication circuit 140. For example, the processor 110 may transmit a signal indicating that the vehicle is in an emergency state to an external electronic device including a server through the communication circuit 140 based on the fact that the impact value exceeds the impact threshold and the difference between the impact value and the impact threshold exceeds the reference value.

[0091] In an embodiment, based on the fact that the impact value exceeds the impact threshold and the difference between the impact value and the impact threshold is less than or equal to the reference value, the processor 110 may make a request to change the driving mode of the vehicle from the first mode to the second mode. The processor 110 may limit the acceleration of the vehicle. For example, the processor 110 may limit the acceleration of the vehicle based on the fact that the impact value exceeds the impact threshold and the difference between the impact value and the impact threshold is less than or equal to the reference value.

[0092] As described above, the processor 110 of the vehicle control device 100 according to the embodiment can identify the collision between the vehicle and the external object based on whether the external object exists around the vehicle and the impact value associated with the vehicle. The processor 110 can accurately identify the collision between the vehicle and the external object by identifying the collision between the vehicle and the external object based on whether the external object exists around the vehicle and the impact value associated with the vehicle. In addition, the processor 110 can easily respond to the accident by changing the driving mode of the vehicle based on identifying the collision between the vehicle and the external object.

[0093] Figure 2 An example associated with an external object recognized within a specified distance from a vehicle in an embodiment of the present disclosure is shown.

[0094] refer to Figure 2 , according to the vehicle control device of the embodiment (for example, Figure 1 The vehicle control device 100 of the embodiment of the present invention may be included in the vehicle 200. The processor of the vehicle control device (eg, Figure 1The processor 110 in the embodiment may identify the distance between the vehicle 200 and the external object 231. For example, the processor may identify whether the external object 231 exists within a specified distance 211, 213, or 215 from the vehicle 200. For example, the specified distances 211, 213, and 215 may include a first specified distance 211 measured from the front surface of the vehicle, a second specified distance 213 measured from the side surface of the vehicle, and a third specified distance 215 measured from the rear surface of the vehicle. The first specified distance 211, the second specified distance 213, and the third specified distance 215 may be different from each other or may be the same as each other. As described above, the first specified distance 211, the second specified distance 213, and the third specified distance 215 are not limited thereto.

[0095] In an embodiment, the processor may set the boundary area 221 based on the designated distances 211, 213, and 215. For example, the processor may determine whether the external object 231 exists within the boundary area 221 based on setting the boundary area 221.

[0096] For example, the processor may identify whether the external object 231 exists within the boundary area 221 based on the fused sensing result of the autonomous driving sensor (e.g., at least one of a camera, LiDAR, radar, and any combination thereof).

[0097] For example, the processor may identify the gray area 223 within the boundary area 221. For example, the processor may determine whether the external object 231 exists within the gray area 223.

[0098] In an embodiment, the processor may determine whether the external object 231 exists in the boundary area 221 or the gray area 223. The processor may transmit information indicating that the external object 231 exists in the boundary area 221 or the gray area 223 to the collision determination device (e.g., Figure 1 The collision determination device 130 in FIG.

[0099] For example, the processor may transmit information indicating that the external object 231 exists in the boundary area 221 or the gray area 223 for a specified time to the collision determination device based on the fact that the external object 231 exists in the boundary area 221 or the gray area 223 .

[0100] In an embodiment, the processor may identify the collision between the vehicle 200 and the external object 231 based on the fact that the external object 231 exists within the boundary area 221 or the gray area 223 and the impact value exceeds the impact threshold within a specified time.

[0101] As described above, the processor included in the vehicle control device according to the embodiment can accurately identify the collision between the vehicle 200 and the external object 231 within a specified time by identifying the collision between the vehicle 200 and the external object 231 based on the fact that the external object 231 exists within the boundary area 221 or the gray area 223 and the impact value exceeds the impact threshold.

[0102] Figure 3 An example of association with the acceleration of the vehicle, the yaw rate of the vehicle, and the roll speed of the vehicle in the embodiment of the present disclosure is shown.

[0103] See also Figure 3 , according to the vehicle control device of the embodiment (for example, Figure 1 The vehicle control device 100 of the embodiment of the present invention may be included in the vehicle 300. For example, the processor of the vehicle control device may determine the collision by using a collision determination device (e.g., Figure 1 The collision determination device 130 in the embodiment identifies at least one of the acceleration acting on the vehicle 300, the yaw rate of the vehicle 300, the roll rate of the vehicle 300, and any combination thereof.

[0104] Figure 3 The first graph 311 in may include a graph indicating the longitudinal acceleration acting in the longitudinal direction of the vehicle. Figure 3 The second graph 313 in may include a graph indicating lateral acceleration acting in a lateral direction of the vehicle. Figure 3 The third graph 315 may include a graph indicating the vertical acceleration acting in the vertical direction of the vehicle. Figure 3 The fourth graph 321 may include a graph indicating the yaw rate of the vehicle. Figure 3 The fifth graph 323 in may include a graph indicating the roll rate of the vehicle.

[0105] For example, the processor may identify that the longitudinal acceleration acting in the longitudinal direction of the vehicle 300 exceeds a threshold longitudinal acceleration. For example, the processor may identify that the lateral acceleration acting in the lateral direction of the vehicle 300 exceeds a threshold lateral acceleration. For example, the processor may identify that the vertical acceleration acting in the vertical direction of the vehicle 300 exceeds a threshold vertical acceleration. For example, the processor may identify that the yaw rate of the vehicle 300 exceeds a threshold yaw rate. For example, the processor may identify that the roll rate of the vehicle 300 exceeds a threshold roll rate.

[0106] In the first graph 311, the processor may identify that the longitudinal acceleration of the vehicle 300 exceeds 1. In the second graph 313, the processor may identify that the lateral acceleration of the vehicle 300 exceeds 0.05. In the third graph 315, the processor may identify that the vertical acceleration of the vehicle 300 exceeds 0.5. In the fourth graph 321, the processor may identify that the yaw rate of the vehicle 300 exceeds 0.5. In the fifth graph 323, the processor may identify that the roll rate of the vehicle 300 exceeds 1.

[0107] For example, the processor may identify a collision between the vehicle 300 and the external object based on the fact that the longitudinal acceleration of the vehicle 300 exceeds 1, the lateral acceleration of the vehicle 300 exceeds 0.05, the vertical acceleration of the vehicle 300 exceeds 0.5, the yaw rate of the vehicle 300 exceeds 0.5, and the roll rate of the vehicle 300 exceeds 1. However, examples of collision between the vehicle 300 and the external object are not limited to the above examples.

[0108] Figure 4 An example of a flowchart associated with a vehicle control method according to an embodiment of the present disclosure is shown.

[0109] In the following, it is assumed Figure 1 The vehicle control device 100 executes Figure 4 In addition, Figure 4 In the description, it can be understood that the operations described as being performed by the processor are controlled by the processor 110 of the vehicle control device 100.

[0110] Figure 4 At least one of the operations can be performed by Figure 1 The vehicle control device 100 executes. Figure 4 Each operation in can be performed sequentially, but not necessarily sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel.

[0111] See also Figure 4 In operation S401, the vehicle control method according to the embodiment may include a processor (eg, Figure 1 The processor 110 in the embodiment of the present invention) determines the collision risk by means of a collision risk determination device (eg, Figure 1 The collision risk determination device 120 in the vehicle determines whether an external object exists within a specified distance from the vehicle.

[0112] In operation S403, the vehicle control method according to the embodiment may include determining the collision of the vehicle by a collision determination device (eg, Figure 1 The operation of the collision determination device 130 in the vehicle) obtaining an impact value associated with a collision between the vehicle and the external object.

[0113] For example, the acceleration acting on the vehicle may include a lateral acceleration acting in a lateral direction of the vehicle, a longitudinal acceleration acting in a longitudinal direction of the vehicle, and a vertical acceleration acting in a vertical direction of the vehicle.

[0114] In operation S405 , the vehicle control method according to the embodiment may include an operation of recognizing a collision between the vehicle and the external object based on the impact value exceeding the impact threshold.

[0115] For example, the vehicle control method may include the following operations: identifying an external object within a specified distance from the vehicle for a specified time; and identifying a collision between the vehicle and the external object based on the fact that the impact value exceeds the impact threshold for the specified time.

[0116] For example, a vehicle control method may include communicating with a communication circuit (e.g., Figure 1 The communication circuit 140 in the vehicle receives object information including the type of the external object and the state of the external object. For example, the vehicle control method may include an operation of changing the impact threshold based on the object information including the type of the external object and the state of the external object. For example, the state of the external object may include at least one of the speed of the external object, the direction in which the external object approaches the vehicle, and any combination thereof.

[0117] For example, the vehicle control method may include an operation of changing the impact threshold to a first impact threshold based on the type of the external object being a first type including at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof.

[0118] For example, the vehicle control method may include an operation of changing the impact threshold to a second impact threshold exceeding the first impact threshold based on the type of the external object being a second type including a passenger vehicle.

[0119] For example, the vehicle control method may include an operation of changing the impact threshold to a third impact threshold exceeding the second impact threshold based on the type of the external object being a third type including at least one of a truck, a bus, and any combination thereof.

[0120] For example, the vehicle control method may include an operation of applying a first weight to the impact threshold based on the type of external object.

[0121] For example, the vehicle control method may include an operation of applying a second weight to the impact threshold based on a relative speed between the external object and the vehicle.

[0122] In an embodiment, the impact threshold may include a threshold acceleration, a threshold yaw rate, and a threshold roll rate. According to an embodiment, the vehicle control method may include an operation of identifying that the impact value exceeds the impact threshold based on the fact that the acceleration acting on the vehicle exceeds the threshold acceleration, the yaw rate of the vehicle exceeds the threshold yaw rate, and the roll rate of the vehicle exceeds the threshold roll rate. The vehicle control method may include an operation of determining a collision between the vehicle and the external object based on identifying that the impact value exceeds the impact threshold by using the acceleration, the yaw rate, and the roll rate.

[0123] In operation S407 , the vehicle control method according to the embodiment may include an operation of changing a driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on recognizing a collision between the vehicle and an external object.

[0124] For example, the vehicle control method may include an operation of changing the driving mode of the vehicle from a first mode associated with an autonomous driving mode to a second mode controlled by a user based on i) the impact value exceeding the impact threshold value, and ii) the difference between the impact value and the impact threshold value exceeding the reference value, and simultaneously reducing the speed of the vehicle. For example, the vehicle control method may include an operation of transmitting a signal indicating that the vehicle is in an emergency state to an external electronic device including a server through a communication circuit.

[0125] For example, the vehicle control method may include an operation of making a request to change the driving mode of the vehicle from a first mode associated with the autonomous driving mode to a second mode controlled by a user based on the impact value exceeding the impact threshold and the difference between the impact value and the impact threshold being less than or equal to a reference value. The vehicle control method may include an operation of limiting the acceleration of the vehicle.

[0126] As described above, the vehicle control method according to the embodiment may include an operation of identifying a collision between the vehicle and the external object based on whether the external object exists around the vehicle and an impact value associated with the vehicle. The vehicle control method may include an operation of accurately identifying a collision between the vehicle and the external object by identifying the collision between the vehicle and the external object based on whether the external object exists around the vehicle and an impact value associated with the vehicle.

[0127] Figure 5 An example of a flowchart associated with a vehicle control method according to an embodiment of the present disclosure is shown.

[0128] In the following, it is assumed Figure 1 The vehicle control device 100 executes Figure 5 In addition, Figure 5 In the description, it can be understood that the operations described as being performed by the processor are controlled by the processor 110 of the vehicle control device 100.

[0129] Figure 5 At least one of the operations can be performed by Figure 1 The vehicle control device 100 executes. Figure 5 Each operation in can be performed sequentially, but not necessarily sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel.

[0130] refer to Figure 5 In operation S501, the vehicle control method according to the embodiment may include the following operations:

[0131] By a processor (e.g. Figure 1 The processor 110 in the vehicle performs autonomous driving. For example, the vehicle control method may include an operation of autonomously driving the vehicle by using a first mode associated with an autonomous driving mode of the vehicle.

[0132] In operation S503, the vehicle control method according to the embodiment may include an operation of determining whether there is a collision risk. For example, the vehicle control method may include an operation of determining whether there is a collision risk between the vehicle and an external object.

[0133] For example, the vehicle control method may include an operation of determining whether there is a risk of collision between the vehicle and the external object based on the distance between the vehicle and the external object. For example, the vehicle control method may include an operation of determining whether there is a risk of collision between the vehicle and the external object by using the distance between the vehicle and the external object based on a sensor fusion result of an autonomous driving sensor (e.g., at least one of a camera, LiDAR, radar, and any combination thereof).

[0134] In an embodiment, the vehicle control method may include an operation of identifying that there is a risk of collision based on a distance between the vehicle and the external object being less than or equal to a specified distance.

[0135] For example, the vehicle control method may include an operation of identifying that there is no risk of collision based on the distance between the vehicle and the external object exceeding a specified distance.

[0136] When there is a risk of collision (yes in operation S503), in operation S505, the vehicle control method according to the embodiment may include an operation of determining whether abnormal behavior occurs. For example, the vehicle control method may include an operation of determining whether abnormal behavior occurs in the vehicle. For example, the vehicle control method may include an operation of determining whether abnormal behavior occurs in the vehicle based on at least one of an acceleration acting on the vehicle, a yaw rate of the vehicle, a roll rate of the vehicle, and any combination thereof.

[0137] For example, the vehicle control method may include an operation of obtaining an impact value associated with an acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle. The vehicle control method may include an operation of identifying that an abnormal behavior has occurred based on the impact value exceeding an impact threshold. For example, the vehicle control method may include an operation of identifying that an abnormal behavior has not occurred based on the impact value being less than or equal to the impact threshold.

[0138] When there is no collision risk (NO in operation S503 ) or abnormal behavior does not occur (NO in operation S505 ), in operation S501 , the vehicle control method according to the embodiment may include an operation of maintaining autonomous driving of the vehicle.

[0139] When the abnormal behavior occurs (Yes in operation S505), in operation S507, the vehicle control method according to the embodiment may include an operation of determining a collision. For example, the vehicle control method may include an operation of determining a collision between the vehicle and an external object.

[0140] For example, the vehicle control method may include an operation of determining a collision between the vehicle and the external object when a distance between the vehicle and the external object is less than or equal to a specified distance and an impact value exceeds an impact threshold.

[0141] In operation S509, the vehicle control method according to the embodiment may include an operation of determining an autonomous driving mode. For example, the vehicle control method may include an operation of determining whether to maintain the autonomous driving mode or change the autonomous driving mode to a normal driving mode controlled by a user based on determining a collision between the vehicle and an external object.

[0142] For example, the vehicle control method may include an operation to adjust the level of the autonomous driving mode based on determining a collision between the vehicle and an external object.

[0143] In operation S511, the vehicle control method according to the embodiment may include an operation of executing a control transfer request and a stop control. For example, the control transfer request may include a request to transfer control of a vehicle driven in an autonomous driving mode to a user. The vehicle control method may include an operation of executing a stop control to stop the vehicle based on identifying a collision between the vehicle and an external object.

[0144] As described above, the vehicle control method according to the embodiment may include an operation of identifying a collision between the vehicle and an external object. The vehicle control method may include an operation of changing the driving mode of the vehicle based on identifying a collision between the vehicle and the external object. The vehicle control method may include an operation of responding to an emergency situation by changing the driving mode of the vehicle based on identifying a collision between the vehicle and the external object.

[0145] Figure 6A computing system associated with a vehicle control device or a vehicle control method according to an embodiment of the present disclosure is shown.

[0146] See also Figure 6 , the computing system 1000 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 .

[0147] 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. 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) 1310 and a RAM (Random Access Memory) 1320.

[0148] Therefore, the process of the method or algorithm described in conjunction with the embodiments of the present disclosure may be directly implemented by hardware, software modules, or a combination thereof executed by the processor 1100. The software module may reside in a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, register, hard disk, solid state drive (SSD), detachable disk, or CD-ROM. An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from the storage medium and can write information in the storage medium. In another method, the storage medium may be integrated with the processor 1100. The processor 1100 and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another method, the processor 1100 and the storage medium may reside in a user terminal as separate components.

[0149] The present technology may identify a collision between a vehicle and an external object by using the distance and impact value between the vehicle and the external object.

[0150] Furthermore, the present technology can accurately identify a collision between a vehicle and an external object by identifying a collision between the vehicle and the external object based on the acceleration acting on the vehicle and the distance between the vehicle and the external object.

[0151] Furthermore, the present technology can accurately operate in the driving mode of the vehicle by determining the driving mode of the vehicle based on the recognition of the collision between the vehicle and the external object.

[0152] Hereinabove, although the present disclosure has been described with reference to the exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto but various modifications and changes may be made by one of ordinary skill in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure.

Claims

1. A vehicle control device, comprising: collision risk determination device; a collision determination device; as well as The processor is configured as: determining, by the collision risk determination device, whether an external object is present within a specified distance from the vehicle; obtaining, by the collision determination device, an impact value associated with a collision between the vehicle and the external object based on an acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle; identifying a collision between the vehicle and the external object based on the impact value exceeding an impact threshold; as well as Based on a result of identifying the collision between the vehicle and the external object, a driving mode of the vehicle is changed from a first mode associated with an autonomous driving mode to a second mode controlled by a user.

2. The vehicle control device according to claim 1, wherein: The acceleration acting on the vehicle includes a lateral acceleration acting in a lateral direction of the vehicle, a longitudinal acceleration acting in a longitudinal direction of the vehicle, and a vertical acceleration acting in a vertical direction of the vehicle.

3. The vehicle control device according to claim 1, wherein: The processor is configured to: identifying the external object within the specified distance from the vehicle for a specified time; and The collision between the vehicle and the external object is identified based on the impact value exceeding the impact threshold for the designated time.

4. The vehicle control device according to claim 1, further comprising: Communication circuits, Wherein, the processor is configured to: receiving, through the communication circuit, object information including a type of the external object and a state of the external object; and The impact threshold is changed based on the object information.

5. The vehicle control device according to claim 4, wherein: The processor is configured to: When the type of the external object is a first type indicating at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof, changing the impact threshold to a first impact threshold; When the type of the external object is a second type indicative of a passenger vehicle, changing the impact threshold to a second impact threshold exceeding the first impact threshold; and When the type of the external object is a third type indicating at least one of a truck, a bus, and any combination thereof, the impact threshold is changed to a third impact threshold exceeding the second impact threshold.

6. The vehicle control device according to claim 4, wherein: The state of the external object includes at least one of a speed of the external object, a direction in which the external object approaches the vehicle, and any combination thereof.

7. The vehicle control device according to claim 4, wherein: The processor is configured to: applying a first weight to the impact threshold based on the type of the external object; and A second weight is applied to the impact threshold based on a relative speed between the external object and the vehicle.

8. The vehicle control device according to claim 1, further comprising: Communication circuits, Wherein, the processor is configured to: when the impact value exceeds the impact threshold value and a difference between the impact value and the impact threshold value exceeds a reference value, changing the driving mode of the vehicle from the first mode to the second mode and simultaneously reducing the speed of the vehicle; and A signal indicating that the vehicle is in an emergency state is transmitted to an external electronic device including a server through the communication circuit.

9. The vehicle control device according to claim 1, wherein: The processor is configured to: making a request to change the driving mode of the vehicle from the first mode to the second mode based on the fact that the shock value exceeds the shock threshold value and a difference between the shock value and the shock threshold value is less than or equal to a reference value; as well as The acceleration of the vehicle is limited.

10. The vehicle control device according to claim 1, wherein The impact threshold includes a threshold acceleration, a threshold yaw rate, and a threshold roll rate, and Wherein, the processor is configured to: identifying that the impact value exceeds the impact threshold based on the fact that the acceleration acting on the vehicle exceeds the threshold acceleration, the yaw rate of the vehicle exceeds the threshold yaw rate, and the roll rate of the vehicle exceeds the threshold roll rate; and Based on the impact value exceeding an impact threshold, the collision between the vehicle and the external object is identified.

11. A vehicle control method, comprising: determining, by the processor, via the collision risk determination device, whether an external object is present within a specified distance from the vehicle; obtaining, by a collision determination device, an impact value associated with a collision between the vehicle and the external object based on an acceleration acting on the vehicle, a yaw rate of the vehicle, and a roll rate of the vehicle; identifying the collision between the vehicle and the external object based on the impact value exceeding an impact threshold; as well as Based on identifying the collision between the vehicle and the external object, a driving mode of the vehicle is changed from a first mode associated with an autonomous driving mode to a second mode controlled by a user.

12. The method according to claim 11, wherein: The acceleration acting on the vehicle includes a lateral acceleration acting in a lateral direction of the vehicle, a longitudinal acceleration acting in a longitudinal direction of the vehicle, and a vertical acceleration acting in a vertical direction of the vehicle.

13. The method according to claim 11, further comprising: identifying the external object within the specified distance from the vehicle for a specified time; and identifying a collision between the vehicle and the external object based on the impact value exceeding the impact threshold for the designated time.

14. The method according to claim 11, further comprising: receiving object information including a type of the external object and a state of the external object through a communication circuit; as well as The impact threshold is changed based on the object information.

15. The method according to claim 14, further comprising: changing the impact threshold to a first impact threshold based on the type of the external object being determined to be a first type indicative of at least one of a pedestrian, a bicycle, a two-wheeled vehicle, and any combination thereof; based on the type of the external object being determined to be indicative of a second type of passenger vehicle, changing the impact threshold to a second impact threshold that exceeds the first impact threshold; and Based on the type of the external object being determined to be a third type indicative of at least one of a truck, a bus, and any combination thereof, the impact threshold is changed to a third impact threshold that exceeds the second impact threshold.

16. The method according to claim 14, wherein: The state of the external object includes at least one of a speed of the external object, a direction in which the external object approaches the vehicle, and any combination thereof.

17. The method according to claim 14, further comprising: applying a first weight to the impact threshold based on a type of the external object; as well as A second weight is applied to the impact threshold based on a relative speed between the external object and the vehicle.

18. The method according to claim 11, further comprising: changing the driving mode of the vehicle from the first mode to the second mode and simultaneously reducing the speed of the vehicle based on the impact value exceeding the impact threshold value and a difference between the impact value and the impact threshold value exceeding a reference value; as well as A signal indicating that the vehicle is in an emergency state is transmitted to an external electronic device including a server through a communication circuit.

19. The method according to claim 11, further comprising: making a request to change the driving mode of the vehicle from the first mode to the second mode based on the fact that the shock value exceeds the shock threshold value and a difference between the shock value and the shock threshold value is less than or equal to a reference value; as well as The acceleration of the vehicle is limited.

20. The method according to claim 11, further comprising: identifying that the impact value exceeds the impact threshold based on the fact that the acceleration acting on the vehicle exceeds a threshold acceleration, the yaw rate of the vehicle exceeds a threshold yaw rate, and the roll rate of the vehicle exceeds a threshold roll rate, wherein the impact threshold includes the threshold acceleration, the threshold yaw rate, and the threshold roll rate; and Based on the impact value exceeding the impact threshold, the collision between the vehicle and the external object is identified.

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