Autonomous travel control apparatus and method thereof

Abstract

An autonomous travel control apparatus includes a sensor device, a notification device, a memory, and a controller. Specifically, the autonomous travel control apparatus identifies whether an autonomous travel control function of the host vehicle is degraded based on at least one of an operation state of a sensor device, travel information of the host vehicle, or any combination thereof. The autonomous travel control apparatus changes an autonomous travel control parameter including at least one of a sensor parameter, a deceleration acceleration parameter, or any combination when it is recognized that the autonomous travel control function is degraded. The autonomous travel control apparatus outputs at least one of an operation state of the sensor device, travel information of the host vehicle, whether an autonomous travel control function is degraded, whether an autonomous travel control parameter is changed, or any combination thereof, using the notification device.

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving control device and method thereof, and more particularly, to a technology for providing a user with information on the autonomous driving performance or driving condition of a host vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] As autonomous vehicles become more common, various technologies related to autonomous driving have been developed. Autonomous driving can be divided into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and / or fully autonomous driving based on its control level.

[0004] On the other hand, various types of control algorithms (or functions) have been developed in the autonomous driving control function for notifying the user of various events (eg, degradation of a specific device) occurring while the driving control of the host vehicle is executed.

[0005] For example, the autonomous driving control apparatus may provide the user with information for performing a designated function (eg, acceleration, deceleration, and / or lane change) based on various scenarios during execution of autonomous driving control of the host vehicle.

[0006] However, the information provided to the user by the autonomous driving control device does not include whether the autonomous driving control device performs the specified function with what degree of performance. Therefore, when a specific event (e.g., driving conditions, degradation of sensor performance, etc.) occurs during the process of receiving information about the autonomous driving control function, the user cannot directly know the change in the performance of the autonomous driving control function. In addition, in this case, the user may feel anxious that the autonomous driving control function is not performed smoothly.

[0007] In addition, because in the process of updating some of the devices that perform the autonomous driving control function based on information received from an external device (e.g., a server) in accordance with the identification of a specific event, the information provided to the user for the update is somewhat insufficient, and therefore the user cannot accurately know the changes in the performance of the autonomous driving control function. Summary of the invention

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

[0009] One aspect of the present disclosure provides an autonomous driving control apparatus for identifying whether an autonomous driving control function of a host vehicle is deteriorated based on at least one of an operation state of a sensor device, driving information of the host vehicle, or any combination thereof.

[0010] Another aspect of the present disclosure provides an autonomous driving control apparatus for changing an autonomous driving control parameter including at least one of a sensor parameter, a deceleration parameter, or any combination thereof when degradation of an autonomous driving control function is recognized.

[0011] Another aspect of the present disclosure provides an autonomous driving control device, which is used to output at least one of the operating status of a sensor device, driving information of the vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameter is changed, or any combination thereof using a notification device.

[0012] Another aspect of the present disclosure provides an autonomous driving control device, which is used to output at least one of whether the hardware problem of the sensor device is a temporary problem, whether the hardware problem is recoverable, or any combination thereof using a notification device when a hardware problem is identified based on the result of comparing sensor data obtained using the sensor device with a benchmark parameter stored in a memory.

[0013] Another aspect of the present disclosure provides an autonomous driving control device, which is used to identify whether the problem occurring in the sensor device is a hardware problem or a software problem of the sensor device when it is determined based on sensor data that a problem occurs in the sensor device, and to change sensor parameters in different schemes based on the type of problem identified.

[0014] Another aspect of the present disclosure provides an autonomous driving control device, which is used to change the deceleration parameter based on the difference between the real-time acceleration of the vehicle and the required acceleration of the autonomous driving control when the slope of the road on which the vehicle is traveling is included in a specified range, and use a notification device to provide such change process to the user.

[0015] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and a person skilled in the art to which the present disclosure belongs should clearly understand any other technical problems not mentioned herein based on the following description.

[0016] According to one aspect of the present disclosure, an autonomous driving control device may include a sensor device, a notification device, a memory configured to store at least one instruction, and a controller operably connected to the sensor device, the notification device, and the memory. In one embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: identify whether the autonomous driving control function of the vehicle is degraded based on at least one of the operating state of the sensor device, the driving information of the vehicle, or any combination thereof. The autonomous driving control device may also be configured to: change autonomous driving control parameters including at least one of sensor parameters, deceleration parameters, or any combination thereof when it is identified that the autonomous driving control function is degraded. The autonomous driving control device may also be configured to: use the notification device to output at least one of the operating state of the sensor device, the driving information of the vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameters are changed, or any combination thereof.

[0017] According to an embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: when a hardware problem is identified based on a result of comparing sensor data obtained using a sensor device with a benchmark parameter stored in a memory, use a notification device to output at least one of whether the hardware problem of the sensor device is a temporary problem, whether the hardware problem is recoverable, or any combination thereof.

[0018] According to an embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: identify the software performance of the sensor device based on the result of comparing the sensor data obtained using the sensor device with the reference parameters stored in the memory. The autonomous driving control device may also be configured to: identify, based on the identified software performance, an operating state containing information that the difference between the identified software performance of the sensor device and the predetermined performance is greater than a specified value. The autonomous driving control device may also be configured to: change the sensor parameters based on the identified operating state for the specified number of times when the number of times the operating state is identified is greater than or equal to the specified number of times.

[0019] According to an embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: after changing a sensor parameter, when it is identified that the difference between the software performance of the sensor device and a predetermined performance is less than or equal to a specified value, gradually change the changed sensor parameter to an initial parameter over time.

[0020] According to an embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: identify driving information including the slope of the road on which the vehicle is traveling and the real-time acceleration of the vehicle. The autonomous driving control device may also be configured to: identify the difference between the real-time acceleration and the required acceleration. The autonomous driving control device may also be configured to: identify at least one deceleration parameter for decelerating the vehicle based on the size of the difference when it is identified that the slope satisfies a specified condition and the difference is greater than or equal to a specified value. The autonomous driving control device may also be configured to: perform driving control of the vehicle based on the minimum value of at least one deceleration parameter. The autonomous driving control device may also be configured to: use a notification device to output information about changes in the deceleration parameter and driving control.

[0021] According to an embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: identify a driving mode of the vehicle. The autonomous driving control device may also be configured to: identify a required acceleration for each driving speed of the identified driving mode. The autonomous driving control device may also be configured to: accumulate and identify error data containing a difference between the required acceleration and the real-time acceleration of the vehicle. The autonomous driving control device may also be configured to: change a deceleration parameter based on an average value of the accumulated error data when it is identified that the error data has accumulated by more than a specified amount.

[0022] According to an embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: set the changed deceleration parameter to the default deceleration parameter and store it in the memory. The autonomous driving control device may also: determine whether the autonomous driving control function is degraded based on the default deceleration parameter.

[0023] According to an embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: compare a reference sensor performance indicator stored in a memory with an operating state of the sensor device to identify whether the autonomous driving control function is degraded. For example, the reference sensor performance indicator may include at least one parameter that is less than a maximum performance of the sensor device.

[0024] According to an embodiment, at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: when receiving a debugging request input from a user, send a data log record about the driving of the vehicle from the time point when the debugging request input about the autonomous driving control function is received to a specified time before to an external device. The autonomous driving control device may also be configured to: receive information about whether the autonomous driving control function is degraded and degradation improvement information corresponding to the data log record from the external device. The autonomous driving control device may also be configured to: output information about whether the autonomous driving control function is degraded and degradation improvement information using a notification device.

[0025] According to an embodiment, at least one instruction may be configured to, when executed by a controller, cause the autonomous driving control device to: use a notification device to output changes in the driving performance of the vehicle based on a specified period, the driving performance including at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, handling, braking performance, fuel efficiency, or any combination thereof.

[0026] According to another aspect of the present disclosure, the autonomous driving control method may include: the controller identifies whether the autonomous driving control function of the vehicle is degraded based on at least one of the operating state of the sensor device, the driving information of the vehicle, or any combination thereof. The autonomous driving control method may also include: when it is identified that the autonomous driving control function is degraded, the controller changes the autonomous driving control parameters including at least one of the sensor parameters, the deceleration parameters, or any combination thereof. The autonomous driving control method may include: the controller uses a notification device to output at least one of the operating state of the sensor device, the driving information of the vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameters are changed, or any combination thereof.

[0027] According to an embodiment, the autonomous driving control method may also include: when a hardware problem is identified based on the result of comparing sensor data obtained using a sensor device with a benchmark parameter stored in a memory, the controller uses a notification device to output at least one of whether the hardware problem of the sensor device is a temporary problem, whether the hardware problem is recoverable, or any combination thereof.

[0028] According to an embodiment, the autonomous driving control method may further include: the controller identifies the software performance of the sensor device based on the result of comparing the sensor data obtained using the sensor device with the reference parameters stored in the memory. The autonomous driving control method may further include: the controller identifies, based on the identified software performance, an operating state containing information that the difference between the identified software performance of the sensor device and the predetermined performance is greater than a specified value. The autonomous driving control method may further include: when the number of times the operating state is identified is greater than or equal to a specified number of times, the controller changes the sensor parameters based on the operating state identified the specified number of times.

[0029] According to an embodiment, the autonomous driving control method may also include: after changing the sensor parameters, when it is identified that the difference between the software performance of the sensor device and the predetermined performance is less than or equal to a specified value, the controller gradually changes the changed sensor parameters to initial parameters over time.

[0030] According to an embodiment, the autonomous driving control method may further include: the controller identifies driving information including the slope of the road on which the vehicle is traveling and the real-time acceleration of the vehicle. The autonomous driving control method may further include: the controller identifies the difference between the real-time acceleration and the required acceleration. The autonomous driving control method may further include: when it is identified that the slope satisfies a specified condition and the difference is greater than or equal to a specified value, the controller identifies at least one deceleration parameter for decelerating the vehicle based on the size of the difference. The autonomous driving control method may further include: the controller performs driving control of the vehicle based on the minimum value of at least one deceleration parameter. The autonomous driving control method may further include: the controller uses a notification device to output information about changes in the deceleration parameter and driving control.

[0031] According to an embodiment, the autonomous driving control method may further include: identifying, by the controller, a driving mode of the vehicle. The autonomous driving control method may further include: identifying, by the controller, a required acceleration for each driving speed of the identified driving mode. The autonomous driving control method may further include: accumulating and identifying, by the controller, error data including a difference between the required acceleration and the real-time acceleration of the vehicle. The autonomous driving control method may further include: when it is identified that the error data accumulates above a specified amount, changing, by the controller, a deceleration parameter based on an average value of the accumulated error data.

[0032] According to an embodiment, the autonomous driving control method may further include: the controller sets the changed deceleration parameter as the default deceleration parameter and stores it in the memory. The autonomous driving control method may further include: the controller determines whether the autonomous driving control function is degraded based on the default deceleration parameter.

[0033] According to an embodiment, the autonomous driving control method may further include: comparing, by the controller, a reference sensor performance index stored in the memory with an operating state of the sensor device to identify whether the autonomous driving control function is degraded. For example, the reference sensor performance index may include at least one parameter that is less than the maximum performance of the sensor device.

[0034] According to an embodiment, the autonomous driving control method may further include: when a debugging request input is received from a user, the controller sends a data log record about the driving of the vehicle from the time point when the debugging request input about the autonomous driving control function is received to a specified time to an external device. The autonomous driving control method may further include: the controller receives information about whether the autonomous driving control function is degraded and degradation improvement information corresponding to the data log record from the external device. The autonomous driving control method may further include: the controller outputs information about whether the autonomous driving control function is degraded and degradation improvement information using a notification device.

[0035] According to an embodiment, the autonomous driving control method may also include: the controller uses a notification device to output changes in the driving performance of the vehicle based on a specified period, the driving performance including at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, maneuverability, braking performance, fuel efficiency or any combination thereof. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0037] Figure 1 A block diagram for explaining components of an autonomous driving control apparatus according to an embodiment of the present disclosure;

[0038] Figure 2 A block diagram for explaining components of an autonomous driving control apparatus according to an embodiment of the present disclosure;

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

[0040] Figure 4 is a flow chart of an autonomous driving control method according to an embodiment of the present disclosure;

[0041] Figure 5 is a flow chart of an autonomous driving control method according to an embodiment of the present disclosure;

[0042] Figure 6 A conceptual diagram for explaining information provided by an autonomous driving control device according to an embodiment of the present disclosure;

[0043] Figure 7 A conceptual diagram for explaining information provided by an autonomous driving control device according to an embodiment of the present disclosure;

[0044] Figure 8 is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure; and

[0045] Fig. 9 A computing system related to an autonomous driving control method according to an embodiment of the present disclosure is described.

[0046] With regard to the description of the drawings, the same or similar symbols may be used for the same or similar components. DETAILED DESCRIPTION

[0047] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. When adding reference numerals to the components of each of the accompanying drawings, it should be noted that the same or equivalent components are represented by the same numerals even when the components are shown on other drawings. In addition, in order to avoid unnecessarily obscuring the main points of the present disclosure, detailed descriptions of well-known features or functions are omitted.

[0048] When describing the components according to the embodiments of the present disclosure, terms such as first, second, "A", "B", (a), (b) may be used. These terms are only used to distinguish one element from another element, do not limit the corresponding elements, and are independent of the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as those generally understood by ordinary technicians in the field to which the present disclosure belongs. Such terms defined in commonly used dictionaries should be interpreted as having the same meaning as the contextual meaning in the relevant technical field. Unless clearly defined in this application as having an ideal or overly formal meaning, these terms should not be interpreted as having an ideal or overly formal meaning. When the components, devices, elements, etc. of the present disclosure are described as having a purpose or performing an operation, function, etc., the components, devices, elements, etc. should be considered to be "configured to" meet the purpose or perform the operation or function in this article. Each of the components, devices, elements, etc. can be embodied separately or include a processor and a memory, such as a non-temporary computer-readable medium, as part of the device.

[0049] In the following, reference Figure 1-9 Embodiments of the present disclosure are described in detail.

[0050] Figure 1 is a block diagram showing components of an autonomous driving control apparatus according to an embodiment of the present disclosure.

[0051] According to an embodiment, the autonomous driving control apparatus 100 may include at least one of a sensor device 110 , a notification device 120 , a memory 130 , a controller 140 , or any combination thereof. Figure 1 The components of the autonomous driving control device 100 shown in FIG. 1 are illustrative, and the embodiments of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may further include Figure 1 Components not shown (e.g., at least one of an interface, a communication device, a display, or any combination thereof).

[0052] According to an embodiment, the sensor device 110 may obtain (or recognize) various information for driving of the host vehicle.

[0053] For example, the sensor device 110 may include at least one sensor including at least one of a camera, radio detection and ranging (RADAR), light detection and ranging (LiDAR), or any combination thereof.

[0054] For example, the sensor 110 may operate based on sensor parameters. As an example, the sensor parameters may be examples of set values ​​(which may be stored in the memory 130) regarding the operating performance of the sensor device 110. As an example, the sensor parameters may be set values ​​that can be changed by a user and / or a developer.

[0055] For example, the autonomous driving control apparatus 100 may change the sensor parameters based on identifying the change in the driving information of the host vehicle and / or the performance of the sensor device 110. The autonomous driving control apparatus 100 may identify, for example, whether the change in the performance of the sensor device 110 is a hardware problem or a software problem of the sensor device 110. As an example, when identifying that the change in the performance of the sensor device 110 is a hardware problem, the autonomous driving control apparatus 100 may identify whether the problem is a temporary problem or a permanent problem.

[0056] As an example, when at least a portion of an area that should be sensed by the sensor device 110 is covered by a specific object, the autonomous driving control device 100 can identify the performance degradation of the sensor device 110 based on the sensing data obtained by the sensor device 110 in the corresponding situation, and can identify the cause as a temporary problem (e.g., coverage).

[0057] As an example, when recognizing that the sensor device 110 is in a faulty state, the autonomous driving control apparatus 100 may recognize that the performance of the sensor device 110 is deteriorated, and may recognize that the cause corresponds to a permanent problem (eg, a permanent fault).

[0058] As an example, when a software problem with the sensor device 110 is identified more than a specified number of times, the autonomous driving control apparatus 100 may update sensor parameters used for the operation of the sensor device 110 (e.g., update the sensor parameters to operate the sensor device 110 more sensitively). For example, the software problem may be a temporary problem caused by interference (or noise) of the sensor device 110. After updating the sensor parameters, the autonomous driving control apparatus 100 may gradually change the sensor parameters to initial parameters (e.g., initial sensor parameters that are initially set) from a time point when the reliability is less than or equal to a specified value as the reliability of the sensor device 110 decreases over time without identifying whether the performance of the sensor device 110 has changed (e.g., deteriorated or improved) (e.g., when problematic data is no longer identified).

[0059] According to an embodiment, the notification device 120 may include various types of output devices. The autonomous driving control apparatus 100 may use the notification device 120 to output to the user at least one of a change in the performance of the sensor device 110, an operating state of the sensor device 110, driving information of the host vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameter is changed, or any combination thereof.

[0060] For example, the notification device 120 may include at least one display device (eg, a display).

[0061] For example, the notification device 120 may include at least one sound output device (eg, a speaker).

[0062] For example, the notification device 120 may include at least one haptic device. The haptic device may be provided in at least one area of ​​the seat to provide vibration to the user.

[0063] According to an 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 140, cause the autonomous driving control device 100 to perform various operations.

[0064] For example, the memory 130 and the controller 140 may be implemented as one chipset. The controller 140 may include at least one of a communication processor or a modem.

[0065] For example, the memory 130 may store various information related to the autonomous driving control apparatus 100. As an example, the memory 130 may store information about the operation history of the controller 140. 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 notification device 120, the controller 140, or any combination thereof).

[0066] For example, the memory 130 may store sensor parameters. The memory 130 may store initial sensor parameters. The initial sensor parameters may include, for example, parameter values ​​regarding the operational performance of the sensor device 110. As an example, the initial sensor parameters may include information that the RADAR's guaranteed sensing distance corresponds to a specified distance (e.g., 100 m).

[0067] According to an embodiment, the controller 140 may be operably connected to the sensor device 110 and / or the memory 130. For example, the controller 140 may control operations of the sensor device 110 and / or the memory 130.

[0068] For example, the controller 140 may identify whether the autonomous driving control function of the host vehicle is degraded based on at least one of the operating state of the sensor device 110 , the driving information of the host vehicle, or any combination thereof.

[0069] As an example, the controller 140 may identify the occurrence of a hardware problem and / or a software problem regarding the sensor device 110 based on a result of comparing sensor data obtained using the sensor device 110 with reference parameters stored in the memory 130. The reference parameters may be defined as, for example, initial parameters.

[0070] As an example, when identifying that a hardware problem occurs regarding the sensor device 110 , the controller 140 may use the notification device 120 to output to the user at least one of whether the hardware problem is a temporary problem or a permanent problem, whether the hardware problem is a recoverable problem, or any combination thereof.

[0071] For example, when it is identified that the autonomous driving control function is degraded, the controller 140 may change the autonomous driving control parameters including at least one of the sensor parameters, the deceleration parameters, or any combination thereof.

[0072] As an example, the controller 140 may identify the software performance of the sensor device 110 based on the comparison result, and may determine whether the performance of the sensor device 110 has changed based on the identified software performance. For example, when it is identified that the performance of the identified sensor device 110 is much improved or deteriorated than the predetermined performance (or when it is identified that the difference between the performance of the identified sensor device 110 and the predetermined performance is greater than a specified value), the controller 140 may determine that the performance of the sensor device 110 has changed. When confirming information that the difference between the performance of the sensor device 110 and the predetermined performance is greater than a specified value among the multiple pieces of information included in the operating state of the sensor device 110, the controller 140 may determine that the performance of the sensor device 110 has changed. For example, when the number of times the performance of the sensor device 110 has changed (or the number of times the operating state that determines the performance change has been identified) is greater than or equal to the specified number of times, the controller 140 may change the sensor parameter based on the operating state identified the specified number of times. For example, when it is determined that the number of times the sensor device 110 has deteriorated is greater than or equal to the specified number of times, the controller 140 may change the sensor parameter in the direction of increasing the sensitivity of the sensor device 110.

[0073] As an example, when it is recognized that the performance of the sensor device 110 is restored or when a period of time has passed after the sensor parameters are changed, the controller 140 may change the changed sensor parameters back to the initial parameters. For example, after changing the sensor parameters, when it is recognized that the difference between the performance of the sensor device 110 and the predetermined performance is less than or equal to a specified value (or when the performance of the sensor device 110 is within an allowable range), the controller 140 may again gradually change the changed sensor parameters back to the initial parameters over time.

[0074] For example, the controller 140 may change at least some of the autonomous driving control parameters including the deceleration parameter based on the driving information of the host vehicle.

[0075] As an example, the controller 140 may identify driving information including the slope of the road on which the host vehicle is traveling and the real-time acceleration of the host vehicle. The controller 140 may identify, for example, the difference between the real-time acceleration and the required acceleration. When it is identified that the slope satisfies a specified condition (e.g., when the slope in an uphill section is greater than 4% or when the slope in a downhill section is less than -4%) and when the difference is greater than or equal to a specified value (e.g., 0.2 m / s 2 ), the controller 140 may identify at least one deceleration parameter for deceleration of the host vehicle based on the size of the difference (or the size of the absolute value of the difference), and may perform driving control (or deceleration control) of the host vehicle based on the minimum value of the at least one deceleration parameter. In other words, when it is identified that the host vehicle is traveling in a state where the controller 140 does not correctly follow the required acceleration for deceleration in a road section with a relatively steep slope, the controller 140 may change the deceleration parameter so that the real-time acceleration better follows the required acceleration. The controller 140 may output information such as changes in deceleration and driving control using the notification device 120.

[0076] For example, the controller 140 may determine whether to change the deceleration based on the type of driving mode of the host vehicle.

[0077] As an example, the controller 140 may identify a driving mode of the host vehicle. The driving mode may include, for example, at least one of a normal mode, a sport mode, a hybrid mode, or any combination thereof. The controller 140 may identify, for example, a required acceleration for each driving speed of the identified driving mode. For example, when the host vehicle is traveling at a first speed and a second speed in a normal mode, the controller 140 may identify a predetermined required acceleration for deceleration or acceleration in response to a speed interval.

[0078] As an example, the controller 140 may accumulate and identify error data including the difference between the identified required acceleration and the real-time acceleration of the host vehicle. Thereafter, when it is identified that the error data accumulates above a specified amount, the controller 140 may change the deceleration parameter based on an average value of the plurality of accumulated error data. In other words, the controller 140 may change the deceleration parameter using an average value (or average error) of the plurality of error data between the required acceleration and the real-time acceleration.

[0079] As an example, the controller 140 may set the changed deceleration parameter as a default deceleration parameter and store it in the memory 130. In other words, when the deceleration parameter is changed in the embodiment regarding the driving mode, the controller 140 may set the changed deceleration parameter as the default deceleration parameter before the situation where the changed deceleration parameter needs to be changed again, and may perform the driving control of the vehicle. Therefore, the controller 140 may continuously determine whether the autonomous driving control function is degraded based on the set default deceleration parameter.

[0080] For example, the controller 140 may compare the reference sensor performance index stored in the memory 130 with the operating state of the sensor device 110 to identify whether the autonomous driving control function is degraded. The reference sensor performance index may include, for example, at least one parameter that is less than the maximum performance of the sensor device 110. As an example, the reference sensor performance index may include at least one parameter corresponding to a performance that is reduced by a specified ratio (e.g., 20%) from the maximum performance of the sensor device 110.

[0081] For example, when a debugging request input regarding the autonomous driving control function is received from a user, the controller 140 may send a data log record regarding the driving of the vehicle from the time point when the debugging request input is received to a specified time (e.g., 5 minutes) ago to an external device (e.g., a server). As an example, the controller 140 may receive information about whether the autonomous driving control function is degraded (e.g., the type of degradation, the degree of degradation, or whether it is improved or restored) and degradation improvement information (e.g., information for updating) corresponding to the data log record from an external device. The controller 140 may also output information about whether the autonomous driving control function is degraded and degradation improvement information using the notification device 120. The controller 140 may use the degradation improvement information to perform updates (e.g., OTA updates) on at least some of the components of the autonomous driving control device 100.

[0082] For example, the controller 140 can use the notification device 120 to output at least one of the operating status of the sensor device 110 (for example, whether a sensor parameter has changed, a change in the performance of the sensor device 110, or degradation information of the sensor device 110), driving information of the vehicle (for example, slope, acceleration, fuel efficiency, ride comfort, braking performance, or recognition performance of the sensor device 110), whether the autonomous driving control function has degraded, whether the autonomous driving control parameters (for example, sensor parameters and / or deceleration parameters) have changed, or any combination thereof.

[0083] As an example, the controller 140 may use the notification device 120 to output changes in the driving performance of the vehicle based on a specified period, the driving performance including at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, handling, braking performance, or fuel efficiency, or any combination thereof.

[0084] Figure 2 Detailed description is a block diagram illustrating components of an autonomous driving control apparatus according to an embodiment of the present disclosure.

[0085] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100 may include at least one of an autonomous driving sensor performance confirmation device 210, a driving condition confirmation device 220, a driving performance confirmation device 230, a notification device 240 or any combination thereof.

[0086] Figure 2 The structures of the components shown in are illustrative, and the embodiments of the present disclosure are not limited thereto. For example, Figure 2 At least some of the components shown in FIG. 2 (eg, the autonomous driving sensor performance confirmation device 210, the driving condition confirmation device 220, and / or the driving performance confirmation device 230) may be implemented as Figure 1 The controller 140 and / or the sensor device 110 may be a part of the controller 140 and / or the sensor device 110, or may be implemented as one chip together with the controller 140 and / or the sensor device 110. In other words, at least some of the operations of at least some of the components described below may be implemented by Figure 1 The controller 140 and / or the sensor device 110 are executed (or controlled by the controller 140).

[0087] For example, the autonomous driving sensor performance confirmation device 210 may monitor the status of the sensor device and may transmit at least a portion of the monitoring result to the driving performance confirmation device 230 .

[0088] As an example, the autonomous driving sensor performance confirmation device 210 may identify whether the sensor device is degraded based on data obtained by the sensor device.

[0089] As an example, the autonomous driving sensor performance confirmation device 210 can identify the type of problem occurring in the sensor device (e.g., a hardware problem or a software problem), and can transmit information about the corresponding condition to the driving performance confirmation device 230 when the problem occurs repeatedly during a specified time or longer period.

[0090] As an example, when the reliability of sensor data is reduced to above a certain value due to interference (or noise), the autonomous driving sensor performance confirmation device 210 can count the conditions in which the recognition distance of the sensor device changes, and can transmit information about the corresponding conditions to the driving performance confirmation device 230 when it is identified that the counted number is greater than or equal to a certain number.

[0091] For example, the driving condition confirmation device 220 can identify the driving condition and / or driving information of the vehicle.

[0092] As an example, the driving condition confirmation device 220 can identify at least one of the slope of the road on which the vehicle is traveling, a dangerous section where overtaking occurs, the real-time acceleration of the vehicle, the required acceleration of the vehicle, or any combination thereof.

[0093] As an example, the driving condition confirmation device 220 can identify the driving condition and / or driving information of the vehicle based on at least one of navigation, vehicle-to-everything (V2X) communication, or any combination thereof.

[0094] For example, the driving performance confirmation device 230 can identify whether the performance of the autonomous driving control function has changed (e.g., deteriorated or improved) based on the multiple pieces of information obtained by the autonomous driving sensor performance confirmation device 210 and the driving condition confirmation device 220. In addition, the driving performance confirmation device 230 can identify whether the change in the performance of the autonomous driving control function is a temporary phenomenon or a permanent phenomenon.

[0095] As an example, the driving performance confirmation device 230 may transmit update information (or degradation improvement information) about the autonomous driving control function to the notification device 240 to provide the user with the update information.

[0096] For example, the notification device 240 may output various information regarding the travel of the host vehicle to the user using visual, auditory, or tactile content.

[0097] As an example, the notification device 240 may provide the user with performance indicators of the autonomous driving control function (e.g., at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, maneuverability, braking performance, fuel efficiency, or any combination thereof) through a display device.

[0098] As an example, when the performance of the autonomous driving control function deteriorates, the notification device 240 may output visual notifications (e.g., notifications through a speaker) and / or tactile notifications (e.g., notifications through a tactile device) differently based on whether the type of degradation is temporary degradation or permanent degradation. For example, when the degradation improves and the performance recovers after the temporary degradation is identified, the notification device 240 may output to the user the operating conditions of the autonomous driving control function before and after the performance improvement.

[0099] As an example, when the autonomous driving control device receives user input associated with improving performance (e.g., debugging request input regarding the autonomous driving control function) and performs an update to the autonomous driving control function in response to the user input (e.g., performing an update by receiving degradation improvement information from a server), the notification device 240 may output at least one of the update progress status, unupdated content, changed content, or any combination thereof in various forms (e.g., milestone form).

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

[0101] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can execute Figure 3 For example, at least some of the components in the autonomous driving control device (e.g., Figure 1 The sensor device 110, the notification device 120, the memory 130 and / or the controller 140 may be configured to perform Figure 3 operation.

[0102] The operations in S310, S320, and S330 in the following embodiments may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Figure 3 The content described corresponds to or repeats the content.

[0103] According to an embodiment, in S310 , the autonomous driving control apparatus may obtain sensor data.

[0104] For example, the autonomous driving control apparatus may obtain at least one sensor data required to perform autonomous driving control of the host vehicle using the sensor device.

[0105] According to an embodiment, in S320 , the autonomous driving control apparatus may identify whether a hardware problem with respect to a sensor occurs.

[0106] For example, the autonomous driving control apparatus may identify whether a hardware problem with respect to a sensor occurs based on a result of comparing sensor data obtained using the sensor with a reference parameter stored in a memory.

[0107] For example, when it is identified that a hardware problem with respect to the sensor occurs (eg, S320 -Yes), the autonomous driving control apparatus may perform S330 .

[0108] For example, when it is identified that a hardware problem regarding the sensor does not occur (eg, S320 -No), the autonomous driving control apparatus may perform S325 .

[0109] According to an embodiment, in S325 , the autonomous driving control apparatus may identify whether a software problem with respect to the sensor occurs.

[0110] For example, the autonomous driving control device may identify the software performance of the sensor based on the result of comparing the sensor data obtained using the sensor with the reference parameter stored in the memory. The autonomous driving control device may also identify an operation state including information that the difference between the performance of the sensor device and the predetermined performance is greater than a specified value based on the identified software performance. At this time, when the number of times such an operation state is identified is greater than or equal to the specified number of times, the autonomous driving control device may identify that a software problem with the sensor has occurred.

[0111] For example, when it is identified that a software problem with respect to the sensor occurs (eg, S325 —Yes), the autonomous driving control apparatus may perform S330 .

[0112] For example, when it is identified that no software problem with the sensor occurs (eg, S325-No), the autonomous driving control device may end the process. Alternatively, the autonomous driving control device may continue to obtain sensor data through the sensor.

[0113] According to an embodiment, in S330 , the autonomous driving control apparatus may update sensor parameters.

[0114] For example, the autonomous driving control device may update the sensor parameters based on the extent to which a hardware problem and / or a software problem of the sensor occurs and the extent to which the sensor performance changes.

[0115] For example, when a software problem is identified in a sensor, the autonomous driving control device may change the sensor parameters to solve the software problem. After changing the sensor parameters, when it is identified that the difference between the performance of the sensor and the predetermined performance is less than or equal to a specified value, the autonomous driving control device may gradually change the sensor parameters to the initial parameters over time.

[0116] Figure 4is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure.

[0117] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can execute Figure 4 For example, at least some of the components in the autonomous driving control device (e.g., Figure 1 The sensor device 110, the notification device 120, the memory 130 and / or the controller 140 may be configured to perform Figure 4 operation.

[0118] The operations in S410 to S450 in the following embodiments may be performed sequentially, but not necessarily 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 in conjunction with the above may be briefly described or omitted. Figure 4 The content described corresponds to or repeats the content.

[0119] According to an embodiment, in S410 , the autonomous driving control apparatus may obtain driving information.

[0120] For example, the autonomous driving control device may identify at least one of the slope of the road on which the host vehicle is traveling, the real-time acceleration of the host vehicle, the desired acceleration of the host vehicle, or any combination thereof.

[0121] According to one embodiment, in S420 , the autonomous driving control apparatus may identify whether the slope satisfies a specified condition.

[0122] For example, when recognizing that the slope of an uphill road is greater than a specified slope (eg, 4%) or the slope of a downhill road is less than a specified slope (eg, -4%), the autonomous driving control device may determine that the slope satisfies a specified condition.

[0123] For example, when it is identified that the slope satisfies the specified condition (eg, S420 -Yes), the autonomous driving control apparatus may execute S430 .

[0124] For example, when it is identified that the slope does not satisfy the specified condition (eg, S420 —No), the autonomous driving control apparatus may repeatedly execute S410 .

[0125] According to an embodiment, in S430 , the autonomous driving control apparatus may identify whether a difference between the required acceleration and the actual acceleration is greater than or equal to a specified value.

[0126] For example, the autonomous driving control device may identify whether the difference between the required acceleration generated to control the host vehicle and the actual acceleration generated when the host vehicle is actually driven is greater than or equal to a specified value (e.g., 0.2 m / s 2 ).

[0127] For example, when it is identified that the difference between the required acceleration and the actual acceleration is greater than or equal to the specified value (eg, S430 -Yes), the autonomous driving control apparatus may execute S440 .

[0128] For example, when it is identified that the difference between the required acceleration and the actual acceleration is smaller than the specified value (eg, S430 -No), the autonomous driving control apparatus may repeatedly execute S410 .

[0129] According to an embodiment, in S440, the autonomous driving control apparatus may calculate at least one deceleration parameter for deceleration based on the size of the difference between the required acceleration and the actual acceleration (or the size of the absolute value of the difference).

[0130] According to an embodiment, in S450 , the autonomous driving control apparatus may perform vehicle driving control based on the minimum value of at least one deceleration parameter, and may provide a notification to the user.

[0131] For example, when the error is relatively large because the actual acceleration does not correctly follow the required acceleration, the autonomous driving control device may perform autonomous driving control based on the deceleration parameter corresponding to the minimum value to control the actual acceleration to better follow the required acceleration.

[0132] For example, the autonomous driving control apparatus may provide the user with information about the history related to the process of changing the deceleration parameter and the change of the autonomous driving control before and after changing the deceleration parameter using the notification means.

[0133] Figure 5 is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure.

[0134] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can execute Figure 5 For example, at least some of the components in the autonomous driving control device (e.g., Figure 1 The sensor device 110, the notification device 120, the memory 130 and / or the controller 140 may be configured to perform Figure 5 operation.

[0135] The operations in S510 to S560 in the following embodiments may be performed sequentially, but not necessarily 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 in conjunction with the above may be briefly described or omitted. Figure 5 The content described corresponds to or repeats the content.

[0136] According to an embodiment, in S510 , the autonomous driving control apparatus may identify a driving mode.

[0137] According to an embodiment, in S520 , the autonomous driving control apparatus may identify a required acceleration for each driving speed of the identified driving mode.

[0138] For example, when the host vehicle is driven at a first speed and a second speed in a normal mode, the autonomous driving control apparatus may identify a predetermined required acceleration for deceleration or acceleration in response to the speed interval.

[0139] According to an embodiment, in S530 , the autonomous driving control apparatus may calculate a difference between the required acceleration and the actual acceleration.

[0140] According to an embodiment, the autonomous driving control apparatus may identify whether the amount of data regarding the difference accumulates by a specified amount or more in S540 .

[0141] For example, when the amount of data regarding the difference between the required acceleration and the actual acceleration accumulates by a specified amount or more (eg, S540 -Yes), the autonomous driving control apparatus may execute S550 .

[0142] For example, when the amount of data regarding the difference between the required acceleration and the actual acceleration has not accumulated by a specified amount or more (eg, S540 -No), the autonomous driving control apparatus may repeatedly execute S530 .

[0143] According to an embodiment, in S550 , the autonomous driving control apparatus may calculate the deceleration parameter based on an average value of the accumulated differences.

[0144] According to an embodiment, in S560, the autonomous driving control apparatus may perform vehicle driving control based on the calculated deceleration parameter, and may provide a notification to the user.

[0145] For example, the autonomous driving control apparatus may change the deceleration parameter stored in the memory to the calculated deceleration parameter, and may set the changed deceleration parameter as the default deceleration parameter.

[0146] For example, the autonomous driving control apparatus may provide the user with information about the history related to the process of changing the deceleration parameter and the change of the autonomous driving control before and after changing the deceleration parameter using the notification means.

[0147] Figure 6 is a conceptual diagram illustrating information provided by an autonomous driving control apparatus according to an embodiment of the present disclosure.

[0148] According to an embodiment, an autonomous driving control device (e.g., Figure 1The autonomous driving control device 100) can output information about the performance status of the vehicle to the user.

[0149] As an example, the autonomous driving control device may use a notification device including a display device (e.g., Figure 1 The notification device 120 outputs to the user changes in the driving performance of the vehicle based on a specified period, the driving performance including information about the performance of the autonomous driving control function (e.g., at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, maneuverability, braking performance, fuel efficiency, or any combination thereof).

[0150] Figure 7 is a conceptual diagram illustrating information provided by an autonomous driving control apparatus according to an embodiment of the present disclosure.

[0151] According to an embodiment, when an improvement request input regarding a problem of the autonomous driving control function (eg, a debugging request input regarding the autonomous driving control function) is received from a user, the autonomous driving control device (eg, Figure 1 The autonomous driving control apparatus 100) can send a data log record about the driving of the host vehicle from the time point when the user input is received to a specified time before to an external device.

[0152] For example, the autonomous driving control device may output a user interface regarding a debugging request using a notification device, and may receive a user input to the user interface (e.g., a debugging request input). The user interface regarding the debugging request may include a list of problems that occur when the vehicle is driving, such as an acceleration problem or a braking procedure. When receiving a user input to an area corresponding to an acceleration problem, the autonomous driving control device may recognize that a debugging request input for an acceleration problem is received from the user.

[0153] For example, the autonomous driving control apparatus may receive information on whether the autonomous driving control function is degraded and degradation improvement information corresponding to the data log record from an external device.

[0154] For example, the autonomous driving control device may output to the user whether there is a Figure 7 degradation information and degradation improvement information.

[0155] As an example, the autonomous driving control apparatus may output information including at least one of a degradation improvement history, whether it is possible to improve, a degradation improvement degree, or whether it is possible to improve, or any combination thereof.

[0156] As an example, the autonomous driving control device may output degradation improvement information including a plurality of icons 710, 720, 730, 740, and 750 corresponding to weeks 0 to 4 from the time point when the debugging request input is received. When a user input (e.g., a touch input) is received for each icon, the autonomous driving control device may output degradation improvement information corresponding to the period of the icon to the user.

[0157] As an example, according to Figure 7 , the autonomous driving control device can output to the user information that the degradation improvement is about 90% within the 3rd week.

[0158] As an example, when a debugging request input is received from a user multiple times, the autonomous driving control device may output to the user a list including items corresponding to each input. In addition, the autonomous driving control device may output to the user information about an improvement (or update) schedule for each of the items scheduled for improvement included in the list.

[0159] Figure 8 is a flowchart of an autonomous driving control method according to an embodiment of the present disclosure.

[0160] According to an embodiment, an autonomous driving control device (e.g., Figure 1 The autonomous driving control device 100) can execute Figure 8 For example, at least some of the components in the autonomous driving control device (e.g., Figure 1 The sensor device 110, the notification device 120, the memory 130 and / or the controller 140 may be configured to perform Figure 8 operation.

[0161] The operations in S810 to S830 in the following embodiments may be performed sequentially, but not necessarily 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 in conjunction with the above may be briefly described or omitted. Figure 8 The content described corresponds to or repeats the content.

[0162] According to an embodiment, in S810 , the autonomous driving control apparatus may identify whether the autonomous driving control function of the host vehicle is degraded based on at least one of an operation state of a sensor device, driving information of the host vehicle, or any combination thereof.

[0163] According to an embodiment, in S820, the autonomous driving control apparatus may change an autonomous driving control parameter including at least one of a sensor parameter, a deceleration parameter, or any combination thereof, upon recognizing that the autonomous driving control function is degraded.

[0164] According to an embodiment, in S830, the autonomous driving control device can use a notification device to output at least one of the operating status of the sensor device, the driving information of the vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameters are changed, or any combination thereof.

[0165] Fig. 9 A computing system related to an autonomous driving control method according to an embodiment of the present disclosure is described.

[0166] refer to Fig. 9 The computing system 1000 regarding 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 1600 , and a network interface 1700 interconnected via a bus 1200 .

[0167] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 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 the specification may be implemented directly using hardware modules, software modules, or a combination of hardware modules and software modules executed by the processor 1100. The software modules may reside on a storage medium (i.e., memory 1300 and / or storage 1600) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0169] The 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 is given of the effects of the autonomous driving control apparatus and method thereof according to an embodiment of the present disclosure.

[0171] In accordance with at least one of the embodiments of the present disclosure, an autonomous driving control device can provide a user with information about the performance of a function being performed and / or the performance of a device (e.g., a sensor) being operated to perform the function, while performing functions for autonomous driving control based on various schemes (e.g., visual content, auditory content, and / or tactile content).

[0172] In addition, according to at least one of the embodiments of the present disclosure, the user can receive information about the operating performance of the autonomous driving control device or whether the autonomous driving control device is deteriorated in real time. Therefore, the reliability of the function can be improved.

[0173] In addition, according to at least one of the embodiments of the present disclosure, the autonomous driving control device can provide the user with information about solutions to the problem when a problem that can be directly solved by the user is identified, and thus can guide the user to perform an autonomous driving control function with improved performance.

[0174] Furthermore, according to at least one of the embodiments of the present disclosure, the autonomous driving control apparatus may provide information for guiding a user to undergo vehicle maintenance when determining that a permanent failure has occurred, and thus a critical situation may be prevented.

[0175] In addition, according to at least one of the embodiments of the present disclosure, the autonomous driving control device can send data log records about driving during a specified time to an external device when receiving a debugging request input from a user, can receive whether there is degradation corresponding to the sent data log records and improvement information for updating, and can provide at least some of the multiple received data to the user.

[0176] Furthermore, various effects directly or indirectly determined by the present disclosure can be provided.

[0177] Although the present disclosure has been described above with reference to the embodiments and the accompanying drawings, the present disclosure is not limited thereto but may be variously modified and altered by a person skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the following claims.

[0178] Therefore, the embodiments of the present disclosure are not intended to limit the technical spirit of the present disclosure, but are provided for illustrative purposes only. The scope of the present disclosure should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.

Claims

1. An autonomous driving control device, comprising: Sensor device; Notification device; a memory configured to store at least one instruction; and a controller operatively connected to the sensor device, the notification device and the memory, Wherein, the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: identifying whether an autonomous driving control function of the host vehicle is degraded based on at least one of an operating state of the sensor device, driving information of the host vehicle, or any combination thereof; When degradation of the autonomous travel control function is identified, changing an autonomous travel control parameter including at least one of a sensor parameter, a deceleration parameter, or any combination thereof; as well as At least one of the operating state of the sensor device, the driving information of the host vehicle, whether the autonomous driving control function is degraded, whether the autonomous driving control parameter is changed, or any combination thereof is output using the notification device.

2. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: When a hardware problem is identified based on the result of comparing the sensor data obtained using the sensor device with the benchmark parameters stored in the memory, the notification device is used to output at least one of whether the hardware problem of the sensor device is a temporary problem, whether the hardware problem is recoverable, or any combination thereof.

3. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: identifying software performance of the sensor device based on a result of comparing sensor data obtained using the sensor device with a benchmark parameter stored in the memory; identifying, based on the identified software performance, an operating state including information that a difference between the identified software performance of the sensor device and a predetermined performance is greater than a specified value; as well as When the number of times the operating state is recognized is greater than or equal to a specified number of times, the sensor parameter is changed based on the number of times the operating state is recognized.

4. The autonomous driving control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: After the sensor parameter is changed, when it is identified that the difference between the software performance of the sensor device and the predetermined performance is less than or equal to the specified value, the changed sensor parameter is gradually changed to the initial parameter over time.

5. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Identifying driving information including the slope of the road on which the host vehicle is traveling and the real-time acceleration of the host vehicle; identifying a difference between the real-time acceleration and the desired acceleration; When it is identified that the slope satisfies a specified condition and the difference is greater than or equal to a specified value, identifying at least one deceleration parameter for decelerating the host vehicle based on the magnitude of the difference; executing a travel control of the host vehicle based on a minimum value among the at least one deceleration parameter; as well as Information on the change of the deceleration parameter and the travel control is output using the notification means.

6. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Identify the driving mode of the vehicle; identifying a desired acceleration for each driving speed for the identified driving mode; accumulating and identifying error data comprising a difference between a desired acceleration and an actual acceleration of the host vehicle; as well as When it is identified that the error data has accumulated by a specified amount or more, the deceleration parameter is changed based on an average value of the accumulated error data.

7. The autonomous driving control device according to claim 6, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: setting the changed deceleration parameter as a default deceleration parameter and storing the parameter in the memory; and Based on the default deceleration parameter, it is determined whether the autonomous driving control function is degraded.

8. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: comparing a reference sensor performance indicator stored in the memory with an operating state of the sensor device to identify whether an autonomous driving control function has deteriorated, and The baseline sensor performance indicator includes at least one parameter that is less than a maximum performance of the sensor device.

9. The autonomous driving control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: when a debugging request input is received from a user, transmitting to an external device a data log record regarding the travel of the host vehicle from a time point when the debugging request input regarding the autonomous travel control function is received to a specified time before; receiving, from the external device, information on whether the autonomous driving control function is deteriorated and degradation improvement information corresponding to the data log record; as well as Information on whether the autonomous driving control function is deteriorated and degradation improvement information are output using the notification device.

10. The autonomous driving control apparatus according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: Using the notification device, changes in the driving performance of the vehicle are output based on a specified period, and the driving performance includes at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, handling, braking performance, fuel efficiency or any combination thereof.

11. An autonomous driving control method, comprising the following steps: identifying, by the controller, whether an autonomous driving control function of the host vehicle is degraded based on at least one of an operating state of the sensor device, driving information of the host vehicle, or any combination thereof; When degradation of the autonomous travel control function is identified, changing, by the controller, an autonomous travel control parameter including at least one of a sensor parameter, a deceleration parameter, or any combination thereof; and At least one of an operating state of the sensor device, driving information of the host vehicle, whether an autonomous driving control function is degraded, whether an autonomous driving control parameter is changed, or any combination thereof is output by the controller using a notification device.

12. The autonomous driving control method according to claim 11, further comprising the following steps: When a hardware problem is identified based on the result of comparing the sensor data obtained using the sensor device with the benchmark parameters stored in the memory, the controller uses the notification device to output at least one of whether the hardware problem of the sensor device is a temporary problem, whether the hardware problem is recoverable, or any combination thereof.

13. The autonomous driving control method according to claim 11, further comprising the following steps: identifying, by the controller, software performance of the sensor device based on a result of comparing sensor data obtained using the sensor device with a reference parameter stored in a memory; identifying, by the controller, an operating state including information that a difference between the identified software performance of the sensor device and a predetermined performance is greater than a specified value based on the identified software performance; as well as When the number of times the operating state is recognized is greater than or equal to a specified number of times, the sensor parameter is changed by the controller based on the number of times the operating state is recognized.

14. The autonomous driving control method according to claim 13, further comprising the following steps: After the sensor parameter is changed, when it is identified that the difference between the software performance of the sensor device and the predetermined performance is less than or equal to the specified value, the changed sensor parameter is gradually changed to the initial parameter over time by the controller.

15. The autonomous driving control method according to claim 11, further comprising the following steps: The controller identifies driving information including the slope of the road on which the host vehicle is traveling and the real-time acceleration of the host vehicle; identifying, by the controller, a difference between the instantaneous acceleration and a desired acceleration; When it is identified that the slope satisfies a specified condition and the difference is greater than or equal to a specified value, the controller identifies, based on the magnitude of the difference, at least one deceleration parameter for decelerating the host vehicle; The controller performs driving control of the host vehicle based on the minimum value of the at least one deceleration parameter; as well as Information on the change of the deceleration parameter and the travel control is output by the controller using the notification device.

16. The autonomous driving control method according to claim 11, further comprising the following steps: The controller identifies the driving mode of the vehicle; identifying, by the controller, a desired acceleration for each driving speed for the identified driving mode; accumulating and identifying, by the controller, error data comprising a difference between a desired acceleration and an actual acceleration of the host vehicle; as well as When it is identified that the error data has accumulated by a specified amount or more, the controller changes the deceleration parameter based on an average value of the accumulated error data.

17. The autonomous driving control method according to claim 16, further comprising the following steps: The controller sets the changed deceleration parameter as a default deceleration parameter and stores it in a memory; as well as The controller determines whether an autonomous driving control function is degraded based on the default deceleration parameter.

18. The autonomous driving control method according to claim 11, further comprising the following steps: The controller compares the reference sensor performance index stored in the memory with the operating state of the sensor device to identify whether the autonomous driving control function is degraded, and The baseline sensor performance indicator includes at least one parameter that is less than a maximum performance of the sensor device.

19. The autonomous driving control method according to claim 11, further comprising the following steps: When a debugging request input is received from a user, the controller transmits a data log record about the driving of the host vehicle from a time point when the debugging request input about the autonomous driving control function is received to a specified time before to an external device; receiving, by the controller, from the external device information on whether the autonomous driving control function is deteriorated and degradation improvement information corresponding to the data log record; as well as Information on whether the autonomous driving control function is deteriorated and degradation improvement information are output by the controller using the notification device.

20. The autonomous driving control method according to claim 11, further comprising the following steps: The controller uses the notification device to output changes in the driving performance of the vehicle based on a specified period, the driving performance including at least one of acceleration, ride comfort, quietness, camera recognition performance, radar recognition performance, handling, braking performance, fuel efficiency or any combination thereof.

Images