Apparatus for transmitting, receiving and / or processing information related to automatic driving and method thereof

Abstract

An apparatus for transmitting and / or receiving and processing automatic driving related information includes a transceiver and a processor for transmitting and / or receiving the automatic driving related information for a user terminal through the transceiver and processing the automatic driving related information. The processor acquires information on a priority of the automatic driving-related information to be transmitted to the user terminal, and transmits the information on the priority of the automatic driving-related information to the user terminal in a case where the processor transmits a plurality of different types of automatic driving-related information. The processor transmits the plurality of different types of automatic driving related information to the user terminal according to the acquired information about the priorities.

Description

Technical Field

[0001] The present disclosure relates to an apparatus and method for automated valet driving, and more particularly, to an information interface framework between an Automated Valet Driving System (AVDS) and a user terminal. Background Art

[0002] Discussion of Related Prior Art

[0003] The AVDS consists of a user, a system, and an autonomous vehicle. The AVDS can perform automated valet driving control using the autonomous driving function.

[0004] While authorizing the AVDS to perform automated valet driving control, additional services can be requested or reserved.

[0005] Therefore, an information interface framework for data transmission and reception is defined between the AVDS and the user terminal, through which data can be transmitted and received between the AVDS and the user terminal.

[0006] The present disclosure aims to propose a method for transmitting / receiving or processing data according to the priority of the data between the AVDS and the user terminal. Summary of the Invention

[0007] Accordingly, embodiments of the present disclosure relate to an apparatus and method for transmitting, receiving, or processing data according to the priority of data exchanged between an autonomous driving system and a user terminal, which substantially eliminates one or more problems caused by limitations and disadvantages of the related art.

[0008] Based on the above background, the present disclosure proposes a method for transmitting / receiving or processing data according to the priority of the data between the AVDS and the user terminal.

[0009] The technical tasks obtainable from the present disclosure are not limited to the above technical tasks. And those of ordinary skill in the technical field to which the present disclosure pertains can clearly understand other unmentioned technical tasks from the following description.

[0010] Other advantages, objects, and features of the present disclosure will be set forth in the present disclosure and the accompanying drawings. Based on the present disclosure, those skilled in the art can also understand these aspects.

[0011] To achieve these objectives and other advantages, in one technical aspect of the present disclosure, a device configured to transmit and / or receive and process autonomous driving related information includes: a transceiver; and a processor configured to transmit and / or receive, via the transceiver, the autonomous driving related information for a user terminal and process the autonomous driving related information. The processor is configured to obtain information about the priority of the autonomous driving related information to be transmitted to the user terminal, and in the case where the processor transmits multiple different types of autonomous driving related information, the processor is configured to transmit the multiple different types of autonomous driving related information to the user terminal according to the obtained information about the priority.

[0012] Additionally or alternatively, the autonomous driving related information to be transmitted to the user terminal may include: a first type of information including a Minimal Risk Manoeuvre (MRM) execution notice or emergency safety information; a second type of information including a Minimal Risk Condition (MRC) arrival via user takeover or a manual driving request; and a third type of information including a configuration of driving related control or information requiring user approval.

[0013] Additionally or alternatively, the priority of the first type of information may be set to be higher than the priority of the second type of information, and the priority of the second type of information may be set to be higher than the priority of the third type of information.

[0014] Additionally or alternatively, the priority of the second type of information may be set to be higher than the priority of the first type of information, and the priority of the first type of information may be set to be higher than the priority of the third type of information.

[0015] Additionally or alternatively, the processor may be configured to obtain information about the priority of the autonomous driving related information to be received from the user terminal, and based on receiving or processing multiple different types of autonomous driving related information from the user terminal, the processor may be configured to process the multiple different types of autonomous driving related information according to the obtained information about the priority.

[0016] Additionally or alternatively, the autonomous driving related information to be received from the user terminal may include: a fourth type of information notifying the user that a Dynamic Driving Task (DDT) takeover cannot be performed; and a fifth type of information instructing the user to respond to a configuration of driving related control or information requiring transmission to the user terminal for user approval.

[0017] Additionally or alternatively, the priority of the fourth type of information may be set to be higher than the priority of the fifth type of information.

[0018] In another aspect of the present disclosure, an apparatus configured to transmit and / or receive and process autonomous driving related information may include: a transceiver and a processor configured to transmit to an autonomous driving system and / or receive from the autonomous driving system the autonomous driving related information through the transceiver and process the received autonomous driving related information, wherein the processor may be configured to obtain information about the priority of the autonomous driving related information to be received from the autonomous driving system, and wherein, based on receiving or processing multiple different types of autonomous driving related information from the autonomous driving system, the processor may be configured to process the multiple different types of the autonomous driving related information according to the obtained information about the priority.

[0019] Additionally or alternatively, the autonomous driving related information to be received from the autonomous driving system may include: a first type of information including a minimum risk maneuver (MRM) execution notification or emergency safety information; a second type of information including reaching a minimum risk condition (MRC) by user takeover or a manual driving request; and a third type of information including a configuration of driving related control or information requiring user approval.

[0020] Additionally or alternatively, the priority of the first type of information may be set to be higher than the priority of the second type of information, and the priority of the second type of information may be set to be higher than the priority of the third type of information.

[0021] Additionally or alternatively, the priority of the second type of information may be set to be higher than the priority of the first type of information, and the priority of the first type of information may be set to be higher than the priority of the third type of information.

[0022] Additionally or alternatively, the priority of the second type of information may be set to be higher than the priority of the third type of information, and the priority of the third type of information may be set to be higher than the priority of the first type of information.

[0023] Additionally or alternatively, the processor may be configured to obtain information about the priority of the autonomous driving related information to be transmitted to the autonomous driving system, and in a case where the processor transmits multiple different types of autonomous driving related information, the processor may be configured to transmit the multiple different types of the autonomous driving related information to the autonomous driving system according to the obtained information about the priority.

[0024] Additionally or alternatively, the autonomous driving related information to be transmitted to the autonomous driving system may include: fourth type information, notifying the user that a dynamic driving task (DDT) takeover cannot be performed; and fifth type information, indicating information that needs to be transmitted to the user terminal for the user's approval in response to the configuration of driving related controls.

[0025] Additionally or alternatively, the priority of the fourth type information may be set higher than the priority of the fifth type information.

[0026] In yet another aspect of the present disclosure, a method for transmitting / receiving and processing autonomous driving related information may include: obtaining information about the priority of the autonomous driving related information to be transmitted to a user terminal; and when transmitting multiple different types of autonomous driving related information to the user terminal, transmitting the multiple different types of autonomous driving related information to the user terminal according to the obtained information about the priority.

[0027] The above solutions of the present disclosure are some embodiments of the present disclosure. Based on the detailed description of the present disclosure to be described below, various solutions other than the solutions to the above problems can be derived and understood.

[0028] Therefore, the present disclosure has the following effects.

[0029] By setting the priority of the autonomous driving related information and accordingly performing transmission or processing (receiving), each autonomous driving situation can be effectively responded to.

[0030] More specifically, the ADS can preferentially transmit the autonomous driving related information with high priority among the autonomous driving related information to the user terminal.

[0031] In addition, the ADS can preferentially process the autonomous driving information with high priority among the autonomous driving related information received from the user terminal.

[0032] In addition, the user terminal can preferentially transmit the autonomous driving related information with high priority among the autonomous driving related information to the ADS.

[0033] In addition, the user terminal can preferentially process the autonomous driving related information with high priority among the autonomous driving related information received from the ADS.

[0034] The effects obtainable from the present disclosure may not be limited to the above effects. And those of ordinary skill in the art to which the present disclosure pertains can clearly understand other unmentioned effects from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present disclosure, are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present disclosure and, together with the description, are used to explain the principles of the present disclosure. After considering the following description of the preferred embodiments in conjunction with the accompanying drawings, the above and other aspects, features, and advantages of the present disclosure will become more apparent. In the figures:

[0036] Figure 1 is a state diagram according to an embodiment;

[0037] Figure 2 is a diagram showing minimum risk manoeuvring (MRM) according to an embodiment;

[0038] Figure 3 is a diagram showing MRM classification;

[0039] Figure 4 is a diagram showing a vehicle controller according to an embodiment;

[0040] Figure 5 is a diagram showing the structure of a vehicle according to an embodiment;

[0041] Figure 6 is a diagram showing an example of data transmission between an ADS and a user terminal according to the present disclosure;

[0042] Figure 7 is a block diagram showing the system related to the present disclosure;

[0043] Figure 8 is a flowchart showing information transmission based on transmission priority according to the present disclosure; and

[0044] Figure 9 is a flowchart showing information processing based on processing priority according to the present disclosure. Detailed Description of the Embodiments

[0045] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0046] The following embodiments are intended to assist in understanding the present disclosure, and thus the present disclosure is not limited to the following embodiments. In addition, in the accompanying drawings, some components may be exaggerated or reduced to assist in understanding the present disclosure. The present disclosure is not limited to the forms drawn in the accompanying drawings.

[0047] Throughout the specification, when a part "includes" a component, this means that it may also include other components, rather than excluding other components, unless otherwise specified.

[0048] Figure 1 An example MRM state diagram showing MRM (3.1 Minimum Risk Manoeuvring) is shown. The specific states and switching conditions of MRM may vary depending on the autonomous driving system (ADS).

[0049] The term definitions according to the embodiments are as follows.

[0050] Minimum Risk Maneuver (MRM) refers to the operation performed by the ADS to achieve the minimum risk condition. The Minimum Risk Condition (MRC) is a stable stationary state into which the user or the ADS can bring the vehicle after taking over the performance of the Dynamic Driving Task (DDT) to reduce the risk of a collision when the given movement cannot or should not continue. The target vehicle refers to a vehicle equipped with an ADS capable of performing MRM. Stop management is the action taken by the ADS to keep the vehicle in the MRC. The lane boundary refers to the lane boundary determined by visible lane markings, or in the absence of visible lane markings, the lane limits determined by incidental visible road features or other means (such as positioning related to digital maps, magnetic markings, etc.). The shoulder is a part of the road at the edge of the road outside the lane boundary that allows emergency vehicles to bypass traffic congestion or provides a place for a vehicle with problems to leave the moving traffic. Acceleration control refers to the control that uses vehicle functions (such as powertrain control) to produce positive acceleration. Deceleration control refers to the control that uses vehicle functions (such as brakes) to produce negative acceleration. ADS activation means that the ADS performs the entire DDT in the ADS activation state (the ADS normal operation state or the MRM state). In the case where the state switches from ADS activation to ADS deactivation (B), the ADS deactivation procedure defined for each ADS that activates the ADS continues to apply. ADS normal operation means that in the ADS normal operation state, the ADS performs the DDT in accordance with the expected operation of the system. In the ADS normal operation state, the ADS determines whether MRM is required. When it is determined that MRM is required, the ADS switches to MRM (A). In the minimum risk maneuver state, the ADS controls its vehicle to reach the MRC state.

[0051] The abbreviations used in this document are defined as follows. ADS (Automated Driving System), DDT (Dynamic Driving Task), FRU (Fallback-Ready User), HMI (Human Machine Interface), MRM (Minimum Risk Maneuver), MRC (Minimum Risk Condition), OEDR (Object and Event Detection Response), ODD (Operational Design Domain), ROI (Region of Interest), RTI (Request to Intervene), SV (Subject Vehicle).

[0052] The operation of the MRM state is as follows. The ADS monitors the ADS state. The ADS determines the type of MRM. The ADS controls the Subject Vehicle (SV) to execute the MRM. The ADS notifies other traffic participants about the execution of the MRM. In the case where the SV has passengers, the ADS notifies all passengers within the SV about the execution of the MRM.

[0053] When the state switches from MRM to ADS Inactive (C), the conditions for the default ADS implementation in the inactive state can be applied, but other conditions can be applied during the ongoing MRM.

[0054] In the case where the state switches from MRM to MRC (D), the vehicle speed is set to 0 (V_sv = 0 [kph]), stop management is enabled, and the risk warning light is applied.

[0055] In the case where the ADS is in the inactive state, the ADS is released from this state and does not perform the DDT function.

[0056] MRC is a state with the minimum risk. For example, the subject vehicle is stable and stationary.

[0057] In the MRC state, the ADS performs stop management. The ADS turns on the risk warning light. The ADS communicates with the activated human user.

[0058] As used herein, a vehicle may be referred to as a transportation means, including robots, Urban Air Mobility (UAM), and autonomous driving devices.

[0059] Figure 2 Shows minimum risk maneuvers (MRM) according to an embodiment.

[0060] Figure 2 Shows an example MRM process for MRM. The detailed process of MRM may vary depending on the ADS.

[0061] When the ADS requests MRM, MRM is performed through the following steps.

[0062] ADS status monitoring: First, the ADS verifies the status of the system. The current DDT performance of the ADS is determined by analyzing the severity of the fault, identifying its impact on the system, and verifying the status of relevant system components.

[0063] Determine the MRM type: Select the most suitable MRM type. This determination includes internal (system state) and external (e.g., traffic density, ODD) information. By default, it is recommended to maintain the MRM type selection. However, if significant internal or external factors change, or if changes in traffic conditions make the selected MRM infeasible, the type may change. When the ADS performs MRM, if the MRM type changes, the ADS ensures that multiple MRM type changes do not delay the system from reaching the MRC in a reasonable and safe manner. MRM implementation: Includes longitudinal and lateral control to perform the selected MRM. The above steps are iterated until the vehicle reaches the MRC state. During the MRM process, the human user can intervene and take over the DDT.

[0064] Figure 3 Shows the MRM classification.

[0065] Depending on the internal and external conditions of the vehicle equipped with the ADS, the available MRM may vary. As Figure 3 shown, MRM is divided into three types. The MRM types can be referred to as MRM type 1, MRM type 2, and MRM type 3. Depending on the parking location, MRM can be divided into lane parking and shoulder parking. According to the embodiment, additional classifications can be added.

[0066] MRM type 1 represents a straight-ahead stop, where lateral control may not be possible, acceleration control may be prohibited, deceleration control can be used, lane changes may be prohibited, and detection of potential parking positions outside the lane may not be required.

[0067] MRM type 2 represents a lane parking, where lateral control can be available, acceleration control may be prohibited, deceleration control can be used, lane changes may be prohibited, and detection of potential parking positions outside the lane may not be required.

[0068] MRM type 3 represents shoulder parking, where lateral control can be used, acceleration control can be optionally used, deceleration control can be used, lane changes can be made, and detection of potential off-lane parking positions can be used.

[0069] Lane driving parking is a method of making an emergency stop among other road users when the host vehicle or its ADS experiences a serious malfunction. There are two types of lane driving parking: straight-line parking and in-lane parking. Depending on the work area, lane driving parking may affect traffic flow and may lead to secondary collisions.

[0070] Straight-line parking is a method of stopping a vehicle using only longitudinal control without activating lateral control. When lateral control is unavailable, straight-line parking uses longitudinal deceleration control to stop the vehicle. Straight-line parking is applied only when lateral control cannot be performed (e.g., lane detection failure, steering actuator failure) or there are no lanes in the ODD to follow (e.g., valet parking system).

[0071] Since lateral control cannot be performed during straight-line parking MRM, the vehicle may cross the lane boundary or stop outside the lane. Straight-line parking only includes deceleration control.

[0072] In-lane parking is a method of stopping a vehicle within the boundaries of the lane in which the vehicle is traveling when the MRM is activated. Using longitudinal deceleration and lateral control, as well as environmental (sensor, map data, etc.) information about the path (and optionally the forward target). In-lane parking can be applied in situations where lane changes are not possible or it is not possible to drive to a shoulder parking position. Achieve MRC within the boundaries of the current lane.

[0073] Shoulder parking: For shoulder parking, lateral and longitudinal control are used to ensure that the host vehicle stops as far away from the traffic flow as possible. Due to the shoulder parking operation, at least a part of the vehicle remains stationary outside the lane. The shoulder parking maneuver aims to minimize the impact of the MRM on nearby road users and help passengers get out safely.

[0074] Shoulder parking uses longitudinal and lateral control and driving environment information (sensors, map data, or other means of perceiving the driving environment) related to the forward road and relevant lanes. For shoulder parking, the ADS can determine the parking position and determine whether the vehicle can reach the parking position.

[0075] The lane boundary intersection can be determined by the ADS performing the MRM, and the number of lane boundary intersections is not limited. The lane change is only made towards the target shoulder specified by the MRC. If safe interaction with other vehicles is required, acceleration control can be performed when driving to the potential parking position. MRC can be achieved on the hard shoulder by partially or fully removing the SV from the active lane.

[0076] Changing the MRM Type: During the execution of the MRM, other relevant events may occur inside or outside the vehicle, or the ADS may identify other information. When the ADS determines that it is not suitable to reach the initially expected MRC, the ADS may change the expected MRC to a lower MRM type. The MRM type can only be changed in one direction: from a higher type to a lower type. If the MRM type is changed while the ADS is executing the MRM, the ADS ensures that multiple MRM type changes do not delay the system from reaching the MRC in a reasonable and safe manner.

[0077] Figure 4 FIG. shows a vehicle control device according to an embodiment.

[0078] The vehicle control device 4000 according to an embodiment is a device for controlling the operation of a vehicle according to an embodiment. The vehicle control device may be referred to as an integrated autonomous driving vehicle controller 600. The vehicle control device may include an interface unit 4001, a processor 4002, and a memory 4003.

[0079] The memory may store instructions, signal information, data, etc. for performing operations according to an embodiment. The memory may be connected to the interface unit and the processor to transmit and receive necessary signals.

[0080] The interface unit may receive signals, information, data, etc. transmitted to the vehicle control device and transmit them to the memory and / or the processor. It may also transmit signals, information, data, etc. generated by the memory and / or the processor to the vehicle and / or the driver and / or the passengers.

[0081] The processor may perform control operations of the vehicle according to an embodiment based on data and / or instructions stored in the memory.

[0082] Figure 4 The vehicle control device may correspond to a device installed on the vehicle or may correspond to a terminal device for controlling the vehicle.

[0083] Figure 5 FIG. shows a vehicle structure according to an embodiment.

[0084] The vehicle according to an embodiment may be configured as shown in Figure 5 and may perform autonomous driving through an autonomous driving control system. The vehicle according to an embodiment may be referred to as an autonomous driving vehicle, a robot, urban air mobility (UAM), an autonomous driving device, etc.

[0085] The autonomous driving vehicle 1000 can be mainly implemented based on the integrated autonomous driving vehicle controller 600, which transmits and receives data required for vehicle autonomous driving control through the driving information input interface 101, the driving information input interface 201, the occupant output interface 301, and the vehicle control output interface 401. The integrated autonomous driving vehicle controller can be referred to as a controller, a processor, or simply a control unit in this document.

[0086] The integrated autonomous driving vehicle controller can obtain driving information according to the operation of the occupant on the user input unit through the driving information input interface in the autonomous driving mode or the manual driving mode of the vehicle. The user input unit can include a driving mode switch and a control panel 120 (for example, a navigation terminal installed on the vehicle, a smart phone or a tablet computer carried by the occupant, etc.). Therefore, the driving information can include driving mode information and navigation information about the vehicle.

[0087] In addition, when it is determined that the driver needs to be warned in the autonomous driving mode or the manual driving mode of the vehicle, the integrated autonomous driving vehicle controller can provide warning information and the above-mentioned driving state information to the driver through the occupant output interface. The speaker 310 and the display 320 can be included to output such driving state information and warning information audibly and visually. The display can be implemented as the same device as the above-mentioned control panel or as a separate independent device.

[0088] In addition, the integrated autonomous driving controller can transmit control information for controlling the driving of the vehicle in the autonomous driving mode or the manual driving mode of the vehicle to the sub-control systems applied to the vehicle through the vehicle control output interface. The sub-control systems for controlling vehicle driving can include at least one of a motor control system, an engine control system, a braking control system, and a steering control system. The integrated autonomous driving vehicle controller can transmit at least one of motor control information, engine control information, braking control information, and steering control information to each sub-control system as control information through the vehicle control output interface.

[0089] The integrated autonomous driving controller can obtain driving information according to the operation of the driver and driving information indicating the driving state of the vehicle through the driving information input interface and the driving information input interface respectively, and can provide driving state information and warning information generated based on the autonomous driving algorithm through the occupant output interface.

[0090] To ensure reliable autonomous driving of the vehicle, the autonomous driving device according to an embodiment can include sensors configured to detect objects around the vehicle, such as adjacent vehicles, pedestrians, roads, or fixed facilities (such as traffic lights, milestones, traffic signs, building fences, etc.).

[0091] The sensor(s) may include one or more of a LiDAR sensor, a radar sensor, and a camera sensor to detect nearby objects outside the vehicle. The sensor(s) may include a front LiDAR sensor 511, a front radar sensor 521, a rear LiDAR sensor 513, a rear radar sensor 524, a left camera sensor 532, a right camera sensor 533, an interior camera sensor 535, a front camera sensor 531, and a rear camera sensor 534. The sensor(s) may be associated with microphones 551 and 552.

[0092] Figure 6 An example of data transmission between the ADS and the user terminal according to the present disclosure is shown.

[0093] When the ADS is used for automation level 3 or higher, if the system attempts to leave the operational design domain (ODD), it may be necessary to have the driver return to the driver's seat to control the steering wheel or perform certain operations. In such a case, the ADS should notify the user of information to prompt appropriate actions.

[0094] For the notification, an appropriate transmission method should be selected according to the purpose, and the importance / urgency and whether a user operation is requested should be considered. In such a case, prompt messages are transmitted through various in-vehicle visual, auditory, and tactile devices (such as the instrument panel and navigation display).

[0095] In addition, if the user is immersed in a user terminal 5000 such as a smartphone, as Figure 6 shown, it may be effective to transmit information through the device the user sees and the devices installed in the vehicle.

[0096] In addition, if a portable device is paired with the vehicle, some information of the corresponding device is used as an auxiliary detection function to check the user's follow-up preparation and biological condition, thereby supporting the driver monitoring device in the vehicle.

[0097] When the ADS uses vehicle control to perform autonomous driving, it can transmit information to the user terminal and receive information from the user terminal to communicate with the relevant driving user.

[0098] The information transmitted from the ADS to the user terminal can be mainly classified into simple notification information that does not require a user response and information that requires a user response.

[0099] The user terminal can transmit user response information or new request information of the user to the ADS.

[0100] When transmitting multiple pieces of information from the ADS to the user terminal, the transmission priority of each piece of information can be set.

[0101] When the user terminal processes (e.g., displays) the information received from the ADS, the processing priority of each piece of information can be set.

[0102] When multiple pieces of information are transmitted from the user terminal to the ADS, the transmission priority of each piece of information can be set.

[0103] In the present disclosure, the transmission priority or the processing priority can be preset. Alternatively, the transmission priority or the processing priority can be set irregularly based on user input.

[0104] As Figure 6 shown, the present disclosure aims to describe the transmission priority or the processing priority of data transmitted from the ADS to the user terminal (e.g., smartphone) or data transmitted from the user terminal to the ADS.

[0105] Figure 7 is a block diagram showing the system related to the present disclosure.

[0106] Referring to Figure 7 , the ADS 4000 is an autonomous driving system, including a transceiver unit 4001, a processor 4002, and a memory 4003, and may additionally include a sensing unit 4004. The ADS 4000 can be referred to as an ADS device.

[0107] The processor 4002 can set the priority of the data transmitted / received with the user terminal 5000. Alternatively, the processor 4002 can transmit data according to the set priority, or process the received data according to the set priority. The memory 4003 can store the transmission priority or the processing priority of the data transmitted / received through the user terminal 5000. The sensing unit 4004 can acquire various data related to the surrounding environment of the ADS 4000 or autonomous driving.

[0108] The user terminal 5000 is the terminal of the user who rides in a vehicle driven by the autonomous driving system, and may include a transceiver unit 5001, a processor 5002, and a memory 5003, and may also include a sensing unit 5004.

[0109] The processor 5002 can set the priority of the data transmitted / received using the ADS 4000. Alternatively, the processor 5002 can transmit data according to the set priority, or process the received data according to the set priority. The memory 5003 can store the transmission priority or the processing priority of the data transmitted / received through the ADS 4000. The sensing unit 5004 can acquire various data related to the surrounding environment of the user terminal 5000 or autonomous driving.

[0110] The information transmitted and received between the ADS 4000 and the user terminal 5000 can be as follows.

[0111] First, the autonomous driving-related information transmitted from the ADS 4000 to the user terminal 5000 is as follows.

[0112] 1. MRM execution notice or emergency safety information notice

[0113] • MRM execution notice

[0114] In the case of a sudden ODD violation, the MRM execution notice is urgently transmitted to the user terminal.

[0115] - User response request status: No

[0116] - Occurrence condition: MRM execution condition (※ comply with ISO 23793-1, 2)

[0117] • Emergency safety information notice

[0118] - Safety hazard warning notice

[0119] - User response request status: No

[0120] - Occurrence condition: ADS failure, steering / braking failure, unstable driving environment, etc.

[0121] 2. MRC arrival or manual driving request through user takeover

[0122] - User response request: Yes

[0123] - Occurrence condition: ODD violation, emergency vehicle passage, severe traffic jam, police vehicle control, vehicle equipment failure, ADS failure, etc.

[0124] 3. Set vehicle driving-related controls or information requiring user approval

[0125] - User response request: Yes

[0126] - Approval request type: vehicle overtaking, passing (intersection, toll station, IC (interchange, etc.)), ADS level change, route selection, etc.

[0127] As described above, since the MRM execution notice or emergency safety information notice is a "notice", a separate user response may not be required. Since it is not clear whether the user can be entrusted with control authority again, the MRC arrival or manual driving request through user takeover may request a user response. The user approval request requires a user response.

[0128] When the ADS needs to transmit multiple (different) pieces of information to the user terminal simultaneously, it is necessary to set the priority of each piece of information so that the high-priority information can reach the user terminal safely.

[0129] Therefore, the transmission priorities of the above-mentioned autonomous driving-related information can be set as follows.

[0130] Prior to this, information including MRM execution notifications or emergency safety information notifications will be referred to as type-1 information, information including MRC arrival via user takeover or manual driving requests will be referred to as type-2 information, and information including settings related to vehicle driving control or information requiring user approval will be referred to as type-3 information.

[0131] [First proposal for transmission priority]

[0132] Type-1 information > Type-2 information > Type-3 information

[0133] The priority of type-1 information can be set higher than that of type-2 information, and the priority of type-2 information can be set higher than that of type-3 information.

[0134] When MRM is executed, the vehicle or the autonomous driving system will be in a state of facing an emergency / urgent situation, such as a situation before ODD violation. When MRM is executed, the user needs to be aware of and prepare for various emergency situations in advance.

[0135] In addition, after receiving an emergency safety information notification, the vehicle or the autonomous driving system will be in a state of facing a serious system failure. Therefore, even if the ADS executes MRM based on its own judgment, the user needs to recognize as soon as possible that a serious system failure has occurred in the vehicle.

[0136] Therefore, type-1 information can be set to have the highest transmission priority.

[0137] The arrival of MRC via user takeover or a manual driving request requires a response from the user. After receiving the user's response, MRC arrival or manual driving is executed through user takeover. Thus, the probability that the urgency / emergency of the situation is lower than that of type-1 information is higher. Therefore, type-2 information can be set to have a lower transmission priority than type-1 information.

[0138] Since type-3 information corresponds to a "request" or similar information for requesting user approval for vehicle overtaking (at intersections, toll booths, ICs, etc.), ADS level change, route selection, etc., the urgency / emergency level is relatively low, and the user's approval for this may be received relatively calmly. Therefore, type-3 information can be set to have the lowest transmission priority.

[0139] [Second proposal for transmission priority]

[0140] Type-2 information > Type-1 information > Type-3 information

[0141] The priority of the second type of information can be set higher than that of the first type of information, and the priority of the first type of information can be set higher than that of the third type of information.

[0142] For example, for MRC arrival, the ADS can execute MRM, or the user can take over and reach the MRC. In this case, in order to receive the user response at an early stage, the ADS can transmit the second type of information to the user terminal with the highest priority. That is, the ADS can preferentially transmit the second type of information to the user terminal to wait for the user response. Once the user response is received in a timely manner, the ADS can take over the user to induce MRC arrival or manual driving.

[0143] If the user response is not received in a timely manner, the ADS can execute MRM to transmit the MRM execution notice to the user terminal.

[0144] In the second suggestion, since the MRC arrival through user takeover is given the highest priority, the first type of information can be set to have a lower transmission priority than the second type of information.

[0145] For the same reason or basis as in the first suggestion, the third type of information can be set to have the lowest transmission priority.

[0146] When the user terminal 5000 has to process multiple (different) information received from the ADS 4000, the priority of each piece of information can be set to process the high-priority information first.

[0147] Here, "processing" may include audible alerts, displaying the corresponding information on the screen, etc. "Information requiring processing" is the information that requests a user response. Therefore, information that the ADS needs to pass to the user but does not necessarily require a user response may be considered not corresponding to the current "information requiring processing".

[0148] [First Suggestion on Processing Priority]

[0149] Second type of information > Third type of information

[0150] In the first suggestion, since the first type of information is not information that necessarily requires a user response, it may not correspond to the information processed by the user terminal 5000. Therefore, only the second type of information and the third type of information can be the targets to be processed.

[0151] In the case of the second type of information, due to the user response that requires user takeover, the user terminal 5000 can output (or display) the current request on the display of the user terminal. Compared with the user's approval of vehicle overtaking, passing through (intersections, toll booths, ICs, etc.), ADS level changes, etc., the second type of information requires the user to respond promptly to urgent / emergency situations, so the priority can be set to the highest.

[0152] In the case of the third type of information, it is information that requests the user's approval for vehicle overtaking, passing through (intersections, toll booths, ICs, etc.), ADS level changes, route selection, etc. The situations that require approval of the third type of information are those with a relatively low urgent / emergency level, and thus the user's approval can be received relatively calmly. Therefore, when processing information in the user terminal 5000, its priority can be set to the lowest.

[0153] Since the first type of information is information transmitted in an emergency situation, its urgent or emergency level may be the highest, but it is not information that requires a user response as described above. Therefore, the vehicle or ADS can process (e.g., display) the MRM execution notice or the emergency safety information notice, rather than the user terminal 5000.

[0154] [Second Suggestion on Processing Priority]

[0155] First type of information > Second type of information > Third type of information

[0156] Similar to the first suggestion on the transmission priority of the ADS 4000, in the processing of the user terminal 5000, the priority of the first type of information can be set to be higher than the processing priority of the second type of information, and the priority of the second type of information can be set to be higher than the processing priority of the third type of information.

[0157] [Third Suggestion on Processing Priority]

[0158] Second type of information > First type of information > Third type of information

[0159] In the third suggestion, the first type of information instead of the third type of information can be set to be preferentially processed by the user terminal 5000. This is a compromise suggestion between the necessity of user response and the urgency / emergency of the situation.

[0160] [Fourth Suggestion on Processing Priority]

[0161] Second type of information > Third type of information > First type of information

[0162] The fourth recommendation is similar to the first one. Since the first type of information is regarded as the information to be processed by the vehicle or ADS 4000 rather than the user terminal 5000, the first type of information can be set to have the lowest processing priority. The processing priority of the second type of information can be set higher than that of the third type of information (see the first recommendation).

[0163] Meanwhile, although not described, the processing at the user terminal 5000 can have the same meaning as the reception at the user terminal 5000. That is to say, "reception" can be interpreted as indicating the overall process of processing the received data, such as decoding and decryption. That is, the processing priority and the reception priority can be used interchangeably.

[0164] In the following, the priority of the autonomous driving-related information transmitted from the user terminal 5000 to the ADS will be described.

[0165] When the user terminal has to transmit multiple (different) information to the ADS simultaneously, it is necessary to set the priority of each piece of information so that the high-priority information can reach the ADS safely. Regarding the information transmitted from the user terminal 5000 to the ADS 4000, the transmission priority (at the user terminal) can be set equal to the processing priority (at the ADS).

[0166] First, the autonomous driving-related information transmitted from the user terminal 5000 to the ADS 4000 is as follows.

[0167] - Information notifying that the DDT takeover cannot be performed

[0168] The user terminal or the user monitoring device can notify the ADS that the user cannot perform the DDT takeover. In this case, the user terminal or the user monitoring device can include, for example, a driver monitoring camera, a smartwatch, a mobile phone, etc.

[0169] The situations where it is necessary to notify that the DDT takeover cannot be performed can include, for example, the situations where 1) abnormal user biometric information or 2) abnormal user responses are detected.

[0170] Abnormal user biometric information includes but is not limited to abnormal body temperature, abnormal blood pressure, abnormal pulse rate, abnormal skin resistance, abnormal breathing, abnormal heart rate, alcohol consumption, medication, etc.

[0171] The detection of abnormal user responses includes but is not limited to drowsiness, abnormal movements (sensed by the image module), and abnormal device operations (such as abnormal operation timing, web browsing timing, etc.).

[0172] - The user's response to vehicle driving-related controls or information settings that require user approval (approve / disapprove)

[0173] In response to a request from the ADS, the user can respond with approval / disapproval to the ADS. For example, the ADS may request responses for vehicle overtaking (at intersections, toll booths, ICs, etc.), ADS level changes, route selection, etc.

[0174] Before explaining their priorities, the information notifying the user that DDT cannot be executed can be called the fourth type of information, and the information including the user's response to the settings of vehicle driving-related controls or the information requiring user approval can be called the fifth type of information.

[0175] [First Proposal for Transmission Priority]

[0176] Fourth type of information > Fifth type of information

[0177] The priority of the fourth type of information can be set higher than the priority of the fifth type of information.

[0178] When the user cannot execute DDT takeover, since the user may encounter an emergency (such as physical abnormality) in many cases, it needs to be transmitted to the ADS as the top priority. Since the user's approval / disapproval in response to the ADS request is usually transmitted in a low eagerness / emergency level, the transmission priority can be set low. Therefore, the priority of the fourth type of information can be set higher than the priority of the fifth type of information. In addition, as described above, regarding the processing priority at ADS 4000, the priority of the fourth type of information can also be set higher than the priority of the fifth type of information.

[0179] Meanwhile, although not described, the processing in ADS 4000 can have the same meaning as the reception in ADS 4000. That is, "reception" can be interpreted as the overall process of processing the received data, such as decoding, decryption, etc. That is, the processing priority and the reception priority can be used interchangeably.

[0180] Figure 8 It is a flowchart showing information transmission based on transmission priority according to the present disclosure.

[0181] According to Figure 8 the information transmission can be executed by the ADS 4000 or the user terminal 5000. It will be classified and explained according to the execution entity.

[0182] The ADS 4000 can transmit autonomous driving-related information to the user terminal 5000. The ADS 4000 can obtain information about the priority of the autonomous driving-related information to be transmitted to the user terminal 5000 (S810).

[0183] The ADS 4000 can be configured to transmit various different types of autonomous driving-related information to the user terminal 5000. Therefore, the ADS 4000 can transmit various different types of autonomous driving-related information to the user terminal 5000 according to the obtained information about the priority (S820).

[0184] The autonomous driving-related information to be transmitted to the user terminal 5000 may include at least two of the first type of information, the second type of information, and the third type of information, where the first type of information includes a minimum risk maneuver (MRM) execution notification or emergency safety information, the second type of information includes reaching a minimum risk condition (MRC) through user takeover or a manual driving request, and the third type of information includes settings for vehicle driving-related controls or information that requires user approval.

[0185] The transmission priority of the autonomous driving-related information of the ADS 4000 can refer to the above description.

[0186] According to another embodiment, the user terminal 5000 can transmit autonomous driving-related information to the ADS 4000. The user terminal 5000 can obtain information about the priority of the autonomous driving-related information to be transmitted to the ADS 4000 (S810).

[0187] The user terminal 5000 can be configured to transmit various different types of autonomous driving-related information to the ADS4000. Therefore, the user terminal 5000 can transmit various different types of autonomous driving-related information to the ADS 4000 according to the obtained information about the priority (S820).

[0188] The autonomous driving-related information to be transmitted to the ADS 4000 may include the fourth type of information notifying the user that a dynamic driving task (DDT) takeover cannot be performed, or the fifth type of information indicating the user's response to the settings of vehicle driving-related controls, or information that requires user approval to be transmitted to the user terminal.

[0189] The transmission priority of the autonomous driving-related information of the user terminal 5000 can refer to the previous description.

[0190] Figure 9 It is a flowchart showing information processing based on processing priority according to the present disclosure.

[0191] According to Figure 9 the information processing can be executed by the ADS 4000 or the user terminal 5000. It will be classified and explained according to the execution entity.

[0192] The ADS 4000 can obtain information about the priority of the autonomous driving-related information to be received from the user terminal 5000 (S910).

[0193] The ADS 4000 can be configured to receive various different types of autonomous driving-related information from the user terminal 5000. The ADS 4000 can process various different types of autonomous driving-related information according to the obtained information about priorities (S920).

[0194] The priority of the information processing of the ADS 4000 can refer to the previous description.

[0195] In another embodiment, the user terminal 5000 can obtain information about the priority of the to-be-received autonomous driving-related information from the ADS 4000 (S910).

[0196] The user terminal 5000 can be configured to receive various different types of autonomous driving-related information from the ADS 4000. The user terminal 5000 can process various different types of autonomous driving-related information according to the obtained priority information (S920).

[0197] The priority of the processing information of the user terminal 5000 can refer to the previous description.

[0198] Meanwhile, as another embodiment of the present disclosure, a vehicle (not shown) including a device for transmitting or processing the above-mentioned autonomous driving-related information is proposed. The vehicle can include a device 4000, and the device 4000 includes a transceiver unit 4001 and a processor 4002, and the processor 4002 controls the transceiver 4001 to transmit / receive autonomous driving-related information. The description of the device 4000 can refer to the previous description.

[0199] In the above specification, a "device" or "server" that transmits / receives and processes autonomous driving-related information or the configurations included therein is described as performing operations. However, "device", "server" and their components are just names, and the scope of rights does not depend on them.

[0200] In other words, the proposed technology can be executed under a name other than a device, and the above method or solution can be executed by software or a computer or other machine or device-readable code for a vehicle or autonomous control.

[0201] Furthermore, on the other hand of the present disclosure, the operations of the above-mentioned proposed technology can be provided as code that can be implemented, embodied or executed by a "computer" (including the comprehensive concept of a System-on-Chip (SoC), (micro)processor, etc.), a computer-readable storage medium or a computer program product that stores or includes the code. The scope of rights of the present disclosure can be extended to the code or the computer-readable storage medium or the computer program product including the code.

[0202] A detailed description of preferred embodiments of the present disclosure as disclosed above has been provided so that those skilled in the art can implement and embody the present disclosure.

[0203] Although the above has been described with reference to preferred embodiments of the present disclosure, those skilled in the art will understand that various modifications and improvements can be made to the present disclosure as described in the patent claims.

[0204] Therefore, the present disclosure is not intended to be limited to the embodiments shown herein, but rather is given the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device configured to transmit and / or receive and process information related to autonomous driving, the device comprising: Transceiver; as well as a processor configured to transmit and / or receive the autonomous driving related information for the user terminal through the transceiver, and process the autonomous driving related information, wherein the processor is configured to obtain information about the priority of the autonomous driving related information to be transmitted to the user terminal, and Wherein, in the case where the processor transmits multiple different types of autonomous driving related information, the processor is configured to transmit the multiple different types of autonomous driving related information to the user terminal according to the acquired information about the priority.

2. The device according to claim 1, wherein: The autonomous driving related information to be transmitted to the user terminal includes: Type 1 information includes notifications of minimal risk maneuvers (MRMs) or urgent safety information; The second type of information includes MRC arrival or manual driving request via user takeover; and The third type of information includes configuration of driving-related controls or information that requires user approval.

3. The device according to claim 2, wherein: The priority of the first type information is set higher than the priority of the second type information, and wherein the priority of the second type information is set higher than the priority of the third type information.

4. The device according to claim 2, wherein: The priority of the second type information is set higher than the priority of the first type information, and wherein the priority of the first type information is set higher than the priority of the third type information.

5. The device according to claim 1, wherein: The processor is configured to obtain information about a priority of the autonomous driving related information to be received from the user terminal, and Wherein, based on receiving or processing multiple different types of autonomous driving related information from the user terminal, the processor is configured to process the multiple different types of autonomous driving related information according to the acquired information about the priority.

6. The device according to claim 5, wherein: The autonomous driving related information to be received from the user terminal includes: The fourth type of information notifies the user that the dynamic driving task DDT takes over cannot be performed; and The fifth type of information indicates a user response to a configuration of a driving-related control or information requiring user approval to be transmitted to the user terminal.

7. The device according to claim 6, wherein: The priority of the fourth type information is set higher than the priority of the fifth type information.

8. A device configured to transmit and / or receive and process information related to autonomous driving, the device comprising: Transceiver; as well as a processor configured to transmit the autonomous driving related information to the autonomous driving system and / or receive the autonomous driving related information from the autonomous driving system through the transceiver, and process the received autonomous driving related information, wherein the processor is configured to obtain information about the priority of the autonomous driving related information to be received from the autonomous driving system, and Wherein, based on receiving or processing multiple different types of autonomous driving related information from the autonomous driving system, the processor is configured to process the multiple different types of autonomous driving related information according to the acquired information about the priority.

9. The device according to claim 8, wherein: The autonomous driving related information to be received from the autonomous driving system includes: Type 1 information includes notifications of minimal risk maneuvers (MRMs) or urgent safety information; The second type of information includes MRC arrival or manual driving request via user takeover; and The third type of information includes configuration of driving-related controls or information that requires user approval.

10. The device according to claim 9, wherein: The priority of the first type information is set higher than the priority of the second type information, and wherein the priority of the second type information is set higher than the priority of the third type information.

11. The device according to claim 9, wherein: The priority of the second type information is set higher than the priority of the first type information, and wherein the priority of the first type information is set higher than the priority of the third type information.

12. The device according to claim 9, wherein: The priority of the second type information is set higher than the priority of the third type information, and wherein the priority of the third type information is set higher than the priority of the first type information.

13. The device according to claim 8, wherein: The processor is configured to obtain information about a priority of the autonomous driving related information to be transmitted to the autonomous driving system, and Wherein, in the case where the processor transmits multiple different types of autonomous driving related information, the processor is configured to transmit the multiple different types of autonomous driving related information to the autonomous driving system according to the acquired information about the priority.

14. The device according to claim 13, wherein: The autonomous driving related information to be transmitted to the autonomous driving system includes: The fourth type of information notifies the user that the dynamic driving task DDT takes over cannot be performed; and The fifth type of information indicates a user response to a configuration of a driving-related control or information requiring user approval to be transmitted to the user terminal.

15. The device according to claim 14, wherein: The priority of the fourth type information is set higher than the priority of the fifth type information.

16. A method for transmitting / receiving and processing information related to autonomous driving, the method comprising: Acquire information about the priority of the autonomous driving related information to be transmitted to the user terminal; as well as In the case of transmitting a plurality of different types of autonomous driving related information to the user terminal, the plurality of different types of autonomous driving related information are transmitted to the user terminal according to the acquired information about the priority.

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