Apparatus for controlling vehicle and method thereof

Abstract

The invention relates to an apparatus for controlling a vehicle and a method thereof. A vehicle control apparatus includes an accelerator pedal that specifies an acceleration of a host vehicle, a steering wheel that specifies a traveling direction of the host vehicle, and a processor. The processor may identify whether the host vehicle is under autonomous driving control or driver assistance control. The processor may control the host vehicle according to an operation amount of an accelerator pedal based on at least one of identifying whether the operation amount of the accelerator pedal is less than or equal to a value indicating a specified operation amount or identifying a driver input gripping a steering wheel when the host vehicle is in automatic driving control or driver assistance control, therefore, a driver is allowed to take over driving control of the vehicle.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit and priority of Korean Patent Application No. 10 - 2023 - 0181225, filed on December 13, 2023, the entire contents of which are incorporated herein by reference. Technical field

[0003] The present invention relates to a vehicle control device and a vehicle control method. More specifically, the present invention relates to a technology for controlling a vehicle according to a driver input in a vehicle under autonomous driving control or driver assistance control. Background art

[0004] With the advent of the Fourth Industrial Revolution, the competition for the development of autonomous driving technology or driver assistance technology for vehicles is intensifying. As the technology for adjusting the driving route and avoiding obstacles becomes more and more advanced, the scope and frequency of driver intervention required for driving are decreasing.

[0005] Even when performing autonomous driving or driver assistance driving, in some cases, it is necessary to control the vehicle through the intervention of a human driver. In some cases, the driver's judgment may be faster and more reasonable than the judgment of the autonomous driving system or the driver assistance system.

[0006] Research is being conducted to compare and balance driving safety and driver convenience to determine which decision should be prioritized: the driver's judgment, the judgment of the autonomous driving system, or the judgment of the driver assistance system. Summary of the invention

[0007] The present invention is dedicated to solving the above - mentioned problems that occur in the prior art while completely retaining the advantages achieved by the prior art.

[0008] Aspects of the present invention provide a vehicle control device and a vehicle control method that, during autonomous driving control or driver assistance control, identify whether an input for accelerating the vehicle is generated according to the driver's intention based on a driver input of gripping the steering wheel.

[0009] Aspects of the present invention provide a vehicle control device and a vehicle control method that, during autonomous driving control or driver assistance control, identify whether an input for accelerating the vehicle is generated according to the driver's intention based on the driver's line of sight.

[0010] Aspects of the present invention provide a vehicle control device and a vehicle control method that reduce the risk of accidents caused by an input for accelerating the vehicle during autonomous driving control or driver assistance control.

[0011] The technical problems to be solved by the present invention are not limited to the above problems. Those of ordinary skill in the art to which the present invention pertains should more clearly understand other technical problems not mentioned herein through the following description.

[0012] According to one aspect of the present invention, a vehicle control device is provided. The vehicle control device includes: an accelerator pedal that specifies the acceleration of the vehicle. The vehicle control device further includes: a steering wheel that specifies the traveling direction of the vehicle. The vehicle control device further includes a processor. The processor is configured to identify whether the vehicle is under autonomous driving control or driver assistance control. The processor is further configured to, when the vehicle is under autonomous driving control or driver assistance control, control the vehicle based on at least one of the following conditions according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle: i) identify whether the operation amount of the accelerator pedal is less than or equal to a value representing a specified operation amount; or ii) identify the driver input of grasping the steering wheel.

[0013] According to one embodiment, the processor may be configured to, when the vehicle is under autonomous driving control or driver assistance control, control the vehicle based on identifying that the deceleration value for controlling the vehicle under autonomous driving control or driver assistance control is less than or equal to a specified value, according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

[0014] According to one embodiment, the processor may be configured to, when the vehicle is under autonomous driving control or driver assistance control, control the vehicle based on identifying that the driver's line of sight points to the front of the vehicle, according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

[0015] According to one embodiment, the vehicle control device may further include: a camera configured to acquire an image including the driver. The processor may be configured to identify, through the camera, the point on the windshield of the vehicle where the driver's line of sight points. The processor may be further configured to, when the vehicle is under autonomous driving control or driver assistance control, control the vehicle based on identifying that the point is included in a specified area on the windshield, according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

[0016] According to one embodiment, the processor may be configured to: when the vehicle is controlled to accelerate under autonomous driving control or driver assistance control, control the vehicle according to the operation amount of the accelerator pedal based on the recognition that the acceleration value recognized according to the operation amount of the accelerator pedal is greater than the acceleration value for controlling the vehicle under autonomous driving control or driver assistance control, so as to allow the driver to take over the driving control of the vehicle. The processor may also be configured to: when the vehicle is controlled to decelerate under autonomous driving control or driver assistance control, control the vehicle according to the operation amount of the accelerator pedal, so as to allow the driver to take over the driving control of the vehicle.

[0017] According to one embodiment, the processor may be configured to control the vehicle to allow the driver to take over the driving control of the vehicle based on the recognition that the acceleration value recognized according to the operation amount of the accelerator pedal is greater than a threshold value.

[0018] According to one embodiment, the processor may be configured to recognize the speed of the vehicle. The value representing the specified operation amount may have a correlation such that the value representing the specified operation amount increases as the speed of the vehicle increases.

[0019] According to one embodiment, the processor may be configured to recognize the speed of the vehicle. The specified value may have a correlation such that the specified value increases as the speed of the vehicle increases.

[0020] According to one embodiment, the processor may be configured to recognize the deceleration value for controlling the vehicle under autonomous driving control or driver assistance control based on at least one of the distance between the vehicle and the object in front, the difference between the speed of the object in front and the speed of the vehicle, or any combination thereof.

[0021] According to one embodiment, when the vehicle is under autonomous driving control or driver assistance control, the processor may be configured to, if the deceleration value is determined based on at least one of the maximum speed set by the driver, the speed stipulated by law, the deceleration specified regardless of the object in front of the vehicle, or any combination thereof, control the vehicle according to the operation amount of the accelerator pedal even if the deceleration value for controlling the vehicle is greater than the specified value, so as to allow the driver to take over the driving control of the vehicle.

[0022] According to one embodiment, the processor may be configured to recognize driver input through a touch sensor included in the steering wheel, or recognize driver input through a torque sensor included in the steering wheel.

[0023] According to one embodiment, the processor may be configured to identify a value representing a specified operation amount based on a range of operation amounts of an accelerator pedal for which an anti-collision system is configured to operate. The anti-collision system may be configured to provide a warning, apply brakes to the vehicle, or control a traveling direction of the vehicle to avoid a collision between the vehicle and an external object.

[0024] According to another aspect of the present invention, there is provided a vehicle control method. The vehicle control method includes identifying whether the vehicle is under an autonomous driving control or a driver assistance control. The vehicle control method further includes: when the vehicle is under an autonomous driving control or a driver assistance control, controlling the vehicle based on at least one of the following conditions according to an operation amount of an accelerator pedal to allow a driver to take over a driving control of the vehicle: i) identifying whether the operation amount of the accelerator pedal is less than or equal to a value representing a specified operation amount; or ii) identifying an input of a driver gripping a steering wheel.

[0025] According to one embodiment, controlling the vehicle based on an operation amount of an accelerator pedal to allow a driver to take over a driving control of the vehicle may include: when the vehicle is under an autonomous driving control or a driver assistance control, controlling the vehicle based on an identified deceleration value for controlling the vehicle under the autonomous driving control or the driver assistance control being less than or equal to a specified value, according to the operation amount of the accelerator pedal to allow a driver to take over a driving control of the vehicle.

[0026] According to one embodiment, controlling the vehicle based on an operation amount of an accelerator pedal to allow a driver to take over a driving control of the vehicle may include: when the vehicle is under an autonomous driving control or a driver assistance control, controlling the vehicle based on an identified line of sight of the driver being directed in front of the vehicle, according to the operation amount of the accelerator pedal to allow a driver to take over a driving control of the vehicle.

[0027] According to one embodiment, controlling the vehicle based on an identified line of sight of the driver being directed in front of the vehicle, according to the operation amount of the accelerator pedal to allow a driver to take over a driving control of the vehicle includes: i) identifying a point on a windshield of the vehicle where the line of sight of the driver is directed by a camera; ii) when the vehicle is under an autonomous driving control or a driver assistance control, controlling the vehicle based on an identified point being included in a specified area on the windshield, according to the operation amount of the accelerator pedal to allow a driver to take over a driving control of the vehicle.

[0028] According to one embodiment, controlling the vehicle based on the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle may include: when the vehicle is controlled to accelerate under autonomous driving control or driver assistance control, based on identifying that the acceleration value identified according to the operation amount of the accelerator pedal is greater than the acceleration value for controlling the vehicle under autonomous driving control or driver assistance control, controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle. Controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle may further include: when the vehicle is controlled to decelerate under autonomous driving control or driver assistance control, controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

[0029] According to one embodiment, controlling the vehicle based on the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle may include: when the acceleration value identified according to the operation amount of the accelerator pedal is greater than a threshold value, controlling the vehicle to allow the driver to take over the driving control of the vehicle.

[0030] The vehicle control method may further include: identifying the speed of the vehicle. The value representing the specified operation amount may have a correlation such that the value representing the specified operation amount increases as the speed of the vehicle increases.

[0031] The vehicle control method may further include: identifying the speed of the vehicle. The specified value may have a correlation such that the specified value increases as the speed of the vehicle increases. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0034] Figure 2 is a block diagram specifically showing the configuration of a vehicle control device according to an embodiment of the present invention;

[0035] Figure 3 shows an example of conditions determined to reduce the risk of accidents in a vehicle control device or a vehicle control method according to an embodiment of the present invention;

[0036] Figure 4 shows an example of conditions determined to reduce the risk of accidents in a vehicle control device or a vehicle control method according to an embodiment of the present invention;

[0037] Figure 5 Shows an operation flowchart of a vehicle control device for determining whether to perform control according to a driver input in a vehicle control device or a vehicle control method according to an embodiment of the present invention;

[0038] Figure 6 Shows an operation flowchart of a vehicle control device for performing control according to a driver input in a vehicle control device or a vehicle control method according to an embodiment of the present invention;

[0039] Figure 7 Shows a computing system related to a vehicle control device or a vehicle control method according to an embodiment of the present invention. Detailed Description of the Invention

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When adding reference numerals to the components of each figure, it should be noted that the same or equivalent components are denoted by the same reference numerals even if they are shown in different figures. Further, when describing the embodiments of the present invention, detailed descriptions of well-known features or functions have been omitted so as not to unnecessarily obscure the gist of the present invention.

[0041] When describing components according to embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only used to distinguish one component from another. These terms do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. These terms as defined in a commonly used dictionary should be interpreted as having the same meaning as the contextual meaning in the relevant technical field. These terms should not be interpreted as having an ideal or overly formal meaning unless clearly defined as such in the present invention.

[0042] In the following description, when a component, device, element, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the component, device, or element should be regarded herein as "configured to" meet the purpose or perform the operation or function.

[0043] Hereinafter, reference will be made to Figures 1 to 7 to describe the embodiments of the present invention in detail.

[0044] Figure 1 Is a block diagram showing the configuration of a vehicle control device according to an embodiment of the present invention.

[0045] The vehicle control device 101 according to an embodiment of the present invention can be implemented inside or outside the vehicle. For example, some components included in the vehicle control device 101 can be implemented inside or outside the vehicle.

[0046] Referring Figure 1 , the vehicle control device 101 can include at least one of an accelerator pedal 103, a steering wheel 105, a processor 107, or any combination thereof. At least one of the accelerator pedal 103, the steering wheel 105, the processor 107, or any combination thereof can be electrically coupled and / or operably coupled to each other via an electronic component such as a communication bus.

[0047] In the present invention, operably combining multiple hardware can mean establishing a direct connection or an indirect connection between multiple hardware in a wired or wireless manner, such that a first hardware among the multiple hardware is controlled by a second hardware among the multiple hardware. The type and / or quantity of the hardware components included in the vehicle control device 101 are not limited to Figure 1 as shown in Figure 1 . For example, the vehicle control device 101 can include only

[0048] shown in some of the hardware components.

[0048] According to one embodiment, the accelerator pedal 103 can be operated by a driver to specify the acceleration of the vehicle. The steering wheel 105 can be operated by a driver to specify the traveling direction of the vehicle.

[0049] According to one embodiment, the processor 107 of the vehicle control device 101 can control the traveling state of the vehicle based on the accelerator pedal 103 and the steering wheel 105. For example, the processor 107 of the vehicle control device 101 can obtain a driver input for acceleration via the accelerator pedal 103, and can accelerate the vehicle based on the driver input for acceleration. As another example, the processor 107 of the vehicle control device 101 can obtain a driver input for changing the traveling direction of the vehicle via the steering wheel 105, and can change the traveling direction of the vehicle based on the driver input for changing the traveling direction.

[0050] According to one embodiment, the processor 107 of the vehicle control device 101 can identify whether the vehicle is under autonomous driving control or driver assistance control. When the vehicle with the existing vehicle control device is under autonomous driving control or driver assistance control, even if the driver operates the accelerator pedal 103, the speed of the vehicle may not be controlled based on the acceleration value identified according to the operation amount of the accelerator pedal 103. This is because when the vehicle with the existing vehicle control device is under autonomous driving control or driver assistance control, the accelerator pedal 103 may not be operated according to the user's intention.

[0051] According to one embodiment, in order to improve usability, when the driver operates the accelerator pedal 103, the processor 107 of the vehicle control device 101 may allow the driver to take over the operation control of the vehicle (sometimes also referred to as "driving control" herein) according to the operation amount of the accelerator pedal 103. The operation control of the vehicle (e.g., driving control) may include the control of the traveling direction of the vehicle and / or the control of the traveling speed of the vehicle.

[0052] However, in the case of an accident risk, when the driver operates the accelerator pedal 103, the processor 107 of the vehicle control device 101 according to the embodiment may not allow the driver to take over the operation control of the vehicle. The case of an accident risk may include a case where the operation of the accelerator pedal 103 is not intended by the user, or a case where there is a risk of collision with an external object (e.g., a vehicle ahead).

[0053] In one embodiment, the processor 107 of the vehicle control device 101 may identify whether at least one condition is satisfied to identify whether the accident risk is less than a reference value. The at least one condition may include at least one of the following conditions or any combination thereof: i) a condition for identifying whether the operation amount of the accelerator pedal 103 is less than or equal to a value indicating a specified operation amount, ii) a condition for identifying the driver input for grasping the steering wheel 105, iii) a condition for identifying whether the driver's line of sight is directed in front of the vehicle, or iv) a condition for identifying whether the deceleration value for controlling the vehicle is less than or equal to a specified value.

[0054] The following refers to Figure 3 and Figure 4 describe in more detail the conditions for identifying whether the accident risk is less than the reference value.

[0055] According to one embodiment, when the vehicle is controlled to accelerate under autonomous driving control or driver assistance control, based on identifying that the acceleration value identified according to the operation amount is greater than the acceleration value for controlling the vehicle under autonomous driving control or driver assistance control, the processor 107 of the vehicle control device 101 may allow the driver to take over the operation control of the vehicle according to the operation amount of the accelerator pedal.

[0056] This is because the driver is allowed to take over the operation control of the vehicle according to the operation amount of the accelerator pedal only when the acceleration value identified according to the operation amount is greater than the acceleration value for controlling the vehicle under autonomous driving control or driver assistance control, which conforms to the user's intention.

[0057] When the vehicle is controlled to decelerate under autonomous driving control or driver assistance control, the processor 107 of the vehicle control device 101 may allow the driver to take over the operation control of the vehicle according to the operation amount of the accelerator pedal.

[0058] This is because, since the vehicle is controlled to decelerate, when the accelerator pedal is operated, instead of comparing the acceleration value for controlling the present vehicle with the acceleration value identified based on the operation amount, the driver is allowed to take over the operation control of the present vehicle based on the operation amount of the accelerator pedal, which conforms to the intention of the user.

[0059] According to another embodiment, the processor 107 of the vehicle control device 101 may allow the driver to take over the operation control of the present vehicle based on identifying that the acceleration value identified based on the operation amount of the accelerator pedal is greater than or equal to a threshold value.

[0060] This is because, when the acceleration value identified based on the operation amount of the accelerator pedal is less than the threshold value, the probability that the user inadvertently operates the accelerator pedal is higher than the probability that the user intentionally operates the accelerator pedal.

[0061] Figure 2 is a block diagram more specifically showing the configuration of the vehicle control device according to an embodiment of the present invention.

[0062] The vehicle control device 201 according to an embodiment of the present invention may be implemented inside or outside the vehicle. For example, some components included in the vehicle control device 201 may be implemented inside or outside the vehicle.

[0063] Reference Figure 2 , the vehicle control device 201 may include at least one of an acceleration information input device 203, a vehicle motion recognition device 205, a steering wheel grip recognition device 207, a surrounding environment recognition device 209, an autonomous driving system controller 211, a driving controller 213, or any combination thereof. At least one of the acceleration information input device 203, the vehicle motion recognition device 205, the steering wheel grip recognition device 207, the surrounding environment recognition device 209, the autonomous driving system controller 211, the driving controller 213, or any combination thereof may be electrically connected and / or operably connected to each other through electronic components (for example, a communication bus).

[0064] The type and / or number of hardware components included in the vehicle control device 201 are not limited to Figure 2 as shown in. For example, the vehicle control device 101 may only include Figure 2 some of the hardware components shown in.

[0065] According to one embodiment, when the driver takes over the driving control of the vehicle, based on the information identified by the acceleration information input device 203, the vehicle motion recognition device 205, the steering wheel grip recognition device 207, and the surrounding environment recognition device 209, the processor of the vehicle control device 201 may identify whether the accident risk is less than a reference value.

[0066] According to one embodiment, when the driver takes over the driving control of the vehicle, and when the accident risk is less than a reference value, the vehicle control device 201 may allow the driver to take over the driving control of the vehicle based on the operation of the accelerator pedal performed by the driver. When the driver takes over the driving control of the vehicle, the driving controller 213 may control the speed of the vehicle at an acceleration identified based on the amount of the driver's pedal operation.

[0067] According to one embodiment, the acceleration information input device 203 may identify the amount of operation of the accelerator pedal. For example, the acceleration information input device 203 may identify the amount of change in the accelerator pedal position through a position sensor. However, the embodiments of the present invention are not limited thereto.

[0068] According to one embodiment, the vehicle motion recognition device 205 may recognize the speed, deceleration, and acceleration of the vehicle itself.

[0069] According to one embodiment, the steering wheel grip recognition device 207 may recognize the steering wheel grip state of the driver. For example, the steering wheel grip recognition device 207 may recognize the intensity input by the driver gripping the steering wheel. In one example, the steering wheel grip recognition device 207 may recognize whether the steering wheel is gripped by one hand, by both hands, or not gripped. The steering wheel grip recognition device 207 may include a touch sensor included in the steering wheel. Additionally or alternatively, the steering wheel grip recognition device 207 may include a torque sensor included in the steering wheel.

[0070] According to one embodiment, the surrounding environment recognition device 209 may recognize the position or speed of an external object. For example, the surrounding environment recognition device 209 may recognize the position and speed of surrounding vehicles.

[0071] According to one embodiment, the autonomous driving system controller 211 may determine the driving speed or driving direction of the vehicle itself based on the position or speed of the external object obtained from the surrounding environment recognition device 209. The autonomous driving system controller 211 may send a set value required for driving to the driving controller 213 based on information required for driving (for example, the surrounding environment, legal conditions, and road conditions).

[0072] According to one embodiment, the driving controller 213 may operate the vehicle itself based on the driving command received from the autonomous driving system controller 211.

[0073] Figure 3 Illustrate examples of conditions determined to reduce accident risk in a vehicle control device or vehicle control method according to an embodiment of the present invention.

[0074] Reference Figure 3, in the first situation 301, the accelerator pedal 303 can be operated by the driver 305. In the second situation 311, the steering wheel 313 can be grasped by the driver 315. In the third situation 321, the driver's line of sight can be directed to one of the first area 323, the second area 325, or the third area 327.

[0075] According to one embodiment, in the first situation 301, the processor of the vehicle control device can identify a value representing a specified operation amount to determine whether the condition for identifying whether the operation amount of the accelerator pedal 303 is less than or equal to the value representing the specified operation amount is satisfied.

[0076] Because the accident risk is relatively high when the operation amount of the accelerator pedal 303 is greater than the value representing the specified operation amount, the processor of the vehicle control device can determine whether to allow the driver to take over the driving control of the vehicle based on the operation amount of the accelerator pedal 303.

[0077] For example, the value representing the specified operation amount can be identified as having a correlation in which the value representing the specified operation amount increases as the speed of the vehicle increases. This is because the lower the speed of the vehicle, the higher the probability of being closer to the vehicle ahead. Therefore, the lower the speed of the vehicle, the smaller the value representing the specified operation amount that allows the driver to take over the driving control of the vehicle.

[0078] In one embodiment, the value representing the specified operation amount can be identified based on the range of the operation amount of the accelerator pedal 303 for operating the collision avoidance system, where the collision avoidance system provides warnings, brakes the vehicle, or controls the driving direction of the vehicle to avoid a collision between the vehicle and an external object (e.g., the vehicle ahead). The collision avoidance system can refer to forward collision-avoidance assist (FCA). However, the embodiments of the present invention are not limited thereto.

[0079] When the operation amount of the accelerator pedal 303 is within the specified operation amount range (e.g., the range from approximately 0% to approximately 70% of the operable range of the accelerator pedal 303), the collision avoidance system can be operated. Therefore, only when the operation amount of the accelerator pedal 303 is within the range of the operation amount of the accelerator pedal 303 for operating the collision avoidance system can the processor of the vehicle control device allow the driver to take over the driving control of the vehicle, so that the collision avoidance system can continue to operate even when the driver takes over the driving control of the vehicle. The operation amount of the accelerator pedal 303 can include the amount of change in the position of the accelerator pedal 303.

[0080] In the second situation 311, the processor of the vehicle control device can identify whether a driver input for grasping the steering wheel 313 is received to identify whether the condition for identifying the driver input for grasping the steering wheel 313 is satisfied.

[0081] The processor of the vehicle control device can determine whether to allow the driver to take over the driving control of the vehicle based on whether the driver is gripping the steering wheel 313, because the operation of the accelerator pedal recognized when the driver is not gripping the steering wheel 313 is very likely not performed according to the user's intention.

[0082] According to one embodiment, the processor of the vehicle control device can identify the input of the driver 315 through the touch sensor included in the steering wheel 313 and / or through the torque sensor included in the steering wheel 313.

[0083] According to one embodiment, the touch sensor can include a capacitive sensor or a static pressure sensor. The touch sensor can refer to a grip detection sensor. However, the embodiments of the present invention are not limited thereto.

[0084] According to one embodiment, the processor of the vehicle control device can determine whether to allow the driver to take over the driving control of the vehicle not only based on whether the steering wheel 313 is gripped, but also based on the grip strength.

[0085] In the third case 321, the processor of the vehicle control device can identify the direction in which the driver's line of sight is directed to identify whether the condition for identifying whether the driver's line of sight is directed in front of the vehicle is satisfied.

[0086] The processor of the vehicle control device can determine whether to allow the driver to take over the driving control of the vehicle based on the direction of the driver's line of sight, because the operation of the accelerator pedal recognized when the driver's line of sight is not directed in front of the vehicle is very likely not performed according to the user's intention.

[0087] According to one embodiment, the processor of the vehicle control device can identify the position on the windshield of the vehicle where the driver's line of sight is directed through a camera for acquiring an image including the driver. When the vehicle is under autonomous driving control or driver assistance control, the processor of the vehicle control device can allow the driver to take over the driving control of the vehicle based on the recognition that the point where the driver's line of sight is directed is included in the second area 325 which is a designated area on the windshield.

[0088] According to one embodiment, when the point where the driver's line of sight is directed is included in the first area 323 or the third area 327, the processor of the vehicle control device may not allow the driver to take over the driving control of the vehicle even though the accelerator pedal is operated.

[0089] Figure 4 Shows an example of the conditions determined to reduce the accident risk in the vehicle control device or the vehicle control method according to the embodiment of the present invention.

[0090] Reference Figure 4 In the first stage 401 of the first situation 400, the host vehicle 403 and the preceding vehicle 405 may travel at the same speed. In the second stage 411 of the first situation 400, the host vehicle 413 may decelerate according to the preceding vehicle 415 that is rapidly decelerating. In the third stage 421 of the first situation 400, the host vehicle 423 may decelerate to a deceleration smaller than the deceleration of the host vehicle 413 in the second stage 411 according to the preceding vehicle 425 traveling at a constant speed.

[0091] According to one embodiment, in the first situation 400, the processor of the vehicle control device may identify a specified value to identify whether the condition for identifying whether the deceleration value for controlling the host vehicle based on autonomous driving control or driver assistance control is less than or equal to the specified value is satisfied.

[0092] The processor of the vehicle control device may determine whether to allow the driver to take over the driving control of the host vehicle based on the deceleration value of the host vehicle, because if the host vehicle accelerates when the deceleration value for controlling the host vehicle based on autonomous driving control or driver assistance control is greater than the specified value, there is a high risk of accident.

[0093] For example, the specified value may be identified as having a correlation in which the specified value increases as the speed of the host vehicle increases. This is because the lower the speed of the host vehicle, the higher the probability of being closer to the preceding vehicle.

[0094] According to one embodiment, the deceleration value for controlling the host vehicle based on autonomous driving control or driver assistance control may be identified based on at least one of the distance to the object in front of the host vehicle (e.g., the preceding vehicle), the predicted remaining time until collision, or any combination thereof. The predicted remaining time until collision may refer to the time to collision (TTC). However, the embodiments of the present invention are not limited thereto. The predicted remaining time until collision may be identified based on i) the difference between the speed of the object in front (e.g., the preceding vehicle) and the speed of the host vehicle and ii) the distance between the object in front and the host vehicle.

[0095] According to one embodiment, in the first stage 401 of the first situation 400, the processor of the vehicle control device of the host vehicle 403 traveling at a constant speed may decelerate to a first deceleration value (e.g., approximately 0 m / s 2 ). The first value may be identified as the specified value. The processor of the vehicle control device may identify the first value as the specified value. In the first stage 401 of the first situation 400, the processor of the vehicle control device may allow the driver to take over the driving control of the host vehicle according to the operation of the accelerator pedal.

[0096] According to one embodiment, in the second stage 411 of the first scenario 400, the vehicle 413 can decelerate to a second deceleration value (e.g., approximately -20 m / s 2 ) to prevent a collision with the vehicle 415 ahead that is decelerating rapidly. The processor of the vehicle control device of the vehicle 413 can identify a second value smaller than the first value as the specified value. In the second stage 411 of the first scenario 400, the processor of the vehicle control device can not allow the driver to take over the driving control of the vehicle according to the operation of the accelerator pedal.

[0097] According to one embodiment, in the third stage 421 of the first scenario 400, to prevent a collision with the vehicle 425 ahead traveling at a constant speed, the vehicle 413 can decelerate to a third deceleration smaller than the second deceleration value (e.g., approximately -10 m / s 2 ). The processor of the vehicle control device of the vehicle 423 can identify a third value smaller than the second value as the specified value. In the third stage 421 of the first scenario 400, the processor of the vehicle control device can allow the driver to take over the driving control of the vehicle according to the operation of the accelerator pedal.

[0098] In the second scenario 450, the processor of the vehicle control device can identify a situation where, even if the deceleration value for controlling the vehicle is greater than the specified value, the driver is allowed to take over the operation control of the vehicle.

[0099] According to one embodiment, when the deceleration value is determined based on at least one of the maximum speed set by the driver, the speed stipulated by law, the deceleration specified regardless of the object ahead of the vehicle, or any combination thereof, even if the deceleration value for controlling the vehicle based on autonomous driving control or driver assistance control is greater than the specified value, although in autonomous driving control or driver assistance control, the processor of the vehicle control device can allow the driver to take over the driving control of the vehicle.

[0100] According to one embodiment, the maximum speed set by the driver can include the speed designated by the driver as the maximum speed for traveling under autonomous driving control or driver assistance control. The speed stipulated by law can include the speed limit. The deceleration specified regardless of the object ahead of the vehicle can include the deceleration set for purposes other than avoiding a collision with an object ahead in an autonomous driving system or a driver assistance system.

[0101] According to one embodiment, in the first stage 431 of the second scenario 450, the vehicle 433 may travel at a constant speed. In the second stage 441 of the second scenario 450, the vehicle 443 may travel at a reduced speed according to the legal speed limit. However, since in the second stage 441 of the second scenario 450, the deceleration value for controlling the vehicle is determined based on the legally prescribed speed, even though the deceleration value for controlling the vehicle based on autonomous driving control or driver assistance control is greater than the specified value, when other conditions are met, the processor of the vehicle control device may also allow the driver to take over the driving control of the vehicle.

[0102] Therefore, the processor of the vehicle control device in the first stage 431 of the second scenario 450 and the processor of the vehicle control device in the second stage 441 of the second scenario 450 may allow the driver to take over the driving control of the vehicle according to the operation of the accelerator pedal.

[0103] Figure 5 The operation flowchart of the vehicle control device for determining whether to perform control according to driver input in the vehicle control device or vehicle control method according to an embodiment of the present invention is shown.

[0104] Hereinafter, it is assumed that Figure 1 the vehicle control device 101 performs Figure 5 the process. Additionally, in the Figure 5 description, the steps described as being performed by the vehicle control device may be understood to be controlled by the processor 107 of the vehicle control device 101.

[0105] Referring to Figure 5 , in step 501, the processor of the vehicle control device may identify whether the operation amount of the accelerator pedal is less than or equal to the value representing the specified operation amount. When the operation amount of the accelerator pedal is less than or equal to the value representing the specified operation amount, the processor of the vehicle control device may perform step 503. On the other hand, when the operation amount of the accelerator pedal is greater than the value representing the specified operation amount, the processor of the vehicle control device may perform step 511. The operation amount of the accelerator pedal may include the change amount of the accelerator pedal position.

[0106] According to one embodiment, the value representing the specified operation amount may be identified as having a correlation in which the value representing the specified operation amount increases as the speed of the vehicle increases. This is because the lower the speed of the vehicle, the higher the probability that the distance to the vehicle ahead is closer.

[0107] According to one embodiment, the value representing the specified operation amount may be included within the range of the operation amount of the accelerator pedal for operating the collision avoidance system, where the collision avoidance system provides a warning, brakes the vehicle itself, or controls the driving direction of the vehicle itself to avoid a collision between the vehicle itself and an external object (e.g., a vehicle ahead). This is because when the collision avoidance system is not implemented, the accident risk increases.

[0108] In step 503, the processor of the vehicle control device may determine whether a driver input of grasping the steering wheel is recognized. When a driver input of grasping the steering wheel is recognized, the processor of the vehicle control device may execute step 505. On the other hand, when a driver input of grasping the steering wheel is not recognized, the processor of the vehicle control device may execute step 511.

[0109] The processor of the vehicle control device may determine whether to allow the driver to take over the operation control of the vehicle itself based on whether the driver grasps the steering wheel, because the operation of the accelerator pedal recognized when the driver does not grasp the steering wheel is very likely not performed according to the user's intention.

[0110] In step 505, the processor of the vehicle control device may identify whether the deceleration value of the vehicle itself is less than or equal to the specified value. When the deceleration value is less than or equal to the specified value, the processor of the vehicle control device may execute step 507. On the other hand, when the deceleration value is greater than the specified value, the processor of the vehicle control device may execute step 511.

[0111] The processor of the vehicle control device may determine whether to allow the driver to take over the driving control of the vehicle itself based on the deceleration value of the vehicle itself, because if the vehicle accelerates when the deceleration value for controlling the vehicle itself based on autonomous driving control or driver assistance control is greater than the specified value, there is a high accident risk.

[0112] In step 507, the processor of the vehicle control device may identify whether the acceleration value of the driver is greater than the acceleration value of the system. When the acceleration value of the driver is greater than the acceleration value of the system, the processor of the vehicle control device may execute step 509. On the other hand, when the acceleration value of the driver is less than or equal to the acceleration value of the system, the processor of the vehicle control device may execute step 511.

[0113] According to another embodiment, the processor of the vehicle control device may identify whether the acceleration value of the driver is greater than the threshold value without identifying whether the acceleration value of the driver is greater than the acceleration value of the system. When the acceleration value of the driver is greater than or equal to the threshold value, the processor of the vehicle control device may execute step 509. On the other hand, when the acceleration value of the driver is less than the threshold value, the processor of the vehicle control device may execute step 511.

[0114] In step 509, the processor of the vehicle control device may execute the control of the driver. In other words, the processor of the vehicle control device may allow the driver to take over the driving control of the vehicle. The driving control of the vehicle may include the control of the driving direction of the vehicle or the control of the driving speed of the vehicle.

[0115] In step 511, the processor of the vehicle control device may execute the control of the system. In other words, the processor of the vehicle control device may allow the autonomous driving system or the driver assistance-based system to control the driving of the vehicle.

[0116] In Figure 5 In, in step 503, when a driver input of grasping the steering wheel is recognized, the vehicle control device is shown to execute step 505. However, the present invention is not limited thereto. According to one embodiment, in step 503, when a driver input of grasping the steering wheel is recognized, the vehicle control device may execute step 507.

[0117] Figure 6 The operation flowchart of the vehicle control device for executing control according to the driver input in the vehicle control device or the vehicle control method according to the embodiment of the present invention is shown.

[0118] Hereinafter, it is assumed that Figure 1 the vehicle control device 101 executes Figure 6 the process. In addition, in Figure 6 the description, the steps described as being executed by the vehicle control device may be understood as being controlled by the processor 107 of the vehicle control device 101.

[0119] Referring to Figure 6 , in step 601, the processor of the vehicle control device may identify whether the vehicle is under autonomous driving control or driver assistance control.

[0120] In step 603, the processor of the vehicle control device may identify whether the operation amount of the accelerator pedal is less than or equal to at least one of a value representing a specified operation amount, a driver input of grasping the steering wheel, or any combination thereof.

[0121] In step 605, the processor of the vehicle control device may allow the driver to take over the operation control (e.g., driving control) of the vehicle according to the operation amount of the accelerator pedal. In one embodiment, when the vehicle is under autonomous driving control or driver assistance control, based on recognizing that the operation amount of the accelerator pedal is less than the value representing the specified operation amount and / or recognizing a driver input of grasping the steering wheel, the processor of the vehicle control device may control the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the operation control of the vehicle.

[0122] Figure 7Shows a computing system related to a vehicle control device or a vehicle control method according to an embodiment of the present invention.

[0123] Reference Figure 7 , the computing system 700 may include at least one processor 710, a memory 730, a user interface input device 740, a user interface output device 750, a storage device 760, and a network interface 770 that are connected to each other via a bus 720.

[0124] The processor 710 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 730 and / or the storage device 760. The memory 730 and the storage device 760 may include various types of volatile or non-volatile storage media. For example, the memory 730 may include a ROM (read-only memory) 731 and a RAM (random access memory) 732.

[0125] Therefore, the operations of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, or in software modules executed by the processor 710, or in a combination of both. The software modules may reside in a storage medium (such as, the memory 730 and / or the storage device 760) (such as, RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, and / or CD-ROM).

[0126] The storage medium may be coupled to the processor 710. The processor 710 may read information from the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor 710. The processor 1100 and the storage medium may be present in an application-specific integrated circuit (ASIC). The ASIC may be present in a user terminal. In another case, the processor 1100 and the storage medium may exist as separate components in the user terminal.

[0127] The above description only illustrates the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains can make various modifications and changes without departing from the basic features of the present invention.

[0128] Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are used to describe the present invention. The scope of the technical idea of the present invention is not limited by the described embodiments. The protection scope of the present invention should be interpreted by the appended claims, and all technical ideas within the equivalent scope thereof should be interpreted as being included within the scope of the present invention.

[0129] Embodiments of the present invention may, during autonomous driving control or driver assistance control, identify whether an input for accelerating the vehicle is according to the driver's intention based on the driver input of gripping the steering wheel.

[0130] Embodiments of the present invention can identify whether an input for accelerating a vehicle is in accordance with a driver's intention based on the driver's line of sight during autonomous driving control or driver assistance control.

[0131] Embodiments of the present invention can reduce the risk of accidents caused by an input for accelerating a vehicle during autonomous driving control or driver assistance control.

[0132] In addition, various effects directly or indirectly understood by those of ordinary skill in the art through the present invention can be provided.

[0133] In the foregoing, although the present invention has been described with reference to certain embodiments and the accompanying drawings, the present invention is not limited thereto. Without departing from the spirit and scope of the present invention as claimed in the appended claims, the present invention can be variously modified and changed by those of ordinary skill in the art to which the present invention pertains.

Claims

1. A vehicle control device, comprising: an accelerator pedal configured to specify an acceleration of the host vehicle; a steering wheel configured to specify a direction of travel of the vehicle; as well as Processor, which is configured as: Identify whether the vehicle is under autonomous driving control or driver assistance control, When the host vehicle is under automatic driving control or driver assistance control, the host vehicle is controlled according to the operation amount of the accelerator pedal based on at least one of the following conditions to allow the driver to take over driving control of the host vehicle: i) identifying whether the operation amount of the accelerator pedal is less than or equal to a value representing a specified operation amount; or ii) Recognizing driver input of grasping the steering wheel.

2. The vehicle control device according to claim 1, wherein: The processor is configured to: when the vehicle is under automatic driving control or driver assisted control, based on identifying that the deceleration value for controlling the vehicle under automatic driving control or driver assisted control is less than or equal to a specified value, control the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

3. The vehicle control device according to claim 1, wherein: The processor is configured to: when the vehicle is under automatic driving control or driver assistance control, based on recognizing that the driver's line of sight is directed forward of the vehicle, control the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the vehicle.

4. The vehicle control device according to claim 3, further comprising: a camera configured to acquire an image including the driver, Wherein, the processor is configured as follows: The camera identifies the point on the windshield of the vehicle where the driver's line of sight is pointing. When the vehicle is under automatic driving control or driver assistance control, based on recognizing that the point includes a specified area on the windshield, the vehicle is controlled according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the vehicle.

5. The vehicle control device according to claim 1, wherein: The processor is configured as follows: When the host vehicle is controlled to accelerate under the automatic driving control or the driver assist control, based on recognizing that the acceleration value recognized according to the operation amount of the accelerator pedal is greater than the acceleration value for controlling the host vehicle under the automatic driving control or the driver assist control, controlling the host vehicle according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the host vehicle; When the host vehicle is controlled to decelerate under automatic driving control or driver assistance control, the host vehicle is controlled according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the host vehicle.

6. The vehicle control device according to claim 1, wherein: The processor is configured to control the host vehicle to allow the driver to take over driving control of the host vehicle when the acceleration value recognized according to the operation amount of the accelerator pedal is greater than a threshold value.

7. The vehicle control device according to claim 1, wherein: The processor is configured to recognize a speed of the host vehicle, and the value representing the specified operation amount has a correlation such that the value representing the specified operation amount increases as the speed of the host vehicle increases.

8. The vehicle control device according to claim 2, wherein: The processor is configured to identify a speed of the host vehicle, and the designated value has a correlation that the designated value increases as the speed of the host vehicle increases.

9. The vehicle control device according to claim 2, wherein: The processor is configured to identify a deceleration value for controlling the vehicle under automatic driving control or driver assistance control based on at least one of a distance between the vehicle and a front object, a difference between a speed of the front object and a speed of the vehicle, or any combination thereof.

10. The vehicle control device according to claim 2, wherein: The processor is configured such that, when the vehicle is under automatic driving control or driver assistance control, if the deceleration value is determined based on at least one of a maximum speed set by the driver, a speed required by law, a deceleration specified regardless of an object in front of the vehicle, or any combination thereof, even if the deceleration value at which the vehicle is controlled is greater than the specified value, the vehicle is controlled according to the amount of operation of the accelerator pedal to allow the driver to take over driving control of the vehicle.

11. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Recognize driver input through touch sensors included in the steering wheel, or Driver input is recognized by a torque sensor included in the steering wheel.

12. The vehicle control device according to claim 1, wherein: The processor is configured to: identify a value representing a specified operation amount based on a range of an operation amount of an accelerator pedal in which the collision avoidance system is configured to operate, The collision avoidance system is configured to provide a warning, brake the host vehicle, or control the driving direction of the host vehicle to avoid a collision between the host vehicle and an external object.

13. A vehicle control method, comprising: Identify whether the vehicle is under autonomous driving control or driver assistance control; When the vehicle is under automatic driving control or driver assistance control, the vehicle is controlled according to the operation amount of the accelerator pedal based on at least one of the following conditions to allow the driver to take over the driving control of the vehicle: i) identifying whether the operation amount of the accelerator pedal is less than or equal to the value representing the specified operation amount; or ii) identifying the driver input of grasping the steering wheel.

14. The vehicle control method according to claim 13, wherein: Controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle includes: when the vehicle is under automatic driving control or driver assistance control, based on identifying that the deceleration value of controlling the vehicle under automatic driving control or driver assistance control is less than or equal to a specified value, controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

15. The vehicle control method according to claim 13, wherein: Controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle includes: when the vehicle is under automatic driving control or driver assistance control, based on identifying that the driver's line of sight is directed toward the front of the vehicle, controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle.

16. The vehicle control method according to claim 15, wherein: Based on recognizing that the driver's line of sight is directed toward the front of the vehicle, controlling the vehicle according to the amount of operation of the accelerator pedal to allow the driver to take over the driving control of the vehicle includes: Identify the point on the windshield of the vehicle to which the driver's line of sight is directed by a camera; When the vehicle is under automatic driving control or driver assistance control, based on recognizing that the point includes a specified area on the windshield, the vehicle is controlled according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the vehicle.

17. The vehicle control method according to claim 13, wherein: Controlling the vehicle according to the amount of accelerator pedal operation to allow the driver to take over driving control of the vehicle includes: When the host vehicle is controlled to accelerate under the automatic driving control or the driver assist control, based on recognizing that the acceleration value recognized according to the operation amount of the accelerator pedal is greater than the acceleration value for controlling the host vehicle under the automatic driving control or the driver assist control, controlling the host vehicle according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the host vehicle; When the host vehicle is controlled to decelerate under automatic driving control or driver assistance control, the host vehicle is controlled according to the operation amount of the accelerator pedal to allow the driver to take over driving control of the host vehicle.

18. The vehicle control method according to claim 13, wherein: Controlling the vehicle according to the operation amount of the accelerator pedal to allow the driver to take over the driving control of the vehicle includes: when the acceleration value identified according to the operation amount of the accelerator pedal is greater than a threshold, controlling the vehicle to allow the driver to take over the driving control of the vehicle.

19. The vehicle control method according to claim 13, further comprising: Identify the speed of the vehicle, The value indicating the designated operation amount has a correlation such that the value indicating the designated operation amount increases as the speed of the host vehicle increases.

20. The vehicle control method according to claim 14, further comprising: Identify the speed of the vehicle, The designated value has a correlation such that the designated value increases as the speed of the host vehicle increases.

Images