DEVICE FOR CONTROLLING THE AUTONOMOUS DRIVING OF A VEHICLE, SYSTEM COMPRISING THE SAME AND METHOD FOR THE SAME

Abstract

Device (100) for controlling the autonomous driving of a vehicle, the device (100) comprising: a processor (130) configured to: Setting a control band for controlling acceleration and deceleration of the vehicle based on a requested acceleration and deceleration and an acceleration / deceleration response level that determines a response of the acceleration and deceleration of the vehicle to follow the requested acceleration and deceleration, and Controlling the acceleration and deceleration of the vehicle based on the set control band and the requested acceleration and deceleration; Setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage; and Setting the bandwidth of the control band to a second width that is narrower than the first width if the acceleration / deceleration response stage is a second stage in which the response is faster than in the first stage; and a memory (120) configured to store at least the acceleration / deceleration response level received from a user or calculated by the processor (130), the acceleration and deceleration, the requested acceleration and deceleration, and / or the control band.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to and the benefit of Korean patent application KR 10 2020 0 130 773 A, filed on May 3, 2019, the entire contents of which are incorporated herein by reference. AREA

[0002] The present disclosure relates to an apparatus for controlling autonomous driving of a vehicle, a system having the same, and a method for the same, and more particularly to a technology for differentially changing a control tendency of acceleration / deceleration of a vehicle. BACKGROUND

[0003] The information in this section merely provides background information related to the present disclosure and may not constitute prior art.

[0004] Various functions, such as autonomous driving, have been developed to assist a driver for the convenience of a user. Among the functions to assist a user, there is a smart cruise control (SCC) system to control the distance between a host vehicle and a vehicle ahead, i.e., a distance between the vehicles, to maintain a uniform distance between the vehicle and the vehicle ahead.

[0005] Since the SCC system has a user setting menu (USM) element that represents a control behavior of a distance between vehicles, a driver can personally set the control behavior of the SCC acceleration / deceleration in three levels of "fast," "normal," and "slow."

[0006] From DE 10 2018 122 133 A1 there is disclosed a device for controlling the autonomous driving of a vehicle, the device comprising: a processor configured to: set a control band for controlling an acceleration and deceleration of the vehicle based on a requested acceleration and deceleration and an acceleration / deceleration response level that determines a response behavior of the acceleration and deceleration of the vehicle to follow the requested acceleration and deceleration, and control the acceleration and deceleration of the vehicle based on the set control band and the requested acceleration and deceleration;and a memory configured to store at least the acceleration / deceleration response level received from a user or calculated by the processor, the acceleration and deceleration, the requested acceleration and deceleration, and / or the control band;

[0007] DE 10 2016 116 911 A1 discloses a device for controlling the automatic driving of a vehicle, comprising a vehicle detection unit configured to detect a vehicle traveling in front of the vehicle in the vehicle's lane or a nearby vehicle in a left or right lane of the vehicle's lane, as well as a speed of the vehicle traveling in front and a relative distance between the vehicle and the vehicle traveling in front, or a speed of the nearby vehicle and a relative distance between the vehicle and the nearby vehicle, a target acceleration calculation unit configured to calculate a danger level indicating an influence on the driving of the vehicle by the vehicle traveling in front or the nearby vehicle using the detected speed and the detected relative distance,and to calculate a target acceleration of the vehicle according to the danger level, and a vehicle control unit configured to control the vehicle to travel at an automatic traveling speed and to control the vehicle according to the target acceleration after detecting the preceding vehicle or the nearby vehicle.

[0008] DE 10 2007 031 238 A1 describes a vehicle speed control system comprising: a unit for calculating a first target speed based on map information; a unit for calculating a second target speed based on a road profile obtained from information other than the map information (such as lane detection using a camera); a unit for comparing the first target speed and the second target speed; a unit for selecting a lower target speed thereof; and a unit for controlling a vehicle in accordance with the selected target speed.

[0009] DE 11 2011 103 460 T5 discloses a driving assistance system comprising an acceleration change pattern setting section that sets an acceleration change pattern of a vehicle, which is a pattern of change in the vehicle's acceleration that occurs when the vehicle travels on a road; and a driving plan generation section that generates a driving plan for the vehicle based on the acceleration change pattern set by the acceleration change pattern setting section. The driving assistance system generates a driving plan that satisfies three conditions—a kinetic model of the vehicle, a passing point of each curve, and an acceleration change pattern—using a solution to two-point boundary value problems.

[0010] DE 10 2014 215 671 A1 provides a driver assistance system in a motor vehicle with a detection system for detecting upcoming events that allow an increase in the current speed due to the cancellation of a currently valid speed limit, a functional unit for determining an acceleration strategy for increasing the speed, and a notification system for issuing a request to the driver to allow automatic implementation of the acceleration strategy. Upon confirmation of the request by the driver, the functional unit initiates automatic implementation of the acceleration strategy. The request can be issued to the driver at a defined time before the upcoming event that cancels the current speed limit is reached.If the driver confirms the prompt before reaching the upcoming event that cancels the current speed limit, the functional unit initiates a two-stage acceleration strategy.

[0011] Finally, JP 2007 253 820 A shows a vehicle driving control device that executes driving control to cause a host vehicle to drive at a target acceleration / deceleration speed, the vehicle driving control device comprising: an inattentive state determining means that determines whether a vehicle driver is in an inattentive driving state; and a target acceleration / deceleration changing means that changes a target acceleration / deceleration speed in the driving control in accordance with a determination result of the inattentive state determining means.

[0012] Fig. 1 is a graph illustrating a requested acceleration and a vehicle acceleration in conventional control of autonomous driving of a vehicle. With respect to Fig. 1, the vehicle acceleration is controlled to follow the requested acceleration transmitted by the device for controlling the autonomous driving of the vehicle.

[0013] Fig. Figure 2 is a graph illustrating the three response levels for controlling the requested acceleration in conventional control of the vehicle's autonomous driving. Fig. 2, it can be seen that the maximum value of the requested acceleration is limited based on the response levels set by a user (e.g., a driver of the vehicle) using the device for controlling the autonomous driving of the vehicle. Specifically, the conventional SCC system calculates the maximum values ​​of the requested acceleration based on the response levels set by the user, so the maximum values ​​vary and are also limited according to the response levels set by the user.

[0014] However, it was found that it is difficult for the user to feel the improved response by varying the maximum values ​​of the requested acceleration. SUMMARY

[0015] It is therefore an object of the present disclosure to provide an apparatus for controlling autonomous driving of a vehicle that enables a user to clearly feel the change in acceleration / deceleration response by differently changing a control band used for controlling acceleration and deceleration of a vehicle based on the acceleration / deceleration response level of the apparatus for controlling autonomous driving of the vehicle, a system including the same, and a method for the same.

[0016] The object is achieved by a device for controlling the autonomous driving of a vehicle having the features of claim 1, a vehicle system having the features of claim 13 and a method for controlling the autonomous driving of a vehicle having the features of claim 14. Advantageous further developments can be found in the subclaims.

[0017] The technical problems to be solved by the present inventive concept are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood by someone skilled in the art to which the present disclosure belongs from the following description.

[0018] According to one form of the present disclosure, an apparatus for controlling autonomous driving of a vehicle for a vehicle includes: a processor for varying a control band for controlling acceleration and deceleration of the vehicle based on a requested acceleration and deceleration (or a target acceleration, a target deceleration) used to control acceleration / deceleration of the vehicle, and an acceleration / deceleration response level that sets a response of acceleration and deceleration of the vehicle to follow the requested acceleration and deceleration; and a memory for storing a driving pattern learning result calculated by the processor, the requested acceleration and deceleration, and the control band.The processor controls the acceleration and deceleration of the vehicle based on the set control band and the requested acceleration and deceleration. The processor sets a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response level is a first level, and sets the bandwidth of the control band to a second width narrower than the first width when the acceleration / deceleration response level is a second level at which the response is faster than in the first level. Furthermore, the device includes a memory configured to store at least the acceleration / deceleration response level received from a user or calculated by the processor, acceleration and deceleration, the requested acceleration and deceleration, and / or the control band.

[0019] According to one embodiment, the processor may include receiving the acceleration / deceleration response level from a user or calculating the acceleration / deceleration response level based on a driving pattern learning result.

[0020] In another embodiment, the processor may include calculating the requested acceleration and deceleration based on at least one of a user-specified speed, a distance to a preceding vehicle, and / or a relative speed of the preceding vehicle compared to the speed of the vehicle (e.g., a host vehicle).

[0021] In another embodiment, the processor may include setting an upper limit and a lower limit of the control band based on the requested acceleration and deceleration.

[0022] According to another embodiment, the processor may set the upper limit of the control band to be closer to the requested deceleration than the lower limit of the control band, so that the deceleration responsiveness of the vehicle to follow the requested deceleration is increased.

[0023] According to another embodiment, the processor may set the lower limit of the control band to be closer to the requested acceleration than the upper limit of the control band, so that the acceleration response of the vehicle to follow the requested acceleration becomes fast.

[0024] According to one embodiment, the processor may include calculating the acceleration / deceleration response level by reflecting the user's driving inclination or driving tendency when calculating the acceleration / deceleration response level based on the driving pattern learning result.

[0025] According to another exemplary embodiment, the processor may include setting the acceleration / deceleration response level to a fast following level and setting a width of the control band to be narrower when the user's driving tendency is wild.

[0026] In another embodiment, the processor may include controlling the acceleration / deceleration or not controlling the acceleration / deceleration depending on a difference value between the requested acceleration and the vehicle acceleration.

[0027] According to another embodiment, the processor may include: not controlling the acceleration / deceleration in a section in which the difference value between the requested acceleration and the vehicle acceleration is equal to or less than a preset reference value; and controlling the acceleration / deceleration in a section in which the difference value between the requested acceleration and the vehicle acceleration exceeds the preset reference value.

[0028] According to another embodiment, the processor may include controlling the acceleration / deceleration to a strong degree or a weak degree based on the difference value between the requested acceleration and the vehicle acceleration.

[0029] According to another embodiment, the processor may include controlling the acceleration / deceleration to a weak degree in a section in which the difference value between the requested acceleration and the vehicle acceleration is equal to or smaller than a specific reference value, and controlling the acceleration / deceleration to the strong degree in a section in which the difference value between the requested acceleration and the vehicle acceleration exceeds the specific reference value.

[0030] According to one aspect of the present disclosure, a vehicle system for a vehicle may include: a user input device configured to receive an input of an acceleration / deceleration response level that sets a speed of acceleration response of the vehicle to follow a target acceleration; and means for controlling autonomous driving of a vehicle to vary a control band based on the target acceleration and the acceleration / deceleration response level, wherein the control band is configured to control the acceleration of the vehicle, and the control means controls the acceleration of the vehicle based on the control band and the target acceleration.The device sets a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage, and sets the bandwidth of the control band to a second width narrower than the first width when the acceleration / deceleration response stage is a second stage in which the response is faster than in the first stage.

[0031] According to another aspect of the present disclosure, a method for controlling autonomous driving of a vehicle may include: setting, by a processor of the vehicle, a control band for controlling acceleration and deceleration of the vehicle based on a target acceleration and deceleration and an acceleration / deceleration response level configured to set a speed of response of the vehicle acceleration and deceleration to follow the target acceleration and deceleration; and controlling, by the processor, the acceleration / deceleration of the vehicle based on the control band and the target acceleration / deceleration.Setting the control band includes setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage, and setting the bandwidth of the control band to a second width narrower than the first width when the acceleration / deceleration response stage is a second stage at which the response is faster than in the first stage.

[0032] According to another embodiment, the method may further include receiving the response level of the target acceleration / deceleration from a user or calculating the acceleration / deceleration response level based on a driving pattern learning result by the processor.

[0033] In one embodiment, the method may further include calculating, by the processor, the desired acceleration and deceleration based on at least one of a user-specified speed, a distance from the host vehicle to a preceding vehicle, and / or a relative speed of the preceding vehicle to the host vehicle.

[0034] According to one embodiment, adjusting the control band may comprise setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage, and setting the bandwidth of the control band to a second width narrower than the first width when the acceleration / deceleration response stage is a second stage in which the response characteristic is faster in response than in the first stage.

[0035] According to another embodiment, varying the control band may include setting an upper limit and a lower limit of the control band based on the target acceleration and deceleration; setting the upper limit of the control band to be closer to the target deceleration than the lower limit of the control band so that the deceleration responsiveness of the vehicle to follow the target deceleration increases; and setting the lower limit of the control band to be closer to the requested acceleration than the upper limit of the control band so that the acceleration responsiveness of the vehicle to follow the target acceleration increases.

[0036] According to another embodiment, calculating the acceleration / deceleration response level may include calculating the acceleration / deceleration response level by reflecting the driving tendency of the user of the vehicle in calculating the acceleration / deceleration response level based on a driving pattern learning result.

[0037] Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. DRAWINGS

[0038] In order that the disclosure may be well understood, various embodiments thereof will now be described, given by way of example, with reference to the accompanying drawings in which: Fig. 1 is a graph illustrating a requested acceleration and a vehicle acceleration in conventionally controlling autonomous driving of a vehicle; Fig. 2 is a graph illustrating the response level of the requested acceleration in conventionally controlling the autonomous driving of the vehicle; Fig. 3 is a block diagram illustrating components of a vehicle system including a device for controlling autonomous driving of a vehicle; Fig. 4 is a flowchart illustrating a method for controlling autonomous driving of a vehicle to vary the acceleration / deceleration control band; Fig. 5 is a graph illustrating acceleration / deceleration control behavior when applying a wider control band; Fig. 6 is a graph illustrating acceleration / deceleration control behavior when applying a narrower control band; Fig. 7 is a graph illustrating an acceleration / deceleration control behavior when an upper range of the control band is narrower; Fig. 8 is a graph illustrating an acceleration / deceleration control behavior when the lower range of the control band is narrower; Fig. Figure 9 is a graph illustrating variable control of acceleration / deceleration within or outside the control band; Fig. 10 is a graph illustrating that acceleration / deceleration control is performed by differently applying a control gain inside and outside a control band; the Fig. 11A and Fig. 11B are graphs illustrating the differentiation of acceleration / deceleration control based on the response setting in controlling autonomous driving of a vehicle; and Fig. 12 is a block diagram illustrating a computing device.

[0039] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0040] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate similar or corresponding parts and features.

[0041] When adding reference numbers to the components of each drawing, it should be noted that the identical or equivalent component will be designated by the identical number even if the same is shown in other drawings. Furthermore, when describing exemplary embodiments of the present disclosure, a detailed description of well-known features or functions will be excluded or omitted so as not to unnecessarily obscure the gist of the present disclosure.

[0042] In describing the components of the embodiments according to the present disclosure, terms such as first, second, "A," "B," (a), (b), and the like may be used. These terms are intended merely to distinguish one component from another, and the terms do not limit the nature, order, or ordering of the components. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by someone skilled in the art to which the present disclosure pertains.Such terms, such as those defined in a commonly used dictionary, are to be interpreted to have meanings equal to the contextual meanings in the relevant field of technology, and not to be interpreted to have ideal or overly formal meanings unless clearly defined in the present application.

[0043] The present disclosure discloses a technique for differentiating acceleration / deceleration control by varying a control band based on the setting of an acceleration / deceleration response level in a smart adaptive cruise control (SCC) system.

[0044] Below, exemplary embodiments of the present disclosure with respect to the Fig. 3 to 12 are described in detail.

[0045] Fig. 3 is a block diagram illustrating the components of a vehicle system having a device (hereinafter referred to as “a device for controlling autonomous driving of a vehicle”) for controlling autonomous driving of a vehicle, according to an embodiment of the present disclosure.

[0046] In relation to Fig. 3, a vehicle system may include a device 100 for controlling autonomous driving of a vehicle, a user input device 200, a display 300, a steering controller 400, a braking controller 500, and an engine controller 600.

[0047] The autonomous driving control device 100 of a vehicle may receive an acceleration / deceleration response level set by a user or calculate the acceleration / deceleration response level based on a driving pattern learning result, vary a control band based on a requested acceleration and deceleration, that is, a target acceleration and deceleration, and the acceleration / deceleration response level, and control the acceleration / deceleration of the vehicle based on the requested acceleration and deceleration and the control band.

[0048] In this case, the acceleration / deceleration response level can be set in multiple levels of "fast," "normal," and "slow," and the control band refers to an acceleration and deceleration range set to have an upper limit and a lower limit for controlling the vehicle acceleration and deceleration of the autonomous driving control device 100. When the autonomous driving control device 100 sets the lower limit of a vehicle acceleration to be controlled to 5 m / s 2 and the upper limit of vehicle acceleration to 10 m / s 2 the vehicle acceleration can be set in the control band range of 5 m / s 2 up to 10 m / s 2The device 100 for controlling the autonomous driving of a vehicle cannot therefore control the vehicle acceleration based on the control band to be less than 5 m / s 2 to be or by 10 m / s 2 to exceed.

[0049] The device 100 for controlling the autonomous driving of a vehicle may include a communication device 110, a memory 120 and a processor 130.

[0050] The communication device 110 is a hardware device that can be implemented with various electronic circuits to transmit and receive a signal through a wireless or wired connection. According to the present disclosure, the communication device 110 can perform in-vehicle communication through controller area network (CAN) communication or local interconnect network (LIN) communication.

[0051] The memory 120 can store a driving pattern learning result calculated by the processor 130, an algorithm for learning, a calculated requested acceleration and deceleration, and a control band. The memory 120 can be implemented with at least one storage medium of a flash memory type, a hard disk type, a micro-type, a card type (e.g., a Security Digital (SD) card or an eXtreme Digital card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable and programmable ROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk storage, and / or an optical disk storage.

[0052] Processor 130 may be electrically connected to communication device 110 and memory 120 and electrically control each component, and may be an electrical circuit that executes software instructions. Consequently, processor 130 may perform various data processing and calculations, to be described below.

[0053] The processor 130 may vary a control band for controlling vehicle acceleration and deceleration based on a requested acceleration and a requested deceleration used to control the acceleration / deceleration of the vehicle, and an acceleration / deceleration response level that sets a speed of response that allows the acceleration and deceleration of the vehicle to follow the requested acceleration and deceleration, and control the acceleration / deceleration of the vehicle based on the control band and the requested acceleration and deceleration.

[0054] The processor 130 may receive the acceleration / deceleration response level from the user or calculate the acceleration / deceleration response level based on the driving pattern learning result.

[0055] The processor 130 may calculate the requested acceleration and deceleration based on at least one of the user-specified speed, the distance to the preceding vehicle, and the relative speed of the preceding vehicle.

[0056] If the acceleration / deceleration response level is the first level (slow), the processor 130 may set the bandwidth of the control band to be equal to or greater than a first width (wider). If the acceleration / deceleration response level is a second level that is faster in response than the first level, the processor 130 may set the bandwidth of the control band to a second width (narrower) that is narrower than the first width.

[0057] The processor 130 may set the upper limit and lower limit of the control band based on the requested acceleration and deceleration. The processor 130 may set the width of the upper range, based on the upper limit of the control band, to be narrower in order to quickly perform deceleration following based on the acceleration / deceleration response level. The processor 130 may set the width of the lower range, based on the lower limit of the control band, to be narrower in order to quickly perform acceleration and deceleration following based on the acceleration / deceleration response level.

[0058] When calculating the acceleration / deceleration response level based on the driving pattern learning result, the processor 130 may calculate the acceleration / deceleration response level by reflecting the user's driving tendency.

[0059] The processor 130 sets the acceleration / deceleration response level to a fast-following level and sets the width of the control band to be narrower when the user's driving tendency is wild. The processor 130 sets the acceleration / deceleration response level to a slow-following level and sets the width of the control band to be wider when the user's driving tendency is mild.

[0060] The processor 130 may control or not control the acceleration / deceleration depending on the difference between the requested acceleration and the vehicle acceleration. In other words, the processor 130 may not control the acceleration / deceleration in a section where the difference between the requested acceleration and the vehicle acceleration is equal to or less than a preset reference value, and may control the acceleration / deceleration in a section where the difference between the requested acceleration and the vehicle acceleration exceeds the preset reference value.

[0061] The processor 130 can control the acceleration / deceleration to a strong degree or a weak degree depending on the difference between the requested acceleration and the vehicle acceleration. In other words, the processor 130 can control the acceleration / deceleration to the weak degree in the section where the difference between the requested acceleration and the vehicle acceleration is equal to or less than the preset reference value, and control the acceleration / deceleration to the strong degree in the section where the difference between the requested acceleration and the vehicle acceleration exceeds the preset reference value.

[0062] In this case, although the present disclosure has been described by way of example with the acceleration / deceleration of the vehicle being controlled by the processor 130, the acceleration / deceleration of the vehicle may be controlled based on an electronic stability control (ESC) and an engine management system (EMS) in a vehicle. The ESC may receive the requested acceleration and deceleration, calculate the requested engine torque, and perform deceleration control based on the requested acceleration and deceleration.

[0063] The user input device 200 may receive an acceleration / deceleration response level input from a user and may receive the input through, for example, a switch, a button, or a touchpad.

[0064] The display 300 can display information about the autonomous driving of the vehicle. The display 300 can be implemented with a head-up display (HUD), a cluster, or an audio-video navigation (AVN) device. Furthermore, the display 300 can include at least one of a liquid crystal display (LCD), a thin-film transistor-liquid crystal display (TFT-LCD), a light-emitting diode (LED), an organic light-emitting diode (OLED), an active matrix OLED (AMOLED), a flexible display, a curved display, and / or a three-dimensional display (3D display). Among them, some displays can be implemented with transparent displays configured in a transparent manner or a translucent manner so that the displays are viewed from the outside.In addition, the display 300 is implemented with a touchscreen that includes a touch panel to be used as an input device in addition to an output device.

[0065] The steering controller 400 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator acting in conjunction with the steering wheel, and a controller for controlling the actuator.

[0066] The brake controller 500 may be configured to control the deceleration of the vehicle and may include a controller for controlling a brake.

[0067] The engine controller 600 may be configured to control the driving of the engine of the vehicle and may include a controller for controlling the speed of the vehicle.

[0068] The following describes a method for controlling the autonomous driving of the vehicle for varying the acceleration / deceleration control band with respect to Fig. 4 according to an embodiment of the present disclosure. Fig. 4 is a flowchart illustrating the method of controlling autonomous driving of the vehicle to vary the acceleration / deceleration control band, according to an embodiment of the present disclosure.

[0069] The following description will be made on the assumption that the device 100 for controlling the autonomous driving of a vehicle of the Fig. 3 a process of Fig. 4. In addition, the Fig. 4, it should be clear that the operation described as being performed by the device 100 for controlling the autonomous driving of a vehicle is controlled by the processor 130 of the device 100 for controlling the autonomous driving of a vehicle.

[0070] In relation to Fig. 4, the vehicle autonomous driving control device 100 may receive an input of an acceleration / deceleration response level from a user or calculate the acceleration / deceleration response level by a driving pattern learning result based on driving data (S110).

[0071] If the user personally sets the acceleration / deceleration response level, the acceleration / deceleration response level can be input by the user through the user input device 200, such as a switch. In this case, the acceleration / deceleration response level can be set to multiple levels of "fast," "normal," and "slow," and linked to the setting of a driving mode.

[0072] When the acceleration / deceleration response level is set by learning, the acceleration / deceleration response level can be calculated by learning the user's driving tendency and calculated using continuous numerical values ​​or relative numerical values.

[0073] The device 100 for controlling autonomous driving of a vehicle may calculate a requested acceleration and deceleration for controlling autonomous driving of the vehicle based on a vehicle speed set by a user, the relative distance to the preceding vehicle, and the relative speed of the preceding vehicle, and calculate a control band using the requested acceleration and deceleration and the acceleration / deceleration response level (S120).

[0074] For example, if the acceleration / deceleration response level is set to “slow” by the user, the control band can be set to ±1.0 m / s 2 based on the requested acceleration and deceleration. When the acceleration / deceleration response level is "normal", the control band can be set to ±0.5 m / s 2 based on the requested acceleration and deceleration. If the acceleration / deceleration response level is "fast", the control band can be set to ±0.1 m / s 2 based on the requested acceleration and deceleration. As described above, the device 100 for controlling autonomous driving of a vehicle can vary the control band based on the acceleration / deceleration response level.

[0075] In other words, the vehicle autonomous driving control device 100 may set the control band to be wider when the acceleration / deceleration response level is set to “slow” and set the control band to be narrower when the acceleration / deceleration response level is set to “fast”.

[0076] As another example, when calculating the control band by calculating the acceleration / deceleration response level based on the user's driving tendency, the size of the control band can be calculated by multiplying a control band reference value by a response weight.

[0077] In this case, the device 100 for controlling the autonomous driving of a vehicle can set the control band reference value to ±1 m / s 2 , ±2 m / s 2or the like, and the control band reference value can be determined based on the variable range. In addition, the response weight, which is a relative numerical value, can be set in the range of 0 to 1 or 0 to 100 and can be determined by determining the user's riding tendency as a relative level. For example, in the case of a user with a more vigorous riding tendency, the response weight can be set to a higher value. In the case of a user with a milder riding tendency, the response weight can be set to a lower value. In this case, if the response weight is the higher value, the width of the control band is increased. If the response weight is the lower value, the width of the control band is reduced.

[0078] The device 100 for controlling autonomous driving of a vehicle controls the acceleration or deceleration of the vehicle based on the calculated requested acceleration and deceleration and the control band (S130).

[0079] In this case, the autonomous vehicle driving control device 100 may control or not control the acceleration / deceleration depending on the difference between the requested acceleration and the vehicle acceleration within the control band. Furthermore, the autonomous vehicle driving control device 100 may control the acceleration / deceleration to a strong degree or a weak degree depending on the degree of the difference between the requested acceleration and the vehicle acceleration.

[0080] Below, the method for controlling acceleration or deceleration depending on the change in the control band will be described in detail with reference to FIGS. 5 to 10. In this case, the vehicle acceleration is the measured actual acceleration of the vehicle, and the requested acceleration is the speed information for vehicle control by the device 100 for controlling autonomous driving of a vehicle. In other words, the device 100 for controlling autonomous driving of a vehicle controls the vehicle acceleration to approach the requested acceleration.

[0081] Fig. 5 is a graph illustrating acceleration / deceleration control behavior when applying the wider control band, according to an embodiment of the present disclosure.

[0082] If the control band is set to a wider value, as in Fig. As illustrated in Figure 5, a speed (control behavior) that allows the vehicle acceleration to follow the requested acceleration decreases. In other words, based on the requested acceleration, an upper limit of the control band is drawn above the requested acceleration graph, and a lower limit of the control band is drawn below the requested acceleration graph. A bandwidth has a specific size from the requested acceleration graph. It can be understood that the wider bandwidth indicates the setting of a wider control band.

[0083] Fig. 5 illustrates setting the wider control band as an example, where the vehicle acceleration is controlled within the control band and the vehicle acceleration control behavior is slowed down. For example, the control band can be set to be in the range of +5 m / s to +5 m / s based on the requested acceleration.

[0084] Fig. 6 is a graph illustrating acceleration / deceleration control behavior when applying a narrower control band, according to an embodiment of the present disclosure.

[0085] In relation to Fig. 6, the autonomous driving control device 100 sets the control band to be narrower, for example, based on the requested acceleration graph. Consequently, the vehicle acceleration is controlled within the control band, which is set to be narrower. The upper limit of the control band and the lower limit of the control band approach the requested acceleration, and therefore, the control behavior becomes faster.

[0086] Fig. 7 is a graph illustrating acceleration / deceleration control behavior at a narrower upper range of the control band, according to an embodiment of the present disclosure.

[0087] In relation to Fig. 7, the lower limit of the control band is set to be far from the requested acceleration, and the upper limit of the control band is set to be closer to the requested acceleration. Consequently, the upper range of the control band above the requested acceleration is set to be narrower, and the lower range of the control band below the requested acceleration is set to be wider.

[0088] As described above, if the upper range of the control band is set to be narrower, the deceleration following performance of the vehicle can be accelerated.

[0089] Fig. 8 is a graph illustrating acceleration / deceleration control behavior when the lower range of the control band is narrower, according to an embodiment of the present disclosure.

[0090] In relation to Fig. 8, the lower limit of the control band is set to be closer to the requested acceleration, and the upper limit of the control band is set to be far from the requested acceleration. Consequently, the range of the control band above the requested acceleration is set to be wider, and the range of the control band below the requested acceleration is set to be narrower.

[0091] As described above, if the lower range of the control band is set to be narrower, the acceleration following behavior of the vehicle can be increased.

[0092] Fig. 9 is a graph illustrating variable control of acceleration / deceleration within or outside the control band according to another embodiment of the present disclosure.

[0093] In relation to Fig. 9, the device 100 for controlling autonomous driving of a vehicle does not control the acceleration / deceleration in the section where the measured acceleration of the vehicle is similar to the requested acceleration, controls the acceleration in the section where the acceleration of the vehicle is less than the requested acceleration, and controls the deceleration of the vehicle in the section where the acceleration of the vehicle is greater than the requested acceleration.

[0094] The vehicle autonomous driving control device 100 does not perform the acceleration / deceleration control in the section where the vehicle acceleration becomes larger than the requested acceleration, because the acceleration of the vehicle continuously increases in the state where the vehicle acceleration is smaller than the requested acceleration.

[0095] Fig. 10 is a graph illustrating that acceleration / deceleration control is performed by differently applying a control gain inside and outside the control band, according to another embodiment of the present disclosure.

[0096] In relation to Fig. 10, the vehicle autonomous driving control device 100 performs acceleration / deceleration control to a weak degree in the section where the vehicle acceleration is similar to the requested acceleration, acceleration control to a strong degree in the section where the vehicle acceleration is less than the requested acceleration, and deceleration control to a strong degree in the section where the vehicle acceleration is greater than the requested acceleration.

[0097] The vehicle autonomous driving control device 100 can perform the acceleration / deceleration control to the weak extent in the section where the vehicle acceleration becomes larger than the requested acceleration, since the vehicle acceleration continuously increases in the state where the acceleration of the vehicle is smaller than the requested acceleration.

[0098] The Fig. 11A and Fig. 11B are graphs illustrating differentiation of acceleration / deceleration control based on response settings when controlling autonomous driving of the vehicle, according to an embodiment of the present disclosure.

[0099] In Fig. 11A, the vehicle acceleration is controlled within the control band, which is set based on the requested acceleration, and as the control band becomes narrower, the response becomes faster. In contrast, Fig. 11B that response becomes slower when the control band is wider.

[0100] As described above, the present disclosure enables a user to clearly feel the change in control behavior by variously changing a control band used to control the acceleration of a vehicle based on the response level of the device for controlling the autonomous driving of the vehicle, thereby improving the user's sense of satisfaction.

[0101] Fig. 12 is a block diagram illustrating a computing device according to an embodiment of the present disclosure.

[0102] In relation to Fig.12, a computing system 1000 may include at least a processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a memory 1600, and a network interface 1700 interconnected via a system bus 1200.

[0103] Processor 1100 may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in memory 1300 and / or storage 1600. Memory 1300 and storage 1600 may each include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

[0104] Accordingly, the operations of the methods or algorithms described in connection with the embodiments disclosed in the present disclosure may be directly implemented with a hardware module, a software module, or combinations thereof executed by the processor 1100. The software module may be located on a storage medium (i.e., the memory 1300 and / or the storage 1600), such as a RAM, a flash memory, a ROM, an erasable programmable ROM (EPROM), an electrically erasable PROM (EEPROM), a register, a hard disk, a removable disk, or a compact disc-ROM (CD-ROM).

[0105] The example storage medium may be coupled to processor 1100. Processor 1100 may read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may be located within an application-specific integrated circuit (ASIC). The ASIC may be located within a user terminal. Alternatively, the processor and storage medium may be located as separate components within the user terminal.

[0106] Although the present disclosure has been described above with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but may be variously modified and changed by one skilled in the art to which the present disclosure belongs, without departing from the spirit and scope of the present disclosure as claimed in the following claims.

[0107] Therefore, the exemplary embodiments of the present disclosure are not restrictive but illustrative, and the spirit and scope of the present disclosure are not limited thereto. The spirit and scope of the present disclosure are to be interpreted by the following claims, and it should be interpreted that all technical concepts equivalent to the present disclosure are included within the spirit and scope of the present disclosure.

[0108] As described above, the present disclosure enables a user to clearly feel the change in the acceleration / deceleration control behavior by variously changing a control band used to control the acceleration and deceleration of a vehicle based on the acceleration / deceleration response level of the device for controlling the autonomous driving of the vehicle, thereby improving the user's sense of satisfaction.

[0109] In addition, a variety of effects can be provided which are directly or indirectly understood by the present disclosure. REPRESENTATIVE: FIG.3 100 DEVICE FOR CONTROLLING THE AUTONOMOUS DRIVING OF A VEHICLE 110 COMMUNICATION DEVICE 120 STORAGE 130 PROCESSOR 200 USER INPUT DEVICE 300 DISPLAY DEVICE 400 STEERING CONTROL 500 BRAKE CONTROL 600 ENGINE CONTROL

Claims

[1] Device (100) for controlling the autonomous driving of a vehicle, the device (100) comprising: a processor (130) configured to: Setting a control band for controlling acceleration and deceleration of the vehicle based on a requested acceleration and deceleration and an acceleration / deceleration response level that determines a response of the acceleration and deceleration of the vehicle to follow the requested acceleration and deceleration, and Controlling the acceleration and deceleration of the vehicle based on the set control band and the requested acceleration and deceleration; Setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage; and Setting the bandwidth of the control band to a second width that is narrower than the first width if the acceleration / deceleration response stage is a second stage at which the response is faster than in the first stage; and a memory (120) configured to store at least one of the acceleration / deceleration response level received from a user or calculated by the processor (130), the acceleration and deceleration, the requested acceleration and deceleration, and the control band. [2] The device according to claim 1, wherein the processor (130) is configured to calculate the acceleration / deceleration response level based on a driving pattern learning result. [3] The device of claim 1, wherein the processor (130) is configured to: Calculating the requested acceleration and deceleration based on at least one of a user-specified speed, a distance to a preceding vehicle, and / or a relative speed of the preceding vehicle to the vehicle. [4] The device of claim 1, wherein the processor (130) is configured to: Set an upper limit and a lower limit of the control band based on the requested acceleration and deceleration. [5] The device of claim 4, wherein the processor (130) is configured to: Setting the upper limit of the control band to be closer to the requested deceleration than the lower limit of the control band so that the responsiveness of the vehicle's deceleration to follow the requested deceleration increases. [6] The device of claim 4, wherein the processor (130) is configured to: Setting the lower limit of the control band to be closer to the requested acceleration than the upper limit of the control band so that the responsiveness of the vehicle's acceleration to follow the requested acceleration increases. [7] The device of claim 1, wherein the processor (130) is configured to: Calculating the acceleration / deceleration response level by reflecting a driving tendency of the user when calculating the acceleration / deceleration response level based on a driving pattern learning result. [8] The device of claim 7, wherein the processor (130) is configured to: Setting the acceleration / deceleration response level to a fast following level; and Setting a width of the control band to be narrower when the user's driving tendency is wild. [9] The device of claim 1, wherein the processor (130) is configured to: Determine whether to control the acceleration and deceleration of the vehicle based on a difference value between the requested acceleration and the acceleration of the vehicle. [10] The device of claim 9, wherein the processor (130) is configured to: Determining not to control the acceleration and deceleration of the vehicle in a section in which the difference value between the requested acceleration and the acceleration of the vehicle is equal to or less than a specific reference value; and Determine to control the acceleration and deceleration in a section in which the difference value between the requested acceleration and the acceleration of the vehicle exceeds the specific reference value. [11] The device of claim 1, wherein the processor (130) is configured to: Controlling the acceleration and deceleration of the vehicle to a strong degree or a weak degree based on a difference value between the requested acceleration and the acceleration of the vehicle. [12] The device of claim 11, wherein the processor (130) is configured to: Controlling the acceleration and deceleration of the vehicle to the weak extent in a section in which the difference value between the requested acceleration and the acceleration of the vehicle is equal to or less than a specific reference value; and Controlling the acceleration and deceleration to the extent that the difference value between the requested acceleration and the acceleration of the vehicle exceeds the specific reference value. [13] Vehicle system for a vehicle, the system comprising: a user input device (200) configured to receive an input of an acceleration / deceleration response level configured to set a speed of acceleration response of the vehicle to follow a desired acceleration; and a device (100) for controlling the autonomous driving of a vehicle, which is configured to: Setting a control band based on the target acceleration and the acceleration / deceleration response level, the control band being configured to control the acceleration of the vehicle, and Controlling the acceleration of the vehicle based on the control band and the target acceleration, Setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage; and Setting the bandwidth of the control band to a second width that is narrower than the first width when the acceleration / deceleration response stage is a second stage where the response is faster than in the first stage. [14] A method for controlling autonomous driving of a vehicle, the method comprising: Setting, by a processor (130) of the vehicle, a control band for controlling an acceleration and a deceleration of the vehicle based on a desired acceleration and a desired deceleration and an acceleration / deceleration response level configured to set a speed of the acceleration and deceleration response of the vehicle to follow the desired acceleration and deceleration; and Controlling the acceleration and deceleration of the vehicle based on the control band and the target acceleration and deceleration by the processor (130), where adjusting the control band includes: Setting a bandwidth of the control band to be equal to or greater than a first width when the acceleration / deceleration response stage is a first stage; and Setting the bandwidth of the control band to a second width that is narrower than the first width when the acceleration / deceleration response stage is a second stage where the response is faster than in the first stage. [15] The method of claim 14, further comprising: Receiving the acceleration / deceleration response level from a user or calculating the acceleration / deceleration response level based on a driving pattern learning result by the processor (130). [16] The method of claim 14, further comprising: Calculating the target acceleration and deceleration based on at least one of a speed specified by the user, a distance from the vehicle to a preceding vehicle, and / or a relative speed of the preceding vehicle to the vehicle by the processor (130). [17] The method of claim 14, wherein adjusting the control band includes: Setting an upper limit and a lower limit of the control band based on the target acceleration and deceleration; Setting the upper limit of the control band to be closer to the target deceleration than the lower limit of the control band so that the deceleration responsiveness of the vehicle to follow the target deceleration increases; and Setting the lower limit of the control band to be closer to the requested acceleration than the upper limit of the control band so that the responsiveness of the vehicle's acceleration to follow the target acceleration increases. [18] The method of claim 15, wherein calculating the acceleration / deceleration response level includes: Calculate the acceleration / deceleration response level by reflecting the user's driving tendency.

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