Vehicle and control method thereof

Abstract

An autonomous driving vehicle may include a sensor module and a processor configured to control the sensor module and an advanced driver assistance system (ADAS). When the autonomous driving vehicle is stopped in a smart cruise control (SCC) mode, the processor may: measure an inter-vehicle distance, i.e., a distance between the autonomous driving vehicle and a preceding vehicle; comparing the measured distance between the vehicles with a preset reference safety distance; setting a restriction mode to restrict driving of the autonomous driving vehicle based on the comparison and analysis results; and controlling the travel of the autonomous traveling vehicle on the basis of the set restriction mode.

Description

Technical Field

[0001] The present disclosure relates to an autonomous driving vehicle and a control method thereof, and more particularly, to an autonomous driving vehicle and a control method thereof that enable an advanced driver assistance system (ADAS) to operate stably even on unstable roads. Background Art

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

[0003] Recently, the development of advanced driver assistance systems (ADAS) developed to ensure driver safety and provide driving convenience has accelerated.

[0004] ADAS is a system that controls the vehicle's steering, braking, acceleration / deceleration, etc. by using sensor data obtained from sensors such as cameras and radars, allowing the vehicle to travel safely and conveniently.

[0005] However, conventional ADAS sometimes fails to properly control the vehicle. In other words, when the road surface is abnormal, ADAS may not be able to control the vehicle as expected, resulting in an accident.

[0006] The information contained in the background section of this disclosure is only for enhancement of understanding of the general background of the disclosure and should not be taken as an acknowledgment or any form of suggestion that this information constitutes the prior art already known to a person of ordinary skill in the art. Summary of the Invention

[0007] The present disclosure is directed to providing an autonomous driving vehicle and a control method thereof, which are capable of preventing accidents caused by unstable road surfaces by stably controlling an advanced driver assistance system (ADAS) regardless of road conditions.

[0008] The technical problems to be solved by the present disclosure are not limited to those mentioned above. The following description should enable ordinary technicians in this field to clearly understand other technical problems not mentioned above.

[0009] To address the aforementioned technical issues, one embodiment of the present disclosure provides a method for controlling a vehicle. The method may include, when controlling the vehicle using smart cruise control (SCC), determining, by a controller, whether a first condition or a second condition is satisfied. The method may also include, by the controller, controlling the vehicle to travel in a restricted mode configured for the first condition or the second condition.

[0010] The first condition may include a condition that another advanced driver assistance system (ADAS) control is operated a number of times equal to or exceeding a predetermined reference number.

[0011] Another ADAS control may include electronic stability control (ESC) or traction control system (TCS).

[0012] The predetermined reference number may include a first reference number and a second reference number. Based on the first reference number and the second reference number, the set restriction mode may include a first restriction mode, a second restriction mode, or a third restriction mode.

[0013] Controlling the vehicle's travel in the set restriction mode may include controlling the vehicle in a first restriction mode when the number of times is less than or equal to a first reference number, and may include maintaining the determined acceleration or time to collision (TTC) based on the set first restriction mode.

[0014] Controlling the vehicle's travel may include: controlling the vehicle in a second restriction mode when the number of times is greater than a first reference number and less than or equal to a second reference number, and may include: changing the determined acceleration or switching to the first TTC based on the set second restriction mode so that the braking control time is earlier than the TTC.

[0015] Controlling the vehicle's travel may include controlling the vehicle in a third restriction mode when the number of times is greater than a second reference number, and may include changing the determined acceleration or switching to a second TTC based on the set third restriction mode so that the braking control time is earlier than the first TTC.

[0016] Controlling the travel of the vehicle may further include turning off the SCC and outputting an alert regarding tire inspection and replacement based on the third restriction mode.

[0017] The second condition may include a condition that, when the vehicle is stopped in the SCC, a distance between the vehicle and another vehicle ahead of the vehicle is equal to or less than a predetermined reference safety distance.

[0018] The predetermined reference safety distance may include a first safety distance and a second safety distance. Based on the first safety distance and the second safety distance, the set restriction mode may include a first restriction mode, a second restriction mode, or a third restriction mode.

[0019] Controlling the vehicle's travel in the set restriction mode may include controlling the vehicle in a first restriction mode when the distance is less than or equal to a first safety distance, and may include maintaining the determined acceleration or time to collision (TTC) based on the set first restriction mode.

[0020] Controlling the vehicle's travel in the set restriction mode may include: controlling the vehicle in a second restriction mode when the distance is greater than a first safety distance and less than or equal to a second safety distance; and may include: changing the determined acceleration based on the set second restriction mode, or switching to the first TTC so that the braking control time is earlier than the TTC.

[0021] Controlling the vehicle's travel in the set restriction mode may include: controlling the vehicle in a third restriction mode when the distance is greater than a second safety distance, and may include: changing the determined acceleration or switching to a second TTC based on the set third restriction mode so that the braking control time is earlier than the first TTC.

[0022] Controlling the driving of the vehicle in the set restriction mode may include shutting down the SCC and outputting an alert regarding tire inspection and replacement.

[0023] According to one embodiment of the present disclosure, a vehicle may include a sensor module configured to sense the vehicle's surroundings, an advanced driver assistance system (ADAS) configured to implement ADAS control including smart cruise control (SCC), and a controller. The controller may be configured to control the sensor module and the ADAS to determine whether a first condition or a second condition is satisfied when controlling the vehicle in the SCC, and to control the vehicle to travel in a restricted mode set for the first condition or the second condition.

[0024] The first condition may include a condition that another ADAS control is operated a number of times equal to or exceeding a predetermined reference number.

[0025] Another ADAS control may include electronic stability control (ESC) or traction control system (TCS).

[0026] The predetermined reference number may include a first reference number and a second reference number. Based on the first reference number and the second reference number, the set restriction mode may include a first restriction mode, a second restriction mode, or a third restriction mode.

[0027] The controller may be further configured to: control the vehicle in a first restriction mode when the number of times is less than or equal to a first reference number; and maintain the determined acceleration or time to collision (TTC) based on the set first restriction mode.

[0028] The second condition may include a condition that, when the vehicle is stopped in the SCC, a distance between the vehicle and another vehicle ahead of the vehicle is equal to or less than a predetermined reference safety distance.

[0029] With the autonomous driving vehicle and the control method thereof according to the embodiments of the present disclosure as described above, it is possible to stably control the ADAS regardless of the road surface conditions, thereby preventing accidents due to unstable road surfaces.

[0030] In addition, in the case of an autonomous vehicle and its control method according to an embodiment of the present disclosure, ADAS can be stably controlled regardless of the road conditions, and braking control can be activated simultaneously at an appropriate time in advance, enabling the autonomous vehicle to travel in a more stable manner.

[0031] The effects of the present disclosure are not limited to the above-mentioned effects. The following description should enable those skilled in the art to clearly understand other effects not mentioned above.

[0032] The methods and apparatus of the present disclosure may have other features and advantages that should be apparent from or set forth in more detail in the accompanying drawings and the following detailed description, which are incorporated herein and which together serve to explain certain principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a block diagram illustrating an autonomous driving vehicle according to one embodiment of the present disclosure.

[0034] Figure 2 and Figures 3A-3C 1 is a diagram for illustrating a method of driving an autonomous driving vehicle according to a first embodiment of the present disclosure.

[0035] Figure 4 and Figures 5A-5B 2 is a diagram for illustrating a method of driving an autonomous driving vehicle according to a second embodiment of the present disclosure.

[0036] Figure 6 is a diagram for illustrating a method of driving an autonomous traveling vehicle according to a third embodiment of the present disclosure.

[0037] It will be understood that the drawings are not necessarily drawn to scale and thus present a somewhat simplified representation of various features illustrative of the basic principles of the present disclosure. The specific design features of the present disclosure as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment.

[0038] In the drawings, like reference numerals refer to the same or equivalent parts of the present disclosure throughout the several figures of the drawing. DETAILED DESCRIPTION

[0039] Hereinafter, with reference to the accompanying drawings, embodiments of the present disclosure are described in detail to allow those skilled in the art to perform them. However, the present disclosure can be implemented in various forms and is not limited to the embodiments described herein. In addition, in order to clearly describe the technical concepts of the present disclosure, parts that are not related to the description are omitted from the drawings, and similar reference numerals are given to similar parts throughout the present disclosure.

[0040] Throughout this disclosure, when a part is described as "including," "comprising," or "having" a component, this does not mean that the part excludes other components, but rather means that the component may further include other components, unless explicitly stated otherwise. In addition, throughout this disclosure, parts given the same reference numerals refer to the same components.

[0041] Furthermore, the terms "unit" and "control unit" in names such as vehicle control unit (VCU) are generally used to designate controllers used to control specific vehicle functions and do not imply a general functional unit. For example, each controller may include a communication device that communicates with other controllers or sensors to control the functions for which the controller is responsible, a memory that stores an operating system, logic instructions, input / output information, etc., and one or more processors that perform the determination, calculation, decision-making, etc. required to control the functions.

[0042] When a component, controller, processor, module, unit, device, element, apparatus, etc. of the present disclosure is described as having a certain purpose or performing an operation, function, etc., the component, controller, processor, module, unit, device, element, apparatus, etc. should be considered herein as being "configured to" satisfy the purpose or perform the operation or function. Each component, controller, processor, module, unit, device, element, apparatus, etc. may be embodied separately or included in a processor and memory, such as a non-transitory computer-readable medium, as part of the apparatus.

[0043] Figure 1 is a block diagram illustrating an autonomous driving vehicle according to one embodiment of the present disclosure.

[0044] refer to Figure 1 The autonomous driving vehicle 100 according to one embodiment of the present disclosure may include a processor 110 , a sensor module 120 , a camera 130 , a communication module 140 , a braking module 150 , a storage unit 160 , and a display unit 170 .

[0045] The processor 110 may be provided in the autonomous vehicle 100 and electrically connected to at least one component, module, etc. mounted on the autonomous vehicle 100. The processor 110 may control the autonomous vehicle 100 as a whole while exchanging various data, signals, etc. with at least one component, module, etc. electrically connected thereto via wired or wireless communication.

[0046] For example, under the control of the processor 110, components of the autonomous vehicle 100 can exchange signals or data with each other through the internal communication module 141, which is the communication module 140 of the autonomous vehicle 100. For example, the internal communication module 141 of the autonomous vehicle 100 may include at least one communication protocol such as CAN, LIN, FlexRay, Media Oriented Systems Transport (MOST), and Ethernet.

[0047] The processor 110 can control the autonomous vehicle 100 by controlling other components installed in the autonomous vehicle 100. For example, the processor 110 can function as at least one of an engine management system (EMS), an electronic stability control (ESC), an electronic stability program (ESP), a vehicle dynamics control (VDC), a lane keeping assist system (LKAS), a smart cruise control (SCC), an adaptive cruise control (ACC), autonomous emergency braking (AEB), forward collision avoidance assist (FCA), highway driving assist (HAD), highway driver assistance (HDP), lane departure warning (LDW), driver awareness warning (DAW), driver state warning (DSW), and a traction control system (TCS). The above functions may be referred to as an advanced driver assistance system (ADAS).

[0048] When a smart cruise control (SCC) mode is turned on while the vehicle is traveling, the processor 110 may sense and count operations of an advanced driver assistance system (ADAS).

[0049] The processor 110 may compare the counted number of times the ADAS is operated with a preset reference number. Based on the comparison result, the processor 110 may set a restriction mode to restrict the driving of the autonomous vehicle. The processor 110 may control the driving of the autonomous vehicle based on the set restriction mode.

[0050] In addition, when the autonomous vehicle is stopped in the smart cruise control (SCC) mode, the processor 110 may measure the inter-vehicle distance, ie, the distance between the autonomous vehicle and the vehicle ahead.

[0051] The processor 110 may compare the measured vehicle-to-vehicle distance with a preset reference safety distance. Based on the comparison result, the processor 110 may set a restriction mode to restrict the travel of the autonomous vehicle. The processor 110 may control the travel of the autonomous vehicle based on the set restriction mode.

[0052] A detailed description of the processor 110 is provided below.

[0053] The sensor module 120 may be mounted on the autonomous vehicle 100 and sense at least one object around the autonomous vehicle 100. Examples of objects may include other vehicles (e.g., a preceding vehicle, a preceding vehicle, a following vehicle, and a following vehicle), pedestrians, obstacles, and vehicles (e.g., bicycles, electric scooters, electric bicycles, motorcycles, and electric wheels).

[0054] For example, by using at least one sensor, the sensor module 120 can ensure accurate information about the object, including the location of the object, the distance from the autonomous vehicle 100 to the object, the direction in which the object is moving away from the autonomous vehicle 100, the direction in which the object is moving, the speed of the object, etc.

[0055] For example, under the control of the processor 110, the sensor module 120 can accurately sense changes in the positional relationship between the autonomous vehicle 100 and the object by using at least one sensor. The at least one sensor can be a radar sensor, a light detection and ranging (LiDAR) sensor, an infrared sensor, an ultrasonic sensor, a laser sensor, etc. For example, the laser sensor can use a time-of-flight (TOF) method or / and a phase shift method based on how the laser signal is modulated to accurately measure the positional relationship between the autonomous vehicle 100 and the object.

[0056] For example, when the autonomous vehicle 100 stops in the smart cruise control (SCC) mode, the sensor module 120 , under the control of the processor, may sense or measure the inter-vehicle distance, ie, the distance between the autonomous vehicle 100 and the vehicle ahead.

[0057] Under the control of the processor 110, the sensor module 120 may sense an object in at least one of the front, rear, left, and right areas of the autonomous vehicle 100 using at least one sensor. The at least one sensor may be installed at various locations in the autonomous vehicle 100. For example, the at least one sensor may be installed on at least one of the front, rear, left, right, and roof of the autonomous vehicle 100.

[0058] Furthermore, when there are multiple objects, the sensor module 120 can sense the multiple objects simultaneously. Without limitation, the sensor module 120 can sense the objects under the control of the processor 110 and set a target object among the multiple objects by considering the speed of the object, the distance between the object and the autonomous vehicle 100, the size of the object, etc. Under the control of the processor 110, the sensor module 120 can sense and track the set target object in priority over other objects.

[0059] Examples of the at least one sensor may include a heading sensor, a yaw sensor, a gyroscope sensor, a sensor for sensing forward / reverse movement of the vehicle, a wheel sensor, a vehicle speed sensor, a vehicle body tilt sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by turning the steering wheel, a vehicle interior temperature sensor, a vehicle interior humidity sensor, a door sensor, etc.

[0060] The camera 130 may collect images of the surrounding environment of the autonomous vehicle 100 or images of the interior of the autonomous vehicle 100. At least one camera 130 may be mounted on the autonomous vehicle 100 to collect images of the front, rear, and sides of the autonomous vehicle 100.

[0061] The camera 130 may provide the collected image to the processor 110. For example, the processor 110 may analyze the image collected by the camera 130 and process the still image or the moving image, and may extract necessary image information from the processed still or moving image.

[0062] For example, the camera 130 may include a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. The camera 130 may include a sensor for perceiving a three-dimensional space, such as a KINECT (red, green, blue, and depth (RGB-D) sensor), a TOF sensor (structured light sensor), and a stereo camera.

[0063] The communication module 140 can communicate with one or more base stations, external devices, or other vehicles. The other vehicles can be the vehicle in front of the autonomous vehicle 100, the vehicle in front of it, the vehicle behind it, the vehicle following it, or the vehicle on the side of it.

[0064] The communication module 140 may receive driving information from other vehicles under the control of the processor 110. The driving information may include the position, speed, acceleration, direction, predicted path and path history of the other vehicles, a forward collision avoidance assist (FCA) signal (hereinafter referred to as "FCA operation signal (FRONT_FCA_ACT)"), etc.

[0065] For example, the communication module 140 may include an internal communication module 141 and an external communication module 142 .

[0066] The internal communication module 141 may perform a transmission or reception operation by using various communication protocols within the autonomous vehicle 100. The communication protocol may include at least one of a controller area network (CAN), a CAN with flexible data rate (CAN FD), Ethernet, a local interconnect network (LIN), and FlexRay. The communication protocol may include another protocol for communication between various devices provided in the vehicle.

[0067] The external communication module 142 can perform vehicle-to-vehicle (V2V) communication with another vehicle or vehicle-to-infrastructure (V2I) communication with an infrastructure system. The infrastructure system can be a roadside unit or a server that regularly transmits traffic information in conjunction with a traffic information system (TIS), an intelligent transportation system (ITS), etc.

[0068] Without limitation, the external communication module 142 may perform vehicle-to-everything (V2X) communication. The external communication module 142 may use a range of communication methods, such as vehicle ad hoc network (VANET), wireless access in a vehicular environment (WAVE), dedicated short-range communication (DSRC), communication access for land mobile (CALM), vehicle-to-network (V2N), wireless LAN (WLAN) communication, wireless fidelity (Wi-Fi) communication, wireless broadband (WiBro) communication, long-term evolution (LTE) communication, long-term evolution-advanced (LTE-A) communication, 5G communication, 6G communication, ultra-wideband (UWB) communication, ZigBee communication, and near-field communication (NFC) communication.

[0069] The communication module 140 may include at least one of a transmitting antenna, a receiving antenna, and a Radio Frequency (RF) circuit and elements for operating various communication protocols.

[0070] In addition, the communication module 140 may communicate with the passenger's terminal.

[0071] The braking module 150 can brake the autonomous vehicle 100 in motion under the control of the processor 110. When a braking signal is provided, the braking module 150 can brake the autonomous vehicle 100 suddenly or gradually in response to the braking signal under the control of the processor 110. The braking signal can include information about a time-to-collision (TTC) signal (hereinafter referred to as a "TTC signal") with a vehicle in front of or behind the autonomous vehicle 100.

[0072] The braking module 150 may gradually reduce the speed of the autonomous vehicle 100 or suddenly stop it based on the braking signal under the control of the processor 110 .

[0073] For example, the brake module 150 may include a plurality of wheel brakes (front left (FL), front right (FR), rear left (RL), and rear right (RR)).

[0074] For example, the plurality of wheel brakes (FL, FR, RL, and RR) may include a first wheel brake (FL) for stopping the left front wheel of the autonomous vehicle 100, a second wheel brake (FR) for stopping the right front wheel thereof, a third wheel brake (RL) for stopping the left rear wheel thereof, and a fourth wheel brake (RR) for stopping the right rear wheel thereof.

[0075] A plurality of wheel brakes may be installed corresponding to respective wheels of the autonomous vehicle 100. For example, each of the plurality of wheel brakes (FL, FR, RL, and RR) may be individually controlled and generate braking force to its respective wheel.

[0076] The storage unit 160 can be installed inside or removed from the autonomous vehicle 100. The storage unit 160 can store programs and information required to control the advanced driver assistance system (ADAS). The storage unit 160 can store information sensed by the sensing module, image information collected by the camera 130, information generated by the processor 110, information received by the communication module 140, and the like. However, this is not a limitation. The storage unit 160 can be referred to as a memory.

[0077] The display unit 170 may be installed inside the autonomous vehicle 100. The display unit 170 may display a driving assistance system related to the autonomous vehicle 100 under the control of the processor 110. For example, the display unit 170 may include an instrument.

[0078] For example, when the preceding vehicle suddenly decelerates, a risk of collision with a stopped vehicle, pedestrian, bicycle, or passenger ahead is sensed, or the road surface on which the vehicle is traveling is unstable, the display unit 170 may display information thereon under the control of the processor 110. In some cases, the display unit 170 may output a warning sound, etc.

[0079] Figure 2 and Figures 3A-3C 1 is a diagram for illustrating a method of driving an autonomous driving vehicle according to a first embodiment of the present disclosure.

[0080] refer to Figure 2 and Figures 3A-3C , a method of controlling an autonomous driving vehicle including a processor according to a first embodiment of the present disclosure is as follows.

[0081] At S11 , the autonomous vehicle may determine whether a smart cruise control (SCC) mode is turned on while driving under the control of the processor.

[0082] When the smart cruise control (SCC) mode is turned on while the autonomous vehicle is traveling, at S12 , the autonomous vehicle may sense and count operations of an advanced driver assistance system (ADAS) under the control of the processor.

[0083] Advanced Driver Assistance Systems (ADAS) may include Electronic Stability Control (ESC) or Traction Control Systems (TCS). Electronic Stability Control (ESC) is an electronic vehicle stability control device that calculates the speed, rotation, slip, etc. of a moving vehicle within one tenth of a second and compares the actual values with the driver's expected values. When there is a discrepancy between the actual and expected values, ESC may intervene to control the brakes, engine power, etc. in accordance with the driver's intention to prevent an accident. When the engine output (torque) is too strong compared to the wheel grip or the tires slip on icy roads, the acceleration capability will not work properly. Therefore, the traction control system (TCS) can reduce slip by appropriately limiting the engine power or applying brakes to the slipping wheels.

[0084] When the smart cruise control (SCC) mode is turned on while the autonomous vehicle is traveling, under the control of the processor, the autonomous vehicle can sense the operation of the ESC or TCS and can count and accumulate the sensed operation of the ESC or TCS.

[0085] For example, Figure 3A 、 Figure 3B and Figure 3C As shown, the processor may perform flag counting during operation of the ESC or TCS (within N startup cycles).

[0086] The processor may reduce the acceleration required for the SCC mode by "a"% (a=preset value) based on the number of ESC or TCS operations.

[0087] Under the control of the processor, the autonomous vehicle may compare the counted number of times the ESC or TCS is operated with one or more predetermined reference numbers at S13 and S15 and may set a restriction mode to restrict the travel of the autonomous vehicle based on the comparison result.

[0088] The predetermined reference number may include a first reference number, a second reference number, and a third reference number. In addition, the set restriction mode may include a first restriction mode, a second restriction mode, and a third restriction mode.

[0089] As an exemplary embodiment, the first reference quantity may be 2, and the processor may check whether a first condition that the occurrence times of ESC / TCS ≤ 2 is satisfied. When the first condition is satisfied, the processor may set the restriction mode to a first restriction mode. In the first restriction mode (which may be the first stage of restriction control), the road surface may be determined to be normal, and the vehicle may accelerate at the existing required acceleration (a0). The second reference quantity may be 5, and the processor may check whether the occurrence times of ESC / TCS is greater than 2 (the first reference quantity) and equal to or less than 5 (the second reference quantity), that is, whether a second condition that 2 < occurrence times of ESC / TCS ≤ 5 is satisfied. When the second condition is satisfied, the processor may set the restriction mode to a second restriction mode. In the second restriction mode (which may be the second stage of restriction control), the road surface may be determined to be slippery, and the vehicle may accelerate at an acceleration a1, which may be lower than a0 by a predetermined amount. The third reference quantity may be 6, and the processor may check whether the occurrence times of ESC / TCS is equal to or greater than 6 (the third reference quantity), that is, whether a third condition that 6 ≤ occurrence times of ESC / TCS is satisfied. When the third condition is satisfied, the processor may set the restriction mode to a third restriction mode. In the third restriction mode (which may be the third stage of restriction control), the road surface may be determined to be very bad, the vehicle may accelerate at an acceleration a2, and a message may be sent to restrict the SCC function.

[0090] For example, under the control of the processor, the autonomous vehicle may set one of the first restriction mode, the second restriction mode, and the third restriction mode based on the analysis result to restrict the driving of the autonomous vehicle.

[0091] Under the control of the processor, when the number of times the ADAS is operated at S13 is less than or equal to the first reference quantity, the autonomous vehicle may set the first restriction mode at S14. At S14, under the control of the processor, the autonomous vehicle may maintain the required acceleration or the current time to collision (TTC) (e.g., the initial TTC or the exit TTC) based on the set first restriction mode.

[0092] In addition, under the control of the processor, when the number of times the ADAS is operated at S15 is greater than the first reference quantity and less than or equal to the second reference quantity, the autonomous vehicle may set the second restriction mode at S16. Under the control of the processor, the autonomous vehicle may change the required acceleration based on the set second restriction mode at S16, or may switch to the first time to collision, such that the braking control time is earlier than the current time to collision (TTC).

[0093] Under the control of the processor, when the number of times the ADAS is operated is greater than a second benchmark number, the autonomous vehicle can set a third limit mode and can change the required acceleration based on the set third limit mode, or can switch to a second collision time so that the braking control time is earlier than the first collision time.

[0094] Furthermore, under the control of the processor, at S17 , the autonomous vehicle may turn off the smart cruise control (SCC) mode and simultaneously switch to the second collision time based on the set third restriction mode.

[0095] Furthermore, at S18 , under the control of the processor, when the SCC mode has been turned off, the autonomously traveling vehicle may allow output of an alert regarding checking and replacing its own tires.

[0096] Autonomous vehicles can control their own driving based on set restriction patterns under the control of the processor.

[0097] As described above, when the SCC mode is turned on, under the control of the processor, the autonomous vehicle according to the first embodiment of the present disclosure can check the cumulative number of times the ESC or TCS is operated to adjust the SCC acceleration and TTC based on their occurrence history and limit the operation of the SCC when necessary.

[0098] Figure 4 and Figures 5A-5B 2 is a diagram for illustrating a method of driving an autonomous driving vehicle according to a second embodiment of the present disclosure.

[0099] refer to Figure 4 and Figures 5A-5B , a method of controlling an autonomous driving vehicle including a processor according to a second embodiment of the present disclosure is as follows.

[0100] At S21 , the autonomous vehicle may determine whether a smart cruise control (SCC) mode is turned on while driving under the control of the processor.

[0101] Under the control of the processor, when the autonomous vehicle stops while traveling in SCC mode, it may measure the inter-vehicle distance (I.e., the distance between the autonomous vehicle and the vehicle ahead) at S22. The inter-vehicle distance may be a value that has been measured at least once. The processor may analyze the at least one measured inter-vehicle distance to determine an average inter-vehicle distance and a minimum inter-vehicle distance, and may set a reference safety distance based on the determined inter-vehicle distance at S23 and S24.

[0102] For example, the average vehicle distance can be the average of the vehicle distances of n SCC starts and stops. This can be expressed as follows using Formula 1:

[0103] [Formula 1]

[0104] Navg=(k1+k2+……K n ) / n times

[0105] In Formula 1, Navg represents the average vehicle distance, which can be set to 2 meters, for example, and the minimum vehicle distance (N) can be set to 2.7 meters, for example.

[0106] Under the control of the processor, the autonomous vehicle can compare the measured vehicle-to-vehicle distance with a preset benchmark safety distance.

[0107] In addition, the preset safety distance may include a first safety distance and a second safety distance. For example, the first safety distance may be 3.5m≤N(avg)≤4m. The second safety distance may be 2.7≤N(avg)≤3.5. It is not limited to this and may vary according to the measured vehicle-to-vehicle distance.

[0108] Under the control of the processor, the autonomous vehicle may set a restriction mode to restrict the driving of the autonomous vehicle based on the comparison result.

[0109] Under the control of the processor, the autonomous vehicle can set the first restriction mode or the second restriction mode based on the analysis result to restrict the driving of the autonomous vehicle.

[0110] For example, the first restricted mode may be a normal mode. Figure 5A and 5B As shown, in the first restricted mode, the desired acceleration may be a0 and the FCA may be the initial TTC. The second restricted mode may be a partially restricted mode. In the second restricted mode, the desired acceleration may be a1 and the FCA may be TTC 1. The second restricted mode may be a partially restricted mode. In the second restricted mode, the desired acceleration may be a2 and the FCA may be TTC 2.

[0111] The required acceleration is expressed as "a0, a1, a2, a*, ..." and can be set to a configurable value and can be linked to an eco mode, a normal mode, a sport mode, a sport+ mode, etc. of the autonomous vehicle.

[0112] In addition, TTC is expressed as "t0, t1, t2, . . . " and can be set to a configurable value.

[0113] For example, at S23, under the control of the processor, when the measured inter-vehicle distance is less than or equal to the first safety distance, the autonomous vehicle may set a first restriction mode. At S24, under the control of the processor, the autonomous vehicle may maintain the desired acceleration or the current TTC (e.g., initial TTC or exit TTC) based on the set first restriction mode.

[0114] The new TTC or the changed TTC can be expressed as the following Formula 2.

[0115] [Formula 2]

[0116] TTC(new)=TTC(existing) (1+a%)

[0117] In Formula 2, "a" can be an integer and a configurable value.

[0118] In addition, at S25 , under the control of the processor, when the measured vehicle-to-vehicle distance is greater than the first safety distance and less than or equal to the second safety distance, the autonomous driving vehicle may set the second restriction mode.

[0119] Under the control of the processor, at S26 , the autonomously traveling vehicle may change the required acceleration based on the set second restriction mode, or may switch to the first collision time so that the braking control time is earlier than the TTC.

[0120] Furthermore, under the control of the processor, when the measured inter-vehicle distance is greater than the second safety distance, the autonomous vehicle may set a third limiting mode. Under the control of the processor, the autonomous vehicle may change the required acceleration based on the set third limiting mode, or may switch to a second time-to-collision (TTC) that causes braking control to occur earlier than the first TTC.

[0121] In addition, under the control of the processor, at S27 , the autonomous vehicle may turn off the SCC mode and switch to the second collision time based on the set third limit mode.

[0122] Under the control of the processor, the autonomous vehicle can be allowed to output alerts about checking and changing its own tires.

[0123] Autonomous vehicles can control their own driving based on set restriction patterns under the control of the processor.

[0124] As described above, under the control of the processor, when the SCC mode is turned on, the autonomous vehicle according to the second embodiment of the present disclosure can measure the distance between itself and the vehicle in front after it has stopped, and can change the required acceleration, TTC, etc. of the SCC or navigation-based SNN (NSCC) for each condition by comparing the measured vehicle distance with the average vehicle distance, the minimum vehicle distance, etc. In some cases, the autonomous vehicle may disable or limit the operation of the SCC when necessary.

[0125] Under the control of the processor, the autonomous vehicle can determine the road condition by comparing the vehicle-to-vehicle distance measured when the autonomous vehicle stops under the same SCC required acceleration conditions with a preset safety distance.

[0126] For example, under the control of the processor, the autonomous vehicle can compare the average inter-vehicle distance (Navg) after SCC stops with the minimum inter-vehicle distance (N) after SCC stops within a normal range under the same required acceleration value. Under the control of the processor, when the average inter-vehicle distance (Navg) is close to or less than the minimum inter-vehicle distance (N) after SCC stops, the autonomous vehicle can determine that the road surface is slippery or its tires are worn.

[0127] Under the control of the processor, the autonomous vehicle can change the SCC required acceleration, SCC required deceleration, etc., and increase the FCA TTC, thereby advancing the braking control time compared to the existing braking control time to ensure a normal stopping distance.

[0128] Therefore, autonomous vehicles can ensure driver safety by limiting the operation of the SCC under the control of the processor.

[0129] Figure 6 is a diagram for illustrating a method of driving an autonomous traveling vehicle according to a third embodiment of the present disclosure.

[0130] refer to Figure 6 , a method of controlling an autonomous driving vehicle including a processor according to a third embodiment of the present disclosure is as follows.

[0131] At S31 , the autonomous vehicle may determine whether a smart cruise control (SCC) mode is turned on while driving under the control of the processor.

[0132] When the smart cruise control (SCC) mode is turned on while the autonomous vehicle is traveling, at S32 , the autonomous vehicle may sense and count operations of an advanced driver assistance system (ADAS) under the control of a processor.

[0133] Advanced driver assistance systems (ADAS) may include electronic stability control (ESC) or traction control system (TCS).

[0134] When the smart cruise control (SCC) mode is turned on while the autonomous vehicle is traveling, under the control of the processor, the autonomous vehicle can sense the operation of the ESC or TCS and can count and accumulate the sensed operation of the ESC or TCS.

[0135] Under the control of the processor, the autonomous driving vehicle may compare the counted number of times the ADAS is operated with a preset reference number at S33 and S34 , and may set a restriction mode to restrict driving of the autonomous driving vehicle based on the comparison result.

[0136] Under the control of the processor, when the number of times the ADAS is operated is less than or equal to the first reference number at S33 , the autonomous vehicle may determine whether the measured inter-vehicle distance is less than or equal to the first safety distance at S35 .

[0137] When the inter-vehicle distance measured at S35 is less than or equal to the first safety distance, the autonomous vehicle may set the first restriction mode at S39 under the control of the processor. At S39, the autonomous vehicle may maintain the desired acceleration or the current time to collision (TTC) based on the set first restriction mode under the control of the processor.

[0138] When the number of times the ADAS is operated is less than or equal to the first reference number at S33 and the measured vehicle distance is greater than the first safety distance and less than or equal to the second safety distance at S36 , the autonomous vehicle may set the second restriction mode under the control of the processor.

[0139] Under the control of the processor, the autonomous driving vehicle may change the required acceleration based on the set second limit mode at S40 , or may switch to the first time to collision so that the braking control time is earlier than the current time to collision (TTC).

[0140] When the measured inter-vehicle distance is greater than the second safety distance, under the control of the processor, the autonomous vehicle may turn off the SCC mode at S41 and allow output of an alert regarding checking and replacing its own tires.

[0141] In addition, when the number of times the ADAS is operated is greater than the first reference number and less than or equal to the second reference number at S34, at S37, under the control of the processor, the autonomous vehicle can determine whether the measured inter-vehicle distance is less than or equal to the first safety distance.

[0142] Under the control of the processor, when the inter-vehicle distance measured at S37 is less than or equal to the first safety distance, the autonomous vehicle may set the third restriction mode at S42. At S43, under the control of the processor, the autonomous vehicle may change the required acceleration or switch to the third TTC based on the set third restriction mode.

[0143] When the number of times the ADAS is operated is less than or equal to the second reference number and the measured vehicle distance is greater than the first safety distance and less than or equal to the second safety distance at S34 , the autonomous vehicle may set the fourth restriction mode under the control of the processor at S38 .

[0144] At S43 , under the control of the processor, the autonomously traveling vehicle may change the required acceleration or switch to the fourth TTC based on the set fourth restriction mode.

[0145] In addition, when the measured inter-vehicle distance is greater than the second safety distance, under the control of the processor, the autonomous vehicle may turn off the SCC mode at S41 and allow output of an alert regarding checking and replacing its own tires.

[0146] Autonomous vehicles can control their own driving based on set restriction modes under the control of the processor.

[0147] As described above, when the SCC mode is turned on, under the control of the processor, the autonomous driving vehicle according to the third embodiment of the present disclosure can check the cumulative number of times the ESC or TCS is operated, can compare the average value of the SCC post-parking vehicle distance of the cumulative number of times the ESC or TCS is operated, and can change (decrease) the SCC acceleration and change (increase) the TTC according to respective conditions based on the comparison results.

[0148] Since ESC or TCS occurs under the control of a processor in the case of an autonomous vehicle, the safety of the distance between vehicles can be ensured compared to traditional logic.

[0149] As described above, the present disclosure can be implemented as computer-readable code on a program recording medium. Examples of computer-readable media include all types of recording devices that store data that can be read by a computer system, such as hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random-access memories (RAMs), compact disc ROMs (CD-ROMs), magnetic tapes, floppy disks, and optical data storage devices.

[0150] Therefore, the detailed description should not be interpreted as limiting in any respect, but as illustrative.The scope of the present disclosure should be determined based on a reasonable interpretation of the appended claims, and all changes that come within the scope of the present disclosure are intended to be included within its scope.

Claims

1. A method for controlling a vehicle, the method comprising the following steps: When the vehicle is controlled by smart cruise control (SCC), determining that a first condition or a second condition is satisfied; as well as The vehicle is controlled to travel in a restriction mode set for the first condition or the second condition.

2. The method according to claim 1, wherein The first condition includes a condition that another advanced driver assistance system (ADAS) control is operated a number of times equal to or exceeding a predetermined reference number.

3. The method according to claim 2, wherein: The other ADAS control includes an electronic stability control ESC or a traction control system TCS.

4. The method according to claim 2, wherein: The predetermined reference quantity includes a first reference quantity and a second reference quantity; and The set restriction mode includes a first restriction mode, a second restriction mode, or a third restriction mode based on the first reference quantity and the second reference quantity.

5. The method according to claim 4, wherein The steps to control vehicle movement in the set restriction mode include: When the number of times is less than or equal to the first reference number, controlling the vehicle in the first restriction mode; and Based on the set first restriction mode, the determined acceleration or time to collision TTC is maintained.

6. The method according to claim 5, wherein: The steps of controlling the driving of the vehicle include: When the number of times is greater than the first reference number and less than or equal to the second reference number, controlling the vehicle in the second restriction mode; and The determined acceleration is changed based on the set second limit mode, or switched to the first TTC so that the braking control time is earlier than the TTC.

7. The method according to claim 6, wherein: The steps of controlling the driving of the vehicle include: When the number of times is greater than the second reference number, controlling the vehicle in the third restriction mode; and The determined acceleration is changed based on the set third limit mode, or switched to the second TTC, so that the braking control time is earlier than the first TTC.

8. The method according to claim 6, wherein: The step of controlling the driving of the vehicle also includes: Closing the SCC; and Based on the third restriction pattern, an alert regarding inspection and replacement of tires is output.

9. The method according to claim 1, wherein The second condition includes a condition that, when the vehicle is stopped in the SCC, a distance between the vehicle and another vehicle ahead of the vehicle is equal to or less than a predetermined reference safety distance.

10. The method according to claim 9, wherein: The predetermined reference safety distance includes a first safety distance and a second safety distance; and The set restriction mode includes a first restriction mode, a second restriction mode, or a third restriction mode based on the first safety distance and the second safety distance.

11. The method according to claim 10, wherein: The step of controlling the driving of the vehicle in the set restriction mode includes: When the distance is less than or equal to the first safety distance, controlling the vehicle in the first restriction mode; and Based on the set first restriction mode, the determined acceleration or time to collision TTC is maintained.

12. The method according to claim 11, wherein The step of controlling the driving of the vehicle in the set restriction mode includes: When the distance is greater than the first safety distance and less than or equal to the second safety distance, controlling the vehicle in the second restriction mode; and The determined acceleration is changed based on the set second limit mode, or switched to the first TTC so that the braking control time is earlier than the TTC.

13. The method according to claim 12, wherein: The step of controlling the driving of the vehicle in the set restriction mode includes: When the distance is greater than the second safety distance, controlling the vehicle in the third restriction mode; and The determined acceleration is changed based on the set third limit mode, or switched to the second TTC, so that the braking control time is earlier than the first TTC.

14. The method according to claim 13, wherein The step of controlling the driving of the vehicle in the set restriction mode includes: Closing the SCC; and Outputs alerts regarding tire inspection and replacement.

15. A vehicle comprising: A sensor module is configured to: sense an environment surrounding the vehicle; An advanced driver assistance system ADAS is configured to: implement ADAS control including smart cruise control SCC; and A controller configured to: control the sensor module and the ADAS, Wherein, the controller is further configured to: When the vehicle is controlled with the SCC, determining that a first condition or a second condition is satisfied; and The travel of the vehicle is controlled in a restriction mode set for the first condition or the second condition.

16. The vehicle of claim 15, wherein: The first condition includes a condition that another ADAS control is operated a number of times equal to or exceeding a predetermined reference number.

17. The vehicle of claim 16, wherein: The other ADAS control includes an electronic stability control ESC or a traction control system TCS.

18. The vehicle of claim 17, wherein: The controller is further configured to: When the number of times is less than or equal to the first reference number, controlling the vehicle in the first restriction mode; as well as Based on the set first restriction mode, the determined acceleration or time to collision TTC is maintained.

19. The vehicle of claim 16, wherein: The predetermined reference quantity includes a first reference quantity and a second reference quantity; and The set restriction mode includes a first restriction mode, a second restriction mode, or a third restriction mode based on the first reference quantity and the second reference quantity.

20. The vehicle of claim 15, wherein: The second condition includes a condition that, when the vehicle is stopped in the SCC, a distance between the vehicle and another vehicle ahead of the vehicle is equal to or less than a predetermined reference safety distance.

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