Automatic driving control apparatus and method thereof

Abstract

The invention discloses an automatic driving control apparatus. Embodiments of the automatic driving control apparatus include a sensor device, a memory, and a controller. The automatic driving control apparatus may acquire sensor performance confirmation information based on identification information of at least one object identified using a sensor device, acquire driving performance confirmation information including internal information of a host vehicle, external information of the host vehicle, geographic information of the host vehicle, driving information of the host vehicle, or any combination thereof, and determine whether the sensor performance confirmation information is the sensor performance confirmation information. And adjusting at least one control parameter for driving control of the host vehicle on the basis of the sensor performance confirmation information and / or the driving performance confirmation information.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2023-0148145, filed on October 31, 2023, which is hereby incorporated by reference. Technical Field

[0003] The present disclosure relates to an automatic driving control device and a method thereof. Background Art

[0004] As autonomous vehicles become more common, various technologies related to autonomous driving have also been developed. Depending on the level of control, autonomous driving can be divided into partial autonomous driving, conditional autonomous driving, highly autonomous driving and / or fully autonomous driving.

[0005] At the same time, various types of control algorithms (or functions) for changing at least some parameters of control for the main vehicle in response to identified events, and performing stable and continuous autonomous driving control when various events (e.g., degradation of a particular device) occur while driving control is performed on the main vehicle have been developed in the autonomous driving control function.

[0006] For example, when it is recognized that a part of the performance of the host vehicle is deteriorated or improved, the automatic driving control device can perform a function of notifying the user of the corresponding information in various methods.

[0007] However, the method for providing information to the user in the automatic driving control device can increase the convenience of the user in terms of usability. However, in reality, it is necessary to directly change the control algorithm so that the automatic driving control device controls the host vehicle more appropriately.

[0008] In addition, when the same control parameters as before are used to perform automatic driving control when a sensor malfunction occurs or the main vehicle is traveling under adverse conditions (e.g., a road section with a high slope, an icy road section, a road section where accidents are likely to occur, etc.), there is a high possibility that an emergency situation (e.g., a stopped vehicle fails to respond) may occur.

[0009] Furthermore, different behaviors of each vehicle are shown when the host vehicle is controlled using fixed control parameters without considering the vehicle type or the real-time performance of the vehicle. Summary of the invention

[0010] The present disclosure relates to an automatic driving control device and method thereof, and more particularly, to a technology for changing control parameters based on a performance state of a host vehicle.

[0011] The embodiments of the present disclosure are intended to solve the above-mentioned problems in the prior art while fully maintaining the advantages achieved by the prior art.

[0012] One embodiment of the present disclosure provides an autonomous driving control device, which is used to use information obtained by a sensor device to identify the degree of performance degradation or performance improvement of a sensor device, and adjust at least one control parameter for driving control of a main vehicle (e.g., stopped vehicle response control) based on the identified degree.

[0013] One embodiment of the present disclosure provides an autonomous driving control device, which is used to identify the degree of performance degradation or performance improvement of driving performance based on driving performance verification information, the driving performance confirmation information including internal information of the main vehicle, external information of the main vehicle, geographic information of the main vehicle, driving information of the main vehicle, or any combination thereof, and adjust at least one control parameter for driving control of the main vehicle (for example, stopped vehicle response control) based on the identified degree.

[0014] The technical problems to be solved by one embodiment of the present disclosure are not necessarily limited to the above-mentioned problems, and any other technical problems not mentioned herein can be clearly understood by those skilled in the art to which the present disclosure belongs through the following description.

[0015] According to one embodiment of the present disclosure, an automatic driving control device may include a sensor device, a memory storing at least one instruction, and a controller operatively connected to the sensor device and the memory. For example, at least one instruction may be configured to, when executed by the controller, cause the automatic driving control device to: obtain sensor performance confirmation information based on identification information of at least one object identified using the sensor device, obtain driving performance confirmation information including internal information of the main vehicle, external information of the main vehicle, geographic information of the main vehicle, driving information of the main vehicle, or any combination thereof, and adjust at least one control parameter for driving control of the main vehicle based on at least one of the sensor performance confirmation information or the driving performance confirmation information or any combination thereof.

[0016] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: identify whether the number of first objects identified as being greater than the performance of the sensor device is greater than a first number based on identification information of at least one object; when the number of first objects identified as being greater than the first number is greater than the first number, obtain sensor performance confirmation information including information that the performance of the sensor device is improved; and change at least one control parameter based on the sensor performance confirmation information.

[0017] According to one embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: increase a minimum speed of an object response control for starting a stop in at least one control parameter based on sensor performance confirmation information.

[0018] According to one embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: change at least one control parameter in proportion to a degree of performance improvement of the sensor device, the degree of performance improvement being identified based on the sensor performance confirmation information.

[0019] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: identify whether the number of second objects identified as being less than the performance of the sensor device is greater than a second number based on identification information of at least one object; when the number of second objects identified is greater than the second number, obtain sensor performance confirmation information including information on performance degradation of the sensor device; and change at least one control parameter based on the sensor performance confirmation information.

[0020] According to one embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: reduce a minimum speed of an object response control for starting a stop in at least one control parameter based on sensor performance confirmation information.

[0021] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: based on identification information of at least one object, identify whether the number of first objects identified as greater than the performance of the sensor device is greater than a first number, and whether the number of second objects identified as less than the performance of the sensor device is greater than a second number, and maintain at least one control parameter when the number of first objects is less than or equal to the first number and when the number of second objects is less than or equal to the second number.

[0022] According to one embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: identify, based on driving performance confirmation information, whether a rain sensor or a wiper is activated and whether a notification indicating an icy state of the road is turned on, and when the rain sensor or the wiper is activated and the notification is turned off, or when the rain sensor and the wiper are deactivated and the notification is turned on, determine the driving performance of the main vehicle as a first degradation state, and change at least one control parameter to a first value.

[0023] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: determine the driving performance of the main vehicle as a second degradation state, and change at least one control parameter to a second value greater than the first value when a rain sensor or a wiper is activated and a notification is turned on.

[0024] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: use driving performance confirmation information to identify whether the main vehicle is traveling on a section of notice where an accident may occur or is planned to travel on a section of notice where an accident may occur, and when it is identified that the main vehicle is traveling on a section of notice where an accident may occur or is planned to travel on a section of notice where an accident may occur when the notification is turned on or the rain sensor or wipers are activated, change at least one control parameter during a driving section that includes the section of notice where an accident may occur and a specified margin distance.

[0025] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: identify the required acceleration for control of the main vehicle and the real-time acceleration of the main vehicle based on driving performance confirmation information, and when the error between the required acceleration and the real-time acceleration, and the convergence value of the real-time acceleration meet specified conditions, increase the minimum speed of the object response control for starting a stop in at least one control parameter.

[0026] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: identify the required acceleration for control of the main vehicle and the real-time acceleration of the main vehicle based on driving performance confirmation information, and when the error between the required acceleration and the real-time acceleration, and the convergence value of the real-time acceleration do not meet specified conditions, reduce the minimum speed of the object response control for starting a stop in at least one control parameter.

[0027] According to one embodiment, at least one instruction can be configured to, when executed by a controller, cause the autonomous driving control device to: after adjusting at least one control parameter for driving control of the main vehicle, gradually restore at least one control parameter to an initial parameter value when it is identified that the sensor performance and driving performance of the main vehicle have returned to correspond to the initial performance.

[0028] According to one embodiment, the identification information may include information about a recognition distance at which each of the at least one object is recognized. The sensor performance confirmation information may include information about the recognition performance of the sensor device. The driving performance confirmation information may include: internal information including information about whether a rain sensor or a wiper is activated; external information including information about whether a notification indicating an icy state of a road is working; geographic information including navigation information; and driving information including a required acceleration for driving control of the host vehicle and a real-time acceleration of the host vehicle.

[0029] According to one embodiment, the automatic driving control device may further include a notification device. For example, at least one instruction may be configured to, when executed by the controller, cause the automatic driving control device to: use the notification device to provide information about a performance state of the sensor device, a driving state of the host vehicle, a change in at least one control parameter, or any combination thereof, wherein the performance state is identified based on the sensor performance confirmation information, and the driving state is identified based on the driving performance confirmation information.

[0030] According to one embodiment of the present disclosure, an automatic driving control method may include: a controller obtaining sensor performance confirmation information based on identification information of at least one object identified using a sensor device, obtaining driving performance confirmation information including internal information of a main vehicle, external information of the main vehicle, geographic information of the main vehicle, driving information of the main vehicle, or any combination thereof, and adjusting at least one control parameter for driving control of the main vehicle based on at least one of the sensor performance confirmation information or the driving performance confirmation information or any combination thereof.

[0031] According to one embodiment, the automatic driving control method may also include: identifying by a controller based on identification information of at least one object whether the number of first objects identified as being greater than the performance of a sensor device is greater than a first number; when the number of first objects identified is greater than the first number, the controller obtains sensor performance confirmation information including information that the performance of the sensor device is improved, and the controller changes at least one control parameter based on the sensor performance confirmation information.

[0032] According to one embodiment, the changing of at least one control parameter based on the sensor performance confirmation information by the controller may include increasing, by the controller, a minimum speed for initiating a stopped object response control in the at least one control parameter based on the sensor performance confirmation information.

[0033] According to one embodiment, the automatic driving control method may also include: the controller identifies whether the rain sensor or the wiper is activated and whether the notification indicating the icy state of the road is turned on based on the driving performance confirmation information, and when the rain sensor or the wiper is activated and the notification is turned off, or when the rain sensor and the wiper are deactivated and the notification is turned on, the driving performance of the main vehicle is determined as a first degradation state by the controller, and at least one control parameter is changed to a first value by the controller.

[0034] According to one embodiment, the automatic driving control method may also include: when a rain sensor or a wiper is activated and a notification is turned on, determining the driving performance of the main vehicle as a second degradation state through a controller, and changing at least one control parameter to a second value greater than the first value through the controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0036] Figure 1 is a block diagram showing components of an automatic driving control device according to one embodiment of the present disclosure;

[0037] Figure 2 is a block diagram showing components of an automatic driving control device according to one embodiment of the present disclosure;

[0038] Figure 3 is a flow chart of an automatic driving control method according to one embodiment of the present disclosure;

[0039] Figure 4 is a flow chart of an automatic driving control method according to one embodiment of the present disclosure;

[0040] Figure 5 is a flow chart of an automatic driving control method according to one embodiment of the present disclosure;

[0041] Figure 6 is a flowchart of an automatic driving control method according to an embodiment of the present disclosure; and

[0042] Figure 7 A computing system of an autonomous driving control device or an autonomous driving control method according to one embodiment of the present disclosure is shown.

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

[0044] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it can be noted that the same components can be designated by the same reference numerals even when the same components are shown on other drawings. In addition, detailed descriptions of well-known features or functions can be omitted so as not to unnecessarily confuse the main points of the present disclosure.

[0045] When describing components according to an embodiment of the present disclosure, terms such as first, second, "A", "B", "(a)", "(b)", etc. may be used. These terms may be used only to distinguish one element from another, but do not necessarily limit the corresponding elements and have nothing to do with the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms used herein, including technical and scientific terms, may have the same meaning as commonly understood by technicians in the field to which the present disclosure belongs. These terms as defined in commonly used dictionaries may be interpreted as having a meaning equal to the contextual meaning in the relevant field.

[0046] In the following, reference will be made to Figures 1 to 7 Embodiments of the present disclosure are described in detail.

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

[0048] According to one embodiment, the automatic driving control device 100 may include a sensor device 110, a controller 120, a memory 130, a notification device 140, or any combination thereof. Figure 1 The components of the automatic driving control device 100 shown in FIG. 1 are illustrative, and the embodiments of the present disclosure are not necessarily limited thereto. For example, the automatic driving control device 100 may further include Figure 1 Components not shown (e.g., interfaces, communication devices, displays, or any combination thereof).

[0049] According to one embodiment, the sensor device 110 may acquire (or recognize) various information for the travel of the host vehicle.

[0050] For example, the sensor device 110 may include at least one sensor including a camera, radio detection and ranging (RADAR), light detection and ranging (LiDAR), or any combination thereof. The sensor device 110, even if expressed in the singular, may include a plurality of sensors.

[0051] For example, the sensor 110 may operate based on sensor parameters. As an example, the sensor parameters may be examples of setting values ​​regarding the operating performance of the sensor device 110, which may be stored in the memory 130. As an example, the sensor parameters may be setting values ​​that can be changed by a user and / or a developer.

[0052] For example, the sensor 110 may operate based on the initially set recognition performance. As an example, the recognition performance may include performance information when the sensor device 110 recognizes an object (eg, performance information about a recognizable distance, a recognizable range, or any combination thereof).

[0053] For example, the automatic driving control device 100 may recognize that the recognition performance of the sensor device 110 is improved based on the information acquired by the sensor device 110. As an example, when the information satisfying the specified first condition (e.g., recognized as being greater than the recognition distance initially set) among the plurality of pieces of information acquired by the sensor device 110 is greater than a specified amount, the controller 120 may determine that the recognition performance of the sensor device 110 is improved.

[0054] For example, the automatic driving control device 100 may recognize that the recognition performance of the sensor device 110 is degraded based on the information acquired by the sensor device 110. As an example, when the information satisfying the specified second condition (e.g., not satisfying the condition of the recognition performance initially set) among the plurality of pieces of information acquired by the sensor device 110 is greater than a specified amount, the controller 120 may determine that the recognition performance of the sensor device 110 is degraded.

[0055] According to one embodiment, the controller 120 may be operably connected to the sensor 110, the memory 130, the notification device 140, or any combination thereof. For example, the controller 120 may control the operation of the sensor device 110, the memory 130, the notification device 140, or any combination thereof.

[0056] According to one embodiment, the controller 120 may acquire information about the performance of the apparatus 100 using at least some of the information recognized by the sensor device 110 .

[0057] For example, the controller 120 may acquire sensor performance confirmation information based on identification information of each of at least one object (eg, at least one of a person, another vehicle, an object, a building, or any combination thereof) identified using the sensor device 110 .

[0058] As an example, the identification information may include information about the identification distance at which each of the at least one object is identified. In other words, the identification information corresponding to a specific object may include information about the distance at which the specific object is identified (or the separation distance between the specific object and the host vehicle).

[0059] As an example, the sensor performance confirmation information may include information about the recognition performance of the sensor device 110. In other words, the sensor performance confirmation information may include at least one of the distance at which an object recognized by the sensor device 110 is recognized, the range at which an object recognized by the sensor device 110 is recognized, the accuracy at which an object recognized by the sensor device 110 is recognized, or any combination thereof.

[0060] For example, the controller 120 may obtain driving performance confirmation information including interior information of the host vehicle, exterior information of the host vehicle, geographic information of the host vehicle, driving information of the host vehicle, or any combination thereof.

[0061] As an example, the driving performance confirmation information may include internal information including information regarding whether a rain sensor and / or wipers are activated.

[0062] As one example, the driving performance confirmation information may include external information including information on whether a notification indicating an icy state of a road is operating.

[0063] As an example, the driving performance confirmation information may include geographic information indicating navigation information.

[0064] As an example, the driving performance confirmation information may include driving information including a required acceleration for driving control of the host vehicle and a real-time acceleration of the host vehicle.

[0065] For example, the controller 120 may adjust at least one control parameter for the driving control of the host vehicle based on at least one of the sensor performance confirmation information, the driving performance confirmation information, or any combination thereof. In other words, when a change in sensor performance and / or a change in driving performance is identified, the controller 120 may change at least one control parameter (e.g., a minimum speed for initiating the stopped object response control) for the driving control of the host vehicle (e.g., a stopped vehicle response control and / or a stopped object response control) based on the degree of the change.

[0066] As an example, the stopped object response control may include a control algorithm for changing the driving scheme of the main vehicle in response to a stopped object, for example, when there is a stopped object in an area near the main vehicle, reducing the driving speed of the main vehicle or changing the driving direction of the main vehicle in the automatic driving control device 100 to ensure a safe distance between the main vehicle and the stopped object.

[0067] As an example, the controller 120 may identify whether the number of first objects identified as being greater than the performance measured by the sensor device 110 is greater than the first number based on the identification information of the at least one object. For example, the first object may include at least one external object recognized in a range greater than the performance measured by the sensor device 110 and stored in the memory 130 (more improved performance range).

[0068] As an example, when the number of recognized first objects is greater than the first number, the controller 120 may acquire sensor performance confirmation information including information that the performance measured by the sensor device 110 is improved. In other words, when the number of recognized first objects is greater than the first number, the controller 120 may determine that the performance measured by the sensor device 110 is more improved than a threshold, a setting, or a predetermined performance.

[0069] As an example, the controller 120 may change at least one control parameter based on the sensor performance confirmation information. For example, the controller 120 may improve (or increase) a minimum speed of the object response control for initiating a stop in at least one control parameter based on the sensor performance confirmation information. For example, the controller 120 may change (e.g., improve) at least one control parameter (e.g., a minimum speed of the object response control for initiating a stop) in proportion to a degree of performance improvement measured by the sensor device 110, which may be identified based on the sensor performance confirmation information. The controller 120 may store the changed control parameter in the memory 130.

[0070] As an example, the controller 120 may identify whether the number of second objects identified as being less than the performance measured by the sensor device 110 is greater than the second number based on the identification information of the at least one object. For example, the second object may include at least one external object recognized in a range (more degraded performance range) less than the performance measured by the sensor device 110 and stored in the memory 130.

[0071] As an example, when the number of second objects recognized is greater than the second number, the controller 120 may acquire sensor performance confirmation information including information of performance degradation measured by the sensor device 110. In other words, when the number of second objects recognized is greater than the second number, the controller 120 may determine that the performance measured by the sensor device 110 is more degraded than a predetermined performance.

[0072] As an example, the controller 120 may change at least one control parameter based on the sensor performance confirmation information. For example, the controller 120 may reduce (or decrease) a minimum speed of the object response control for initiating a stop in at least one control parameter based on the sensor performance confirmation information. For example, the controller 120 may change (e.g., reduce) at least one control parameter (e.g., a minimum speed of the object response control for initiating a stop) in proportion to the degree of performance degradation measured by the sensor device 110, the degree of performance degradation being identified based on the sensor performance confirmation information. The controller 120 may store the changed control parameter in the memory 130.

[0073] For example, the controller 120 may identify whether the number of first objects identified as being greater than the performance measured by the sensor device 110 is greater than a first number, and whether the number of second objects identified as being less than the performance measured by the sensor device 110 is greater than a second number, based on the identification information of each of the at least one object. When the number of first objects is less than or equal to the first number and when the number of second objects is less than or equal to the second number, the controller 120 may maintain at least one control parameter without change.

[0074] For example, the controller 120 may determine whether to change at least one control parameter based on the driving performance confirmation information.

[0075] As an example, the controller 120 may determine whether a rain sensor or a wiper is activated and whether a notification indicating an icy state of a road is turned on based on the driving performance confirmation information. When the rain sensor or the wiper is activated and the notification is turned off, the controller 120 may determine the driving performance of the main vehicle as a first degradation state and may change at least one control parameter to a first value. In addition, even when the rain sensor and the wiper are deactivated and the notification is turned on, the controller 120 may determine the driving performance of the main vehicle as a first degradation state and may change at least one control parameter to a first value. The first degradation state may be defined as a degradation preparation state that prepares for degradation of the driving performance of the main vehicle.

[0076] As an example, when the rain sensor or the wiper is activated and the notification is turned on, the controller 120 may determine the driving performance of the main vehicle as a second degradation state, and may change at least one control parameter to a second value greater than the first value. In other words, when the notification indicating an icing state is turned on in a state where the rain sensor or the wiper is activated, the controller 120 may expect that the driving performance will be more degraded than the first degradation state, and may change at least one control parameter using a second value greater than the first value. For example, the controller 120 may use the driving performance confirmation information to identify the section information of the road on which the main vehicle is traveling, and may further change at least one control parameter based on the section information. For example, the controller 120 may use the driving performance confirmation information to identify whether the main vehicle is traveling on a section of attention where an accident has occurred or is planning to travel on a section of attention where an accident has occurred.

[0077] When it is identified that the host vehicle is traveling on a section of road where an accident may occur or is planned to travel on a section of road where an accident may occur, and when notification is turned on, the controller 120 may change at least one control parameter during the driving section including the section of road where an accident may occur and a specified boundary distance.

[0078] When it is identified that the main vehicle is traveling on a section of road where an accident may occur or is planned to travel on a section of road where an accident may occur, and when a rain sensor or wipers are activated, the controller 120 may change at least one control parameter during the driving section including the section of road where an accident may occur and a specified boundary distance.

[0079] In other words, in the above two cases, when controlling the host vehicle from the accident occurrence attention section and from the section end to the specified boundary distance, the controller 120 can temporarily change at least one control parameter. The controller 120 can determine the above situation as a driving performance degradation state, and can change at least one control parameter based on a value greater than the value corresponding to the first degradation state and the second degradation state.

[0080] For example, the controller 120 may identify a required acceleration for control of the host vehicle and a real-time acceleration of the host vehicle based on the driving performance confirmation information, and may determine whether to change at least one control parameter based on a result of comparing the required acceleration with the real-time acceleration.

[0081] As an example, when the error between the desired acceleration and the real-time acceleration, and the convergence value of the real-time acceleration meet the specified conditions, the controller 120 may increase the minimum speed of the object response control for starting the stop in at least one control parameter. In other words, when the real-time acceleration of the host vehicle follows with a specified error or less and at the same time when the time delay of following is less than a specified time, the controller 120 may determine that the error between the desired acceleration and the real-time acceleration, and the convergence value of the real-time acceleration meet the specified conditions, and may increase the minimum speed of the object response control for starting the stop.

[0082] As an example, when the error between the desired acceleration and the real-time acceleration, and the convergence value of the real-time acceleration do not satisfy the specified condition, the controller 120 may reduce the minimum speed of the object response control for initiating the stop in at least one control parameter. In other words, when the error between the real-time acceleration of the host vehicle and the desired acceleration is greater than the specified error and when the time delay of following is greater than or equal to the specified time, the controller 120 may determine that the error between the desired acceleration and the real-time acceleration, and the convergence value of the real-time acceleration do not satisfy the specified condition, and may reduce the minimum speed of the object response control for initiating the stop.

[0083] For example, after adjusting at least one control parameter for driving control of the host vehicle, when it is recognized that the sensor performance and driving performance of the host vehicle have returned to correspond to the initial performance, the controller 120 may gradually restore the adjusted at least one control parameter to the initial parameter value. As an example, in the case where the minimum speed of the object response control for start-stop is changed, when it is recognized that the performance measured by the sensor device 110 or the driving performance of the host vehicle has returned to a degraded or unimproved state, the controller 120 may gradually restore the above-mentioned minimum speed to the initial parameter over time.

[0084] For example, the controller 120 may use the notification device 140 and provide the user with a variety of information regarding control parameters or performance of the host vehicle using various contents.

[0085] As an example, the controller 120 may provide information about at least one of a performance state measured by the sensor device 110 (which can be identified based on the sensor performance confirmation information), a driving state of the main vehicle (which can be identified based on the driving performance confirmation information), a change in at least one control parameter, or any combination thereof.

[0086] According to one embodiment, the memory 130 may store commands or data. For example, the memory 130 may store one or more instructions that, when executed by the controller 120, cause the automatic driving control device 100 to perform various operations.

[0087] For example, the memory 130 and the controller 120 may be implemented as one chipset. The controller 120 may include at least one of a communication processor or a modem.

[0088] For example, the memory 130 may store various information associated with the automatic driving control device 100. As an example, the memory 130 may store information about the operation history of the controller 120. As an example, the memory 130 may store information associated with the state and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, the controller 120, the notification unit 140, or any combination thereof).

[0089] For example, the memory 130 may store initial parameters regarding the performance of the sensor device 110. The initial parameters may include, for example, parameter values ​​regarding the operational performance of the sensor device 110. As an example, the initial parameters may include information that a guaranteed sensing distance of the RADAR corresponds to a specified distance (e.g., 100 m).

[0090] According to one embodiment, the notification device 140 may provide the user with a plurality of pieces of information regarding the operation of the automatic driving control apparatus 100. For example, the notification device 140 may provide the user with information regarding at least some of the above-mentioned operations of the controller 120.

[0091] For example, the notification device 140 may include at least one display device (eg, a display).

[0092] For example, the notification device 140 may include at least one sound output device (eg, a speaker).

[0093] For example, the notification device 140 may include at least one haptic device. The haptic device may be disposed on at least one area of ​​the seat to provide vibration to the user.

[0094] For example, the notification device 140 may provide information about at least one of a performance state measured by the sensor device 110 (which is identified based on the sensor performance confirmation information), a driving state of the main vehicle (which is identified based on the driving performance confirmation information), a change in at least one control parameter, or any combination thereof.

[0095] Figure 2 is a block diagram showing components of an automatic driving control device according to one embodiment of the present disclosure.

[0096] According to one embodiment, an automatic driving control device (e.g., Figure 1The automatic driving control device 100 may include a sensor performance confirmation device 210, a driving performance confirmation device 220, a parameter setting device 230, a notification device 240 (for example, Figure 1 notification device 140), or any combination thereof.

[0097] Figure 2 The structures of the components shown in are illustrative, and the embodiments of the present disclosure are not necessarily limited thereto. For example, Figure 2 At least some of the components shown in FIG. 2 (eg, the sensor performance confirmation device 210, the driving performance confirmation device 220, and / or the parameter setting device 230) may be implemented as Figure 1 The sensor device 110 and / or the controller 120 may be a part of the sensor device 110 and / or the controller 120, or may be implemented as a chip together with the sensor device 110 or the controller 120. In other words, at least some operations of at least some components described below may be implemented by Figure 1 The sensor device 110 and / or the controller 120 (or the control of the controller 120) is executed.

[0098] For example, the sensor performance verification device 210 may monitor the status of the sensor device.

[0099] As an example, the sensor performance confirmation device 210 may identify whether the performance measured by the sensor device is improved or deteriorated based on the data acquired by the sensor device 110 .

[0100] As an example, the sensor performance validation device 210 may identify control parameters (e.g., initial control parameters) set in conjunction with the operation of the sensor device 110. The sensor performance validation device 210 may identify changes in performance measured by the sensor device 110 based on data acquired using the sensor device and control parameters identified using the sensor device.

[0101] As an example, the sensor performance confirmation device 210 can identify sensor performance confirmation information based on identification information of at least one object identified using the sensor device. The sensor performance confirmation device 210 can identify, for example, the location where the at least one object is identified, and the distance (or recognition distance) between the at least one object and the host vehicle based on the identification information of each of the at least one object.

[0102] As an example, the sensor performance confirmation device 210 may identify whether the performance measured by the sensor device is currently improved or deteriorated compared to a threshold / setting / predetermined performance of the sensor device based on the sensor performance confirmation information.

[0103] For example, the driving performance confirmation device 220 may monitor the state regarding the driving of the host vehicle.

[0104] As an example, the driving performance confirmation device 220 may obtain driving performance confirmation information including at least one of the internal information of the host vehicle, the external information of the host vehicle, the geographic information of the host vehicle, the driving information of the host vehicle, or any combination thereof. The driving performance confirmation device 220 may identify whether the driving environment is deteriorated based on the driving performance confirmation information.

[0105] As an example, the driving performance confirmation device 220 can obtain internal information including information about whether a rain sensor or a wiper is activated, external information including information about whether a notification indicating the icy state of the road is working, geographic information indicating navigation information, and driving information including a required acceleration for driving control of the main vehicle and a real-time acceleration of the main vehicle.

[0106] As an example, the driving performance confirmation device 220 can identify the degree to which the automatic driving control performance is deteriorated or improved based on whether the error between the required acceleration and the real-time acceleration satisfies a specified condition.

[0107] For example, the parameter setting device 230 may change at least one control parameter for the driving control of the host vehicle based on the information on the performance of the host vehicle that can be output from the sensor performance confirmation device 210 and the driving performance confirmation device 220 .

[0108] As an example, the parameter setting device 230 can change at least one control parameter (e.g., the minimum speed for initiating the stopping object response control) for the driving control of the main vehicle (e.g., the stopping object response control) in proportion to the degree of change in the performance measured by the sensor device and / or the driving performance that can be determined by the sensor performance confirmation device 210 and / or the driving performance confirmation device 220.

[0109] As an example, when it is determined that the performance measured by the sensor device and / or the driving performance is improved or changed and restored to the initial value again, the parameter setting device 230 may gradually restore the changed at least one control parameter to the initial value.

[0110] For example, the notification device 240 can provide the user with information about at least one of the performance status of the sensor device identified based on the sensor performance confirmation information, the driving status of the main vehicle identified based on the driving performance confirmation information, the change of at least one control parameter, or any combination thereof.

[0111] Figure 3 It is a flowchart of an automatic driving control method according to one embodiment of the present disclosure.

[0112] According to one embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 3 For example, at least some components (e.g., Figure 1 The sensor device 110, the controller 120, the memory 130, the notification device 140, or any combination thereof) may be configured to perform Figure 3 operation.

[0113] Operations S310 to S335 in the following embodiments may be performed sequentially, but need not be performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations S310 to S335 in conjunction with the above may be briefly described or omitted. Figure 3 Content that corresponds to or repeats the content described.

[0114] According to one embodiment, in operation S310, the automatic driving control device may acquire sensor data.

[0115] For example, the autonomous driving control apparatus may use a sensor device to acquire at least one sensor data necessary to perform autonomous driving control on the host vehicle.

[0116] For example, the autonomous driving control device may use the sensor device to identify at least one object existing outside the host vehicle.

[0117] For example, the automatic driving control device may acquire identification information of each of the at least one object. The identification information may include information about a recognition distance at which each of the at least one object is recognized.

[0118] For example, the automatic driving control device may acquire sensor performance confirmation information based on the identification information. The sensor performance confirmation information may include information about the recognition performance measured by the sensor device.

[0119] According to one embodiment, in operation S320, the automatic driving control device may identify whether the number of objects identified as being greater than the sensor performance is greater than a first number.

[0120] For example, the autonomous driving control device may identify a threshold / setting / predetermined initial performance measured by the sensor device, and may compare identification information about each of at least one object of data acquired by the sensor device with the identified initial performance.

[0121] For example, the automatic driving control device can identify whether the number of objects identified as being greater than the sensor performance (or objects identified within a range exceeding the recognition performance of the sensor device) in at least one object is greater than a first number.

[0122] For example, when the number of objects identified as being greater than the sensor performance is greater than the first number (eg, “Yes” in operation S320 ), the automatic driving control device may perform operation S330 .

[0123] For example, when the number of objects identified as being greater than the sensor performance is not greater than the first number (eg, “No” in operation S320 ), the automatic driving control device may perform operation S325 .

[0124] According to one embodiment, in operation S330, the automatic driving control device may adjust upward at least one control parameter for driving control of the host vehicle.

[0125] For example, the autonomous driving control device may recognize that the performance of the sensor device is more improved than a threshold / set / predetermined performance, and may adjust upward the minimum speed for initiating the stopped object response control. Thus, when a stopped object is recognized, the autonomous driving control device may not be able to perform the stopped object response control even at a relatively high speed, thereby performing more effective and adaptive stopped object response control.

[0126] According to one embodiment, in operation S325, the automatic driving control device may identify whether the number of objects identified as being smaller than the sensor performance is greater than a second number.

[0127] For example, the autonomous driving control device may identify a threshold / setting / predetermined initial performance measured by the sensor device, and may compare identification information about each of at least one object of data acquired by the sensor device with the identified initial performance.

[0128] For example, the automatic driving control device may identify whether the number of objects identified as less than the sensor performance (or objects not identified within a range within the recognition performance of the sensor device, or objects identified within a range less than the recognition performance measured by the sensor device) among at least one object is greater than a second number. For example, the first number and the second number may be different from each other.

[0129] For example, when the number of objects identified as being smaller than the sensor performance is greater than the second number (eg, “Yes” in operation S325 ), the automatic driving control device may perform operation S335 .

[0130] For example, when the number of objects identified as being smaller than the sensor performance is not greater than the second number (eg, “No” in operation S325 ), the automatic driving control device may repeatedly perform operation S310 .

[0131] According to one embodiment, in operation S335, the automatic driving control device may downwardly adjust at least one control parameter for driving control of the host vehicle.

[0132] For example, the automatic driving control device may recognize that the performance measured by the sensor device is more deteriorated than a threshold / set / predetermined performance, and may adjust downward the minimum speed for initiating the stopped object response control. Therefore, when a stopped object is recognized, the automatic driving control device may perform the stopped object response control even at a relatively low speed, thereby performing a safer and stricter stopped object response control.

[0133] Figure 4 It is a flowchart of an automatic driving control method according to one embodiment of the present disclosure.

[0134] According to one embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 4 For example, at least some components (e.g., Figure 1 The sensor device 110, the controller 120, the memory 130, the notification device 140, or a combination thereof) may be configured to perform Figure 4 operation.

[0135] Operations S410 to S420 in the following embodiments may be performed sequentially, but need not be performed sequentially. For example, the order of the operations may be changed, and the operations may be performed in parallel. In addition, the operations described above may be briefly described or omitted. Figure 4 Content that corresponds to or repeats the content described.

[0136] According to one embodiment, in operation S410, the automatic driving control device may obtain driving performance confirmation information including at least one of the internal information of the main vehicle, the external information of the main vehicle, the geographic information of the main vehicle, the driving information of the main vehicle, or any combination thereof.

[0137] For example, the automatic driving control device may continuously monitor changes in the performance state of driving control of the host vehicle (eg, driving performance state).

[0138] For example, the driving performance confirmation information may include: internal information including information about whether a rain sensor or wipers are activated, external information including information about whether a notification indicating the icy state of the road is working, geographic information indicating navigation information, and driving information including a required acceleration for driving control of the main vehicle and a real-time acceleration of the main vehicle.

[0139] According to one embodiment, in operation S420, the automatic driving control device may determine the driving performance based on at least a portion of the driving performance confirmation information.

[0140] For example, the automatic driving control device can identify whether a rain sensor or a wiper is activated and whether a notification indicating the icy state of the road is turned on based on the driving performance confirmation information.

[0141] When the rain sensor or the wiper is activated and the notification is turned off, the automatic driving control device can determine the driving performance of the host vehicle as a first degradation state and can change at least one control parameter by a first value.

[0142] As an example, when the rain sensor and the wipers are disabled and the notification is turned on, the automatic driving control device may determine the driving performance of the host vehicle as a first degradation state and may change at least one control parameter by a first value.

[0143] As an example, when the rain sensor or the wiper is activated and the notification is turned on, the automatic driving control device may determine the driving performance of the host vehicle as a second degradation state, and may change at least one control parameter to a second value greater than the first value. In other words, in this case, the automatic driving control device may identify the driving performance of the host vehicle as a second degradation state that is more degraded than the first degradation state.

[0144] As an example, when the error between the required acceleration and the real-time acceleration, and the convergence value of the real-time acceleration satisfy the specified conditions, the automatic driving control device may increase the minimum speed of the object response control for starting the stop in at least one control parameter. In other words, in this case, the automatic driving control device may recognize that the driving performance is improved, and may further relax the conditions for the object response control for starting the stop.

[0145] As an example, when the error between the required acceleration and the real-time acceleration, and the convergence value of the real-time acceleration do not satisfy the specified conditions, the automatic driving control device may reduce the minimum speed of the object response control for starting the stop in at least one control parameter. In other words, in this case, the automatic driving control device may recognize that the driving performance is deteriorated, and may further restrict the conditions for the object response control for stopping.

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

[0147] According to one embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 5For example, at least some components (e.g., Figure 1 The sensor device 110, the controller 120, the memory 130, the notification device 140, or any combination thereof) may be configured to perform Figure 5 operation.

[0148] Operations S510 to S540 in the following embodiments may be performed sequentially, but need not be performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations described above may be briefly described or omitted. Figure 5 Content that corresponds to or repeats the content described.

[0149] According to one embodiment, in operation S510, the automatic driving control device may determine whether sensor performance and / or driving performance is degraded.

[0150] For example, the autonomous driving control device can use at least a portion of the data acquired by the sensor device or the data used for the driving of the main vehicle to monitor changes in sensor performance and / or driving performance, and can determine whether the sensor performance and / or driving performance has deteriorated based on the monitored results.

[0151] According to one embodiment, in operation S520, the automatic driving control device may change the control parameters for driving control of the host vehicle based on the determined result. An example of such a change may be to gradually restore the control parameters to an initial state based on the determined result, as shown in operation 520.

[0152] For example, when it is identified that the sensor performance and / or driving performance of the main vehicle has deteriorated or improved, the autonomous driving control device can reduce (or decrease) or increase (or increase) the control parameters (e.g., the minimum speed for starting the object response control for stopping) used for the driving control (e.g., the object response control for stopping) of the main vehicle in proportion to the degree of degradation and / or improvement.

[0153] According to one embodiment, in operation S530, the automatic driving control device may identify whether a control parameter recovery condition is satisfied.

[0154] For example, when it is identified that the sensor performance and / or driving performance is restored to the initially set performance state, the automatic driving control device can identify that the specified conditions for restoring the changed control parameters to the initially set values ​​are met.

[0155] For example, when the control parameter restoration condition is satisfied (eg, “yes” in operation S530 ), the automatic driving control device may perform operation S540 .

[0156] For example, when the control parameter recovery condition is not satisfied (eg, "No" in operation S530), the automatic driving control device may repeatedly perform operation S520.

[0157] According to one embodiment, in operation S540, the automatic driving control device may gradually restore the control parameters to an initial state.

[0158] For example, over time, the automatic driving control device may gradually restore at least one control parameter changed in operation S520 to an initial parameter setting value.

[0159] Figure 6 It is a flowchart of an automatic driving control method according to one embodiment of the present disclosure.

[0160] According to one embodiment, an automatic driving control device (e.g., Figure 1 The automatic driving control device 100) can execute Figure 6 For example, at least some components (e.g., Figure 1 The sensor device 110, the controller 120, the memory 130, the notification device 140, or any combination thereof) may be configured to perform Figure 6 operation.

[0161] Operations S610 to S630 in the following embodiments may be performed sequentially, but need not be performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations S610 to S630 in conjunction with the above may be briefly described or omitted. Figure 6 Content that corresponds to or repeats the content described.

[0162] According to one embodiment, in operation S610, the automatic driving control apparatus may acquire sensor performance confirmation information based on identification information of at least one object identified using the sensor device.

[0163] According to one embodiment, in operation S620, the automatic driving control device may obtain driving performance confirmation information including at least one of the internal information of the main vehicle, the external information of the main vehicle, the geographic information of the main vehicle, or the driving information of the main vehicle, or any combination thereof.

[0164] According to one embodiment, in operation S630, the automatic driving control device may adjust a control parameter for driving control of the host vehicle based on at least one of the sensor performance confirmation information or the driving performance confirmation information, or any combination thereof.

[0165] Figure 7 A computing system that can be implemented as a method for controlling an autonomous driving system according to one embodiment of the present disclosure is shown.

[0166] refer to Figure 7 The computing system 1000 for 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 interconnected via a bus 1200, and any one of them may be plural even if illustrated as a singular.

[0167] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing 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 read-only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0168] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed in this specification may be directly implemented using a hardware module, a software module, or a combination of a hardware module and a software module executed by the processor 1100. For example, the software module may reside on a storage medium (e.g., the memory 1300 and / or the storage device 1600), such as a RAM, a flash memory, a ROM, an EPROM, an EEPROM, a register, a hard disk, a removable disk, a CD-ROM, or any combination thereof.

[0169] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor and the storage medium may reside in a user terminal as separate components.

[0170] A description will be given of the advantages of an automatic driving control device and a method thereof according to one embodiment of the present disclosure.

[0171] According to at least one embodiment of the present disclosure, the autonomous driving control device can identify the degree of degradation or improvement of autonomous driving control performance (e.g., sensor performance and / or driving performance) in real time, and can adaptively adjust (or change) at least one control parameter used for the control of the main vehicle (e.g., stopped vehicle response control) based on the identified degree.

[0172] Furthermore, according to at least one embodiment of the present disclosure, although the host vehicle is traveling under any circumstances, the autonomous driving control device can quickly and appropriately change the control parameters so as to converge to the target performance to execute the autonomous driving control function.

[0173] In addition, according to at least one embodiment of the present disclosure, the autonomous driving control device may provide information to the user about changes in control parameters, or changes in sensor performance or driving performance, thereby guiding the user to act with caution or waking the user up when appropriate.

[0174] Additionally, variations determined directly or indirectly by the present disclosure may be provided.

[0175] Although the present disclosure has been described above with reference to exemplary embodiments and the accompanying drawings, the embodiments of the present disclosure are not necessarily limited thereto, but various modifications and changes may be made by those skilled in the art to which the present disclosure belongs without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0176] Therefore, the embodiments of the present disclosure are not intended to limit the technical spirit of the present disclosure, but to provide an explanation. The scope of the present disclosure can be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims can be included in the scope of the present disclosure.

Claims

1. An automatic driving control device, in, include: Sensor device; a memory storing computer executable code; and A controller is operably connected to the sensor device and the memory, the controller is configured to execute the code, the code includes instructions for the controller, the instructions cause the automatic driving control device to: acquiring sensor performance confirmation information based on identification information of at least one object identified using the sensor device; Acquiring driving performance confirmation information including one or any combination of internal information of a host vehicle, external information of the host vehicle, geographic information of the host vehicle, and driving information of the host vehicle; and At least one control parameter for driving control of the host vehicle is adjusted based on one or both of the sensor performance confirmation information and the driving performance confirmation information.

2. The device according to claim 1, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying whether a number of first objects is greater than a first number based on the identification information of the at least one object, the first objects being identified as having a performance greater than a threshold performance measured by the sensor device; In response to identifying that the number of the first objects is greater than the first number, acquiring the sensor performance confirmation information including information that the performance measured by the sensor device is improved; and The at least one control parameter is changed based on the sensor performance confirmation information.

3. The device according to claim 2, wherein: The code also includes instructions for the controller, which cause the autonomous driving control device to: increase a minimum speed of the object response control for starting a stop in the at least one control parameter based on the sensor performance confirmation information.

4. The device according to claim 2, wherein: The code also includes instructions for the controller, which cause the autonomous driving control device to: change the at least one control parameter in proportion to a degree of performance improvement measured by the sensor device, the degree of performance improvement being identified based on the sensor performance confirmation information.

5. The device according to claim 1, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying whether a number of second objects is greater than a second number based on the identification information of the at least one object, the second objects being identified as having a performance measured by the sensor device that is less than a threshold performance; in response to identifying that the number of the second objects is greater than the second number, acquiring the sensor performance confirmation information including information of the performance degradation measured by the sensor device; and The at least one control parameter is changed based on the sensor performance confirmation information.

6. The device according to claim 5, wherein: The code also includes instructions for the controller, which cause the autonomous driving control device to: reduce a minimum speed of the object response control for starting a stop in the at least one control parameter based on the sensor performance confirmation information.

7. The device according to claim 1, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying, based on the identification information of the at least one object, whether the number of first objects is greater than a first number, and whether the number of second objects is greater than a second number, the first object being identified as having a first property measured by the sensor device that is greater than a first threshold property, and the second object being identified as having a second property measured by the sensor device that is less than a second threshold property; and In response to the number of the first objects being less than or equal to the first number and in response to the number of the second objects being less than or equal to the second number, maintaining the at least one control parameter.

8. The device according to claim 1, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying whether a rain sensor or a wiper is activated and whether a notification indicating an icy state of a road is turned on based on the driving performance confirmation information; and In response to the rain sensor or the wiper being activated and the notification being turned off, or in response to the rain sensor and the wiper being deactivated and the notification being turned on, the driving performance of the host vehicle is determined to be a first degradation state, and the at least one control parameter is changed by a first value.

9. The device according to claim 8, wherein: The code also includes instructions for the controller, which cause the autonomous driving control device to: in response to the rain sensor or the wiper being activated and the notification being turned on, determine the driving performance of the main vehicle as a second degradation state, and change the at least one control parameter to a second value greater than the first value.

10. The device according to claim 8, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: using the driving performance confirmation information to identify whether the host vehicle is traveling on a road section where an accident is expected to occur or is planning to travel on the road section where an accident is expected to occur; and In response to identifying that the main vehicle is traveling on the accident notice section or plans to travel on the accident notice section while the notification is turned on or the rain sensor or the wiper is activated, changing at least one control parameter during a driving section that includes the accident notice section and a specified boundary distance.

11. The device according to claim 8, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying a desired acceleration for control of the host vehicle and a real-time acceleration of the host vehicle based on the driving performance confirmation information; and In response to an error between the required acceleration and the real-time acceleration and a convergence value of the real-time acceleration satisfying a specified condition, a minimum speed of the object response control for initiating a stop in the at least one control parameter is increased.

12. The device according to claim 8, wherein: The code also includes instructions for the controller, the instructions causing the autonomous driving control device to: identifying a desired acceleration for control of the host vehicle and a real-time acceleration of the host vehicle based on the driving performance confirmation information; and In response to an error between the required acceleration and the real-time acceleration, and a convergence value of the real-time acceleration not satisfying a specified condition, a minimum speed of the object response control for initiating a stop in the at least one control parameter is reduced.

13. The apparatus according to claim 8, wherein: The code also includes instructions for the controller, which cause the autonomous driving control device to: after adjusting at least one control parameter for the driving control of the main vehicle, gradually restore the at least one control parameter to an initial parameter value in response to identifying that the sensor performance and the driving performance of the main vehicle have returned to correspond to the initial performance.

14. The apparatus according to claim 1, wherein: The recognition information includes information about a recognition distance at which each of the at least one object is recognized, The sensor performance confirmation information includes information about the identification performance, The driving performance confirmation information includes: said internal information including information regarding whether a rain sensor or wipers are activated; said external information including information on whether a notification indicating an icy state of a road is operating; said geographic information including navigation information; and The driving information includes a required acceleration for driving control of the host vehicle and a real-time acceleration of the host vehicle.

15. The apparatus according to claim 1, wherein: It also includes a notification device, and wherein the code also includes instructions for the controller, the instructions causing the automatic driving control device to: use the notification device to provide information about one or any combination of the performance status of the sensor device, the driving status of the main vehicle, and the change of at least one control parameter, wherein the performance status is identified based on the sensor performance confirmation information, and the driving status is identified based on the driving performance confirmation information.

16. An automatic driving control method, in, include: acquiring sensor performance confirmation information based on identification information of the at least one identified object; Acquiring driving performance confirmation information including one or any combination of internal information of a host vehicle, external information of the host vehicle, geographic information of the host vehicle, and driving information of the host vehicle; and At least one control parameter for driving control of the host vehicle is adjusted based on one or both of the sensor performance confirmation information and the driving performance confirmation information.

17. The method according to claim 16, wherein: Also includes: identifying whether a number of first objects is greater than a first number based on the identification information of the at least one object, the first objects being identified as having a measured performance greater than a threshold performance; In response to identifying that the number of the first objects is greater than the first number, acquiring the sensor performance confirmation information including information that the measured performance is improved; and The at least one control parameter is changed based on the sensor performance confirmation information.

18. The method according to claim 17, wherein: The changing of the at least one control parameter based on the sensor performance confirmation information by the controller includes increasing a minimum speed of the at least one control parameter for initiating a stopped object response control based on the sensor performance confirmation information.

19. The method according to claim 16, wherein: Also includes: identifying whether a rain sensor or a wiper is activated and whether a notification indicating an icy state of a road is turned on based on the driving performance confirmation information; and In response to the rain sensor or the wiper being activated and the notification being turned off, or in response to the rain sensor and the wiper being deactivated and the notification being turned on, the driving performance of the host vehicle is determined to be a first degradation state, and the at least one control parameter is changed by a first value.

20. The method according to claim 19, wherein: Also includes: In response to the rain sensor or the wiper being activated and the notification being turned on, the driving performance of the host vehicle is determined to be a second degradation state, and the at least one control parameter is changed to a second value greater than the first value.

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