Control apparatus and method for controlling vehicle

Abstract

The invention relates to a control apparatus and method for controlling a vehicle. A control apparatus and method for displaying a virtual travel route are provided. A control device according to an embodiment of the present invention includes a display device and a processor configured to generate an expected route of at least one object around a vehicle, set a traveling control condition of the vehicle corresponding to the expected route, and display the traveling control condition. And control a display device to display at least one of an expected route of the object and a virtual travel route satisfying a travel control condition of the vehicle.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0147649, filed on October 25, 2024, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] Various embodiments of the present invention relate to technologies for displaying vehicles and objects in connection with autonomous driving. Background Technology

[0004] In recent years, technologies that control vehicle movement through autonomous driving or vehicle assistance functions have been introduced into vehicles.

[0005] In the driving control process of such vehicle systems, since it is difficult for the driver to predict how the vehicle will drive, visual guidance related to driving control is required through display devices and the like.

[0006] Currently, some technologies related to autonomous driving, which guide drivers through the vehicle system, have been disclosed, but there are limitations in the driver's ability to identify or predict specific driving conditions to be controlled. Summary of the Invention

[0007] This invention aims to solve the above-mentioned problems, and specifically relates to virtually displaying the expected routes of surrounding objects and the driving routes of vehicles.

[0008] The problems to be solved by the present invention are not limited to those described above. Other problems not mentioned will be clearly understood by those skilled in the art through the following description.

[0009] According to one aspect of the present invention, a control device is provided comprising a display device and a processor, the processor being configured to generate a desired route for at least one object surrounding a vehicle, set driving control conditions for the vehicle corresponding to the desired route, and control the display device to display at least one of the desired route for the object and a virtual driving route satisfying the driving control conditions for the vehicle.

[0010] In some implementations, the processor can select a first virtual driving route from a plurality of virtual driving routes that meet the vehicle's driving control conditions and control the display device to display the selected first virtual driving route.

[0011] In some implementations, the processor may further control the display device to display a second virtual driving route in addition to the first virtual driving route among a plurality of virtual driving routes.

[0012] In some implementations, the processor can control the display device to display the first virtual driving route and the second virtual driving route as distinct from each other.

[0013] In some implementations, the processor may control the display device to display the first virtual driving route when the control quantity corresponding to the first virtual driving route differs from the control quantity corresponding to at least one of the plurality of virtual driving routes by a predetermined value or a greater value.

[0014] In some implementations, the processor may display the virtual driving route when the control execution time point corresponding to the virtual driving route is a predetermined time after the current time point.

[0015] In some embodiments, the processor can control the display device to display a virtual driving route in at least one of the following situations: when the longitudinal control amount corresponding to the virtual driving route is equal to or greater than a predetermined value; when the lateral control amount corresponding to the virtual driving route is equal to or greater than a predetermined value.

[0016] In some implementations, the processor may be configured to: control the display device to display the first virtual driving route at a time point when the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of a plurality of virtual driving routes that meet the driving control conditions of the vehicle reaches or exceeds a predetermined value, and end the display of the first virtual driving route when the difference between the control quantities is less than the predetermined value.

[0017] In some implementations, the processor may select a first virtual driving route based on the preferences of the vehicle user.

[0018] In some implementations, the processor may be configured to further control the display device to display content relevant to the current situation, and to control the display device to display at least one of the expected routes of surrounding objects and the virtual driving routes of vehicles as content distinct from that relevant to the current situation.

[0019] According to another aspect of the present invention, a method for displaying the driving route of a vehicle including a display device is provided, the method comprising: generating a desired route for at least one object around the vehicle; setting driving control conditions for the vehicle corresponding to the desired route; and controlling the display device to display at least one of the desired route of the object and a virtual driving route satisfying the driving control conditions of the vehicle.

[0020] In some implementations, the method may further include: selecting a first virtual driving route from a plurality of virtual driving routes that meet the driving control conditions of the vehicle, and displaying the selected first virtual driving route through a display device.

[0021] In some implementations, the method may further include: displaying a second virtual driving route, in addition to the first virtual driving route, via a display device.

[0022] In some implementations, the first virtual driving route and the second virtual driving route may be displayed as distinct from each other in the method.

[0023] In some implementations, the first virtual driving route can be displayed when the control quantity corresponding to the first virtual driving route differs from the control quantity corresponding to at least one of the plurality of virtual driving routes by a predetermined value or greater.

[0024] In some implementations, the virtual driving route can be displayed after a predetermined time from the current time point when the control execution time point corresponding to the virtual driving route is at that time point.

[0025] In some embodiments, the virtual driving route can be displayed in at least one of the following situations: when the longitudinal control amount corresponding to the virtual driving route is equal to or greater than a predetermined value; when the lateral control amount corresponding to the virtual driving route is equal to or greater than a predetermined value.

[0026] In some implementations, the method may display the first virtual driving route based on a time point at which the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of a plurality of virtual driving routes that meet the vehicle's driving control conditions reaches or exceeds a predetermined value, and the display of the first virtual driving route may end when the difference between the control quantities is less than the predetermined value.

[0027] In some implementations, the first virtual driving route can be selected based on the vehicle user's preferences.

[0028] In some implementations, the method may further include: displaying content relevant to the current situation via a display device, and at least one of the expected routes of surrounding objects and the virtual driving routes of vehicles may be displayed as content distinct from that relevant to the current situation. Attached Figure Description

[0029] The above and other objects, features and advantages of the present invention will become more apparent to those skilled in the art from the detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, in which:

[0030] Figure 1 It is a configuration diagram of the vehicle, including the control device, according to the implementation plan;

[0031] Figure 2It is a flowchart of the operation of generating and displaying virtual driving routes according to the implementation plan;

[0032] Figure 3 It is a flowchart of the operation to generate the expected route of surrounding objects according to the implementation plan;

[0033] Figure 4 It is a flowchart of the operation for determining the corresponding control conditions of the vehicle according to the implementation plan;

[0034] Figure 5 This is a flowchart of the operation for setting the first virtual driving route according to the implementation plan;

[0035] Figure 6 This is a flowchart of the operation for determining and displaying the first virtual driving route according to the implementation plan;

[0036] Figure 7 This is a flowchart of the operation for determining and displaying the first virtual driving route according to another implementation scheme;

[0037] Figures 8 to 11 These are example diagrams of virtual driving routes shown according to various implementation schemes. Detailed Implementation

[0038] Preferred embodiments of the invention will be described in detail below with reference to the accompanying drawings.

[0039] However, the technical concept of the present invention is not limited to the few embodiments described, but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components in the embodiments can be used by selective combination and substitution.

[0040] Furthermore, unless specifically defined and described, the terms (including technical and scientific terms) used in embodiments of the present invention may be interpreted as meaning commonly understood by one of ordinary skill in the art to which this invention pertains, and common terms such as those defined in dictionaries may be interpreted in light of the contextual meaning of the relevant art.

[0041] The terminology used in the embodiments of this invention is for descriptive purposes only and is not intended to limit the invention.

[0042] In this specification, unless the context clearly indicates otherwise, the singular form may include the plural form, which, when described as “at least one (or one or more) of A, B and / or C”, may include one or more of all possible combinations of A, B and C.

[0043] Furthermore, when describing the components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used.

[0044] These terms are used only to distinguish components from other components, and the nature, order, or sequence of components are not limited by the terms.

[0045] Furthermore, when a component is described as “linked,” “joined,” or “connected” to another component, the component is not only directly linked, joined, or connected to the other component, but also “linked,” “joined,” or “connected” to the other component when another component is arranged between the component and other components.

[0046] Furthermore, when a component is described as being formed or arranged "above" or "below" another component, the term "above" or "below" includes not only when the two components are in direct contact with each other, but also when one or more other components are formed or arranged between the two components. Additionally, when a component is described as being "above" or "below," the description can include meanings based on the upward and downward directions of a component.

[0047] In the various flowcharts of this document, at least some operations may be omitted or their order may be changed, and at least some of the various embodiments of this document may be performed at specific points in each operation of the flowchart. The various flowcharts of this document may be executed by at least one of the control device 100, processor 130, vehicle 1, control unit, or computer program.

[0048] In the following description, the embodiments will be described in detail with reference to the accompanying drawings. However, regardless of the drawing numbers, the same or corresponding components will be indicated by the same reference numerals, and redundant descriptions will be omitted.

[0049] Figure 1 This is a configuration diagram of vehicle 1 including control device 100 according to the implementation plan.

[0050] Vehicle 1 may include a control device 100, a communication unit 110, a storage unit 120, a processor 130, an input / output interface 140, and a sensor unit 150. Figure 1 Each component can be implemented inside the vehicle.

[0051] Control device 100 is a device or program that generates expected routes for surrounding objects, sets driving control conditions for vehicle 1 corresponding to the expected routes of the objects, and controls a display device to display a virtual driving route of vehicle 1 that satisfies the driving control conditions. Control device 100 may be integrally formed with internal components of the vehicle, or it may be implemented as a separate device connected to internal components of the vehicle via a separate connection device. Control device 100 is shown as including a communication unit 110, a storage unit 120, and a processor 130, but may also be configured to include other components of vehicle 1 (e.g., input / output interface 140, sensor unit 150, etc.). In some embodiments, control device 100 may be a hardware device implemented using various electronic circuits (e.g., computers, microprocessors, CPUs, ASICs, circuits, logic circuits, etc.). Control device 100 may be implemented using non-volatile memory and a processor, the non-volatile memory storing software instructions, such as programs, reproduction algorithms, etc., that perform various functions described below when executed, and the processor configured to execute the software instructions, reproduction algorithms, etc. In this document, the memory and processor may be implemented as separate semiconductor circuits. Alternatively, the memory and processor can be implemented as a single integrated semiconductor circuit. The processor can contain one or more processors.

[0052] Communication unit 110 can communicate with a user terminal, another vehicle, or an external server. Communication unit 110 can perform short-range communication, Global Positioning System (GPS) signal reception, Vehicle-to-Everything (V2X) communication, optical communication, broadcast transmission and reception, and Intelligent Transportation System (ITS) communication functions. Communication unit 110 can use at least one of Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, Near Field Communication (NFC), Wi-Fi, Wi-Fi Direct, and Wireless Universal Serial Bus (Wireless USB) technologies to support short-range communication.

[0053] Storage unit 120 can store data related to the expected route of the object, the driving control conditions corresponding to the expected route, and at least one virtual driving route. Storage unit 120 may include memory. Storage unit 120 may be located inside processor 130 or control device 100, or it may be a separate memory itself. Storage unit 120 may be composed of non-volatile memory and / or a combination of volatile memory. Non-volatile memory includes hard disk drives, flash memory, electrically erasable programmable read-only memory (EEPROM), static RAM (SRAM), ferroelectric RAM (FRAM), phase-change RAM (PRAM), magnetic RAM (MRAM), etc., while volatile memory includes dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR-SDRAM), etc.

[0054] The processor 130 can be electrically or operatively connected to the communication unit 110, the storage unit 120, the input / output interface 140, the sensor unit 150, and various internal components of the vehicle 1, can control each component, and can be a circuit that executes software instructions to perform various data processing and calculations as described below.

[0055] The processor 130 can process signals transmitted between each component of the vehicle 1 and can perform overall control, enabling each component to perform its function correctly. The processor 130 can be implemented in hardware, software, or a combination of hardware and software. Furthermore, the control device 100 may include at least one processor 130.

[0056] The input / output interface 140 may include an input unit for receiving control commands from a user and an output unit for outputting the operating status, results, etc., of the control device 100. Here, the input unit may include physical buttons (e.g., physical keys) and soft keys implemented on a touch display device.

[0057] The output unit may include a display device, and may further include a voice output device such as a speaker and a haptic module that generates vibrations. In this case, when a touch sensor such as a touch film, touch sheet, or touchpad is provided on the display device, the display device can function as a touch screen, and can be implemented in the form of an integrated input and output unit.

[0058] The input / output interface 140 can be implemented as a physical button, a display device, a head-up display (HUD), a combination instrument panel, an audio-visual navigation (AVN), a human-machine interface (HMI), a user settings menu (USM), etc. Furthermore, the display device can be included in a rearview mirror or a side mirror.

[0059] For example, a user can request a display related to a virtual driving route via physical buttons on the instrument cluster (which serves as an input device) or the AVN display. Furthermore, vehicle 1 can receive input or output screens via a display on the console located in the second or third row of the vehicle, or via a display on an application implemented on the user terminal.

[0060] Sensor unit 150 may include at least one of a radio detection and ranging (RADAR) sensor, an optical imaging detection and ranging (LIDAR) sensor, a fingerprint sensor, a retinal recognition sensor, an iris recognition sensor, a camera device, a steering wheel grip sensor, a pressure sensor, a position sensor (e.g., GPS), an ultrasonic sensor, a heart rate sensor, a light sensor, a pressure-sensitive sensor, a motion sensor, a seating sensor, or an infrared sensor. The camera device may include an external camera device for monitoring the exterior of the vehicle and an internal camera device for detecting objects inside the vehicle (e.g., the driver).

[0061] In the following text, reference will be made to Figures 2 to 7 Describes the content used to generate and display the virtual driving route. Figures 2 to 7 The main body of the operation is described based on processor 130, but the operation can be controlled based on instructions set to control the control device 100, vehicle 1, or processor 130. Figures 2 to 7 The description will refer to Figures 8 to 11 . Figures 8 to 11 These are example diagrams of virtual driving routes shown according to various implementation schemes.

[0062] Figure 2 It is a flowchart of the operation of generating and displaying virtual driving routes according to the implementation plan.

[0063] The processor 130 can generate the expected route of objects around the vehicle (S210).

[0064] Specifically, the processor 130 can detect objects within a predetermined distance of the vehicle 1. The processor 130 can identify and confirm objects in an area adjacent to the vehicle 1 via the sensor unit 150. Objects may include other vehicles, bicycles, or personal mobility devices in the area adjacent to the vehicle 1. Furthermore, objects may include people, such as pedestrians. For example, in Figure 8 In this system, vehicle 1 can detect surrounding vehicles C1 and C2 as objects. For example, processor 130 can detect a first object C1 and a second object C2 around vehicle 1.

[0065] The processor 130 can generate a predicted route for the detected object. The predicted route can be a virtual driving route predicted based on motion information about the object (e.g., position, heading angle, speed, acceleration, etc.), map information (e.g., lane information, stop lines, pedestrian crossings, etc.), turn signals, and other traffic signals.

[0066] For example, refer to Figure 9 While traveling in the lane next to vehicle 1, the first object C1 attempts to change lanes to the same lane as vehicle 1. Accordingly, the processor 130 can generate the intended route for the first object C1. As an example of generating the intended route, the processor 130 can generate multiple virtual objects C1_a, C1_b, and C1_c and display the intended route through a stream of these virtual objects. In this case, indicators such as arrows can be used to additionally indicate the direction of movement of object C1.

[0067] exist Figure 9 In this scenario, the second object C2 travels in the same lane as vehicle 1 and only predicts its longitudinal route without leaving the lane. The processor 130 can generate the expected route of the second object C2 through the virtual object C2_a.

[0068] Meanwhile, when the processor 130 generates the expected route for the object, the processor 130 can generate the expected route as long as a preset predetermined time (e.g., 5 seconds) based on a specific point in time (e.g., the point in time when the object is detected).

[0069] Next, the processor 130 can set the vehicle's driving control conditions to correspond to the generated expected route (S230). For example, the processor 130 can set driving control conditions such as whether to overtake, follow, or avoid specific objects. In this case, the processor 130 can set driving control conditions corresponding to each identified object.

[0070] For example, refer to Figure 9 By considering the expected routes of the first object C1 and the second object C2, the processor 130 can set driving control conditions such that the vehicle 1 avoids the predetermined insertion of the first object C1 and follows the second object C2 as the vehicle ahead. The driving control conditions can be driving control conditions corresponding to route P1.

[0071] Furthermore, as another driving control condition, the processor 130 can set a driving control condition such that the vehicle 1 does not avoid the predetermined first object C1, but follows the second object C2. The driving control condition can be a driving control condition corresponding to route P2.

[0072] In the above description, routes P1 and P2 represent settings for describing driving control conditions. However, when the processor 130 sets or generates driving control conditions based on the expected route of the object, the processor 130 can generate routes P1 and P2 as UI items and display them later.

[0073] Next, the processor 130 can generate a virtual driving route for vehicle 1 (S250). The virtual driving route for vehicle 1 can be set to satisfy the driving control conditions of vehicle 1. For example, the processor 130 can generate at least one driving route that satisfies the driving control conditions.

[0074] In one implementation, the virtual driving route may include a first virtual driving route. The first virtual driving route may refer to the optimal driving route that allows vehicle 1 to travel along the expected route corresponding to the object. The first virtual driving route may be a virtual driving route extracted based on user preferences. The first virtual driving route can be generated to correspond to, for example... Figure 9 Route P1 in the middle.

[0075] In one implementation, the virtual driving route may include a second virtual driving route. The second virtual driving route can be any of the generated multiple virtual driving routes other than the first virtual driving route. For example, the second virtual driving route could be a route following the user preference rating in the first virtual driving route. For instance, a second virtual driving route can be generated to correspond to... Figure 9 Route P2 in the middle.

[0076] Next, the processor 130 can display the expected route of the object and the virtual driving route of vehicle 1 (S270). For example, as Figure 10 and Figure 11 As shown, the processor 130 can display the expected route of the object and the virtual driving route of the vehicle 1 through an input / output interface 140 such as a display device.

[0077] For example, in Figure 10 The image shows the expected routes of the first object C1 and the second object C2, as well as the virtual driving route of vehicle 1. Figure 10 The diagram shows the first virtual driving route of vehicle 1. That is, in the virtual driving route of vehicle 1 that satisfies the driving control conditions for each of objects C1 and C2, when considering... Figure 10 When the user preference is shown, the route that avoids the first object C1 and follows the second object C2 is selected as the first virtual driving route.

[0078] The expected route of the first object C1 is displayed using a first object C1 at the current time and virtual objects C1_a, C1_b, and C1_c representing the expected location at a given future time. The expected route of the second object C2 is also displayed using a second object C2 at the current time and a virtual object C2_a representing the expected location at a given future time.

[0079] Figure 3 It is a flowchart of the operation to generate the expected route of surrounding objects according to the implementation plan. Figure 3 The content shows the above Figure 2 The specific content of operation S210 can be omitted. Figure 2 Any overlapping descriptions.

[0080] The processor 130 can inspect surrounding objects (S310) and determine whether the route of the inspected surrounding objects is a predictable route (S320).

[0081] Specifically, processor 130 can examine information that can predict the route of an object. Processor 130 can directly examine information about the object via sensor unit 150, or collect information about the predicted route of the object from the corresponding object or an external server via communication unit 110. For example, processor 130 can examine motion information about the object (e.g., position, heading angle, speed, acceleration, etc.) and turning signal information (e.g., turning signals). For example, processor 130 can examine map information (e.g., lane information, stop lines, pedestrian crossings, etc.) and traffic signals (e.g., traffic light information).

[0082] The processor 130 can determine whether the route of the surrounding objects is a predictable route based on the information examined as described above. This determination can be made using a preset database, a probability function, or software processing based on deep learning training, but is not limited to these methods.

[0083] Unpredictable expected routes can include, for example, pedestrians crossing the road, vehicles passing through roundabouts, and vehicles making unprotected left turns. In other words, unpredictable expected routes can be scenarios involving route selection that is difficult to predict using the information currently available, or unpredictable decisions (e.g., jaywalking).

[0084] When the object's route is predictable (in S320), the processor 130 can generate the object's expected route based on set conditions (S330). For example, the processor 130 can generate the object's expected route based on motion information, map information, turn signals, and other traffic signals.

[0085] As an example of generating a desired route based on motion information, the desired route of a moving vehicle can be generated while maintaining the current heading angle, speed, and acceleration.

[0086] As an example of generating expected routes based on map information, the expected route for a vehicle traveling at the end of a merging lane can be generated by entering the merging lane. In this case, the expected route can be generated even if no speed in the merging direction is detected.

[0087] As an example of generating a predicted route based on turn signals, the predicted route for a vehicle traveling with a turn signal on can be generated by changing lanes in the corresponding direction. In this case, the predicted route can be generated even if no speed is detected in the direction of the turn signal.

[0088] As an example of generating expected routes based on traffic signals, when the traffic light turns green, the expected route for a vehicle that stopped at the red traffic light is generated in the direction in which the vehicle will travel in the corresponding lane. In this case, the expected route can be generated even if no speed is detected after the traffic light turns green.

[0089] When the object's route is unpredictable (No in S320), the processor 130 can generate the expected route for all possible situations of the object (S340).

[0090] For example, similar to the case of jaywalking, when it is difficult to predict whether a pedestrian will continue to move in the crossing direction, remain at the current position, or return in the direction from which the pedestrian came, the processor 130 can generate a expected route for all cases: pedestrians who maintain their current motion information, pedestrians who remain at their current position, and pedestrians who return to the route from which the pedestrian came.

[0091] For example, in situations where it is difficult to predict whether a vehicle traveling at a roundabout will continue at the roundabout or exit onto an exit ramp (e.g., when slowing down near an exit ramp), the processor 130 can maintain the current motion information and generate expected routes for both vehicles continuing at the roundabout and vehicles exiting onto an exit ramp.

[0092] For example, in cases where it is difficult to predict when a vehicle waiting to make an unprotected left turn will do so, the processor 130 can generate both the expected route when the unprotected left turn is performed before the first oncoming vehicle of the currently waiting vehicle and the expected route when the unprotected left turn is performed after the first oncoming vehicle has passed.

[0093] Next, the processor 130 can store the expected route of the generated object in the storage unit 120, or send the expected route to the outside via the communication unit 110.

[0094] Figure 4 It is a flowchart of the operation for determining the corresponding control conditions of the vehicle according to the implementation plan. Figure 4 The content shows the above Figure 2 The specific content of operation S230 can be omitted. Figure 2 Any overlapping descriptions.

[0095] The processor 130 can set, generate, or inspect driving control conditions for surrounding objects.

[0096] Processor 130 can check overtaking control conditions (S410). For example, processor 130 can generate overtaking control conditions when it is anticipated that the expected route of a surrounding object may enter the lane where vehicle 1 is located and vehicle 1 is allowed to travel in front of the object.

[0097] For example, the overtaking control condition is that the object should not currently be in front of vehicle 1 in the lane where vehicle 1 is located, and the entry position of vehicle 1 should be a position that vehicle 1 can reach by accelerating, based on the expected routes of surrounding objects.

[0098] The processor 130 can check the follow control conditions (S430). For example, when a surrounding object is already in the lane where vehicle 1 is located or is expected to enter the lane of vehicle 1 and vehicle 1 is allowed to travel behind the object, the processor 130 can generate the follow control conditions.

[0099] For example, the following control condition is that a surrounding object should not currently be behind vehicle 1 in the lane where vehicle 1 is located, and according to the expected route, the entry position of a surrounding object into the lane where vehicle 1 is located should not currently be behind vehicle 1.

[0100] Processor 130 can examine avoidance control conditions (S450). For example, when the expected route based on the object anticipates that an surrounding object will enter the lane where vehicle 1 is located and allows vehicle 1 to travel while avoiding the object, processor 130 can generate avoidance control conditions.

[0101] For example, a collision avoidance control condition may refer to the time or space margin between the time an object enters the lane where vehicle 1 is located and the time the object occupies the lane. For example, a collision avoidance control condition may refer to the time required to ensure that the vertical distance between the object and the oncoming lane reaches a predetermined distance (e.g., 2.6 meters) or longer when the object has at least partially entered the lane where vehicle 1 is located, which is a predetermined time (e.g., 2 seconds) or longer.

[0102] Figure 5 This is a flowchart of the operation of setting the first virtual driving route according to the implementation plan.

[0103] The processor 130 can generate a control flow that satisfies the driving control conditions of all surrounding objects of the vehicle 1, i.e., a virtual driving route (S510). Furthermore, the processor 130 can select a first virtual driving route as the optimal virtual driving route by considering user preferences in the generated virtual driving route (S530).

[0104] Specifically, the processor 130 can generate a virtual driving route that satisfies at least one driving control condition. The generated virtual driving route can first be classified as a candidate driving route.

[0105] For example, as various candidate driving routes, a speed of 2 m / s can be set based on the current time point from 0 to 5 seconds. 2 A virtual driving route with continuous acceleration, from 0 to 4 seconds at -2m / s 2 And from 4 to 5 seconds at -1m / s 2 Accelerated virtual driving routes, etc.

[0106] Next, the processor 130 can extract one or more candidate driving routes from the generated candidate driving routes that satisfy all driving control conditions corresponding to all surrounding objects.

[0107] For example, in Figure 8 In the process, when vehicle 1 has avoidance control conditions and overtaking control conditions set for the first object C1, and a follow control condition set only for the second object C2, processor 130 can select two candidate driving routes as executable candidate driving routes. That is, processor 130 can select a candidate driving route that avoids the first object C1 and follows the second object C2, and a candidate driving route that overtakes the first object C1 and follows the second object C2 as executable candidate driving routes.

[0108] According to one implementation, processor 130 can delete the remaining candidate driving routes from the candidate driving routes, except for the executable candidate driving routes.

[0109] Next, the processor 130 can set the best candidate driving route among the executable candidate driving routes as the first virtual driving route by taking user preferences into account.

[0110] For example, processor 130 can calculate a score for executable candidate driving routes. The score can be calculated based on user preferences. That is, the score can be a value obtained by assessing the user's degree of preference for executable candidate driving routes.

[0111] For example, for a driver who has the highest preference for maximum driving distance, the longest route among the executable candidate routes can be set as the first virtual driving route.

[0112] For example, for drivers who prioritize ride comfort, the route with the maximum and minimum deceleration changes among the executable candidate routes can be set as the first virtual route.

[0113] As described above, user preference-based settings can be executed by the user at any time, or can be automatically collected by the vehicle 1's system. For example, processor 130 can map a specific driver's accumulated autonomous driving selection inputs to items associated with specific preferences to create a database, and can calculate a route rating based on the contents of the created database. However, it is not limited to this; ratings can be calculated through deep learning-based learning to cater to each driver's specific preferences.

[0114] According to one implementation, processor 130 can generate a second virtual driving route.

[0115] The second virtual route can be at least one of the executable candidate routes other than the first virtual route. For example, the second virtual route can be the route with the highest rating related to user preferences among the executable candidate routes after the first virtual route. However, it is not limited to this; any arbitrary route can be set as the second virtual route depending on user settings and road driving conditions.

[0116] For example, it can be Figure 9 Route P2 is set as the second virtual driving route. In this case, vehicle 1 can set the route that avoids the first object C1 and follows the second object C2 as the optimal route as the first virtual driving route, and can set the route that slows down and follows the first object C1 as the candidate route as the second virtual driving route.

[0117] Figure 6 This is a flowchart illustrating the process of determining and displaying the first virtual driving route according to the implementation plan. (This can be omitted.) Figure 6 Zhongyu Figures 1 to 5 Any description of content that overlaps with the content.

[0118] The processor 130 can set a first virtual driving route as described above (S610). Furthermore, during the process of setting the first virtual driving route, an executable candidate driving route can be generated, and a second virtual driving route different from the first virtual driving route can be generated from the executable candidate driving routes.

[0119] The processor 130 can determine whether the control quantity of the first virtual driving route is equal to or greater than a predetermined value (S620).

[0120] The control variables for the first virtual driving route may include, but are not limited to, elements such as the vehicle's lateral / longitudinal velocity and acceleration, position, yaw rate, and heading angle, which are used to move the vehicle 1 along the first virtual driving route.

[0121] When the control value of the first virtual driving route is not a predetermined value or a larger value (No in S620), the first virtual driving route is not displayed (S660). For example, when the longitudinal acceleration used in the first virtual driving route is less than 2 m / s². 2 And the lateral acceleration is less than 1 m / s² 2 In this case, the first virtual driving route may not be displayed on the display device and the existing display screen can be maintained. This is because when the driving route involves subtle controls, it is less necessary to alert the driver in advance.

[0122] When the control value of the first virtual driving route is equal to or greater than a predetermined value (Yes in S620), the processor 130 can determine whether the difference between the first virtual driving route and the candidate virtual driving route is equal to or greater than the predetermined value (S630). When the difference between the first virtual driving route and the candidate virtual driving route is less than the predetermined value (No in S630), the first virtual driving route is not displayed (S660). For example, the candidate virtual driving route can be a second virtual driving route, but is not limited to this, and can also be another candidate driving route.

[0123] For example, when the difference in longitudinal acceleration between the first virtual driving route and the second virtual driving route is 2 m / s² 2 Within 1 m / s², and the difference in lateral acceleration between the first and second virtual driving routes is within 1 m / s². 2 When the time limit is reached, the first virtual driving route may not be displayed on the display device and the existing display screen can be maintained.

[0124] When the difference between the first virtual driving route and the candidate virtual driving route is equal to or greater than a predetermined value (Yes in S630), the processor 130 can check whether the control execution time point of the first virtual driving route is after the predetermined time based on the current determined time point (S640).

[0125] Specifically, when determining whether to display the first virtual driving route, the processor 130 can check the control execution time point corresponding to the first virtual driving route. The control execution time point can be calculated when setting driving control conditions. The first virtual driving route should be displayed in advance so that the driver can check the first virtual driving route and make predictions, but there may be situations where the timing itself cannot be guaranteed.

[0126] Therefore, when the control execution time of the first virtual driving route is not after the predetermined time based on the current determined time (No in S640), that is, when there is not enough time to ensure that the first virtual driving route can be displayed, the first virtual driving route can be not displayed (S660) and the existing display screen can be maintained.

[0127] When the control execution time of the first virtual driving route is after a predetermined time based on the current determined time point (Yes in S640), that is, when sufficient time is ensured to display the first virtual driving route, the processor 130 can display the first virtual driving route through the display device.

[0128] exist Figure 6 In the diagram, processor 130 is shown to display the first virtual driving route only when "Yes" is selected in all operations S620, S630, and S640, but it is not limited thereto. For example, processor 130 may display the first virtual driving route via a display device even when only at least one of operations S620, S630, and S640 is selected as "Yes".

[0129] Furthermore, based on user selection or in combination with user selection, some exclusions can be made. Figure 6 The display is related to certain conditions. For example, in the process of determining whether the difference between the first virtual driving route and the candidate virtual driving route is equal to or greater than a predetermined value (S630), when it is determined that the duration of the difference being equal to or greater than the predetermined value is equal to or greater than a predetermined time (e.g., 10 seconds), the processor 130 may request the user whether to display the first virtual driving route and may determine whether to display the first virtual driving route based on the user input.

[0130] Figure 7 This is a flowchart of the operation for determining and displaying the first virtual driving route according to another implementation scheme. Figure 7 The content of the first virtual driving route is displayed by showing the difference between the control quantity based on the first virtual driving route and the control quantity of a candidate virtual driving route (e.g., the second virtual driving route). This can be omitted. Figure 7 Zhongyu Figures 2 to 6 The content overlaps with the content.

[0131] The processor 130 can set a first virtual driving route (S710). In addition, during the process of setting the first virtual driving route, an executable candidate driving route can be generated, and a second virtual driving route different from the first virtual driving route can be generated from the executable candidate driving routes.

[0132] The processor 130 can check the difference in control quantity between the first virtual driving route and the candidate virtual driving route (e.g., the second virtual driving route) (S720).

[0133] For example, the processor 130 can examine the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of a plurality of virtual driving routes that satisfy the vehicle driving control conditions.

[0134] The processor 130 can check at a first time point (S730) when the difference between the control quantity of the first virtual driving route and the candidate virtual driving route is equal to or greater than a predetermined value. The predetermined value can be set in advance.

[0135] In addition, the processor 130 can check a second time point (S740) where the difference between the control quantity of the first virtual driving route and the candidate virtual driving route is less than a predetermined value.

[0136] The processor 130 can control the display of the virtual driving route based on a first time point and a second time point (S750). For example, the processor 130 can control the display device to display the first virtual driving route from the first time point or a predetermined time (e.g., 1 second) before the first time point via the input / output interface 140. Furthermore, the processor 130 can control the display device to end the display of the first virtual driving route from the second time point. According to one embodiment, the second time point can be after the first time point.

[0137] Meanwhile, according to one embodiment, the processor 130 can control the display device to display content relevant to the current situation via the input / output interface 140. Furthermore, at least one of the expected routes of surrounding objects and the virtual driving route of vehicle 1 can be displayed to distinguish it from the content relevant to the current situation. The content relevant to the current situation may include, but is not limited to, the position, speed, and direction of the currently driving vehicle 1. For example, such as... Figure 9 As shown, when the first object C1 is defined as content related to the current situation, the first object C1 and the virtual objects C1_a, C1_b and C1_c can be displayed with different colors, etc.

[0138] According to one implementation, processor 130 can reflect and display the driver's choices among several virtual driving routes. For example, processor 130 can adjust weight values ​​through user settings to reflect the driver's preferences when selecting virtual driving routes.

[0139] exist Figure 11 The image shows a screen displaying a second virtual driving route via a display device. The second virtual driving route of vehicle 1 can be displayed through at least one virtual object 1_e or 1_f.

[0140] The first virtual driving route of vehicle 1 (which can be displayed by at least one virtual object 1_a, 1_b, 1_c or 1_d) and the second virtual driving route are shown as passing through Figure 10 and Figure 11 While they are displayed separately, according to one embodiment, the first and second virtual driving routes of vehicle 1 can be displayed together on one screen. In this case, the first and second virtual driving routes can be displayed to be distinguishable from each other. For example, the second virtual driving route can be set to have a lower brightness or saturation than the first virtual driving route. For example, the first and second virtual driving routes can be displayed in different colors.

[0141] Furthermore, a second virtual driving route can be displayed additionally based on the user's selection. For example, when the first virtual driving route is displayed, the processor 130 can receive user input requesting the display of a second virtual driving route via the display device, and can additionally display the second virtual driving route in response to the user input.

[0142] Through the above implementation scheme, the vehicle system can show the user which situation to select the control flow (i.e., virtual driving route), thereby improving the reliability of the user's control over the vehicle system.

[0143] As used in this embodiment, the term "~unit" refers to a software component or a hardware component such as a Field-Programmable Gate Array (FPGA) or Application-Specific Integrated Circuit (ASIC), and the "~unit" performs a specific function. However, the "~unit" is not limited to software or hardware. A "~unit" may be configured to reside in an addressable storage medium or may be configured to reproduce one or more processors. Thus, for example, a "~unit" includes components such as software components, object-oriented software components, class components, and task components, and includes processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided in components and "~units" may be coupled with a smaller number of components and "~units," or may be further subdivided into other components and "~units." Furthermore, components and "~units" may be implemented as one or more CPUs in a playback device or a secure multimedia card.

[0144] According to an embodiment of the present invention, by displaying a virtual driving route of the vehicle based on the expected route of surrounding objects and the vehicle's driving control conditions, the user can intuitively check when and what type of vehicle driving control is executed. Therefore, the user can establish a high degree of trust in the vehicle's autonomous driving system.

[0145] The effects of the present invention are not limited to those described above, and those skilled in the art will clearly understand other effects not mentioned above through the above description.

[0146] Although preferred embodiments of the invention have been described above, it should be understood that those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention as set forth in the appended claims.

Claims

1. A control device comprising: Display device; and A processor configured to generate a desired route for at least one object surrounding a vehicle, set driving control conditions for the vehicle corresponding to the desired route, and control a display device to display at least one of the desired route for the object and a virtual driving route that satisfies the driving control conditions for the vehicle.

2. The control device according to claim 1, wherein, The processor is configured to select a first virtual driving route from among multiple virtual driving routes that meet the vehicle's driving control conditions, and to control the display device to display the selected first virtual driving route.

3. The control device according to claim 2, wherein, The processor is configured to control the display device to display a second virtual driving route among multiple virtual driving routes, in addition to the first virtual driving route.

4. The control device according to claim 3, wherein, The processor is configured to control the display device to display the first virtual driving route and the second virtual driving route in a way that distinguishes them from each other.

5. The control device according to claim 2, wherein, The processor is configured to control the display device to display the first virtual driving route based on the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of the plurality of virtual driving routes by a predetermined value or a larger value.

6. The control device according to claim 1, wherein, The processor is configured to control the display device to display the virtual driving route after a predetermined time from the current time point, based on the control execution time point corresponding to the virtual driving route.

7. The control device according to claim 1, wherein, The processor is configured to control the display device to display the virtual driving route based on any of the following conditions: The longitudinal control value corresponding to the virtual driving route is equal to or greater than the predetermined value; and The lateral control quantity corresponding to the virtual driving route is equal to or greater than the predetermined value.

8. The control device according to claim 1, wherein, The processor is configured as follows: The control display device displays the first virtual driving route based on the time point at which the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of a plurality of virtual driving routes that meet the driving control conditions of the vehicle reaches or exceeds a predetermined value. Based on the fact that the difference between the control quantities is less than a predetermined value, the control display device ends the display of the first virtual driving route.

9. The control device according to claim 2, wherein, The processor is configured to select a first virtual driving route based on the vehicle user's preferences.

10. The control device according to claim 1, wherein, The processor is configured as follows: The control display device further displays content relevant to the current situation; The control display device displays at least one of the expected routes of surrounding objects and the virtual driving route of the vehicle as content distinct from that relevant to the current situation.

11. A method for displaying the travel route of a vehicle including a display device, comprising: Generate the expected route for at least one object around the vehicle; Set driving control conditions for vehicles that correspond to the expected route; The control display device displays at least one of the expected route of the object and a virtual driving route that meets the driving control conditions of the vehicle.

12. The method of claim 11, further comprising: Select the first virtual driving route from among multiple virtual driving routes that meet the vehicle's driving control conditions; The control display device shows the selected first virtual driving route.

13. The method of claim 12, further comprising: Further control the display device to display a second virtual driving route among multiple virtual driving routes, in addition to the first virtual driving route.

14. The method according to claim 13, wherein, The first virtual driving route and the second virtual driving route are displayed separately from each other.

15. The method according to claim 12, wherein, The first virtual driving route is displayed based on the fact that the control quantity corresponding to the first virtual driving route differs from the control quantity corresponding to at least one of the plurality of virtual driving routes by a predetermined value or a greater value.

16. The method according to claim 11, wherein, The virtual driving route is displayed after a predetermined time from the current time, based on the control execution time point corresponding to the virtual driving route.

17. The method according to claim 11, wherein, The virtual driving route is displayed based on any of the following conditions: The longitudinal control value corresponding to the virtual driving route is equal to or greater than the predetermined value; and The lateral control quantity corresponding to the virtual driving route is equal to or greater than the predetermined value.

18. The method according to claim 11, wherein, The first virtual driving route is displayed at the time point when the difference between the control quantity corresponding to the first virtual driving route and the control quantity corresponding to at least one of multiple virtual driving routes that meet the vehicle's driving control conditions reaches or exceeds a predetermined value. The display of the first virtual driving route ends when the difference between the control quantities is less than the predetermined value.

19. The method according to claim 12, wherein, When selecting the first virtual driving route, the first virtual driving route is selected based on the vehicle user's preferences.

20. The method of claim 11, further comprising: The control display device displays information relevant to the current situation. Among them, at least one of the expected routes of surrounding objects and the virtual driving routes of vehicles is displayed as content that is distinct from that related to the current situation.

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