Apparatus and method for controlling vehicle

Abstract

The invention relates to an apparatus and a method for controlling a vehicle. A vehicle control device includes a processor and a steering wheel that specifies a traveling direction of a vehicle. The processor may determine that the host vehicle is in autonomous driving control. The processor may determine a threshold value or a threshold time value based on at least one of a maximum deceleration value among deceleration of the host vehicle measured during a specified time, a grip strength of gripping the steering wheel, or any combination thereof. The processor may switch driving control of the host vehicle from a system for performing automatic driving to a driver based on operating a steering wheel at an operation amount greater than a threshold value or at a time greater than a threshold time value.

Description

[0001] Cross - reference to related applications

[0002] This application claims the benefit of priority of Korean Patent Application No. 10 - 2023 - 0181226, filed on December 13, 2023, with the Korean Intellectual Property Office, 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, and more particularly, to a technology for controlling a vehicle according to a driver's input in a vehicle under autonomous driving control. Background art

[0004] Autonomous driving technologies have been developed to improve driving stability and driver convenience.

[0005] As technologies for adjusting driving routes and avoiding obstacles have become more sophisticated, the scope and frequency of driver intervention required for driving have decreased. However, in certain situations, even when autonomous driving is being performed, it is necessary to control the vehicle through the intervention of a human driver.

[0006] Research is underway to compare and balance improvements in driving safety and driver convenience to determine whether driver judgment or the judgment of the autonomous driving system should be prioritized. Summary of the invention

[0007] The present invention is directed to solving the above - mentioned problems arising in the prior art while fully maintaining the advantages achieved by the prior art.

[0008] Aspects of the present invention provide a vehicle control device and a vehicle control method that determine whether an operation of a steering wheel is caused by a driver's intention based on an operation amount of the steering wheel of the vehicle or a time for which the operation of the steering wheel is maintained under autonomous driving control.

[0009] Aspects of the present invention provide a vehicle control device and a vehicle control method that identify whether an operation of a steering wheel is caused by a driver's intention based on a driver's line of sight under autonomous driving control.

[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 operation of a steering wheel under autonomous driving 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 will more clearly understand any other technical problems not mentioned herein from the following description.

[0012] According to one aspect of the present invention, a vehicle control device includes a processor and a steering wheel that designates the traveling direction of the vehicle itself.

[0013] According to an embodiment, the processor may determine that the vehicle itself is under autonomous driving control. The processor may also determine a threshold value or a threshold time value based on at least one of the maximum deceleration value of the vehicle itself measured during a specified time period, the grip strength of gripping the steering wheel, or any combination thereof. The processor may switch the driving control of the vehicle itself from a system for performing autonomous driving to the driver based on operating the steering wheel with an operation amount greater than the threshold value or for a time greater than the threshold time value.

[0014] According to an embodiment, in the event of a failure where the steering wheel is operated without being under the control of autonomous driving, the processor may determine a threshold based on a specified threshold value, and the processor may also determine a threshold time value based on a specified threshold time value.

[0015] According to an embodiment, the processor may determine the threshold value as a first value based on the maximum deceleration value being of a first magnitude. The processor may also determine the threshold value as a second value greater than the first value based on the maximum deceleration value being of a second magnitude greater than the first magnitude.

[0016] According to an embodiment, the processor may determine the threshold time value as a third value based on the maximum deceleration value being of a third magnitude. The processor may also determine the threshold time value as a fourth value greater than the third value based on the maximum deceleration value being of a fourth magnitude greater than the third magnitude.

[0017] According to an embodiment, the processor may assign a first weight value as an operation weight based on the grip strength of gripping the steering wheel being a first strength. The processor may also assign a second weight value less than the first weight value as an operation weight based on the grip strength of gripping the steering wheel being a second strength greater than the first strength. The threshold value determined based on the first weight value may be greater than the threshold value determined based on the second weight value.

[0018] According to an embodiment, the processor may assign a third weight value as a time weight based on the grip strength of gripping the steering wheel being a third strength. The processor may also assign a fourth weight value less than the third weight value as a time weight based on the grip strength of gripping the steering wheel being a fourth strength greater than the third strength. The threshold time value determined based on the third weight value may be greater than the threshold time value determined based on the fourth weight value.

[0019] According to an embodiment, the processor may assign a fifth weight value as an operation weight based on the driver not gripping the steering wheel, and may assign a sixth weight value less than the fifth weight value as an operation weight based on the driver gripping the steering wheel. The threshold value determined based on the fifth weight value may be greater than the threshold value determined based on the sixth weight value.

[0020] According to an embodiment, the processor may assign a seventh weight value as a time weight based on the driver not grasping the steering wheel, and may assign an eighth weight value smaller than the seventh weight value as a time weight based on the driver grasping the steering wheel. A threshold time value determined based on the seventh weight value may be greater than a threshold time value determined based on the eighth weight value.

[0021] According to an embodiment, the processor may identify the grasping strength of the steering wheel based on at least one of the contact area between the driver and the steering wheel, the distance between the driver and the steering wheel, or any combination thereof.

[0022] According to an embodiment, the processor may identify the grasping strength of the steering wheel through a touch sensor included in the steering wheel or may identify the operation amount of the steering wheel through a torque sensor included in the steering wheel.

[0023] According to an aspect of the present invention, a vehicle control method includes determining that the host vehicle is under autonomous driving control. The method further includes determining a threshold or a threshold time value based on at least one of the maximum deceleration value of the host vehicle measured during a specified time period, the grasping strength of the steering wheel, or any combination thereof. The method further includes switching the driving control of the host vehicle from a system for performing autonomous driving to the driver based on operating the steering wheel with an operation amount greater than the threshold or for a time greater than the threshold time value.

[0024] According to an embodiment, the vehicle control method may further include determining a threshold based on a specified threshold. The method may further include determining a threshold time value based on the specified threshold time value in the event of a failure in which the steering wheel is operated without being under the control of autonomous driving.

[0025] According to an embodiment, determining the threshold or the threshold time value may include determining the threshold as a first value based on the maximum deceleration value being a first magnitude, and may include identifying the threshold as a second value greater than the first value based on the maximum deceleration value being a second magnitude greater than the first magnitude.

[0026] According to an embodiment, determining the threshold or the threshold time value may include determining the threshold time value as a third value based on the maximum deceleration value being a third magnitude, and may include determining the threshold time value as a fourth value greater than the third value based on the maximum deceleration value being a fourth magnitude greater than the third magnitude.

[0027] According to an embodiment, determining the threshold or the threshold time value may include assigning a first weight value as an operation weight based on the grasping strength of the steering wheel being a first strength, and may include assigning a second weight value smaller than the first weight value as an operation weight based on the grasping strength of the steering wheel being a second strength greater than the first strength. A threshold identified based on the first weight value may be greater than a threshold identified based on the second weight value.

[0028] According to an embodiment, determining a threshold or a threshold time value may include assigning a third weight value as a time weight based on a grip strength of gripping the steering wheel being a third strength, and may include assigning a fourth weight value less than the third weight value as a time weight based on a grip strength of gripping the steering wheel being a fourth strength greater than the third strength. The threshold time value determined based on the third weight value may be greater than the threshold time value determined based on the fourth weight value.

[0029] According to an embodiment, determining a threshold or a threshold time value may include assigning a fifth weight value as an operation weight based on the driver not gripping the steering wheel, and may include assigning a sixth weight value less than the fifth weight value as an operation weight based on the driver gripping the steering wheel. The threshold determined based on the fifth weight value may be greater than the threshold determined based on the sixth weight value.

[0030] According to an embodiment, determining a threshold or a threshold time value may include assigning a seventh weight value as a time weight based on the driver not gripping the steering wheel, and may include assigning an eighth weight value less than the seventh weight value as a time weight based on the driver gripping the steering wheel. The threshold time value determined based on the seventh weight value may be greater than the threshold time value determined based on the eighth weight value.

[0031] According to an embodiment, determining a threshold or a threshold time value may include identifying a grip strength of gripping the steering wheel based on at least one of a contact area between the driver and the steering wheel, a distance between the driver and the steering wheel, or any combination thereof.

[0032] According to an embodiment, determining a threshold or a threshold time value may include identifying a strength of gripping the steering wheel through a touch sensor included in the steering wheel.

[0033] According to an embodiment, switching the driving control of the vehicle from a system for performing autonomous driving to the driver based on operating the steering wheel with an operation amount greater than a threshold and for a time greater than a threshold time value may include: identifying an operation amount of the steering wheel through a torque sensor included in the steering wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other objects, features, and advantages of the present invention should be more clearly understood from the following detailed description presented in conjunction with the accompanying drawings, in which:

[0035] Figure 1 is a configuration block diagram showing a vehicle control device according to an embodiment of the present invention;

[0036] Figure 2 is a configuration block diagram specifically showing a vehicle control device according to an embodiment of the present invention;

[0037] Figure 3 An example of the host vehicle decelerating in a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown;

[0038] Figure 4 An example of a graph showing the relationship between the deceleration and a threshold value in a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown;

[0039] Figure 5 An example of a chart showing the relationship between the grip state of the steering wheel and a weight in a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown;

[0040] Figure 6 An example of a flowchart of the operation of a vehicle control device for switching the driving control from an automatic driving system to a driver based on a threshold value of deceleration and a threshold time value in a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown;

[0041] Figure 7 An example of a flowchart of the operation of a vehicle control device for switching the driving control from an automatic driving system to a driver in a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown; and

[0042] Figure 8 An example of a computing system related to a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown. Detailed Description of the Embodiments

[0043] Hereinafter, some 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 drawing, it should be noted that even when the same or equivalent components are shown in different drawings, they are denoted by the same reference numerals. In addition, when describing the embodiments of the present invention, a detailed description of well-known features or functions is omitted to avoid unnecessarily obscuring the gist of the present invention.

[0044] When describing the components of an embodiment according to the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only intended to distinguish one component from another. Therefore, these terms do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms (including technical terms or scientific terms) used herein have the same meaning as that commonly understood by those of ordinary skill in the art to which the present invention pertains. These terms defined in a commonly used dictionary should be interpreted as having a meaning consistent with the contextual meaning in the relevant technical field. Unless explicitly defined in this application as having an imaginative or overly formal meaning, these terms should not be interpreted as having an ideal or overly formal meaning.

[0045] When a controller, module, component, device, element, etc. of the present invention is described as having an objective or performing an operation, function, etc., the controller, module, component, device, element should be considered herein as "configured to" meet the objective or perform the operation or function. Each controller, module, component, device, element, etc. can be implemented individually or include a processor and a memory as part of a device, such as a non-volatile computer-readable medium. Hereinafter, reference is made to Figures 1 to 8 a detailed description of embodiments of the present invention.

[0046] Figure 1 is a configuration block diagram showing a vehicle control device according to an embodiment of the present invention.

[0047] The vehicle control device 101 according to an embodiment of the present invention can be implemented inside or outside the vehicle. Some components included in the vehicle control device 101 can be implemented inside or outside the vehicle.

[0048] Reference is made to Figure 1 , the vehicle control device 101 can include at least one of a steering wheel 103, a processor 105, or any combination thereof. At least one of the steering wheel 103, the processor 105, or any combination thereof can be electrically connected and / or operably connected to each other through electronic components (such as a communication bus).

[0049] According to an embodiment, hereinafter, operably combining multiple hardware can refer to a direct connection or an indirect connection established between multiple hardware in a wired or wireless manner, such that a first hardware of the multiple hardware is controlled by a second hardware of the multiple hardware. The type and / or quantity of the hardware included in the vehicle control device 101 are not limited to Figure 1 the hardware shown. For example, the vehicle control device 101 can only include Figure 1 some of the hardware components shown.

[0050] According to an embodiment, the steering wheel 103 can be operated by a driver to specify the traveling direction of the vehicle. The processor 105 of the vehicle control device 101 can control the traveling state of the vehicle based on the steering wheel 103. For example, the processor 105 of the vehicle control device 101 can obtain an input from the driver to change the traveling direction of the vehicle through the steering wheel 103, and can change the traveling direction of the vehicle based on the input from the driver to change the traveling direction.

[0051] According to an embodiment, the processor 105 of the vehicle control device 101 may identify whether the host vehicle is under autonomous driving control. When the host vehicle with the existing vehicle control device is under autonomous driving, even if the driver operates the steering wheel 103, the driving direction of the host vehicle may not be controlled based on the driving direction of the host vehicle determined according to the operation amount of the steering wheel 103. This is because when the host vehicle is under autonomous driving control, when changing the driving direction by operating the steering wheel, the accident risk may be relatively high. In addition, this is because when the host vehicle with the existing vehicle control device is under autonomous driving control, the steering wheel 103 may not be operated according to the user's intention.

[0052] According to an embodiment, in order to improve usability, when the driver operates the steering wheel 103, the processor 105 of the vehicle control device 101 may switch the driving control of the host vehicle from the system for performing autonomous driving to the driver according to the operation amount of the steering wheel 103. The driving control of the host vehicle may include the driving direction control of the host vehicle or the driving speed control of the host vehicle.

[0053] However, when there is an accident risk, even if the driver operates the steering wheel 103, the processor 105 of the vehicle control device 101 according to the embodiment may not switch the driving control of the host vehicle to the driver. The situation where there is an accident risk may include the situation where the operation of the steering wheel 103 is not due to the user's intention, or may include the situation where there is a risk of rollover or collision due to a sudden change in direction.

[0054] Accordingly, the processor 105 of the vehicle control device 101 may determine whether the condition of operating the steering wheel with an operation amount greater than a threshold value and a time greater than a threshold time value is satisfied to determine whether the accident risk is less than a reference value. This is because according to the operation of the host vehicle, due to the frictional force between the front wheels and the ground, torque may be applied to the steering wheel 103.

[0055] Accordingly, the processor 105 of the vehicle control device 101 may determine whether the condition of operating the steering wheel 103 with an operation amount greater than a threshold value and a time greater than a threshold time value is satisfied to determine whether the torque applied to the steering wheel 103 is caused by an operation according to the driver's intention rather than by the frictional force between the front wheels and the ground.

[0056] According to an embodiment, the threshold value and the threshold time value may be determined based on the maximum deceleration value among the decelerations of the host vehicle measured during a specified time period, the grip strength of gripping the steering wheel 103, or whether there is a failure condition.

[0057] The following will refer to Figure 4 and Figure 5 to describe the threshold value and the threshold time value in detail.

[0058] Figure 2 It is a block diagram specifically showing the configuration of a vehicle control device according to an embodiment of the present invention.

[0059] The vehicle control device 201 according to an embodiment of the present invention can be implemented inside or outside the vehicle. Some components included in the vehicle control device 201 can be implemented inside or outside the vehicle.

[0060] Referring to Figure 2 , the vehicle control device 201 may include at least one of: a steering information input device 203, a vehicle movement 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. The steering information input device 203, the vehicle movement 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 can be electrically connected and / or operably connected to each other through electronic components (such as a communication bus).

[0061] The type and / or quantity of the hardware included in the vehicle control device 201 are not limited to Figure 2 the hardware shown. For example, the vehicle control device 201 may only include Figure 2 some of the hardware components shown.

[0062] According to an embodiment, based on the information determined by the steering information input device 203, the vehicle movement recognition device 205, the steering wheel grip recognition device 207, and / or the surrounding environment recognition device 209, the processor of the vehicle control device 201 can determine whether the accident risk is less than a reference value when switching the driving control to the driver.

[0063] According to an embodiment, even when the driving control is switched from the system for performing autonomous driving to the driver, the vehicle control device 201 can switch the driving control to the driver only when the accident risk is less than the reference value. When the driving control is switched to the driver, the driving controller 213 can control the driving direction of the vehicle based on the driving direction determined by the operation amount of the steering wheel.

[0064] According to an embodiment, the steering information input device 203 can recognize the operation amount of the steering wheel. For example, the steering information input device 203 can recognize the operation amount of the steering wheel through a torque sensor included in the steering wheel, but the embodiments of the present invention are not limited thereto. The operation amount of the steering wheel can be recognized based on the torque or force applied to the steering wheel.

[0065] According to an embodiment, the vehicle movement recognition device 205 can recognize the speed, deceleration, and acceleration of the vehicle itself.

[0066] According to an embodiment, the steering wheel grip recognition device 207 can recognize the steering wheel grip state of the driver. For example, the steering wheel grip recognition device 207 can recognize the grip strength of the steering wheel being gripped. For example, the steering wheel grip recognition device 207 can determine whether the steering wheel is gripped by one hand, both hands, or not gripped. The steering wheel grip recognition device 207 can recognize the grip strength of the steering wheel being gripped through a touch sensor included in the steering wheel. The touch sensor can include a static pressure sensor or a capacitance sensor.

[0067] According to an embodiment, the surrounding environment recognition device 209 can recognize the position or speed of an external object. For example, the surrounding environment recognition device 209 can recognize the position and speed of surrounding vehicles.

[0068] According to an embodiment, the autonomous driving system controller 211 can determine the driving speed or driving direction of the host vehicle based on the position or speed of an external object obtained from the surrounding environment recognition device 209. According to an embodiment, the autonomous driving system controller 211 can determine the deceleration of the host vehicle based on the position or speed of an external object obtained from the surrounding environment recognition device 209. The autonomous driving system controller 211 can send set values required for driving to the driving controller 213 based on information required for driving (such as the surrounding environment, legal conditions, and road conditions).

[0069] According to an embodiment, the driving controller 213 can operate the host vehicle based on the driving instruction received from the autonomous driving system controller 211.

[0070] Figure 3 An example of the deceleration of the host vehicle in a vehicle control device or vehicle control method according to an embodiment of the present invention is shown.

[0071] Reference Figure 3 , in case 301, the host vehicle 303 is decelerating. When the host vehicle 303 decelerates, due to the frictional force between the front wheels and the ground generated according to the deceleration, torque can be applied to the steering wheel.

[0072] When a driver operates a steering wheel under a condition where torque is applied due to the frictional force between a front wheel and the ground, torque corresponding to the sum of the torque generated due to the driver's operation and the torque generated due to the frictional force can be applied to the steering wheel. Accordingly, an existing vehicle control device may erroneously determine the torque corresponding to the sum of the torque generated due to the driver's operation and the torque generated due to the frictional force as the torque generated due to the driver's operation. Since the existing vehicle control device changes the traveling direction of the own vehicle 303 based on the torque applied to the steering wheel, the existing vehicle control device can change the traveling direction of the own vehicle to a greater extent than the degree of change in the traveling direction according to the operation amount of the driver. Accordingly, the accident risk associated with driving according to the existing vehicle control device may be higher than the accident risk associated with driving according to the vehicle control device of the embodiment.

[0073] According to the embodiment, a processor of a vehicle control device included in the own vehicle 303 can determine whether a condition of operating the steering wheel with an operation amount greater than a threshold value and a time greater than a threshold time value is satisfied, to determine whether the torque applied to the steering wheel is caused by an operation according to the driver's intention rather than by the frictional force between the front wheel and the ground.

[0074] According to the embodiment, the threshold value and the threshold time value can be determined based on the maximum deceleration value of the own vehicle 303 measured during a specified time period and the gripping strength of gripping the steering wheel.

[0075] The processor of the vehicle control device can determine a default threshold value and a default threshold time value based on the maximum deceleration value. The processor of the vehicle control device can assign an operation weight and a time weight based on the gripping strength of gripping the steering wheel. The processor of the vehicle control device can determine the threshold value based on the value obtained by multiplying the default threshold value by the operation weight. The processor of the vehicle control device can determine the threshold time value based on the value obtained by multiplying the default threshold time value by the time weight.

[0076] Reference is made below Figure 4 to describe the relationship among the maximum deceleration value, the default threshold value, and the default threshold time value.

[0077] Reference is made below Figure 5 to describe the relationship among the gripping strength of gripping the steering wheel, the operation weight, and the time weight.

[0078] However, the torque applied to the steering wheel connected to the front wheels when the vehicle is accelerating can be less than the torque applied to the steering wheel when the vehicle is decelerating. When the vehicle is accelerating, since the vehicle will tilt in the direction opposite to the traveling direction, the frictional force applied to the front wheels when the vehicle is accelerating may be smaller than the frictional force applied to the front wheels when the vehicle is decelerating at a deceleration value equal to the acceleration value of the vehicle. Therefore, the accident risk due to the torque applied to the steering wheel when the vehicle is decelerating may be greater than the accident risk due to the torque applied to the steering wheel when the vehicle is accelerating. Therefore, the processor of the vehicle control device can determine the threshold and the threshold time value based on the deceleration of the vehicle rather than the acceleration.

[0079] Figure 4 An example of a graph is shown that illustrates the relationship between deceleration and a threshold in a vehicle control device or a vehicle control method according to an embodiment of the present invention.

[0080] Reference Figure 4 , the first graph 401 can represent the change in the acceleration of the vehicle over time. The first graph 401 can determine a point 403 that indicates the maximum deceleration value among the decelerations of the vehicle measured during a specified time 405. The second graph 411 can represent the threshold according to the maximum deceleration. The third graph 413 can represent the threshold time value according to the maximum deceleration. The deceleration can include the deceleration of the vehicle in the longitudinal direction.

[0081] According to an embodiment, the processor of the vehicle control device can identify the maximum deceleration value among the decelerations of the vehicle measured during a specified time 405 (e.g., about 4 seconds). In the first graph 401, the vertical axis represents the longitudinal acceleration, which is the acceleration in the longitudinal direction. Therefore, the point with the minimum longitudinal acceleration can represent the maximum deceleration value.

[0082] The point 403 can include a point that represents the maximum deceleration among the deceleration values identified during the time between a specific time point (e.g., t 2 ) and a time point before the specified time (e.g., t 1 ). The specified time 405 can represent the time between a specific time point (e.g., t 2 ) and a time point before the specified time (e.g., t 1 ).

[0083] Since the torque applied to the steering wheel may change due to the frictional force of the front wheels according to the deceleration indicated by the point 403, the processor of the vehicle control device can switch the driving control of the vehicle from the system for performing autonomous driving to the driver. When the operation amount of the steering wheel equal to or greater than the threshold is maintained at a specific time point (e.g., t 2)When the threshold time value after that occurs, a switch can be made to reduce the accident risk.

[0084] In the second graph 411, the threshold can be changed according to the maximum deceleration value. According to an embodiment, the processor of the vehicle control device can determine the default threshold as a first value based on the maximum deceleration value being a first magnitude. The processor can also determine the threshold as a second value greater than the first value based on the maximum deceleration value being a second magnitude greater than the first magnitude.

[0085] The processor of the vehicle control device can determine the threshold based on the product of the default threshold and the operation weight. Accordingly, when the operation weight is constant, the processor of the vehicle control device can determine such a value as the threshold based on identifying that the maximum deceleration is a second magnitude, and the value is greater than the threshold determined corresponding to the maximum deceleration value which is a first magnitude.

[0086] In the third graph 413, the threshold time value can be changed according to the maximum deceleration value. According to an embodiment, the processor of the vehicle control device can determine the default threshold time value as a third value based on the maximum deceleration value being a third magnitude. The processor can also determine the threshold time value as a fourth value greater than the third value based on the maximum deceleration value being a fourth magnitude greater than the third magnitude.

[0087] The processor of the vehicle control device can determine the threshold time value based on the product of the default threshold time value and the time weight. Accordingly, when the time weight is constant, the processor of the vehicle control device can determine such a value as the threshold time value based on the maximum deceleration value being a fourth magnitude, and the value is greater than the threshold time value determined corresponding to the third magnitude (which is less than the fourth magnitude).

[0088] According to an embodiment, in the event of a failure where the steering wheel is operated without being controlled by the autonomous driving, the processor of the vehicle control device can determine the threshold based on a specified threshold, and the processor can determine the threshold time value based on a specified threshold time value. Since the steering wheel is in a failure condition where it cannot be controlled according to the autonomous driving, it is necessary to switch the driving control from the system for performing autonomous driving to the driver.

[0089] Figure 5 An example of a graph is shown, which shows the relationship between the grip state of the steering wheel and the weight in a vehicle control device or a vehicle control method according to an embodiment of the present invention.

[0090] Reference Figure 5, Chart 501 may represent the operation weight and the time weight according to the grip strength of gripping the steering wheel. The grip strength of gripping the steering wheel according to the first grip may be greater than the grip strength of gripping the steering wheel according to the second grip. The value of W1 may be less than the value of W2. The value of W2 may be less than the value of W3. The values of W1, W2, and W3 may include values greater than 0 and less than or equal to 1. The value of W4 may be less than the value of W5. The value of W5 may be less than the value of W6. The values of W4, W5, and W6 may include values greater than 0 and less than or equal to 1.

[0091] According to an embodiment, the processor of the vehicle control device may identify the grip strength of gripping the steering wheel through a touch sensor included in the steering wheel. When the touch sensor includes a capacitance sensor, the grip strength of gripping the steering wheel may be identified based on at least one of the contact area between the driver and the steering wheel, the distance between the driver and the steering wheel, or any combination thereof. For example, the contact area identified by the capacitance sensor when the driver grips the steering wheel with a grip strength greater than the reference strength may be greater than the contact area identified by the capacitance sensor when the driver grips the steering wheel with a grip strength less than or equal to the reference strength. For example, the distance identified by the capacitance sensor when the driver grips the steering wheel with a grip strength greater than the reference strength may be shorter than the distance identified by the capacitance sensor when the driver grips the steering wheel with a grip strength less than or equal to the reference strength.

[0092] According to an embodiment, the processor of the vehicle control device may change the threshold and the threshold time value based on the grip strength of gripping the steering wheel. This is because the greater the grip strength of gripping the steering wheel, the higher the possibility that the operation of the steering wheel is according to the user's intention.

[0093] According to an embodiment, the processor of the vehicle control device may assign a first operation weight (e.g., W2) based on the grip strength of gripping the steering wheel being a first strength (e.g., the second grip). The processor of the vehicle control device may determine the threshold based on the product of the first operation weight (e.g., W2) and the default threshold. The processor of the vehicle control device may assign a second operation weight (e.g., W1) less than the first operation weight based on the grip strength of gripping the steering wheel being a second strength (e.g., the first grip). The processor of the vehicle control device may determine the threshold based on the product of the second operation weight (e.g., W1) and the default threshold. The threshold determined based on the first operation weight (e.g., W2) may be greater than the threshold determined based on the second operation weight (e.g., W1).

[0094] According to an embodiment, even when the steering wheel is in an ungripped state with a grip strength of zero, the processor of the vehicle control device may determine the operation weight and the threshold.

[0095] The processor of the vehicle control device may allocate a third operation weight (e.g., W3) based on the driver not grasping the steering wheel (e.g., non-grasp state). The processor of the vehicle control device may determine a threshold based on the product of the third operation weight (e.g., W3) and a default threshold value. The processor of the vehicle control device may allocate a fourth operation weight (e.g., W1 or W2) that is less than the third operation weight (e.g., W3) based on the driver grasping the steering wheel (e.g., first grasp or second grasp). The processor of the vehicle control device may determine a threshold based on the product of the fourth operation weight (e.g., W1 or W2) and a default threshold value. The threshold determined based on the third operation weight (e.g., W3) may be greater than the threshold determined based on the fourth operation weight (e.g., W1 or W2).

[0096] According to an embodiment, the processor of the vehicle control device may allocate a first time weight (e.g., W4) based on the grasping strength of the steering wheel being the third strength (e.g., first grasp). The processor of the vehicle control device may determine a threshold time value based on the product of the first time weight and a default threshold time value. The processor of the vehicle control device may allocate a second time weight (e.g., W5) that is greater than the first time weight (e.g., W4) based on the grasping strength of the steering wheel being the fourth strength (e.g., second grasp). The processor of the vehicle control device may determine a threshold time value based on the product of the second time weight (e.g., W5) and a default threshold time value. The threshold time value determined based on the first time weight (e.g., W4) may be less than the threshold time value determined based on the second time weight (e.g., W5).

[0097] According to an embodiment, even when the steering wheel is in a non-grasp state with a grasping strength of zero, the processor of the vehicle control device may determine a time weight and a threshold time value.

[0098] The processor of the vehicle control device may allocate a third time weight (e.g., W6) based on the driver not grasping the steering wheel (e.g., non-grasp state). The processor of the vehicle control device may determine a threshold time value based on the product of the third time weight (e.g., W6) and a default threshold time value. The processor of the vehicle control device may allocate a fourth time weight (e.g., W4 or W5) that is less than the third time weight (e.g., W6) based on the driver grasping the steering wheel (e.g., first grasp or second grasp). The processor of the vehicle control device may determine a threshold time value based on the product of the fourth time weight (e.g., W4 or W5) and a default threshold time value. The threshold time value determined based on the third time weight (e.g., W6) may be greater than the threshold time value determined based on the fourth time weight (e.g., W4 or W5).

[0099] Although the threshold time value is in Figure 4 and Figure 5is described as changing according to deceleration, but embodiments of the present invention may not be limited thereto.

[0100] According to an embodiment, the threshold may change according to deceleration, and the threshold time value may be a constant value.

[0101] For example, when the maximum deceleration value among the decelerations of the host vehicle measured during a specified time period is the fifth magnitude, the processor of the vehicle control device may determine the threshold based on the product of a first default threshold (which is based on the deceleration value of the fifth magnitude) and an operation weight (which is based on the grip strength of the steering wheel being gripped). The threshold time value may be determined as a constant value, regardless of the maximum deceleration value and the grip strength of the steering wheel being gripped.

[0102] When the maximum deceleration value is the sixth magnitude greater than the fifth magnitude, the processor of the vehicle control device may determine the threshold based on the product of a second default threshold (which is based on the deceleration value of the sixth magnitude) and an operation weight (which is based on the grip strength of the steering wheel being gripped). The threshold time value may be determined as a constant value, regardless of the maximum deceleration value and the grip strength of the steering wheel being gripped.

[0103] Figure 6 The operation flowchart of a vehicle control device for switching driving control to a driver based on a threshold according to deceleration and a threshold time value in a vehicle control device or a 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 6 the process. Additionally, in Figure 6 the description, the steps described as being performed by the vehicle control device may be understood as being controlled by the processor 105 of the vehicle control device 101.

[0105] Referring to Figure 6 , in the first step 601, the processor of the vehicle control device may determine the maximum deceleration value of the host vehicle in the longitudinal direction measured during a specified time period. The maximum deceleration value of the host vehicle in the longitudinal direction may include the maximum deceleration value among the decelerations of the host vehicle in the longitudinal direction measured during a specified time period.

[0106] In the second step 603, the processor of the vehicle control device may determine the default threshold and the default threshold time value corresponding to the maximum deceleration value in the longitudinal direction. As the maximum deceleration value in the longitudinal direction increases, the default threshold and the default threshold time value may increase.

[0107] In the third step 605, the processor of the vehicle control device may allocate an operation weight and a time weight according to the grip strength of the steering wheel. The greater the grip strength of the steering wheel, the smaller the operation weight and the time weight.

[0108] In the fourth step 607, the processor of the vehicle control device may determine a threshold value and a threshold time value. The threshold value may be determined based on the product of a default threshold value and the operation weight. The threshold time value may be determined based on the product of a default threshold time value and the time weight.

[0109] In the fifth step 609, the processor of the vehicle control device may identify whether the steering wheel is operated with an operation amount greater than the threshold value. When the steering wheel is operated with an operation amount greater than the threshold value (Yes in step 609), the processor of the vehicle control device may execute the sixth step 611. When the steering wheel is not operated with an operation amount greater than the threshold value (No in step 609), the processor of the vehicle control device may execute the seventh step 617.

[0110] According to an embodiment, the processor of the vehicle control device may identify the operation amount of the steering wheel through a torque sensor included in the steering wheel, but the embodiments of the present invention are not limited thereto. The operation amount of the steering wheel may be identified based on the torque or force applied to the steering wheel.

[0111] According to an embodiment, the processor of the vehicle control device may execute the fifth step 609 and the sixth step 611 to determine whether the accident risk is less than a reference value. The case where the accident risk is greater than or equal to the reference value may include a case where the operation of the steering wheel is not due to the intention of the user, or a case where there is a risk of rollover or collision due to a sudden change in direction.

[0112] In the sixth step 611, the processor of the vehicle control device may determine whether the steering wheel is operated for a time greater than the threshold time value. When the steering wheel is operated for a time greater than the threshold time value (Yes in step 611), the processor of the vehicle control device may execute the eighth step 615. When the steering wheel is not operated for a time greater than the threshold time value (No in step 611), the processor of the vehicle control device may execute the ninth step 613.

[0113] In the eighth step 615, the processor of the vehicle control device may perform control through the driver. In other words, the processor of the vehicle control device may switch the driving control of the vehicle to the driver.

[0114] In the ninth step 613, the processor of the vehicle control device may determine whether to maintain the operating state of the steering wheel. When the operating state of the steering wheel is maintained (Yes in step 613), the processor of the vehicle control device may execute the sixth step 611. When the operating state of the steering wheel is not maintained (No in step 613), the processor of the vehicle control device may execute the seventh step 617.

[0115] According to the embodiment, this is because when the operating state of the steering wheel is maintained, as time passes, the condition of operating the steering wheel for a time greater than the threshold time value can be satisfied.

[0116] In the seventh step 617, the processor of the vehicle control device may execute control through the autonomous driving system. In other words, the processor of the vehicle control device may maintain the operation control right given to the vehicle for the system for executing autonomous driving or the driver assistance system, and may not switch the driving control of the vehicle to the driver.

[0117] Figure 7 The operation flowchart of the vehicle control device for switching the driving control to the driver 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 7 the process. In addition, in the Figure 7 description, the steps described as being executed by the vehicle control device may be understood to be controlled by the processor 105 of the vehicle control device 101.

[0119] Referring to Figure 7 , in the first step 701, the processor of the vehicle control device may determine that the vehicle is in autonomous driving control.

[0120] In the second step 703, the processor of the vehicle control device may determine a threshold or a threshold time value based on at least one of the maximum deceleration value, the grip strength of grasping the steering wheel, or any combination thereof. The maximum deceleration value may include the maximum deceleration value among the decelerations of the vehicle measured during a specified time period.

[0121] In the third step 705, the processor of the vehicle control device may identify operating the steering wheel with an operation amount greater than the threshold and for a time greater than the threshold time value.

[0122] In the fourth step 707, the processor of the vehicle control device may switch the entity that controls the operation of the host vehicle from the system for performing autonomous driving to the driver (i.e., switch the driving control or the control of driving). Based on recognizing that the steering wheel is operated with an operation amount greater than a threshold value and a time value greater than a threshold time value, even if the host vehicle is under autonomous driving control, the processor of the vehicle control device may switch the driving control of the host vehicle to the driver.

[0123] Figure 8 A computing system related to a vehicle control device or a vehicle control method according to an embodiment of the present invention is shown.

[0124] Reference Figure 8 , the computing system 800 may include at least one processor 810, a memory 830, a user interface input device 840, a user interface output device 850, a storage device 860, and a network interface 870 that are connected to each other via a bus 820.

[0125] The processor 810 may be a central processing unit (CPU) or a semiconductor device that processes or executes instructions stored in the memory 830 and / or the storage device 860. The memory 830 and the storage device 860 may include various types of volatile or non-volatile storage media. For example, the memory 830 may include a read-only memory (ROM) 831 and a random access memory (RAM) 832.

[0126] Therefore, the operations of the methods or algorithms related to the embodiments disclosed herein may be directly implemented by hardware, software modules, or a combination thereof executed by the processor 810. The software modules may be present in a storage medium (i.e., the memory 830 and / or the storage device 860), such as, for example, RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0127] The disclosed storage medium may be connected to the processor 810, and the processor 810 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 810. The processor 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 and the storage medium may be present as separate components in a user terminal.

[0128] The above description is only an exemplary illustration of the technical idea of the present invention. Those of ordinary skill in the art to which the present invention pertains may make various modifications and variations without departing from the basic features of the present invention.

[0129] Accordingly, the embodiments described and illustrated in the present invention are not intended to limit the technical idea of the present invention, but rather to describe the technical idea of the present invention. The scope of the technical idea of the present invention is not limited by the disclosed embodiments. The protection scope of the present invention shall be interpreted by the appended claims. All technical ideas within the scope of the claims and their equivalents shall be interpreted as being included within the scope of the present invention.

[0130] This technology can determine whether the operation of the steering wheel is caused by the driver's intention based on the operation amount of the vehicle's steering wheel and the time the steering wheel operation is maintained under autonomous driving control.

[0131] This technology can determine whether the operation of the steering wheel is caused by the driver's intention based on the driver's line of sight under autonomous driving control.

[0132] In addition, this technology can reduce the accident risk caused by the operation of the steering wheel under autonomous driving control.

[0133] In addition, various effects directly or indirectly understood through the present invention can be provided.

[0134] In the foregoing, although the technical concept of the present invention has been described with reference to various embodiments and drawings, the present invention is not limited thereto. Without departing from the spirit and scope of the present invention claimed in the appended claims, those of ordinary skill in the art to which the present invention pertains can make various modifications and changes to the embodiments.

Claims

1. A vehicle control device, comprising: a steering wheel configured to specify a direction of travel of the vehicle; and processor, Wherein, the processor is configured as follows: Determine that the vehicle is in autonomous driving control; determining a threshold value or a threshold time value based on at least one of a maximum deceleration value among decelerations of the host vehicle measured during a specified time, a grip strength of gripping the steering wheel, or any combination thereof; Based on operating the steering wheel by an operation amount greater than the threshold or for a time greater than the threshold time value, driving control of the host vehicle is switched from the system for executing the automatic driving to the driver.

2. The vehicle control device according to claim 1, wherein: In the event of a failure in which the steering wheel is not operated under control of the autonomous driving, the processor is configured to: determining the threshold based on a specified threshold; The threshold time value is determined based on a specified threshold time value.

3. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the maximum deceleration value being a first magnitude, determining the threshold value to be a first value; The threshold is determined to be a second value greater than the first value based on the maximum deceleration value being a second magnitude greater than the first magnitude.

4. The vehicle control device according to claim 1, wherein: The processor is configured as follows: determining the threshold time value to be a third value based on the maximum deceleration value being a third value; The threshold time value is determined to be a fourth value greater than the third value based on the maximum deceleration value being a fourth magnitude greater than the third magnitude.

5. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the gripping strength being the first strength, assigning a first weight value as the operation weight; Based on the gripping strength being a second strength greater than the first strength, assigning a second weight value less than the first weight value as the operation weight; The threshold determined based on the first weight value is configured to be greater than the threshold determined based on the second weight value.

6. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the gripping strength being a third strength, assigning a third weight value as a time weight; Based on the gripping strength being a fourth strength greater than the third strength, assigning a fourth weight value less than the third weight value as the time weight; The threshold time value determined based on the third weight value is configured to be greater than the threshold time value determined based on the fourth weight value.

7. The vehicle control device according to claim 1, wherein: The processor is configured as follows: assigning a fifth weight value as the operation weight based on the driver not gripping the steering wheel; Based on the driver gripping the steering wheel, assigning a sixth weight value, which is smaller than the fifth weight value, as the operation weight; The threshold determined based on the fifth weight value is configured to be greater than the threshold determined based on the sixth weight value.

8. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the driver not gripping the steering wheel, allocating a seventh weight value as the time weight; Based on the driver gripping the steering wheel, assigning an eighth weight value, which is smaller than the seventh weight value, as the time weight; The threshold time value determined based on the seventh weight value is configured to be greater than the threshold time value determined based on the eighth weight value.

9. The vehicle control device according to claim 1, wherein: The processor is configured to identify the grip strength based on at least one of a contact area between the driver and the steering wheel, a distance between the driver and the steering wheel, or any combination thereof.

10. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Identifying grip strength via a touch sensor included in the steering wheel; or The operation amount of the steering wheel is recognized by a torque sensor included in the steering wheel.

11. A vehicle control method, comprising: Determine that the vehicle is in autonomous driving control; determining a threshold value or a threshold time value based on at least one of a maximum deceleration value among decelerations of the host vehicle measured during a specified time, a grip strength of gripping the steering wheel, or any combination thereof; Based on operating the steering wheel by an operation amount greater than the threshold or for a time greater than the threshold time value, driving control of the host vehicle is switched from the system for executing the automatic driving to the driver.

12. The vehicle control method according to claim 11, in the event of a failure in which the steering wheel is not operated under the control of the automatic driving, the method further comprises: determining the threshold based on a specified threshold; The threshold time value is determined based on a specified threshold time value.

13. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: Based on the maximum deceleration value being a first magnitude, determining the threshold value to be a first value; Based on the maximum deceleration value being a second magnitude greater than the first magnitude, a threshold is identified as a second value greater than the first value.

14. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: determining the threshold time value to be a third value based on the maximum deceleration value being a third value; The threshold time value is determined to be a fourth value greater than the third value based on the maximum deceleration value being a fourth magnitude greater than the third magnitude.

15. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: Based on the gripping strength being the first strength, assigning a first weight value as the operation weight; Based on the gripping strength being a second strength greater than the first strength, assigning a second weight value less than the first weight value as the operation weight; The threshold identified based on the first weight value is greater than the threshold identified based on the second weight value.

16. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: Based on the gripping strength being a third strength, assigning a third weight value as a time weight; Based on the gripping strength being a fourth strength greater than the third strength, assigning a fourth weight value less than the third weight value as the time weight; The threshold time value determined based on the third weight value is greater than the threshold time value determined based on the fourth weight value.

17. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: assigning a fifth weight value as the operation weight based on the driver not gripping the steering wheel; Based on the driver gripping the steering wheel, assigning a sixth weight value, which is smaller than the fifth weight value, as the operation weight; The threshold determined based on the fifth weight value is greater than the threshold determined based on the sixth weight value.

18. The vehicle control method according to claim 11, wherein: Determining a threshold or threshold time value includes: Based on the driver not gripping the steering wheel, allocating a seventh weight value as the time weight; Based on the driver gripping the steering wheel, assigning an eighth weight value, which is smaller than the seventh weight value, as the time weight; The threshold time value determined based on the seventh weight value is greater than the threshold time value determined based on the eighth weight value.

19. The vehicle control method according to claim 11, wherein: Determining the threshold or threshold time value includes identifying the grip strength based on at least one of a contact area between the driver and the steering wheel, a distance between the driver and the steering wheel, or any combination thereof.

20. The vehicle control method according to claim 11, wherein: Determining the threshold value or the threshold time value includes identifying the grip strength via a touch sensor included in the steering wheel; Switching the driving control of the host vehicle includes recognizing the operation amount of the steering wheel through a torque sensor included in the steering wheel.

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