Autonomous travel control device and method thereof

Abstract

An autonomous travel control apparatus is configured to: collect data regarding autonomous travel control of a vehicle during an operation of autonomous travel of the vehicle; storing data regarding autonomous driving control of the vehicle in at least one buffer of a first memory of a first type, where the data regarding autonomous driving control of the vehicle is configured to be stored in a first format; converting at least a portion of the data regarding autonomous driving control of the vehicle into a second format for storage in a second memory of a second type; receiving a trigger signal; and storing driving data corresponding to a specified duration determined based on the reception time of the trigger signal in a second memory of a second type based on the reception time of the trigger signal.

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving control device and a method thereof, and more particularly, to a technique for efficiently storing pieces of data identified while the vehicle is traveling. Background Art

[0002] As autonomous driving vehicles are gradually popularized, various technologies related to autonomous driving have been developed. For example, for the stable driving of autonomous driving vehicles, more and more data may be required. Therefore, technologies for efficiently storing and managing data should be developed. Summary of the Invention

[0003] The following summary of the invention presents a simplified overview of certain features. The summary of the invention is not an extensive review and is not intended to identify important or key elements.

[0004] One aspect of the present disclosure provides an autonomous driving control device that, in the process of storing data on the driving of the vehicle in a memory, can adaptively perform operations of storing and managing data even when there are limitations on the number (or capacity) of buffers included in the memory when a trigger signal for storing data is continuously generated.

[0005] Another aspect of the present disclosure provides an autonomous driving control device that can store data in the memory in order considering the priority of the data when storing the data.

[0006] Another aspect of the present disclosure provides an autonomous driving control device that can identify the time point when a trigger signal is generated and store the data during a specified duration (including a specified time (e.g., 30 seconds) before the identified time point and a specified time (e.g., 30 seconds) after the identified time point) in the memory to efficiently store data while complying with laws and regulations.

[0007] Another aspect of the present disclosure provides an autonomous driving control device that can temporarily store nodes provided by dividing data per unit time in a buffer (e.g., a buffer in a RAM or other first-type memory accessible by one or more processors for faster processing), and quickly identify at least one node that should be stored in a storage device (e.g., an embedded multimedia card (eMMC), a solid state drive (SSD), or other second-type memory, which can provide slower processing than the first-type memory) based on the time information included in the node, so as to store the driving data (multiple) included in the identified at least one node in the storage device. For example, another aspect of the present disclosure provides an autonomous driving control device that can store a file containing (multiple) driving data in the storage device, and set the time information corresponding to the identified at least one node as the file name, so as to quickly and accurately identify the time information of the (multiple) driving data later.

[0008] Another aspect of the present disclosure provides an autonomous driving control device that can quickly copy at least some of the data associated with a trigger signal (hereinafter, it may be referred to as a triggering signal) among the data temporarily stored in the buffer to a storage device (e.g., an embedded multimedia card (eMMC), a solid state drive (SSD), etc.).

[0009] In at least some driving areas, according to laws and regulations, the autonomous driving control device may need to store at least some of the data generated (or identified) during the autonomous driving control of the vehicle in its memory.

[0010] However, with the development of autonomous driving technology, the size of the data to be stored by the autonomous driving control device and the time for storing data are increasing. In addition, when a specific situation occurs (e.g., a situation where data should be continuously stored or a situation where the autonomous driving control device takes a break), a method for efficiently storing and managing driving data in the autonomous driving control device is needed.

[0011] The technical problems to be solved by the present disclosure are not limited to the above problems, and those skilled in the art to which the present disclosure pertains will clearly understand any other technical problems not mentioned herein from the following description.

[0012] The autonomous driving control device may include: a memory storing at least one instruction; and a controller operatively coupled to the memory, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: collect (multiple) data regarding the autonomous driving control of the vehicle during an operation of the autonomous driving of the vehicle; store the (multiple) data regarding the autonomous driving control of the vehicle in at least one buffer of a first memory of a first type, wherein the (multiple) data regarding the autonomous driving control of the vehicle is configured to be stored in a first format; convert at least a portion of the (multiple) data regarding the autonomous driving control of the vehicle into a second format for storage in a second memory of a second type; receive a trigger signal; and store driving data corresponding to a specified duration in the second memory of the second type based on the reception time of the trigger signal, wherein the specified duration is determined based on the reception time of the trigger signal, and wherein the driving data corresponding to the specified duration is converted from the first format into the second format based on a portion of the (multiple) data regarding the autonomous driving control of the vehicle.

[0013] The at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: store the (multiple) data regarding the autonomous driving control of the vehicle by storing a first portion of the collected (multiple) data in a first buffer of the at least one buffer while performing autonomous driving control of the vehicle in a specified driving section, wherein the first portion of the collected (multiple) data is associated with the reception time of the trigger signal.

[0014] The at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: store the (multiple) data regarding the autonomous driving control of the vehicle by storing a second portion of the collected (multiple) data in the first buffer, wherein the second portion of the collected (multiple) data is associated with the reception time of a second trigger signal, wherein the second portion of the collected (multiple) data is stored in the first buffer using a pointer associated with the reception time of the second trigger signal, and wherein the first portion of the collected (multiple) data is stored in the first buffer using a pointer associated with the reception time of the trigger signal.

[0015] The second memory of the second type may include at least one of the following: an embedded multimedia card (eMMC); or a solid state drive (SSD).

[0016] The at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: store specified data corresponding to a predefined event among the (multiple) data in the second memory of the second type based on determining that the predefined event has occurred during the collection of the (multiple) data.

[0017] At least one instruction can be configured to, when executed by a controller, cause an autonomous driving control device to: store first driving data corresponding to a first duration associated with a reception time of a trigger signal in at least one buffer; store second driving data corresponding to a second duration associated with a second reception time of a second trigger signal in at least one buffer, the second reception time being after the reception time; and store the first driving data and the second driving data corresponding to the first duration and the second duration, respectively, among the data stored in at least one buffer, in a second memory of a second type.

[0018] At least one instruction can be configured to, when executed by a controller, cause an autonomous driving control device to: divide the collected data into at least one node and store the at least one node in at least one buffer; and store at least one driving data having first time information corresponding to a specified duration of a first node among the at least one node as a file name in a second memory of a second type, and wherein the at least one node includes at least one of time information, data collected in response to the time information, identification information of a next node, or identification information of a previous node, or any combination thereof.

[0019] At least one instruction can be configured to, when executed by a controller, cause an autonomous driving control device to: store at least one random access memory (RAM) file system corresponding to at least one node in at least one buffer; and copy a specified RAM file system corresponding to a specified duration among the at least one RAM file systems to a second memory of a second type based on a trigger signal, and wherein the at least one RAM file system includes at least one of time information of at least one node or data collected in response to the time information, or any combination thereof.

[0020] The predefined events include at least one of the following: activating or deactivating at least a part of an autonomous driving system of a vehicle including the autonomous driving control device; occurrence of at least one event among a transition demand (TD), a minimal risk maneuver (MRM), or an emergency maneuver (EM), or any combination thereof; updating data of an event data recorder (EDR); deterioration of performance of the vehicle or a failure of the vehicle; or any combination thereof.

[0021] At least one instruction can be configured to, when executed by a controller, cause an autonomous driving control device to: encrypt and store at least one of position information or user information of the vehicle among the driving data.

[0022] An autonomous driving control method may include: collecting, by a controller, (multiple) data regarding autonomous driving control of a vehicle during an operation of autonomous driving of the vehicle; storing the (multiple) data regarding autonomous driving control of the vehicle in at least one buffer of a first memory of a first type, wherein the (multiple) data regarding autonomous driving control of the vehicle is configured to be stored in a first format; converting, by the controller, at least a part of the (multiple) data regarding autonomous driving control of the vehicle into a second format for storage in a second memory of a second type; receiving, by the controller, a trigger signal; and storing, by the controller based on a reception time of the trigger signal, driving data corresponding to a specified duration in the second memory of the second type, wherein the specified duration is determined based on the reception time of the trigger signal, and wherein, based on a part of the (multiple) data regarding autonomous driving control of the vehicle, the driving data corresponding to the specified duration is converted from the first format into the second format.

[0023] The autonomous driving control method may perform one or more operations described herein and / or implement one or more features implemented herein.

[0024] These and other features and advantages will be described in more detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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:

[0026] Figure 1 is a block diagram showing components of an autonomous driving control device according to an example of the present disclosure;

[0027] Figure 2 is a conceptual diagram showing components and operations of an autonomous driving control device according to an example of the present disclosure;

[0028] Figure 3A is a conceptual diagram showing data stored in an autonomous driving control device according to an example of the present disclosure;

[0029] Figure 3B is a conceptual diagram showing data stored in an autonomous driving control device according to an example of the present disclosure;

[0030] Figure 4 is an operational conceptual diagram of an autonomous driving control method according to an example of the present disclosure;

[0031] Figure 5 is an operational conceptual diagram of an autonomous driving control method according to an example of the present disclosure;

[0032] Figure 6 is a flowchart of an autonomous driving control method according to an example of the present disclosure; and

[0033] Figure 7 A computing system for an autonomous driving control device or an autonomous driving control method according to an example of the present disclosure is shown.

[0034] Regarding the drawings, the same or similar reference numerals may be used for the same or similar components. Detailed description of specific embodiments

[0035] Hereinafter, some examples 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 should be noted that the same components are denoted by the same numbers, even when they are shown in other drawings. In addition, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily obscure the gist of the present disclosure.

[0036] When describing the components according to the examples of the present disclosure, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only used to distinguish one element from another element, but do not limit the corresponding element, regardless of the order or priority of the corresponding element. In addition, unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains. Such terms defined in a commonly used dictionary will be interpreted as having a meaning equivalent to the context meaning in the relevant technical field, and will not be interpreted as having an ideal or overly formal meaning, unless explicitly defined as having such a meaning in the present application.

[0037] Hereinafter, reference will be made to Figures 1 to 7 to describe the examples of the present disclosure in detail.

[0038] Figure 1 is a block diagram showing the components of an autonomous driving control device according to an example of the present disclosure.

[0039] According to an example, the autonomous driving control device 100 may include a memory 110 and a controller 120. Figure 1 The components of the shown autonomous driving control device 100 are illustrative, and the examples of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may further include Figure 1 components not shown (for example, at least one of a sensor device, a communication device, an interface, a display or a notification device, or any combination thereof).

[0040] According to an example, the memory 110 may store commands or data. For example, the memory 110 may store one or more instructions that, when executed by the controller 120, cause the autonomous driving control device 100 to perform various operations.

[0041] For example, the memory 110 and the controller 120 may be implemented as a chipset. The controller 120 may include at least one of a communication processor or a modem.

[0042] For example, the memory 110 may store various (multiple) pieces of information associated with the autonomous driving control device 100. As an example, the memory 110 may store information about the operation history of the controller 120. As an example, the memory 110 may store information associated with the state and / or operation of components of the present vehicle (e.g., an engine control unit (ECU), a sensor device, a driving device, an input device, a notification device, and / or at least one of the controller 120 or any combination thereof).

[0043] For example, the memory 110 may include multiple memories of different types. For example, the memory 110 may include a first type of memory (e.g., a memory such as a random access memory (RAM), a high bandwidth memory (HBM), or any other memory) and / or a second type of memory (e.g., a storage device such as an embedded multimedia card (eMMC), a solid state drive (SSD), a hard disk drive, or any other storage device) or at least one of any combination thereof.

[0044] As an example, the first type of memory (e.g., RAM) may temporarily store data (e.g., driving data) about the operation of the autonomous driving control device 100 and / or the present vehicle that is the control target of the autonomous driving control device 100. The RAM may include, for example, at least one buffer. The autonomous driving control device 100 may store at least one node obtained by dividing the data collected (or identified) during the execution of autonomous driving control of the present vehicle by unit time. The first type of memory may include a volatile memory.

[0045] As an example, the second type of memory (e.g., eMMC, SSD, etc.) may include an embedded multimedia card. The second type of memory (e.g., a non-volatile storage device) may store data, for example, for a longer time than the RAM. The second type of memory may be implemented as, for example, a separate memory chip independent of the RAM.

[0046] According to an example, the controller 120 may be operatively coupled to the memory 110. For example, the controller 120 may control the operation of the memory 110.

[0047] For example, the controller 120 may collect data about the autonomous driving control of the present vehicle.

[0048] As an example, the controller 120 may collect (or obtain) various data generated (or identified) during the execution of autonomous driving control of the present vehicle.

[0049] As an example, data regarding autonomous driving control may include driving data associated with the driving of the present vehicle. The driving data may include, for example, information on at least one of the driving environment of the present vehicle, the driving speed of the present vehicle, or an event that occurs during driving, or any combination thereof.

[0050] As an example, when the controller 120 performs autonomous driving control on the present vehicle in a specified driving section (e.g., a highway), at least some of the collected data may be temporarily stored in a buffer included in the memory 110. The collected data may be generated based on various types of sensing data of the vehicle (e.g., one or more image sensors, one or more cameras, one or more light detection and ranging (LiDAR) devices, one or more sound detection sensors, one or more smoke detectors, one or more gas detectors, etc.).

[0051] As an example, the controller 120 may divide (or separate) the collected data into at least one node, and may store at least one node in the buffer. The controller 120 may store, for example, at least one node obtained by dividing the collected data per unit time in the buffer.

[0052] As an example, at least one node may include at least one of time information, data collected in response to the time information, identification information of the next node, or identification information of the previous node, or any combination thereof. The time information may include the time when the data corresponding to at least one node is generated (or identified). The next node may be, for example, a node corresponding to after a unit time from this node. The previous node may be, for example, a node corresponding to before a unit time from this node.

[0053] The description of the structure of the node may be referred to the Figure 4 further description below.

[0054] As an example, the controller 120 may divide the collected data into at least one node, and may store at least one RAM file system corresponding to at least one node respectively in the buffer.

[0055] As an example, at least one RAM file system may include at least one of the time information of at least one node or the data collected in response to the time information, or any combination thereof.

[0056] The description of the structure of the RAM file system may be referred to the Figure 5 further description below.

[0057] For example, based on identifying at least one trigger signal during data collection, the controller 120 may store in the memory 110 the driving data during a specified duration relative to the time point when the at least one trigger signal is identified (or the time point when the at least one trigger signal is generated) among the data. The trigger signal may be generated based on a specified event associated with the vehicle (e.g., one or more events that may occur during autonomous driving of the vehicle).

[0058] As an example, the controller 120 may store in the storage device (e.g., eMMC) included in the memory 110 the driving data corresponding to the specified duration among the data stored in the buffer.

[0059] As an example, the specified duration may include a duration before a specified time (e.g., 30 seconds) relative to the time point when the at least one trigger signal is identified and a duration after the specified time relative to the time point when the at least one trigger signal is identified.

[0060] For example, based on identifying that a predefined event occurs during data collection, the controller 120 may store in the storage device (e.g., eMMC) the specified data corresponding to the predefined event among the data without passing through the buffer (or before passing through the buffer).

[0061] As an example, the predefined event may include at least one of an event predefined by the developer, an event defined by the user's settings, an event defined by laws and regulations, or any combination thereof.

[0062] As an example, the predefined event may include activating or deactivating at least a part of the autonomous driving system of the present vehicle including the autonomous driving control device 100. In other words, when at least some devices (e.g., the autonomous driving control device 100) included in the autonomous driving system of the present vehicle are activated or deactivated, the autonomous driving control device 100 may identify that a predefined event has occurred and may directly store the data corresponding to the predefined event in the storage device without passing through the buffer (or before passing through the buffer).

[0063] As an example, the predefined event may include at least one condition among a transition demand (TD), a minimum risk maneuver (MRM), or an emergency maneuver (EM) or any combination thereof. In other words, when a TD condition, an MRM condition, and / or an EM condition occur during the process of performing autonomous driving control on the present vehicle, the autonomous driving control device 100 may identify that a predefined event has occurred and may directly store the data corresponding to the predefined event in the storage device without passing through the buffer (or before passing through the buffer).

[0064] As an example, the predefined event may include a situation where the data of an event data recorder (EDR) is updated. In other words, when it is recognized that data has been updated in the EDR (which is a device that stores some of the data generated during the autonomous driving control of this vehicle, such as accident data), the autonomous driving control device 100 may recognize that a predefined event has occurred, and may directly store the data corresponding to the predefined event in the storage device without passing through the buffer (or before passing through the buffer).

[0065] As an example, the predefined event may include a situation where the performance of this vehicle deteriorates or a malfunction occurs in this vehicle. In other words, when it is recognized that the driving performance of this vehicle has decreased below a predefined performance, or some components of this vehicle malfunction, the autonomous driving control device 100 may recognize that a predefined event has occurred, and may directly store the data corresponding to the predefined event in the storage device without passing through the buffer (or before passing through the buffer).

[0066] For example, when a plurality of trigger signals are continuously generated, the controller 120 may sequentially store the data corresponding to the trigger signals in the storage device.

[0067] As an example, the controller 120 may store the first driving data during the first duration with respect to the first time point when the first trigger signal among at least one trigger signal is recognized in the buffer.

[0068] As an example, the controller 120 may store the second driving data during the second duration with respect to the second time point when the second trigger signal among at least one trigger signal is recognized in the buffer. The second time point may be, for example, a time point after the first time point.

[0069] As an example, the controller 120 may store the first driving data and the second driving data corresponding to the first duration and the second duration respectively among the data stored in the buffer in the storage device. Through this process, the controller 120 may temporarily store the first driving data and the second driving data that need to be stored in the buffer, and may copy (or store) the first driving data and the second driving data to the storage device, so as to store the data in the storage device sequentially according to the storage order of the data, and save it for a relatively long duration.

[0070] As an example, when at least one trigger signal is recognized, the controller 120 may store, in the storage device, the driving data with the first time information of the first node corresponding to the specified duration among at least one node as the file name. In other words, the controller 120 may recognize that the first node including the first time information includes data to be moved from the buffer to the storage device for storage in the storage device. For example, the controller 120 may recognize the specified duration with respect to the time point when at least one trigger signal is generated, and may recognize that the first time information includes the specified duration.

[0071] For example, the controller 120 may encrypt the data regarding personal information before storing it in the memory 110.

[0072] As an example, the controller 120 may encrypt and store at least one of the position information or user information of the own vehicle among the driving data or any combination thereof.

[0073] Figure 2 is a conceptual diagram showing components and operations of an autonomous driving control device according to an example of the present disclosure.

[0074] According to an example, the autonomous driving control device 200 (for example, Figure 1 the autonomous driving control device 100) may include a first memory 212 (for example, internal memory such as RAM, HBM, etc.) and a second memory 214 (for example, storage device such as eMMC, SSD, etc.). For example, the first memory 212 and the second memory 214 may be implemented as one device (for example, Figure 1 the memory 110). For example, the first memory 212 and the second memory 214 may be operably connected to a controller (for example, Figure 1 the controller 120). For example, the first memory 212 and the second memory 214 may be electrically connected to each other to transmit and receive data.

[0075] For example, the first memory 212 may include at least one buffer (212-1 and 212-2).

[0076] As an example, the first memory 212 may include a first buffer 212-1 and a second buffer 212-2.

[0077] Referring to reference numeral 291, according to an example, the autonomous driving control device 200 may sequentially store the data 205 generated (or obtained) when performing autonomous driving control on the own vehicle in at least one buffer (212-1 and 212-2) included in the first memory 212.

[0078] As an example, the second memory 214 may include a storage space for storing data and / or a controller. The second memory 214 may be, for example, an embedded multimedia card (eMMC).

[0079] Referring to reference numerals 292 and 293, according to an example, the autonomous driving control device 200 may identify (or detect) a trigger signal 207. If the trigger signal 207 is detected, the autonomous driving control device 200 may store data in the second memory 214 in different schemes according to the type of the trigger signal 207.

[0080] Referring to reference numeral 292, as an example, if the trigger signal 207 is identified, the autonomous driving control device 200 may store second data 252 corresponding to the trigger signal 207 among the data stored in at least one buffer (212-1 and 212-2) in the second memory 214.

[0081] For example, the autonomous driving control device 200 may move and store second data 252 corresponding to a specified duration identified based on the time point when the trigger signal 207 is identified (or generated) from at least one buffer (212-1, 212-2) to the second memory 214.

[0082] Referring to reference numeral 293, as an example, if the trigger signal 207 corresponds to a predefined event, the autonomous driving control device 200 may store first data 251 regarding the event in the second memory 214 without passing through the first memory 212 (or at least one buffer (212-1 and 212-2)) (e.g., immediately / directly).

[0083] Figure 3A is a conceptual diagram showing data stored by an autonomous driving control device according to an example of the present disclosure.

[0084] Figure 3B is a conceptual diagram showing data stored by an autonomous driving control device according to an example of the present disclosure.

[0085] Reference Figure 3A , according to an example, a situation may occur in which an autonomous driving control device (e.g., Figure 1 the autonomous driving control device 100) should store a plurality of frames 351 and 352 corresponding to data regarding autonomous driving control in a memory.

[0086] For example, the autonomous driving control device can recognize that a first trigger signal is generated at the first time point t10. The autonomous driving control device can recognize the 1-1 time point t11 before the time 'a' (e.g., 30 seconds) from the first time point t10, and can recognize the 1-2 time point t12 after the time 'b' (e.g., 30 seconds) from the first time point t10. The autonomous driving control device can recognize the duration from the 1-1 time point t11 to the 1-2 time point t12 as the first duration corresponding to the first trigger signal.

[0087] For example, based on recognizing the first trigger signal, the autonomous driving control device can store the first frame 351, which is the driving data during the first duration, in the memory. In this case, the autonomous driving control device can store the data corresponding to the first frame 351 among various different data temporarily stored in the buffer in a storage device (e.g., eMMC) of the memory independent of the buffer.

[0088] In this case, the autonomous driving control device can recognize a second trigger signal generated at the second time point t20. The autonomous driving control device can recognize the 2-1 time point t21 before the time 'a' (e.g., 30 seconds) from the second time point t20, and can recognize the 2-2 time point t22 after the time 'b' (e.g., 30 seconds) from the second time point t20. The autonomous driving control device can recognize the duration from the 2-1 time point t21 to the 2-2 time point t22 as the second duration corresponding to the second trigger signal.

[0089] For example, based on recognizing the second trigger signal, the autonomous driving control device can store the second frame 352, which is the driving data during the second duration, in the memory. However, because there is a partially overlapping duration between the second duration corresponding to the second frame 352 and the first duration corresponding to the first frame 351, when the autonomous driving control device is implemented to include a single buffer, there are limitations in quickly storing data. If the autonomous driving control device uses multiple buffers to prevent this situation, since the capacity occupied by each buffer is quite large, the memory usage increases and an overhead problem may occur. To solve such problems, the autonomous driving control device according to an example of the present disclosure can store data based on the following Figure 3B algorithm.

[0090] Reference Figure 3B, according to the example, the autonomous driving control device can sequentially store data regarding the autonomous driving control of the vehicle in a buffer 390. If multiple trigger signals are recognized, the autonomous driving control device can move (or copy) the sequentially stored data to a storage device of a memory independent of the buffer 390.

[0091] For example, the autonomous driving control device can sequentially store various data generated (or recognized) during the autonomous driving control of the vehicle in the buffer 390 over time. For example, when the last part of the buffer 390 (e.g., the part corresponding to t12) is all stored with data, the autonomous driving control device can reuse the initial part of the buffer 390 (e.g., the part corresponding to t11). If all data is stored in the last part of the buffer 390, the autonomous driving control device can store new data in the initial part of the buffer 390.

[0092] For example, the autonomous driving control device can recognize that a first trigger signal is generated at a first time point t10. The autonomous driving control device can recognize a 1-1 time point t11 before a time 'a' (e.g., 30 seconds) from the first time point t10, and can recognize a 1-2 time point t12 after a time 'b' (e.g., 30 seconds) from the first time point t10. The autonomous driving control device can recognize the duration from the 1-1 time point t11 to the 1-2 time point t12 as a first duration corresponding to the first trigger signal.

[0093] For example, based on recognizing the first trigger signal, the autonomous driving control device can store the driving data stored during the first duration among the data stored in the buffer 390 in a storage device (e.g., eMMC). In this case, the autonomous driving control device can store the data corresponding to the first duration among various different data temporarily stored in the buffer 390 in the storage device of the memory (e.g., eMMC).

[0094] In this case, the autonomous driving control device can recognize that a second trigger signal is generated at a second time point t20. The autonomous driving control device can recognize a 2-1 time point t21 before a time 'c' (e.g., 30 seconds) from the second time point t20, and can recognize a 2-2 time point t22 after passing a time 'd' (e.g., 10 seconds) and a time 'e' (e.g., 20 seconds) from the second time point t20. The autonomous driving control device can recognize the duration from the 2-1 time point t21 to the 2-2 time point t22 as a second duration corresponding to the second trigger signal.

[0095] For example, when a time ‘d’ (e.g., 10 seconds) has elapsed since the second time point t20, the last part of the buffer 390 for storing data can be used. For example, the data stored at the 1-2 time point t12 can be in the last part of the buffer 390. In this case, the autonomous driving control device can collect (or store) data again from the initial part of the buffer 390. For example, the data stored at the 1-1 time point t11 can be in the initial part of the buffer 390. For example, the autonomous driving control device can sequentially store the data identified from the time point when the data starts to be stored in the initial part to the time point when a time ‘e’ has elapsed from the initial part of the buffer 390 (e.g., the 2-2 time point t22).

[0096] For example, due to reusing a part of the buffer 390, according to Figure 3B , the data stored at the 2-1 time point t21 and the 2-2 time point t22 can be in the front part of the data stored at the first time point t10.

[0097] For example, the autonomous driving control device can store the driving data stored during the second duration among the data stored in the buffer 390 in a storage device (e.g., eMMC) based on recognizing a second trigger signal. In this case, the autonomous driving control device can store the data corresponding to the second duration among the various different data temporarily stored in the buffer 390 in the storage device (e.g., eMMC) of the memory.

[0098] Figure 4 is an operational concept diagram of an autonomous driving control method according to an example of the present disclosure.

[0099] According to an example, an autonomous driving control device (e.g., Figure 1 the autonomous driving control device 100) can include a first memory 412 (e.g., Figure 2 the first memory 212) and a second memory 414 (e.g., Figure 2 the second memory 214).

[0100] For example, the first memory 412 can store at least one node (421, 422, 423, 424, 425, and 429). The at least one node (421, 422, 423, 424, 425, and 429) can be, for example, a data structure obtained by dividing the data generated (or recognized) during the process of performing autonomous driving control on the vehicle by unit time.

[0101] For example, at least one of the nodes (421, 422, 423, 424, 425, and 429) may include at least one of time (or time information), data collected in response to the time information, identification information of the next node, or identification information of the previous node, or any combination thereof.

[0102] As an example, the time information included in the first node 421 may include the time when the driving data included in the first node 421 is generated (or identified).

[0103] As an example, the driving data included in the first node 421 may include data generated (or identified) within the time corresponding to the first node 421.

[0104] As an example, the previous node information may include identification information of a node (not shown) corresponding to a previous time corresponding to the time of the first node 421.

[0105] As an example, the next node information may include identification information of a node (e.g., the second node 422) corresponding to a next time corresponding to the time of the first node 421.

[0106] According to the example, when a trigger signal is recognized, the autonomous driving control device may move and store in the second memory 414 a node corresponding to a specified duration identified based on the time point when the trigger signal is generated among at least one of the nodes (421, 422, 423, 424, 425, and 429) stored in the first memory 412.

[0107] For example, when a trigger signal is recognized, the autonomous driving control device may identify a specified duration based on the time point when the trigger signal is recognized (or generated), and may identify the first node 421 that contains data corresponding to the specified duration.

[0108] For example, the autonomous driving control device may move and store in the second memory 414 a file 430 that contains the driving data included in the identified first node 421. At this time, the file name of the file 430 may be set to the time corresponding to the first node 421. As a result, the autonomous driving control device may store and manage the files stored in the second memory 414 more quickly and accurately.

[0109] Figure 5 is an operational concept diagram of an autonomous driving control method according to an example of the present disclosure.

[0110] According to the example, the autonomous driving control device (e.g., Figure 1 the autonomous driving control device 100) may include a first memory 512 (e.g., Figure 2 the first memory 212) and a second memory 514 (e.g.,Figure 2 second memory 214).

[0111] Referring to reference numeral 591, according to an example, the first memory 512 may store at least one node (521, 522, 523, 524, 525, and 529). The at least one node (521, 522, 523, 524, 525, and 529) may be, for example, a data structure obtained by dividing data generated (or recognized) during the process of performing autonomous driving control on the vehicle per unit time.

[0112] For example, the at least one node (521, 522, 523, 524, 525, and 529) may include at least one of time (or time information), data collected in response to the time information, identification information of the next node, or identification information of the previous node, or any combination thereof.

[0113] As an example, the time information included in the first node 521 may include the time when the driving data included in the first node 521 is generated (or recognized).

[0114] As an example, the driving data included in the first node 521 may include data generated (or recognized) within the time corresponding to the first node 521.

[0115] As an example, the previous node information may include identification information of a node (not shown) corresponding to the previous time corresponding to the time of the first node 521.

[0116] As an example, the next node information may include identification information of a node (e.g., the second node 522) corresponding to the next time corresponding to the time of the first node 521.

[0117] Referring to reference numeral 592, according to an example, the autonomous driving control device may generate a RAM file system corresponding to each of the at least one node (521, 522, 523, 524, 525, and 529) (e.g., the file 545 corresponding to the first node 521) based on the time and driving data of each of the at least one node (521, 522, 523, 524, 525, and 529), and store it in the first memory 512. For example, the autonomous driving control device may store the file 545 (e.g., the RAM file system) including the driving data included in the first node 521 in the first memory 512. At this time, the file name of the file 545 may be set to the time corresponding to the first node 521.

[0118] For example, if a trigger signal is recognized, the autonomous driving control device may recognize a node (521, 522, 523, 524, 525, and 529) among at least one node stored in the first memory 512 that corresponds to a specified duration identified based on the time point when the trigger signal is generated, and may copy and store a file corresponding to the recognized node in the second memory 514.

[0119] For example, if a trigger signal is recognized, the autonomous driving control device may identify a specified duration based on the time point when the trigger signal is recognized (or generated), and may identify a first node 521 that contains data corresponding to the specified duration.

[0120] Referring to reference numeral 593, according to the example, the autonomous driving control device may copy a file 545 corresponding to the recognized first node 521 to the second memory 514, and may store the copied file 535. The copied file 535 may contain substantially the same data as the file 545 stored in the first memory 512. As a result, the autonomous driving control device may pre-generate data of a file structure corresponding to a node and store it in the first memory 512, and may immediately copy the corresponding file to the second memory 514 when a trigger signal corresponding to the corresponding file is recognized, thereby quickly storing and managing the RAM file system while minimizing the activation of the controller of the second memory 514.

[0121] Figure 6 is a flowchart of an autonomous driving control method according to an example of the present disclosure.

[0122] According to the example, the autonomous driving control device (e.g., Figure 1 the autonomous driving control device 100) may perform Figure 6 the operations disclosed in Figure 1 For example, at least some components included in the autonomous driving control device (e.g., Figure 6 the memory 110 and the controller 120 of

[0123] The operations in S610 to S630 in the following example may be executed sequentially, but not necessarily sequentially. For example, the order of each operation may be changed, and at least two operations may be executed in parallel. In addition, content corresponding to or repeating the content described above in conjunction with Figure 6 may be briefly described or omitted.

[0124] According to the example, in S610, the autonomous driving control device may collect data on the autonomous driving control of the vehicle itself.

[0125] According to the example, at S620, the autonomous driving control device may determine whether at least one trigger signal is recognized.

[0126] For example, when at least one trigger signal is recognized (e.g., S620 - "Yes"), the autonomous driving control device may execute S630.

[0127] For example, when at least one trigger signal is not recognized (e.g., S620 - "No"), the autonomous driving control device may repeatedly execute S610.

[0128] According to the example, at S630, the autonomous driving control device may store the driving data during a specified duration relative to the time point when at least one trigger signal is recognized among the data in a memory.

[0129] According to one aspect of the present disclosure, the autonomous driving control device may include a memory storing at least one instruction and a controller operably connected to the memory. For example, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: collect (multiple) data regarding the autonomous driving control of the own vehicle, and when at least one trigger signal is recognized while collecting the (multiple) data, store the driving data during a specified duration relative to the time point when at least one trigger signal is recognized among the (multiple) data in the memory.

[0130] According to the example, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: while performing autonomous driving control of the own vehicle in a specified driving section, store at least some of the collected (multiple) data in a buffer included in the memory.

[0131] According to the example, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: store the driving data corresponding to the specified duration among the (multiple) data stored in the buffer in a storage device included in the memory.

[0132] According to the example, the storage device may include an embedded multimedia card (eMMC).

[0133] According to the example, the at least one instruction may be configured to, when executed by the controller, cause the autonomous driving control device to: when a predefined event occurs while collecting the (multiple) data, store the specified data corresponding to the predefined event among the (multiple) data in the storage device.

[0134] According to an example, at least one instruction can be configured such that when executed by a controller, it causes an autonomous driving control device to: store first driving data during a first duration with respect to a first time point when a first trigger signal among at least one recognized trigger signal is recognized in a buffer, store second driving data during a second duration with respect to a second time point when a second trigger signal among at least one recognized trigger signal is recognized in the buffer, the second time point being after the first time point, and store the first driving data and the second driving data corresponding to the first duration and the second duration respectively among the data stored in the buffer in a storage device.

[0135] According to an example, at least one instruction can be configured such that when executed by a controller, it causes an autonomous driving control device to: divide the collected data into at least one node and store the at least one node in a buffer; and when at least one trigger signal is recognized, store driving data with first time information corresponding to a first node corresponding to a specified duration among the at least one node in a storage device as a file name. For example, at least one node can include at least one of time information, data collected in response to the time information, identification information of a next node, or identification information of a previous node, or any combination thereof.

[0136] According to an example, at least one instruction can be configured such that when executed by a controller, it causes an autonomous driving control device to: divide the collected data into at least one node and store at least one RAM file system corresponding to the at least one node respectively in a buffer; and when at least one trigger signal is recognized, copy a specified RAM file system corresponding to a specified duration among the at least one RAM file system to a storage device. For example, at least one RAM file system can include at least one of time information of at least one node or data collected in response to the time information, or any combination thereof.

[0137] According to an example, a predefined event can include at least one of activating or deactivating at least a part of an autonomous driving system of the present vehicle including the autonomous driving control device, occurrence of a transition demand (TD), minimum risk maneuver (MRM), or emergency maneuver (EM), or any combination thereof, updating data of an event data recorder (EDR), or deterioration of the performance of the present vehicle or malfunction of the present vehicle, or any combination thereof.

[0138] According to an example, at least one instruction can be configured such that when executed by a controller, it causes an autonomous driving control device to: encrypt at least one of position information or user information of the present vehicle among the driving data and store it in a memory.

[0139] According to another aspect of the present disclosure, the autonomous driving control method may include: collecting, by a controller, (a plurality of) data regarding autonomous driving control of the own vehicle; and when at least one trigger signal is recognized while collecting the (a plurality of) data, storing, by the controller, driving data during a specified duration with respect to the time point when at least one trigger signal is recognized among the (a plurality of) data in a memory.

[0140] According to an example, the autonomous driving control method may further include: while performing autonomous driving control on the own vehicle in a specified driving section, storing, by the controller, at least some of the collected (a plurality of) data in a buffer included in the memory.

[0141] According to an example, the autonomous driving control method may further include: storing, by the controller, driving data corresponding to a specified duration among the (a plurality of) data stored in the buffer in a storage device included in the memory.

[0142] According to an example, the storage device may include an embedded multimedia card (eMMC).

[0143] According to an example, the autonomous driving control method may further include: when a predefined event is recognized while collecting the (a plurality of) data, storing, by the controller, specified data corresponding to the predefined event among the (a plurality of) data in the storage device.

[0144] According to an example, the autonomous driving control method may further include: storing, by the controller, first driving data during a first duration with respect to a first time point when a first trigger signal among at least one trigger signal is recognized in the buffer; storing, by the controller, second driving data during a second duration with respect to a second time point when a second trigger signal among at least one trigger signal is recognized in the buffer, the second time point being after the first time point; and storing, in the storage device, the first driving data and the second driving data corresponding to the first duration and the second duration respectively among the (a plurality of) data stored in the buffer.

[0145] According to an example, the autonomous driving control method may further include: dividing, by the controller, the collected (a plurality of) data into at least one node and storing, by the controller, the at least one node in the buffer; and when at least one trigger signal is recognized, storing, by the controller, driving data with the first time information of the first node corresponding to a specified duration among the at least one node as a file name in the storage device. For example, the at least one node may include at least one of time information, data collected in response to the time information, identification information of a next node, or identification information of a previous node or any combination thereof.

[0146] According to an example, the autonomous driving control method may further include: the controller dividing the collected (multiple) data into at least one node and storing at least one RAM file system corresponding to at least one node in a buffer by the controller; and when at least one trigger signal is recognized, the controller copying a specified RAM file system corresponding to a specified duration among at least one RAM file system to a storage device. For example, at least one RAM file system may include at least one of time information of at least one node, data collected in response to the time information, or any combination thereof.

[0147] According to an example, the predefined event may include at least one of activating or deactivating at least a part of the autonomous driving system of the present vehicle including the autonomous driving control device, occurrence of a transition demand (TD), minimum risk maneuver (MRM) or emergency maneuver (EM), or any combination thereof, updating data of an event data recorder (EDR), or deterioration of the performance of the present vehicle or malfunction of the present vehicle, or any combination thereof.

[0148] According to an example, the autonomous driving control method may further include: the controller encrypting at least one of the position information or user information of the present vehicle in the driving data or any combination thereof and storing it in a memory.

[0149] Figure 7 Describe a computing system for an autonomous driving control device or an autonomous driving control method according to an example of the present disclosure.

[0150] Reference Figure 7 , a computing system 1000 for an autonomous driving control device or an autonomous driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700, which are connected to each other via a bus 1200.

[0151] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0152] Accordingly, the operations of the methods or algorithms described in connection with the examples 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., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, a hard disk, a removable disk, and a CD-ROM.

[0153] The 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 within the user terminal. In another case, the processor and the storage medium may reside as separate components within the user terminal.

[0154] The effects of the autonomous driving control device and its method according to an example of the present disclosure will be described.

[0155] In the process of storing the driving data of the vehicle in the memory, the autonomous driving control device according to an example of the present disclosure can adaptively perform the operations of storing and managing data even when there are limitations in the number (or capacity) of buffers included in the memory when a trigger signal for the stored data is continuously generated.

[0156] When storing (multiple) data, the autonomous driving control device according to an example of the present disclosure may store the (multiple) data in the memory in order considering the priority of the (multiple) data.

[0157] The autonomous driving control device according to an example of the present disclosure can identify the time point when the trigger signal is generated, and can store the data during a specified duration including a specified time (e.g., 30 seconds) before the identified time point and a specified time (e.g., 30 seconds) after the identified time point in the memory, thereby efficiently storing data while complying with laws and regulations.

[0158] An autonomous driving control device according to an example of the present disclosure may temporarily store nodes provided by dividing data per unit time in a buffer (or RAM), and may quickly identify at least one node that should be stored in a storage device (e.g., an embedded multimedia card (eMMC)) based on the time information included in the nodes, so as to store the driving data included in the identified at least one node in the storage device. For example, the autonomous driving control device may store a file including driving data in the storage device, and may set the time information corresponding to the identified at least one node as the file name, so as to quickly and accurately identify the time information of the driving data later.

[0159] An autonomous driving control device according to an example of the present disclosure may quickly copy at least some of the data associated with a trigger signal among the data temporarily stored in the buffer to a storage device (e.g., an embedded multimedia card (eMMC)).

[0160] In addition, various effects determined directly or indirectly by the present disclosure may be provided.

[0161] In the foregoing, although the present disclosure has been described with reference to exemplary examples and the drawings, the present disclosure is not limited thereto, but various modifications and changes may be made to the present disclosure by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure claimed in the following claims.

[0162] Therefore, the examples 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: a memory storing at least one instruction; and a controller operably coupled to the memory, Wherein, the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: controlling autonomous driving of the vehicle by using at least one sensor of the vehicle; During operation of the autonomous driving of the vehicle, collecting data regarding autonomous driving control of the vehicle; storing data regarding autonomous driving control of the vehicle in at least one buffer of a first memory of a first type, wherein the data regarding autonomous driving control of the vehicle is configured to be stored in a first format; converting at least a portion of the data regarding autonomous driving control of the vehicle into a second format for storage in a second memory of a second type; receiving a trigger signal; and Based on the reception time of the trigger signal, driving data corresponding to a specified duration is stored in a second memory of the second type, wherein the specified duration is determined based on the reception time of the trigger signal, and wherein the driving data corresponding to the specified duration is converted from the first format to the second format based on a portion of data about autonomous driving control of the vehicle.

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: While performing autonomous driving control of the vehicle in a specified driving interval, data about the autonomous driving control of the vehicle is stored by storing a first portion of the collected data in a first buffer of the at least one buffer, wherein the first portion of the collected data is associated with a reception time of the trigger signal.

3. The autonomous driving control device according to claim 2, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: storing data about the autonomous driving control of the vehicle by storing a second portion of the collected data in the first buffer, wherein the second portion of the collected data is associated with a time of receipt of a second trigger signal, wherein the second portion of the collected data is stored in the first buffer using a pointer associated with the time of receipt of the second trigger signal, and Therein, a first portion of the collected data is stored in the first buffer using a pointer associated with a time of receipt of the trigger signal.

4. The autonomous driving control device according to claim 1, wherein: The second type of second memory includes at least one of the following: Embedded MultiMediaCard (eMMC); or Solid-state drive (SSD).

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: Based on determining that a predefined event occurs when collecting data, designated data corresponding to the predefined event among the data is stored in a second memory of the second type.

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: storing first travel data corresponding to a first duration associated with a reception time of the trigger signal in the at least one buffer; storing second travel data corresponding to a second duration associated with a second reception time of a second trigger signal after the reception time in the at least one buffer; as well as The first driving data and the second driving data respectively corresponding to the first duration and the second duration among the data stored in the at least one buffer are stored in a second memory of the second type.

7. 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: dividing the collected data into at least one node, and storing the at least one node in the at least one buffer; as well as storing at least one piece of travel data having a first time information of a first node corresponding to the specified duration among the at least one node as a file name in a second memory of the second type, and The at least one node includes at least one of time information, data collected in response to the time information, identification information of a next node or identification information of a previous node, or any combination thereof.

8. The autonomous driving control device according to claim 7, wherein: The at least one instruction is configured to, when executed by the controller, cause the autonomous driving control device to: storing at least one random access memory (RAM) file system respectively corresponding to the at least one node in the at least one buffer; as well as based on the trigger signal, copying a designated RAM file system corresponding to the designated duration among the at least one RAM file system to a second memory of the second type, and The at least one RAM file system includes at least one of the time information of the at least one node or the data collected in response to the time information or any combination thereof.

9. The autonomous driving control device according to claim 5, wherein: The predefined event includes at least one of the following: activating or deactivating at least a portion of an autonomous driving system of a vehicle including the autonomous driving control device; At least one of Transition Demand (TD), Minimum Risk Maneuver (MRM) or Emergency Maneuver (EM) or any combination thereof occurs; Update the data of the Event Data Recorder (EDR); The performance of the vehicle deteriorates or the vehicle breaks down; or Any combination thereof.

10. 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: At least one of the vehicle's location information or user information or any combination thereof in the driving data is encrypted and stored.

11. An autonomous driving control method, comprising the following steps: controlling autonomous driving of the vehicle by using at least one sensor of the vehicle; collecting, by the controller during operation of the autonomous driving of the vehicle, data regarding autonomous driving control of the vehicle; storing data regarding autonomous driving control of the vehicle in at least one buffer of a first memory of a first type, wherein the data regarding autonomous driving control of the vehicle is configured to be stored in a first format; converting, by the controller, at least a portion of the data regarding autonomous driving control of the vehicle into a second format for storage in a second memory of a second type; receiving a trigger signal by the controller; and Based on the reception time of the trigger signal, the controller stores driving data corresponding to a specified duration in a second memory of the second type, wherein the specified duration is determined based on the reception time of the trigger signal, and wherein the driving data corresponding to the specified duration is converted from the first format to the second format based on a portion of data about autonomous driving control of the vehicle.

12. The autonomous driving control method according to claim 11, further comprising the following steps: While performing autonomous driving control of the vehicle in a specified driving interval, the controller stores data about the autonomous driving control of the vehicle by storing a first portion of the collected data in a first buffer of the at least one buffer, wherein the first portion of the collected data is associated with a reception time of the trigger signal.

13. The autonomous driving control method according to claim 12, further comprising the following steps: storing, by the controller, data regarding autonomous driving control of the vehicle by storing a second portion of the collected data in the first buffer, wherein the second portion of the collected data is associated with a time of receipt of a second trigger signal, wherein the second portion of the collected data is stored in the first buffer using a pointer associated with the time of receipt of the second trigger signal, and Therein, a first portion of the collected data is stored in the first buffer using a pointer associated with a time of receipt of the trigger signal.

14. The autonomous driving control method according to claim 11, wherein: The second type of second memory includes at least one of the following: Embedded MultiMediaCard (eMMC); or Solid-state drive (SSD).

15. The autonomous driving control method according to claim 11, further comprising the following steps: Based on determining that a predefined event occurs when collecting data, the controller stores designated data corresponding to the predefined event among the data in the second memory of the second type.

16. The autonomous driving control method according to claim 11, further comprising the following steps: storing, by the controller, first travel data corresponding to a first duration associated with a reception time of the trigger signal in the at least one buffer; storing, by the controller, second travel data corresponding to a second duration associated with a second reception time associated with a second trigger signal in the at least one buffer, the second reception time being subsequent to the reception time; as well as The first driving data and the second driving data respectively corresponding to the first duration and the second duration among the data stored in the at least one buffer are stored in a second memory of the second type.

17. The autonomous driving control method according to claim 11, further comprising the following steps: dividing, by the controller, the collected data into at least one node, and storing, by the controller, the at least one node in the at least one buffer; as well as The controller stores at least one piece of travel data having a first time information of a first node corresponding to the specified duration among the at least one node as a file name in a second memory of the second type, and The at least one node includes at least one of time information, data collected in response to the time information, identification information of a next node or identification information of a previous node, or any combination thereof.

18. The autonomous driving control method according to claim 17, further comprising the following steps: storing, by the controller, at least one random access memory (RAM) file system respectively corresponding to the at least one node in the at least one buffer; as well as Based on the trigger signal, the controller copies a designated RAM file system corresponding to the designated duration among the at least one RAM file system to a second memory of the second type, and The at least one RAM file system includes at least one of the time information of the at least one node or the data collected in response to the time information or any combination thereof.

19. The autonomous driving control method according to claim 15, wherein: The predefined event includes at least one of the following: activating or deactivating at least a portion of an autonomous driving system of the vehicle including an autonomous driving control device; At least one of Transition Demand (TD), Minimum Risk Maneuver (MRM) or Emergency Maneuver (EM) or any combination thereof occurs; Update the data of the Event Data Recorder (EDR); The performance of the vehicle deteriorates or the vehicle breaks down; or Any combination thereof.

20. The autonomous driving control method according to claim 11, further comprising the following steps: At least one of the vehicle's location information or user information or any combination thereof among the driving data is encrypted and stored by the controller.

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