AUTONOMOUS DRIVING CONTROL DEVICE AND METHOD THEREFOR

Abstract

A control device for autonomous driving is disclosed. The device may include a feedback device having a first feedback device and a second feedback device, a memory, and a control unit. For example, the device may detect an event related to a transfer of control authority of a host vehicle in an autonomous driving mode, may determine whether the first feedback device is operating in a normal state if no response regarding the transfer of control authority is received from a user during a first time period, may output a first feedback via the first feedback device based on a determination that the first feedback device is operating in the normal state, and may output a second feedback via the second notification device based on a determination that the first feedback device is not operating in the normal state.

Description

PRIOR ARTThe present disclosure relates to an autonomous driving control device and a method thereof, and more particularly relates to a technology for providing information to a user about transmission of the autonomous driving control authority based on a driving environment in a driving situation of autonomous driving of a host vehicle depending on various methods.BACKGROUNDWith the increasing spread of autonomous driving vehicles, various technologies for autonomous driving are being developed. Autonomous driving may be divided into semi-autonomous driving, conditionally autonomous driving, highly autonomous driving, and / or fully autonomous driving, depending on the level of control.Meanwhile, in a certain driving situation of a host vehicle, it may transmit the control authority of a host vehicle to a user during autonomous driving control of the host vehicle. For example, in a certain driving situation, it switches a driving mode from an autonomous driving mode to a manual driving mode. Accordingly, an autonomous driving control device may display a notification of transmission of the control authority of the host vehicle to the user.An autonomous driving control device may use various components to inform the user of the necessity of switching a driving mode of the host vehicle. For example, the autonomous driving control device may change the acceleration by applying the braking force of at least one tire differently during traveling, thus giving a haptic warning to the user. Accordingly, the user can perceive, by the haptic alert, that the control authority of the host vehicle needs to be transmitted. For example, the autonomous driving control device may provide notification of transmission of the control authority using an actuator disposed on a seat of the host vehicle. Specifically, the autonomous driving control device may cause the control authority of the host vehicle to be transmitted to the user by generating vibration using the actuator.However, the above-described method may be disadvantageous in terms of the riding comfort or the manufacturing cost of the host vehicle. For example, the manufacturing cost of the host vehicle may increase due to the cost of installing and attaching an actuator to a seat. Additionally or alternatively, in a situation where a notification device (e.g., a haptic device) present in the host vehicle is not operating (e.g., a situation where the notification device is defective), a proper notification function may not be performed, although it is necessary to provide a notification to the user.SUMMARY OF THE INVENTIONAccording to the present disclosure, an autonomous driving control device may include: a feedback device having a first feedback device and a second feedback device; a memory configured to store instructions; and a control unit operatively connected to the feedback device and the memory, wherein the instructions, when executed by the control unit, cause the device to: detect an event related to transmission of the control authority of a host vehicle in an autonomous driving mode; when no response regarding transmission of the control authority is received from a user during a first period of time, determine, by the control unit, whether a first feedback device is operating in a normal state; based on a determination that the first feedback device is operating in the normal state, output a first feedback via the first feedback device; based on a determination that the first feedback device is not operating in the normal state, outputting a second feedback via the second feedback device.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: when no response regarding the transmission of the control authority is received from the user during a second time period, output the second feedback via the second feedback means, the second time period being associated with a feedback output time of the first feedback means; and when no response regarding the transmission of the control authority is received from the user during a second time period, output the second feedback via the second feedback means, the second time period being associated with a feedback output time of the first feedback means; andThe apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: when no response regarding the transmission of the control authority is received from the user during a third time period, control, by the controller, the output of a plurality of feedbacks via both the first feedback apparatus and the second feedback apparatus, wherein the third time period is associated with a feedback output time of the second feedback apparatus.The apparatus may further comprise: a display device, wherein the instructions, when executed by the controller, may cause the apparatus to: output, by the display device, information about at least one of the following: the event associated with the transmission of the control authority, the first feedback, the second feedback, or a combination of the event, the first feedback, and the second feedback.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: when an operation failure of the apparatus, an unpredictable situation, or a combination of the operation failure and the unpredictable situation occurs in the autonomous driving mode, output a third feedback via at least one of the first feedback apparatus or the second feedback apparatus.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: control the host vehicle during the outputting of the first feedback based on a second minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a second delay greater than a first delay associated with a first MRM.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: based on the first retractor operating in the normal state, output the first retractor by executing at least one of: adjusting the length of a seatbelt connected to the user, generating the vibration in a seat connected to the user, or adjusting the length of the seatbelt in combination with the generating the vibration.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: based on the first feedback device not operating in the normal state, output the second feedback by executing at least one of: changing the backrest angle of the backrest of a seat connected to the user depending on a predetermined time period, repeatedly applying a braking force of a predetermined magnitude to the main vehicle, or changing the backrest angle in combination with the repeated application of the braking force.The apparatus, wherein the instructions, when executed by the control unit, may cause the apparatus to: output the second feedback by repeatedly applying the braking force of the predetermined magnitude in the form of a pulse by the second feedback apparatus.The apparatus, wherein the instructions, when executed by the controller, may cause the apparatus to: based on receipt of the response regarding transmission of the control authority by the user during the first time period or the second time period, turn off the feedback apparatus, and disable the autonomous driving mode.According to the present disclosure, a method for controlling autonomous driving may include: a method for controlling autonomous driving, the method including: detecting, by a control unit, an event related to transmission of the control authority of a host vehicle in an autonomous driving mode; when no response regarding transmission of the control authority is received from a user during a first period of time, determining, by the control unit, whether a first feedback device is operating in a normal state; and based on a determination that the first feedback device is not operating in the normal state, controlling, by the control unit, output of a second feedback via a second feedback device, the second feedback being different from a first feedback connected to the first feedback device.The method may further include: when no response regarding the transmission of the control authority is received from the user during a second time period, controlling, by the controller, the output of the second feedback, the second time period being associated with a feedback output time of the first feedback device; and controlling, by the controller, during the output of the second feedback, the host vehicle based on a first minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a first delay.The method may further include: if no response regarding the transmission of the control authority is received from the user during a third time period, outputting a plurality of feedbacks via both the first feedback device and the second feedback device, the third time period being associated with a feedback output time of the second feedback device.The method may further comprise: controlling, by the control unit and by means of a display device, the output of information about at least one of the following: the event associated with the transmission of the control authority, the first feedback, the second feedback, or a combination of the event, the first feedback, and the second feedback.The method may further include: controlling, by the control unit, output of a third feedback via at least one of the first feedback device or the second feedback device based on occurrence of an operation failure of an autonomous driving control device, an unpredictable situation, or a combination of the operation failure and the unpredictable situation in the autonomous driving mode.The method may further include: controlling, by the controller, the host vehicle while outputting the first feedback based on a second minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a second delay greater than a first delay associated with a first MRM.The method may further include: controlling, by the controller, the output of the first feedback by performing at least one of adjusting the length of a seatbelt connected to the user, generating a vibration on a seat connected to the user, or adjusting the length of the seatbelt in combination with the generating the vibration.The method, wherein the controlling of the outputting of the second feedback by the control unit may include: controlling, by the control unit, the outputting of the second feedback by performing at least one of: changing the backrest angle of the backrest of a seat connected to the user depending on a predetermined time period, repeatedly applying a braking force of a predetermined magnitude to the host vehicle, or changing the backrest angle in combination with the repeated applying of the braking force.The method, wherein the repeated application of the braking force may include: the control unit repeatedly applying the braking force of the predetermined magnitude in the form of a pulse by means of the second feedback device.The method may further include: based on receiving the response regarding the transmission of the control authority by the user during the first time period or the second time period, turning off the feedback device and disabling the autonomous driving mode.BRIEF DESCRIPTION OF THE FIGURESThe above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings: FIG. 1 illustrates an example of components of an autonomous driving control device according to an example of the present disclosure. FIG. 2 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure. FIG. 3 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure. FIG. 4 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure. FIG. 5 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure. FIG. 6 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure. FIG. 7 illustrates an example of the operation of a notification device according to an example of the present disclosure. FIG. 8 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure. FIG. 9 illustrates an example of a computer system associated with a method for controlling autonomous driving according to an example of the present disclosure.With reference to the description of drawings, like or similar components are denoted by like or similar reference numerals.DETAILED DESCRIPTIONHereinafter, referring to the accompanying drawings, some examples of the present disclosure will be described in detail. Throughout the drawings, the same reference numerals are used to designate the same or equivalent elements. Additionally or alternatively, a detailed description of well-known features or functions is omitted so as not to unnecessarily obscure the gist of the present disclosure.Here, in describing elements of an example of the present disclosure, the terms "first", "second", "A", "B", "(a)", "(b)", and the like may be used. These terms are used only to distinguish one element from another element, but the respective elements are not limited regardless of the order or priority of the respective elements. Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. It should be understood that the terms defined by the dictionary are identical to the meanings within the context of the related art, and they should not be interpreted ideally or excessively formally unless clearly defined otherwise in the present application.Hereinafter, various examples of the present disclosure will be described in detail with reference to FIGS. 1 to 9.FIG. 1 illustrates an example of components of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device 100 may include at least one of the following components: a notification device 110, a control unit 120, a memory 130, a display device 140, or any combination thereof. The configuration of the autonomous driving control device 100 illustrated in FIG. 1 is an example, and the examples of the present disclosure are not limited thereto. For example, the autonomous driving control device 100 may include other components (e.g., at least one interface device, a communication device, a sensor device, or any combination thereof) not illustrated in FIG. 1.According to an example, the notification device 110 includes at least one notification device and may provide a notification function to a user.The notification device 110 may include, for example, a first notification device and a second notification device.The first notification device may include, for example, at least one device that directly and / or indirectly provides a notification to at least a portion of a user's body driving a host vehicle. The first notification device may include, for example, a seatbelt length adjusting device, a seat vibrator, or any combination thereof. The seatbelt length adjusting device may perform, for example, a seatbelt length adjusting function of winding or extending the length of a seatbelt corresponding to at least one seat of the main vehicle. For example, the seat vibrator may include a vibration that vibrates at least a portion (e.g., a cushion) of a seat on which a user to receive a notification is seated.The second notification device may include, for example, at least one device that provides a notification by indicating a change that the user can perceive through a vestibular organ. The second notification device may include, for example, at least one device for adjusting the seat back angle, a braking device (e.g., a device for adjusting the speed of the host vehicle), or any combination thereof. For example, the backrest angle adjusting device may perform a seat angle adjusting function of tilting or erecting an angle of at least one seat of the host vehicle. For example, the brake device may adjust the traveling speed of the host vehicle by repeatedly applying a braking force having a predetermined magnitude in a predetermined shape (e.g., in the form of a pulse) to a drive device (e.g., an engine) of the host vehicle.For example, the notification device 110 may execute a notification function having various stages under the control of the control unit 120. For example, the notifying device 110 may perform a notifying function having a plurality of stages in which one of the intensity, time period, or any combination thereof of the function of adjusting the seatbelt length is differently applied by the seatbelt length adjusting device. For example, the notifying device 110 may execute the notifying function with a plurality of stages in which at least one of an angle range, the angle change period, or any combination thereof of the seat angle setting function is differently set by the seat angle setting device.For example, the notification device 110 may selectively execute a first-level notification and / or a second-level notification.For example, the notification in the first stage may include an operation of adjusting the length of a seatbelt at a first intensity based on a first time period using the seatbelt length adjuster. The first portion may include, for example, a first retracting portion for winding a seatbelt having a first thickness and a first neutral portion. The first retraction portion and / or the first idle portion may be a value that can be changed by a user and / or a manufacturer. For example, the notification in the first stage may include an operation of generating vibration in at least a part of a seat with a first intensity based on a first period by a seat vibrator.For example, when the second notifying device included in the notifying device 110 is not normally operating (e.g., is broken), the second stage of the notification may include an operation of adjusting a length of the seatbelt having a second intensity greater than the first intensity using the seatbelt length adjusting device based on the second period less than the first period. The second period of time may include, for example, a second retraction portion for retractoring a seatbelt having a second intensity and a second coasting portion. The second retraction section and the second idling section can each be a value that can be changed by a user and / or a manufacturer. For example, the second-stage notification may include an operation of generating vibration in at least a part of the seat at a second intensity based on a second period by a seat vibrator. In other words, the second-level message may include a message having a shorter duration and / or stronger strength than the first-level message described above.For example, when the first notifying device included in the notifying device 110 is not normally functioning (e.g., when broken), the first-stage notification may include an operation of adjusting the angle of the seat in a first angle portion based on a third period by the seat angle adjusting device. The first-stage notification using the seat angle adjustment device may include, for example, an operation in which the angle of the seat is changed stepwise and repeatedly in a range between a minimum value of the first angle portion and a maximum value of the first angle portion. The third period may be a value that can be changed by the user and / or manufacturer. For example, the first-stage notification may include an operation that allows the user to feel a feeling of difference during travel by repeatedly applying a braking force of a predetermined magnitude and a predetermined shape (e.g., a pulse shape) to the main vehicle using a notification device.For example, the second-stage notification may include an operation of adjusting the angle of a seat at a second angle portion wider than the first angle portion by operating by the seat angle adjusting device based on a fourth period smaller than the third period. The second-stage notification using the seat angle notifying device may include an operation in which the angle of the seat is changed stepwise and repeatedly in a range between the minimum value of the second angle portion and the maximum value of the second angle portion. The fourth time period may be a value changeable by a user and / or a manufacturer. For example, the second-stage notification may include an operation that allows the user to feel a feeling of difference during travel by repeatedly applying a braking force of a magnitude larger than that of the first stage and applying a predetermined shape (e.g., a pulse shape) to the host vehicle using a notification device.For example, the notification device 110 may perform a notification function based on various kinds of control signals. For example, the notifier 110 may perform a notifier function for some of a plurality of stages based on a control signal including at least one of a ramp-up signal, a stage signal, a sine signal, or any combination thereof.According to an example, the controller 120 may be operatively connected to the notifier 110, the memory 130, and / or the display 140. For example, the control unit 120 may control operations of the notification device 110, the memory 130, and / or the display device 140.For example, the control unit 120 may control the host vehicle in an autonomous driving mode based on an autonomous level of the plurality of autonomous driving levels. For example, when controlling the host vehicle in an autonomous driving mode based on a predetermined level of autonomous driving (e.g., level 3), the controller 120 may determine that an event occurs associated with a transmission of the control authority of the host vehicle.For example, the event in connection with the transmission of the control authority of the main vehicle may contain information about a driving situation of the main vehicle. For example, the event may include the volume of traffic on a road on which the host vehicle is traveling, the speed of travel of the host vehicle, the state of travel of a vehicle in front of the host vehicle, or any combination thereof. For example, the event may include predefined reference parameters. In other words, the event may include various information about the driving situation of the host vehicle that has been stored in advance.For example, when the control unit 120 does not receive a response from the user regarding transmission of the control authority based on an event occurring during a first time (e.g., 4 seconds), the control unit 120 may identify an operation state of a notification device (e.g., the first notification device) identified based on a predetermined priority among a plurality of notification devices included in the notification device 110. For example, the control unit 120 may determine whether the first notifying device is normally operating.For example, if it is determined that the first notifier is operating normally, the controller 120 may perform a notification (e.g., a first level notification) by operatively utilizing at least a portion of the first notifier. For example, when the first notification device is operating normally, the controller 120 may provide a first level notification comprising at least one of: providing a notification to a user regarding a transition of the control authority by adjusting (e.g., rolling up) the length of the seatbelt corresponding to a user using the first notification device, providing a notification to the user regarding a transition of the control authority by generating a vibration in a seat in which the user sits using the first notification device, or any combination thereof.For example, when it is determined that the first notification device is not functioning normally, the control unit 120 may output a notification using a notification device other than the first notification device among a plurality of notification devices in the notification device 110. For example, in a plurality of remaining notification devices, the controller device 120 may perform a notification (e.g., a first level notification) using a notification device (e.g., a second notification device) identified based on a set priority. In this case, the control unit 120 may make a second-stage notification by continuously using the second notifying device, similarly to the second-stage notification described later. For example, the second level notification using the second notification device may include a shorter duration notification and / or stronger strength notification than the first level notification described above. For example, when the first notification device is not operating normally, the control unit 120 may provide a first level notification including at least one of: providing a notification to a user regarding a transition of the control authority by changing a backrest angle of a seat corresponding to the user depending on a predetermined period of time using the second notification device, repeatedly applying the braking force of a predetermined magnitude to the host vehicle using a second notification unit, or any combination thereof. The braking force can be generated, for example, on the basis of a control signal having a predefined variable in the form of a pulse.For example, when a response is received from the user within the first time, the control unit 120 may turn off the notification device 110, transmit the control authority of the host vehicle to the user, and end the autonomous driving control for the host vehicle.For example, if the control unit 120 does not receive a response regarding transmission of the control authority from the user during a second time (e.g., 6 seconds) from the time of executing the first-stage notification, the control unit 120 may execute a second-stage notification using at least one notification device among the plurality of notification devices included in the notification device 110. For example, when the first-stage notification is performed using the first notification device, the control unit 120 may perform a second-stage notification using at least one notification device (e.g., the second notification device) among the remaining notification devices other than the first notification device. For example, when a situation in which the second notification device is out of operation is detected, the control unit 120 may continuously perform the second-stage notification using the first notification device. In this case, the control unit 120 may perform the second-stage notification by changing, with the aid of the first notifying device, at least the intensity, the duration, or any combination thereof of the first-stage notification. For example, the second level notification using the first notification device may include a notification having a shorter duration and / or stronger strength than the first level notification described above. cFor example, when a response is received from the user within the second time, the control unit 120 may turn off the notification device 110, transmit the control authority of the host vehicle to the user, and end the autonomous driving control for the host vehicle.For example, the response regarding the transmission of the control authority may include at least one of the following: steering wheel control of the host vehicle, pressure on a throttle and / or brake pedal of the host vehicle, touch input on a display of the host vehicle, manual input of the seat angle adjustment continuously generated beyond a predefined time, or any combination thereof.For example, when executing the second-stage notification using the notifying device 110, the control unit 120 may control the traveling speed of the host vehicle. For example, while the second level notification is made to the user by the second notifying device, the control unit 120 may control the host vehicle based on a first minimum risk maneuver (MRM) that decelerates the travel speed of the host vehicle to the first acceleration (e.g., -1 m / s 2).For example, if the control unit 120 does not receive a response regarding transmission of the control authority from the user during a third time from the start of the second-stage notification, the control unit 120 may transmit a third-stage notification to the user. For example, the third level notification may include a notification that is transmitted to the user using the first notification device and the second notification device. The third stage of the notification can comprise, for example, a notification that takes place in a shorter period of time and / or in a stronger strength than the second stage of the notification by the first notification device. For example, the third level notification using the second notification device may include a shorter duration notification and / or stronger strength notification than the second level notification.For example, the control unit 120 may provide various information related to driving control of the host vehicle to a user using the display device 140. For example, the controller 120 may provide the user, via the display device 140, with information about at least one of the following events related to transmission of the control authority, the first level notification, the second level notification, provision of a notification function, release of an autonomous driving mode, or any combination thereof, in the form of visual and / or audible content.For example, the control unit 120 may recognize an emergency situation when controlling the host vehicle in an autonomous driving mode based on the autonomous driving level at the predetermined level. For example, the emergency situation may include a situation different from the event related to the transmission of the control authority described above. In other words, the emergency situation may include a driving situation that has not been previously stored. For example, the emergency situation may include at least an operation failure of the autonomous driving control device 100, an unpredictable situation (e.g., at least one accident, lane departure, an invading vehicle, an external environment change, or any combination thereof) associated with driving the host vehicle, or any combination thereof.If, for example, an emergency situation is detected, the control unit 120 can immediately issue a notification with the aid of the first notification device. For example, the control unit 120 may omit the waiting time of the first time and / or execute the first-stage notification and execute the second-stage notification immediately. For example, when executing the second-stage notification due to the occurrence of an emergency situation, the control unit 120 may control the host vehicle based on the second MRM decelerating the traveling speed of the host vehicle to a second acceleration (e.g., -4 m / s 2) greater than the first acceleration.The numerical values described with respect to the first time, the second time, the first acceleration, and the second acceleration are merely illustrative, and the examples of the present disclosure are not limited thereto. For example, the second acceleration may be -5 m / s 2. For example, the first time and the second time may be a value that is modifiable by a user and / or a manufacturer.According to an example, the memory 130 may store instructions or data. For example, the memory 130 may store one or more instructions that cause the autonomous driving control device 100 to perform various operations when executed by the control unit 120.For example, the memory 130 and the control unit 120 may be implemented as a chipset. The control unit 120 may include at least one communication processor or a modem.For example, various information related to the autonomous driving control device 100 may be stored in the memory 130. For example, the memory 130 may store information about the operation of the control unit 120. For example, the memory 130 may store information related to states and / or operations of components of the host vehicle (e.g., at least one of an engine control unit (ECU), the notifier 110, the controller 120, the display 140, or any combination thereof).According to an example, the display device 140 may include at least one output device. For example, the display device 140 may include an output device (e.g., a display and / or a speaker) located at least partially within the interior of the host vehicle.For example, the display device 140 may provide the user with various information about the driving situation of the host vehicle in the form of visual and / or audio content.For example, the display device 140 may output information on various driving information (e.g., on at least one of the following events related to transmission of the control authority, an emergency situation, or any combination thereof) generated during driving of the host vehicle in the autonomous driving mode in real-time.For example, the display device 140 may output information on a notification function performed by the notification device 110 in real time under control of the controller 120. The display device 140 may inform the user of at least one of the following events, for example, the event related to the transmission of the control authority, a notification by the first notification device, a notification by the second notification device, or any combination thereof through visual and / or auditive content.FIG. 2 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device (e.g., the autonomous driving control device 100 of FIG. 1 ) may control a host vehicle 201 in an autonomous driving mode. For example, the autonomous driving control device may control the host vehicle 201 in the autonomous driving mode based on an autonomous driving level having a predetermined level (e.g., level 3) or higher.According to an example, during control of the host vehicle 201 in the autonomous driving mode, the autonomous driving control device may determine that an event associated with transmission of the control authority of the host vehicle 201 occurs at a first time 205 based on the autonomous driving mode (e.g., a dynamic driving task (DDT)).According to an example, at the first time 205, the autonomous driving control device may display information to the user about the transmission of the control authority based on the identification of the occurrence of the event. For example, the autonomous driving control device may provide various information indicative of the need for user control to the user using a display device (e.g., the display device 140 in FIG. 1 ).According to an example, when the autonomous driving control device receives no response from the user regarding the transition of the control authority during a first time 212, it may determine whether a first notification device determined based on a specific priority among a plurality of notification devices included in one notification device (e.g., the notification device 110 in FIG. 1 ) is operating normally. For example, in normal operation of the first notification device, the autonomous driving control device may execute first-stage notification 250 using the first notification device. For example, when the first notification device is not functioning normally (e.g., when the first notification device is defective), the autonomous driving control device may execute the first-stage notification 250 using a notification device (e.g., a second notification device) determined based on a certain priority. For example, when receiving a response regarding the transmission of the control authority from the user during the first time 212, the autonomous driving control device may transmit the control authority of the host vehicle 201 to the user and then end the control of the autonomous driving mode.For example, the first level notification 250 using the first notification device may include a notification function that includes at least one of the following functions: adjusting the length of a seatbelt corresponding to the user, generating vibration on the seat on which the user sits, or any combination thereof.For example, the first stage notification 250 using the first notifying device may include an operation of adjusting the length of a seatbelt having a first intensity based on a first period using the seatbelt length adjusting device. The first period of time may include, for example, a first retraction portion for retractoring a seatbelt at a first intensity and a first coasting portion. The first retraction portion and / or the first idle portion may be a value that can be changed by a user and / or a manufacturer.For example, the first stage notification 250 using the first notification device may include an operation of generating vibration in at least a portion (e.g., a cushion) of a seat on which the user sits, at a first intensity based on a first period using a seat vibrator.For example, if the first notification device fails at a time when the first stage notification 250 is to be made, the autonomous driving control device may make the first stage notification 250 using another notification device (e.g., a second notification device). For example, the first stage notification 250 using the second notification device may include a notification function including at least one of changing the backrest angle of the seat corresponding to the user depending on a predetermined period of time, repeatedly applying a braking force of a certain magnitude to the host vehicle, or any combination thereof.For example, the first stage notification 250 using the second notification device may include an operation of adjusting a backrest angle of a seat within a predetermined angle range by the backrest angle adjustment device depending on a predetermined period of time. The notification of the first stage 250 using the backrest angle notification device may include, for example, an operation in which the angle of the seat is changed stepwise and repeatedly in a range between a minimum value of a predetermined angle portion and a maximum value of the predetermined angle portion. For example, the predetermined time period may be a fixed value that is modifiable by a user and / or a manufacturer.For example, the first-stage notification 250 using the second notification device may include an operation of repeatedly applying the braking force of a predetermined magnitude to the host vehicle 201 using a notification device. The first-stage notification 250 using a notification device may include, for example, an operation of delaying the traveling speed of the host vehicle 201 based on a control signal having a pulse shape based on a predetermined magnitude.For example, the first stage notification 250 may be performed on the premise that the autonomous driving control device determines that the user is seated with the seatbelt worn. In other words, the autonomous driving control device may continuously determine whether the seatbelt is fastened after the first time 205. When it is determined that the user is seated with the seatbelt worn, the autonomous driving control device may normally execute the first stage notification 250.According to an example, the autonomous driving control device may execute a second notification of the first stage 260 using a notification device when no response regarding transmission of the control authority is received from the user during a second time 214 from a time at which the first stage of notification 250 was performed. For example, when receiving a response regarding the transmission of the control authority from the user during the second time 214, the autonomous driving control device may transmit the control authority of the host vehicle 201 to the user and then end the control of the autonomous driving mode.For example, the second stage notification 260 using the second notification device may include a notification function including at least one of changing the backrest angle of the seat corresponding to the user depending on a predetermined period of time, repeatedly applying a braking force of a certain magnitude to the host vehicle, or any combination thereof.For example, the notification of the second stage 260 using the second notifying device may include an operation of adjusting a backrest angle of a seat within a predetermined angle portion by the backrest angle adjusting device depending on a predetermined period of time. The notification of the second stage 260 using the backrest angle notification device may include, for example, an operation in which the angle of the seat is changed stepwise and repeatedly in a range between a minimum value of a predetermined angle portion and a maximum value of the predetermined angle portion. For example, the seatback angle adjustment device according to the second stage of the notification 260 may adjust the seatback angle of a seat in a shorter period of time and a wider angle portion than in the notification of the first stage 250.For example, the second stage notification 260 using the second notifying device may include an operation of repeatedly applying the braking force of a predetermined magnitude to the host vehicle 201 using a notifying device. The second stage notification 260 using a notification device may include, for example, an operation of delaying the traveling speed of the host vehicle 201 based on a control signal having a pulse shape based on a predetermined magnitude. For example, according to the second-level notification 260, the braking device may repeatedly decelerate the travel speed of the host vehicle 201 based on a stronger level (e.g., greater deceleration) than in the first-level notification 250.For example, if the second notification device fails at a time when the second stage notification 260 needs to be made, the autonomous driving control device may make the second stage notification 260 using another notification device (e.g., a first notification device). For example, the second stage notification 260 using the first notification device may include a notification function that includes at least one of the following functions: adjusting the length of a seatbelt corresponding to the user, generating a vibration on the seat on which the user sits, or any combination thereof.For example, the notification of the second stage 260 using the first notifying device may include an operation of adjusting the length of the seatbelt at a second intensity greater than the first intensity by using the seatbelt length adjusting device based on the second period shorter than the first period.For example, the second stage of notification 260 using the first notification device may include an operation of generating vibration in at least a portion (e.g., a cushion) of a seat on which the user sits, at a second intensity based on a second period using a seat vibrator.According to an example, a time from the first time 205, which is a time when an event occurs related to the transmission of the control authority, to a second time 215, which is a time when the notification of the second stage 260 is executed, may be defined as a transmission demand (TD) execution time 210. For example, the TD execution time 210 may be defined as a limit time to inform the user that transmission of the control authority is required. When the limit time is exceeded, the autonomous driving control device may reduce the traveling speed of the host vehicle 201.While the autonomous driving control device executes the notification of the second stage 260, the autonomous driving control device may control the host vehicle 201 based on a first MRM (or MRM stage 1), including an operation of retarding the traveling speed of the host vehicle 201 to a first acceleration.According to an example, the autonomous driving control device may reduce the travel speed of the host vehicle 201 during a third time point 222 which is a time from the second time point 215 which is the time point at which the second stage notification 260 is executed to a third time point 225 when the travel speed of the host vehicle 201 is less than a predetermined value (e.g., 0 m / s). Moreover, the autonomous driving control device may provide the user with at least one of the following information through visual and / or audio content using a display device (e.g., the controller 140 in FIG. 1 ): a driving situation of the host vehicle 201, information indicating that transmission of the control authority is required, or any combination thereof.According to an example, the autonomous driving control device may receive manual input of the seat angle setting from the user during execution of the first stage notification 250 or the second stage notification 260.For example, the autonomous driving control device, while executing the first-stage notification 250 or the second-stage notification 260 using a seat angle setting device, may receive the manual input of the seat angle setting from the user that continues for a certain time.For example, when the specific time during which the manual input of the seat angle setting is continued exceeds the predefined time, the autonomous driving control device may recognize that the corresponding manual input of the seat angle setting is a response regarding transmission of the control authority to the user, and may end (or release) the autonomous driving control for the host vehicle 201.For example, the autonomous driving control device may continuously issue a notification or execute autonomous driving control when the predefined time in which the manual input of the seat angle setting is continued is not exceeded.According to one example, the autonomous driving control device may end the travel of the host vehicle 201 when it has not received a response regarding the transmission of the control authority until the third time 225. For example, the autonomous driving control device may delay the travel speed of the host vehicle 201 to zero and disable the driving of the host vehicle 201 and / or the autonomous driving control of the autonomous driving control device.FIG. 3 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device (e.g., the autonomous driving control device 100 of FIG. 1 ) may control a host vehicle 301 in an autonomous driving mode. For example, the autonomous driving control device may control the host vehicle 301 in the autonomous driving mode based on an autonomous driving level having a predetermined level (e.g., level 3) or higher.According to an example, during control of the host vehicle 301 in the autonomous driving mode, the autonomous driving control device may determine that an emergency situation occurs at a first time 305 based on the autonomous driving mode (e.g., a dynamic driving task (DDT)). For example, the emergency situation may include a situation different from the event associated with the transmission of the control authority of FIG. 2 described above. In other words, the emergency situation may include a driving situation that has not been previously stored. For example, the emergency situation may include at least an operation failure of the autonomous driving control device, an unpredictable situation (e.g., at least one accident, lane departure, an invading vehicle, an external environment change, or any combination thereof) related to driving the host vehicle 301, or any combination thereof.According to one example, the autonomous driving control device may skip the waiting time of the first time and / or the execution of a first level notification and immediately execute a second level notification 360 (e.g., the second level notification 260 in FIG. 2 ) at a first time 305 when a driving situation occurs when the emergency situation is detected. For example, while executing the notification of the second stage 360 based on the occurrence of an emergency situation, the autonomous driving control device may control the host vehicle 301 based on the second MRM (or MRM stage 2) that decelerates the traveling speed of the host vehicle 301 to a second acceleration greater than a first acceleration.According to an example, the autonomous driving control device may reduce the travel speed of the host vehicle 301 to the second acceleration during a fourth time 312 between the first time 305 and a second time 315. When a response regarding the transmission of the control authority remains off until the second time 315, the autonomous driving control device may stop the traveling of the host vehicle 301. For example, the autonomous driving control device may delay the travel speed of the host vehicle 301 to zero and disable the travel of the host vehicle 301 and / or the autonomous driving control of the autonomous driving control device.FIG. 4 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device (e.g., autonomous driving control device 100 of FIG. 1 ) may perform the operations described in FIG. 4. For example, at least some of the components included in the autonomous driving control device (e.g., the notification device 110, the control unit 120, the memory 130, and / or the display device 140 of FIG. 1 ) may be configured to perform the operations of FIG. 4.In the following example, operations S 410 to S 475 may be performed sequentially, but are not always performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Moreover, descriptions corresponding to or identical to the aforementioned descriptions with respect to FIG. 4 may be briefly described or omitted to avoid redundancy. Additionally or alternatively, at least a portion of operations S 410 to S 475 may be omitted.According to an example, the autonomous driving control device may control a host vehicle in an autonomous driving mode (S410).For example, the autonomous driving control device may control the host vehicle in the autonomous driving mode based on a level of autonomous driving at a predetermined level (e.g., level 3) or higher.According to an example, the autonomous driving control device may determine whether a request for transmission of the control authority is made (S 415).For example, when controlling the host vehicle in the autonomous driving mode, the autonomous driving control device may determine that a situation occurs in which the control authority of the host vehicle needs to be transmitted to the user.For example, the autonomous driving control device may perform operation S 420 when there is a request to transmit the control authority (e.g., operation S 415-Yes).For example, the autonomous driving control device may repeat operation S 410 when the situation in which transmission of the control authority is requested does not occur (e.g., operation S 415-No).According to an example, the autonomous driving control device may determine an operating state transition condition (S 420).For example, the autonomous driving control device may determine the operating state transition condition of the host vehicle. For example, the operating state transition condition may include a condition related to the traveling state of the host vehicle.According to an example, the autonomous driving control device may determine whether the generated situation of the request to transmit the control authority matches a predicted situation (S 425).For example, the predicted situation may include a situation related to the predefined driving of the host vehicle stored in a memory. For example, the predicted situation may include at least one of the following: the volume of traffic on a road on which the host vehicle is traveling, the speed of travel of the host vehicle, the driving state of a vehicle in front of the host vehicle, or any combination thereof. For example, the predicted situation may include predefined reference parameters. In other words, the event may include various information about the driving situation of the host vehicle that has been stored in advance.An unpredictable situation may be an emergency situation, for example. For example, the emergency situation may be other than the predicted situation. In other words, the emergency situation may include a driving situation that has not been previously stored. For example, the emergency situation may include at least one of an operating error of the autonomous driving control device, an unpredictable situation (e.g., at least one accident, lane departure, an invading vehicle, an external environment change, or any combination thereof) associated with driving the host vehicle, or any combination thereof.For example, the autonomous driving control device may perform operation S 430 when predicting a situation where transmission of the control authority is required (e.g., operation S 425-Yes). For example, a situation in which the transmission of the control authority is required may be the predicted situation corresponding to the above-described example in FIG. 2. In other words, the operations after operation S 430 may be replaced with the operations of the above-described autonomous driving control device of FIG. 2.For example, the autonomous driving control device may perform operation S 333 if a situation where transmission of the control authority is required is not the predicted situation (e.g., operation S 425-No). For example, a case where the situation where the transmission of the control authority is required does not correspond to the predicted situation may be a situation corresponding to the above-described example of FIG. 3. In other words, operation S 333 may be replaced with an operation of the above-described autonomous driving control device of FIG. 3.For example, when the situation in which the transmission of the control authority is required does not correspond to the predicted situation, the autonomous driving control device may initiate the MRM control (S 435). The operations of the autonomous driving control device after operation S 333 may be replaced with the description of FIG. 3 described above.According to an example, the autonomous driving control device may initiate the TD control (S 430).For example, the autonomous driving control device may display information on transmission of the control authority of a vehicle to the user and wait for receipt of a response regarding transmission of the control authority input from the user during a first time.According to an example, the autonomous driving control device may determine whether the control authority of the host vehicle is transmitted to a driver (or user) during the first time (S 440).For example, the autonomous driving control device may determine whether a response regarding the transmission of the control authority is received from the user during the first time.For example, the autonomous driving control device may perform operation S 445 when receiving a response regarding the transmission of the control authority by the user during the first time (e.g., operation S 440-Yes).According to an example, the autonomous driving control device may enable the autonomous driving mode (S 445).For example, the autonomous driving control device may transmit the control authority of the host vehicle to the user and enable (or disable) the autonomous driving mode due to the response.For example, the autonomous driving control device may perform operation S 450 when the response regarding transmission of the control authority by the user is omitted during the first time (e.g., operation S 440-No).According to an example, the autonomous driving control device may generate a haptic alert level 1 (e.g., the notification of the first level 250 in FIG. 2 ) using at least one notification device (S 450).For example, the haptic alert level 1 may include a notification of the first level using a notification device.For example, the first-stage notification description may be replaced with the first-stage notification description of FIGS. 1 and 2 described above.According to an example, the autonomous driving control device may determine whether the control authority of the host vehicle is transmitted to a driver (or user) during a second time (S 455).For example, the autonomous driving control device may determine whether the response regarding the transmission of the control authority is received from the user during the second time.For example, the autonomous driving control device may perform operation S 460 when receiving the response regarding the transmission of the control authority by the user during the second time point (e.g., operation S 255-Yes).According to an example, the autonomous driving control device may enable the autonomous driving mode (S 460).For example, the autonomous driving control device may transmit the control authority of the host vehicle to the user and enable (or disable) the autonomous driving mode due to the response.For example, the autonomous driving control device may perform operation S 425 when no response regarding transmission of the control authority by the user is received during the second time (e.g., operation S 255-No).According to an example, the autonomous driving control device may generate a haptic alert level 2 (e.g., the second level notification 260 in FIG. 2 ) (S 456).For example, the haptic alert level 2 may include a second level of notification using a notification device.For example, the second-stage notification description may be replaced with the first-stage notification description described above in FIGS. 1 to 3.According to an example, the autonomous driving control device may determine whether the control authority of the host vehicle is transmitted to a driver (or user) immediately before stopping (S 470).For example, when executing the haptic alert stage 2, the autonomous driving control device may determine whether the response regarding the transmission of the control authority is received from the user. For example, the autonomous driving control device may transmit the control authority to the user based on receiving the response of the control authority.For example, if the control authority is transmitted to the user while the haptic alert level 2 is being performed (e.g., operation S 470-Yes), the autonomous driving control device may perform operation S 4575.According to an example, the autonomous driving control device may enable the autonomous driving mode (S 475).For example, the autonomous driving control device may transmit the control authority of the host vehicle to the user and enable (or disable) the autonomous driving mode due to the response.For example, if the control authority is not transmitted to the user while the haptic alert level 2 is being executed (e.g., operation S 470-No), the autonomous driving control device may repeat operation S 425.FIG. 5 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device (e.g., autonomous driving control device 100 of FIG. 1 ) may perform the operations described in FIG. 5. For example, at least some of the components included in the autonomous driving control device (e.g., the notification device 110, the control unit 120, the memory 130, and / or the display device 140 of FIG. 1 ) may be configured to perform the operations of FIG. 5.In the following example, operations S 510 to S 488 may be performed sequentially, but are not always performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Moreover, descriptions corresponding to or identical to the aforementioned descriptions with respect to FIG. 5 may be briefly described or omitted to avoid redundancy.According to an example, an operation of the autonomous driving control device of FIG. 5 may be referred to as an operation after it is determined that an emergency situation occurs while the autonomous driving control device is executing an autonomous driving situation for a host vehicle based on the autonomous driving mode of a predetermined level or higher.For example, the autonomous driving control device may start the MRM control (S 510).For example, the MRM control may be replaced with an operation of the above-described autonomous driving control device of FIG. 3. In other words, the MRM control of operation S 510 may be a control operation performed by an autonomous driving control device after the autonomous driving control device does not perform the TD control.According to an example, the autonomous driving control device may determine whether there is a risk of collision with the host vehicle (S 520).For example, the autonomous driving control device may perform operations S 532 to S 530 if there is a risk of collision with the host vehicle (e.g., operation S 520-Yes).According to an example, the autonomous driving control device may generate a haptic alert level 3 (S 532).For example, the autonomous driving control device may execute third-stage notification using a notification device. For example, the third-stage notification may include a notification function having the strongest strength and / or the shortest intensity by using at least one notification device among a plurality of notification devices in the notification device. In other words, the third stage of notification may include the most powerful notification function using a notification device. The occurrence of the notification in the third stage may be defined as an EM situation.For example, the second-level notification may include a notification function that notifies a user using at least two or more notification devices (e.g., the first notification device and the second notification device in FIG. 1 ) among a plurality of notification devices included in the notification device.According to an example, the autonomous driving control device may provide the third-stage notification (S 530).For example, the autonomous driving control device may provide a notification function based on the time period and / or the strength corresponding to the haptic alert level 3 by using at least one of the first notification device, the second notification device, or any combination thereof.According to an example, the autonomous driving control device may determine whether the control authority is transmitted to the driver immediately before stopping (S 536).For example, if the control authority of the host vehicle is transmitted to the driver immediately before the host vehicle stops (e.g., operation S 536-Yes), the autonomous driving control device may execute operation S 5308.For example, if the control authority of the host vehicle is not transmitted to the driver immediately before the host vehicle stops (e.g., operation S 536-No), the autonomous driving control device may repeat operation S 530.According to an example, the autonomous driving control device may enable the autonomous driving mode (S 538).For example, based on the response regarding transmission of the control authority by the user, the autonomous driving control device may transmit the control authority of the host vehicle to the user and enable (or disable) the autonomous driving mode.For example, if there is no risk of collision with the host vehicle (e.g., operation S 520-No), the autonomous driving control device may execute operation S 542 to operation S 5448.According to an example, the autonomous driving control device may generate a haptic alert level 2 (S 542).For example, the autonomous driving control device may execute a second stage of notification using a notification device. For example, the situation of the occurrence of the second-stage notification may be defined as an instant MRM situation. In other words, the situation of the occurrence of the second-stage notification in operation S 542 may be defined as an instant MRM situation in which the TD control is omitted and the MRM control is executed immediately.According to an example, the autonomous driving control device may provide the second-stage notification (S 544).For example, the autonomous driving control device may activate the first notification device and / or the second notification device based on a time period corresponding to the haptic alert level 2. For example, an operation of the notification function corresponding to the haptic alert level 2 may be longer than an operation corresponding to the haptic alert level 3 described above. The operation intensity of the notification function corresponding to the haptic warning level 2 may be lower than the operation intensity corresponding to the haptic warning level 3 described above.According to an example, the autonomous driving control device may determine whether the control authority is transmitted to the driver immediately before stopping (S 544).For example, if the control authority of the host vehicle is transmitted to the driver immediately before the host vehicle stops (e.g., operation S 536-Yes), the autonomous driving control device may execute operation S 540.For example, if the control authority of the host vehicle is not transmitted to the driver immediately before the host vehicle stops (e.g., operation S 5446- No), the autonomous driving control device may repeat operation S 544.According to an example, the autonomous driving control device may enable the autonomous driving mode (S 588).For example, based on the response regarding transmission of the control authority by the user, the autonomous driving control device may transmit the control authority of the host vehicle to the user and enable (or disable) the autonomous driving mode.FIG. 6 illustrates an example of the operation of an autonomous driving control device according to an example of the present disclosure.According to an example, among the components and operations illustrated in FIG. 6, descriptions of the same components and operations as those described in FIG. 2 may be referenced and / or replaced with the description of FIG. 2. In other words, an operation of the autonomous driving device of FIG. 6 may include an operation additionally and / or alternatively performed in the operation of the autonomous driving device of FIG. 2.According to an example, an autonomous driving control device (e.g., the autonomous driving control device 100 of FIG. 1 ) may control a host vehicle 601 in an autonomous driving mode. For example, the autonomous driving control device may control the host vehicle 601 in the autonomous driving mode based on an autonomous driving level having a predetermined level (e.g., level 3) or higher.According to an example, during control of the host vehicle 601 in the autonomous driving mode, the autonomous driving control device may determine that an event associated with transmission of the control authority of the host vehicle 601 occurs at a first time 605 based on the autonomous driving mode (e.g., a dynamic driving task (DDT)).According to an example, at the first time 605, the autonomous driving control device may display information to the user about the transmission of the control authority based on the identification of the occurrence of the event. For example, the autonomous driving control device may provide various information indicative of the need for user control to the user using a display device (e.g., the display device 140 in FIG. 1 ).According to an example, when the autonomous driving control device receives no response regarding the transition of the control authority from the user during a first time 612, it may determine whether a first notification device determined based on a specific priority among a plurality of notification devices included in one notification device (e.g., the notification device 110 in FIG. 1 ) is operating normally. For example, in normal operation of the first notification device, the autonomous driving control device may execute first-stage notification 650 using the first notification device. For example, the autonomous driving control device may perform the first-stage notification 650 using a notification device (e.g., a second notification device) determined based on a certain priority when the first notification device is not functioning normally (e.g., when the first notification device is defective). For example, when receiving a response regarding the transmission of the control authority from the user during the first time 612, the autonomous driving control device may transmit the control authority of the host vehicle 601 to the user and then end the control of the autonomous driving mode.For example, the first level notification 650 using the first notification device may include a notification function that includes at least one of the following functions: adjusting the length of a seatbelt corresponding to the user, generating a vibration on the seat on which the user sits, or any combination thereof.For example, the first stage notification 650 using the first notifying device may include an operation of adjusting a length of a seatbelt having a first intensity based on a first period using the seatbelt length adjusting device. The first period of time may include, for example, a first retraction portion for retractoring a seatbelt at a first intensity and a first coasting portion. The first retraction portion and / or the first idle portion may be a value that can be changed by a user and / or a manufacturer.For example, the first stage notification 650 using the first notification device may include an operation of generating vibration in at least a portion (e.g., a cushion) of a seat on which the user sits, at a first intensity based on a first period using a seat vibrator.For example, if the first notification device fails at a time when the first stage 650 notification is to be made, the autonomous driving control device may make the first stage 650 notification using another notification device (e.g., a second notification device). For example, the first stage notification 650 using the second notification device may include a notification function including at least one of changing the seat back angle of the seat corresponding to the user depending on a predetermined period of time, repeatedly applying a braking force of a certain magnitude to the host vehicle, or any combination thereof.For example, the notification of the first stage 650 using the second notifying device may include an operation of adjusting a backrest angle of a seat within a predetermined angle range by the backrest angle adjusting device depending on a predetermined period of time. The notification of the first stage 650 using the seatback angle notification device may include, for example, an operation in which the angle of the seat is changed stepwise and repeatedly in a range between a minimum value of a predetermined angle portion and a maximum value of the predetermined angle portion. For example, the predetermined time period may be a fixed value that is modifiable by a user and / or a manufacturer.For example, the notification of the first stage 650 by the second notifying device may include an operation of repeatedly applying the braking force of a predetermined magnitude to the host vehicle 601 by a notifying device. The first stage notification 650 using a notification device may include, for example, an operation of delaying the traveling speed of the host vehicle 601 based on a control signal having a pulse shape based on a predetermined magnitude.For example, the first stage notification 650 may be performed on the premise that the autonomous driving control device determines that the user is seated with the seatbelt worn. In other words, the autonomous driving control device may continuously determine whether the seatbelt is fastened after the first time 605. When it is determined that the user is seated with the seatbelt worn, the autonomous driving control device may normally execute the first stage notification 650.According to an example, if the autonomous driving control device does not receive a response regarding transmission of the control authority from the user during a second time 614 from a time when the first stage notification 650 was performed, it may perform a second stage notification 660 using a notification device. For example, the autonomous driving control device may transmit the control authority of the host vehicle 601 to the user when receiving a response regarding the transmission of the control authority from the user during the second time 614, and then end the control of the autonomous driving mode.For example, the second level notification 660 using the second notification device may include a notification function including at least one of changing the seat back angle of the seat corresponding to the user based on a predetermined time period, repeatedly applying a braking force of a certain magnitude to the host vehicle, or any combination thereof.For example, the notification of the second stage 660 using the second notification device may include an operation of adjusting a backrest angle of a seat within a predetermined angle range using the device of adjusting the backrest angle based on a predetermined period of time. The second stage notification 660 using the backrest angle adjustment notification device may include, for example, an operation in which the angle of the seat is changed stepwise and repeatedly in a range between a minimum value of a predetermined angle portion and a maximum value of the predetermined angle portion. For example, the seatback angle adjustment device according to the second stage of the notification 660 may adjust the seatback angle of a seat within a shorter period of time and a wider angle portion than the notification of the first stage 650.For example, the second stage notification 660 using the second notifying device may include an operation of repeatedly applying the braking force of a predetermined magnitude to the host vehicle 601 using a braking device. The second stage notification 660 using a brake unit may include, for example, an operation of delaying the traveling speed of the host vehicle 601 based on a control signal having a pulse shape based on a predetermined magnitude. For example, according to the second level notification 660, the braking device may repeatedly decelerate the travel speed of the host vehicle 601 based on a stronger level (e.g., a stronger deceleration) than in the first level notification 650.For example, the autonomous driving control device may provide the notification to the second stage 660 using another notification device (e.g., a first notification device) when the second notification device fails at a time when the notification to the second stage 660 needs to be provided. For example, the second stage notification 660 using the first notification device may include a notification function that includes at least one of the following functions: adjusting the length of a seatbelt corresponding to the user, generating vibration on the seat on which the user sits, or any combination thereof.For example, the second stage notification 660 using the first notifying device may include an operation of adjusting the length of the seatbelt at a second intensity greater than the first intensity by using the seatbelt length adjusting device based on the second period shorter than the first period.For example, the second stage notification 660 using the first notifying device may include an operation of generating vibration in at least a portion (e.g., a cushion) of a seat on which the user sits, at a second intensity based on a second period, using a seat vibrator.According to an example, a time from the first time 605, which is a time at which an event occurs associated with the transition of the control authority, to a second time 615, which is a time at which the second stage notification 660 is performed, may be defined as a transmission demand (TD) execution time 610. For example, the TD execution time 610 may be defined as a limit time to inform the user that transmission of the control authority is required. When the limit time is exceeded, the autonomous driving control device may reduce the traveling speed of the host vehicle 601.According to an example, the autonomous driving control device, while executing the second stage notification 660, may control the host vehicle 601 based on a first MRM (or MRM stage 1), including an operation of retarding the traveling speed of the host vehicle 601 to a first acceleration.According to an example, the autonomous driving control device may reduce the traveling speed of the host vehicle 601 while a third time 622 elapses from the second time 615, which is a time at which the second stage notification 660 is executed. Moreover, the autonomous driving control device may provide the user with at least one of the following information through visual and / or audio content using a display device (e.g., the display device 140 in FIG. 1 ): a driving situation of the host vehicle 601, information indicating that transmission of the control authority is required, or any combination thereof.According to an example, the autonomous driving control device may receive manual input of the seat angle setting from the user during execution of the first stage notification 650 or the second stage notification 660.For example, when executing the notification of the first stage 650 or the second stage 660 using a seat angle setting, the autonomous driving control device may receive the manual input of the seat angle setting by the user that continues for a certain time.For example, when the specific time during which the manual input of the seat angle setting is continued exceeds the predefined time, the autonomous driving control device may recognize that the corresponding manual input of the seat angle setting represents a response intention regarding transmission of the control authority to the user, and may end (or release) the autonomous driving control for the host vehicle 601.For example, the autonomous driving control device may continuously issue a notification or execute autonomous driving control when the specific time during which the manual input of the seat angle setting is continued is not greater than the predefined time.For example, if no response regarding the transmission of the control authority is received until the third time 625, the autonomous driving control device may end the travel of the host vehicle 601. For example, the autonomous driving control device may delay the travel speed of the host vehicle 601 to zero and disable the driving of the host vehicle 601 and / or the autonomous driving control of the autonomous driving control device.According to an example, if during the third time 622, the autonomous driving control device may not receive a response for transmission of the control authority from the user, execute a third stage notification 670 during a fourth time 624 to a third time 625. For example, the third stage notification 670 may include a notification function that notifies the user of a notification using the first notification device and the second notification device included in the notification device.For example, the third stage notification 670 may include a notification function whose operation intensity is set to an intensity greater than the intensity of the first notification function and the intensity of the second notification function, and whose operation time is set to an operation time less than the operation time of the first notification function and the operation time of the second notification function.For example, the third stage notification 670 may include a control function for decelerating the running speed of the host vehicle with an acceleration whose absolute value is greater than the absolute value of the second acceleration used to decelerate the host vehicle 601 during the third time 622.For example, during the fourth time 624 from a time when the third stage notification 670 is executed, if there is no response to a transmission of the control authority from the user, the travel speed of the host vehicle 601 may be reduced to the third time 625 when the travel speed of the host vehicle 601 is below a predetermined value (e.g., 0 m / s). Moreover, the autonomous driving control device may provide the user with at least one of the following information by visual and / or audio content using a display device: a driving situation of the host vehicle 601, information indicating that transmission of the control authority is required, or any combination thereof.For example, if no response regarding the transmission of the control authority is received until the third time 625, the autonomous driving control device may end the travel of the host vehicle 601. For example, the autonomous driving control device may delay the travel speed of the host vehicle 601 to zero and disable the driving of the host vehicle 601 and / or the autonomous driving control of the autonomous driving control device.According to an example, the operations described above performed by the autonomous driving control device as the third notification 670 are examples, and the examples of the present disclosure are not limited thereto.For example, the autonomous driving control device may execute the notification in the third stage 670 by using at least one of the other components (e.g., a haptic function providing device including at least one of the following functions: cushion vibration, headrest vibration, acoustic notification, or any combination thereof), including the examples described above.For example, the autonomous driving control device for autonomous driving may execute the third-stage notification 670 by changing the period of the above-described notification function. For example, as the lapse of time increases, the autonomous driving control device may decrease the duration of the notification via the third stage 670.FIG. 7 illustrates an example of the operation of a notification device according to an example of the present disclosure.According to an example, a notification device (e.g., notification device 110 in FIG. 1 ) may include a plurality of notification devices of different types.Referring to reference number 710, the notification device according to an example may include a seatbelt length adjustment device. The seatbelt length adjusting device may be a component of a first notifying device among a plurality of notifying devices included in the notifying device.For example, the autonomous driving control device may provide a notification function to a first user 715 by retracting a length of a seatbelt 712 corresponding to the first user 715 (or attached to the body of the user) using a seatbelt length adjuster.For example, the seatbelt length adjuster may wind the seatbelt 712 attached to a body portion of the first user 715 in a first direction 716. In this case, the first user 715 may perceive a notification by the seatbelt length adjuster when the body of the first user 715 moves in a second direction 718.Referring to reference numeral 720, the notifying device may include, for example, a device for adjusting the backrest angle of the seat. The device for adjusting the seat back angle of the seat may be a component of a second notification device among a plurality of notification devices included in the notification device.For example, the autonomous driving control device may provide a notification function to a second user by changing the angle of a seat back 725 of a seat in which a second user (not shown) sits with a control unit for adjusting the seat back angle.For example, the seat back angle adjustment device may repeatedly change the angle of the seat back 725 of the seat on which the second user sits within a predetermined angular range 727. In this case, since the body of the second user reciprocates depending on the angle of the seat back 725, the second user can perceive the notification function through the seat back angle adjusting device.FIG. 8 illustrates an example of a flowchart of an autonomous driving control device according to an example of the present disclosure.According to an example, an autonomous driving control device (e.g., autonomous driving control device 100 of FIG. 1 ) may perform the operations described in FIG. 8. For example, at least some of the components included in the autonomous driving control device (e.g., the notification device 110, the control unit 120, the memory 130, and / or the display device 140 of FIG. 1 ) may be configured to perform the operations of FIG. 8.In the following example, operations S 810 to S 850 may be performed sequentially, but are not always performed sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. Moreover, descriptions corresponding to or identical to the above descriptions may be briefly described or omitted to avoid redundancy.According to an example, during control of a host vehicle in an autonomous driving mode, the autonomous driving control device may determine that an event occurs related to transmission of the control authority of the host vehicle (S 810).For example, the event in connection with the transmission of the control authority of the main vehicle may contain information about a driving situation of the main vehicle. For example, the event may include the volume of traffic on a road on which the host vehicle is traveling, the speed of travel of the host vehicle, the state of travel of a vehicle in front of the host vehicle, or any combination thereof. For example, the event may include predefined reference parameters. In other words, the event may include various information about the driving situation of the host vehicle that has been stored in advance.For example, the autonomous driving control device may recognize an emergency situation. The descriptions of the operation of the autonomous driving control device for autonomous driving when an emergency situation is detected may be replaced with the above-described descriptions of FIG. 3.According to an example, when the autonomous driving control device receives no response regarding transmission of the control authority from the user during a first time, the autonomous driving control device may determine whether a first notification device is operating normally (S 820).For example, the response regarding the transmission of the control authority may include at least one of steering wheel control of the host vehicle, pressure on a throttle and / or brake pedal of the host vehicle, touch input on a display of the host vehicle, or any combination thereof.According to an example, the autonomous driving control device may determine whether the first notification device is normal (S 830).For example, when the first notification device is operating normally (e.g., operation S 830-Yes), the autonomous driving control device may execute operation S 840.For example, when the first notification device is not operating normally (e.g., operation S 830-No), the autonomous driving control device may execute operation S 850.According to an example, the autonomous driving control device may give a notification to a user using the first notification device (S 840).For example, when the first notification device is normally operating, the autonomous driving control device may give the user a notification including at least one of the following operations: adjusting, by the first notification device, the length of a seatbelt corresponding to the user, generating, by the first notification device, vibration on the seat on which the user sits, or any combination thereof.According to an example, the autonomous driving control device may give a notification to the user using a second notification device (S 850).For example, when the first notifying device is not functioning normally, the autonomous driving control device may give the user a notification including at least one of the following: changing the backrest angle of the seat corresponding to the user based on a predetermined period of time using the second notifying device, repeatedly applying a braking force of a certain magnitude to the host vehicle, or any combination thereof.FIG. 9 illustrates an example of a computer system associated with a method for controlling autonomous driving according to an example of the present disclosure.Referring to FIG. 9, a computer system 1000 related to a method for controlling autonomous driving may include at least a processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a main memory 1600, and a network interface 1700, which are connected to each other via a bus 1200.The processor 1100 may be a main processor (CPU), or a semiconductor device that processes instructions stored in the memory 1300 and / or the main memory 1600. Each of the memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. The memory 1300 may include, for example, a read only memory (ROM) and a random access memory (RAM).The operations of the method or the algorithms described in connection with the exemplary embodiments disclosed in the present disclosure may thus be realized directly by means of a hardware module or as a software module executed by the processor 1100, or by a combination thereof. The software module may reside in a storage medium (i.e., the memory 1300 and / or the storage 1600) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disk, a removable disk, and / or a compact disk ROM (CD-ROM).The storage medium may be connected to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may also be integrated into the processor 1100. The processor and the storage medium may be implemented with an application specific integrated circuit (ASIC). The ASIC may be incorporated into a user terminal. Alternatively, the processor and the storage medium may be implemented with separate components in the user terminal.The present disclosure is based on the object of solving the aforementioned problems of the prior art, wherein the advantages achieved by the prior art are retained.An example of the present disclosure provides an autonomous driving control device that gradually provides a user with various kinds of notification functions by using a notification device based on at least one of various time periods, intensities, or any combination thereof when recognizing the need for transmission of the control authority, and a method thereof.An example of the present disclosure provides an autonomous driving control device that provides a notification function to a user by selectively using a first notification device including at least a seatbelt length adjustment device, a seat vibrator, or any combination thereof, and a second notification device including at least a seatback angle adjustment device, a main vehicle speed adjustment device (e.g., a brake device), or any combination thereof, and a method thereof.An example of the present disclosure provides an autonomous driving control device that provides a notification function to a user by selectively operating with at least one of the remaining notification devices when a problem occurs in an operation state of at least one of a plurality of notification devices.The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and all other technical problems not mentioned here will be clearly and clearly understood from the following description by those skilled in the art to which the present disclosure pertains.According to an example of the present disclosure, an autonomous driving control device includes a notification device having a first notification device and a second notification device, a memory storing instructions, and a control unit operatively connected to the notification device and the memory. For example, the instructions, when executed by the controller, cause the autonomous driving control device to identify that an event occurs with respect to a transition of the control authority of the host vehicle while a host vehicle is being controlled in an autonomous driving mode, determine whether the first notification device is operating normally if no response is received from a user during a first time with respect to the transition of the control authority, provide a notification to the user by use of the first notification device if the first notification device is operating normally, and provide the notification to the user by use of the second notification device if the first notification device is not operating normally.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control device to provide the notification to the user through use of the second notification device when the response regarding the transition of the control authority is not received from the user during a second time from a time point at which the notification starts to be provided through use of the first notification device, and control the host vehicle based on a first minimum risk maneuver (MRM) including an operation of delaying the travel speed of the host vehicle at a first acceleration while the notification is provided to the user through use of the second notification device.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control device to give the user the notification through both the first notification device and the second notification device when the response regarding the transmission of the control authority is not received from the user during a third time from the time the notification is to give the user using the second notification device.According to an example, the autonomous driving control device may further include a display device. For example, the instructions, when executed by the controller, may cause the autonomous driving controller to provide information to the user via the display device about at least one of the event associated with transmission of the control authority, the notification with the first notification device, the notification with the second notification device, or a combination of the event, the notification with the first notification device, and the notification with the second notification device.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control device to provide the notification to the user immediately by using the first notification device while controlling the host vehicle in the autonomous driving mode when an operation failure of the autonomous driving control device, an unpredictable situation, or a combination of the operation failure and the unpredictable situation occurs.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control device to control the host vehicle based on a second MRM including an operation of retarding the travel speed of the host vehicle at a second acceleration greater than a first acceleration while the notification of the user is immediately performed using the first notification device.According to an example, the instructions, when executed by the controller, may cause the autonomous driving controller to provide the notification to the user comprising at least one of setting a length of a seatbelt corresponding to the user, generating a vibration in a seat in which the user travels by use of the first notification device, or a combination of setting the length of the seatbelt and generating the vibration by use of the first notification device when the first notification device is operating normally.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control unit to give the user a notification including at least one of changing a backrest angle of a seat corresponding to the user based on a predetermined time period, repeatedly applying a braking force of a predetermined magnitude to the host vehicle, or a combination of changing the backrest angle and applying the braking force using the second notification device when the first notification device is not operating normally.According to an example, the instructions, when executed by the control unit, may cause the autonomous driving control device to repeatedly apply the braking force of the predetermined magnitude in the form of a pulse by the second notification device.According to an example, the instructions, when executed by the controller, may cause the autonomous driving control device to turn off the notification device and end the autonomous driving mode when receiving the response regarding the transmission of the control authority from the user during the first time or the second time.According to an example of the present disclosure, a method of controlling autonomous driving includes identifying, by a control unit, that an event occurs related to a transition of the control authority of the host vehicle while a host vehicle is being controlled in an autonomous driving mode, determining, by the control unit, whether a first notification device is operating normally when no response regarding the transition of the control authority is received from a user during a first time, providing, by the control unit, a notification to the user using the first notification device when the first notification device is operating normally, and providing, by the control unit, a notification to the user using a second notification device when the first notification device is not operating normally.According to an example, the autonomous driving control method may further include: providing, by the control unit, the notification to the user using the second notifying device when the response regarding the transition of the control authority is not received from the user during a second time from a time point at which the notification is provided using the first notifying device, and controlling, by the control unit, the host vehicle based on a first MRM including an operation of delaying the traveling speed of the host vehicle at a first acceleration while providing the notification to the user using the second notifying device.According to an example, the autonomous driving control method may further include the controller providing the notification to the user using both the first notification device and the second notification device when the response regarding the transmission of the control authority is not received from the user during a third time from a time point at which the notification is provided to the user using the second notification device.According to an example, the method for controlling autonomous driving may further include providing, by the control unit, information on at least one of the following events related to transmission of the control authority, the notification with the first notification device, the notification with the second notification device, or a combination of the event, the notification with the first notification device, and the notification with the second notification device, with a display device to the user.According to an example, the method for controlling autonomous driving may further include the controller immediately notifying the user using the first notifying device while controlling the host vehicle in the autonomous driving mode when an operation failure of an autonomous driving control device, an unpredictable situation, or a combination of the operation failure and the unpredictable situation occurs.According to an example, immediately providing the notification to the user by the first notifying device may include controlling, by the control unit, the host vehicle based on a second MRM including an operation of decelerating the traveling speed of the host vehicle at a second acceleration greater than a first acceleration while the notification is provided to the user immediately by the first notifying device.According to an example, providing the notification to the user by the control unit using the first notification device when the first notification device is operating normally may include providing the notification to the user by the control unit including at least one of setting a length of a seatbelt corresponding to the user, generating vibration in a seat in which the user is driving by the first notification device, or a combination of setting the length of the seatbelt and generating the vibration by the first notification device when the first notification device is operating normally.According to an example, providing the notification to the user by the control unit using the second notification device when the first notification device is not operating normally may include providing a notification to the user by the control unit including at least one of changing a backrest angle of a seat corresponding to the user based on a predetermined time period, repeatedly applying a braking force of a predetermined magnitude to the host vehicle, or a combination of changing the backrest angle and applying the braking force by using the second notification device when the first notification device is not operating normally.According to one example, the repeated application of the braking force of the predefined variable to the main vehicle by the control unit can furthermore comprise the repeated application of the braking force of the predefined variable in the form of a pulse by the control unit with the aid of the second notification device.According to an example, the method for controlling the autonomous driving mode may further include turning off the notification device including the first notification device and the second notification device, and ending the autonomous driving mode when the response regarding the transmission of the control authority is received from the user during the first time or the second time.The above description is merely for illustrating the technical idea of the present disclosure, and those skilled in the art to which the present disclosure pertains can make various modifications and variations without departing from the essential features of the present disclosure.Accordingly, the examples of the present disclosure are not intended to limit the technical idea of the present disclosure but explain it, and the scope and spirit of the present disclosure are not limited by the above examples. The scope of the present disclosure should be construed by the appended claims, and all equivalents thereof should be construed as being included in the scope of the present disclosure.Hereinafter, an autonomous driving control device according to an example of the present disclosure and a corresponding method will be described.According to at least one of the following examples of the present disclosure, an autonomous driving control device may give a user a notification of transmission of the control authority when identifying, in the control of a host vehicle based on an autonomous driving mode, a situation in which the control authority needs to be transmitted to a user by using at least a part of the various types of notification devices.In addition, an autonomous driving control device may provide, via at least one of the following examples of the present disclosure, notification of transmission of the control authority using a component located in a host vehicle, thereby reducing manufacturing costs.Moreover, according to at least one of the examples of the present disclosure, it is possible to execute the driving control of the host vehicle while maintaining a consistent and comfortable driving feeling by not using a parameter related to the driving environment of the host vehicle.In addition, according to at least one of the examples of the present disclosure, when at least one of the plurality of notification devices included in the host vehicle is not normally operating, a notification function may be adaptively provided by using one of the remaining normally operating notification devices.Moreover, a variety of effects directly or indirectly understood by the present disclosure may be provided.Although the present disclosure has been described with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but can be modified and modified in various ways by those skilled in the art without departing from the scope of the present disclosure claimed in the following claims.FIG. 1 100 is an autonomous driving control device 110 is a notification device 120 is a control unit 130 is a memory 140 is a controllerFIG. 2 201 main vehicle 205 first time 210 transmission demand (TD) execution time 212 first time 214 second time 222 third time 215 second time 225 third time 250 first stage notification 260 second stage notificationFIG. 3 301 main vehicle 305 first time 312 fourth time 315 second time 360 second stage notificationFIG. 6 601 main vehicle 605 first time 610 transmission demand (TD) execution time 612 first time 614 second time 622 third time 624 fourth time 615 second time 625 third time 650 first stage notification 660 second stage notification 670 third stage notificationFIG. 7 712 shows seat belt 715 of first user 716 a first direction 718 a second direction 725 backrest 727 of predetermined angular range

Claims

A control apparatus for autonomous driving, the apparatus comprising: a feedback apparatus having a first feedback apparatus and a second feedback apparatus; a memory configured to store instructions; and a control unit operatively connected to the feedback apparatus and the memory, wherein the instructions, when executed by the control unit, cause the apparatus to: detect an event associated with transmission of the control authority of a host vehicle in an autonomous driving mode; if no response regarding transmission of the control authority is received from a user during a first time period, determine whether the first feedback apparatus is operating in a normal state; based on a determination that the first feedback apparatus is operating in the normal state, output a first feedback via the first feedback apparatus; and based on a determination that the first feedback device is not operating in the normal state, outputting a second feedback via the second feedback device.The apparatus of claim 1, wherein the instructions, when executed by the controller, cause the apparatus to: when no response regarding the transmission of the control authority is received from the user during a second time period, output the second feedback via the second feedback device, the second time period being associated with a feedback output time of the first feedback device; and during the outputting of the second feedback, control the host vehicle regarding a first minimum risk maneuver (MRM), including an operation of delaying a travel speed of the host vehicle with a first delay.The apparatus of claim 2, wherein the instructions, when executed by the controller, cause the apparatus to: when no response regarding the transmission of the control authority is received from the user during a third time period, issue a plurality of feedbacks via both the first feedback device and the second feedback device, the third time period being associated with a feedback issue time of the second feedback device.The apparatus of claim 1, further comprising: a display device, wherein the instructions, when executed by the controller, cause the apparatus to: output, by the display device, information about at least one of the following: the event associated with the transmission of the control authority, the first feedback, the second feedback, or a combination of the event, the first feedback, and the second feedback.The apparatus of claim 1, wherein the instructions, when executed by the controller, cause the apparatus to: when an operation failure of the apparatus, an unpredictable situation, or a combination of the operation failure and the unpredictable situation occurs in the autonomous driving mode, output a third feedback via at least one of the first feedback apparatus or the second feedback apparatus.The apparatus of claim 5, wherein the instructions, when executed by the controller, cause the apparatus to: control the host vehicle during the outputting of the first return based on a second minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a second delay greater than a first delay associated with a first MRM.The apparatus of claim 1, wherein the instructions, when executed by the controller, cause the apparatus to: based on the first retractor operating in the normal state, output the first retractor by executing at least one of: adjusting the length of a seatbelt connected to the user, generating a vibration on a seat connected to the user, or adjusting the length of the seatbelt in combination with the generating the vibration.The apparatus of claim 1, wherein the instructions, when executed by the controller, cause the apparatus to: based on the first feedback device not operating in the normal state, output the second feedback by executing at least one of: changing the backrest angle of the backrest of a seat connected to the user depending on a predetermined time period, repeatedly applying a braking force of a predetermined magnitude to the main vehicle, or changing the backrest angle in combination with the repeated application of the braking force.The apparatus of claim 8, wherein the instructions, when executed by the controller, cause the apparatus to: output the second feedback by repeatedly applying the braking force of the predetermined magnitude in the form of a pulse by the second feedback device.The apparatus of claim 2, wherein the instructions, when executed by the controller, cause the apparatus to: based on receipt of the response regarding transmission of the control authority by the user during the first time period or the second time period, turn off the feedback device and disable the autonomous driving mode.A method for controlling autonomous driving, the method comprising: detecting, by a control unit, an event associated with transmission of the control authority of a host vehicle in an autonomous driving mode; if no response regarding the transmission of the control authority is received from a user during a first time period, determining, by the control unit, whether a first feedback device is operating in a normal state; and based on a determination that the first feedback device is not operating in the normal state, controlling, by the control unit, output of a second feedback via a second feedback device, wherein the second feedback is different from a first feedback connected to the first feedback device.The method of claim 11, further comprising: if no response regarding the transmission of the control authority is received from the user during a second time period, controlling, by the controller, the output of the second feedback, the second time period being associated with a feedback output time of the first feedback device; and controlling, by the controller, during the output of the second feedback, the host vehicle based on a first minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a first delay.The method of claim 12, further comprising: if no response regarding the transmission of the control authority is received from the user during a third time period, controlling, by the controller, outputting a plurality of feedbacks via both the first feedback device and the second feedback device, wherein the third time period is associated with a feedback output time of the second feedback device.The method of claim 11, further comprising: controlling, by the controller and by means of a display device, the output of information about at least one of the following: the event associated with the transmission of the control authority, the first feedback, the second feedback, or a combination of the event, the first feedback, and the second feedback.The method of claim 11, further comprising: controlling, by the control unit, outputting a third feedback via at least one of the first feedback device or the second feedback device based on occurrence of an operation failure of an autonomous driving control device, an unpredictable situation, or a combination of the operation failure and the unpredictable situation in the autonomous driving mode.The method of claim 15, further comprising: controlling, by the controller, the host vehicle while outputting the first feedback based on a second minimum risk maneuver (MRM) including an operation of delaying a travel speed of the host vehicle with a second delay greater than a first delay associated with a first MRM.The method of claim 11, further comprising: controlling, by the controller, the output of the first return by performing at least one of: adjusting the length of a seatbelt connected to the user, generating the vibration in a seat connected to the user, or adjusting the length of the seatbelt in combination with the generating the vibration.The method of claim 11, wherein the controlling the outputting of the second feedback comprises: controlling, by the control unit, the outputting of the second feedback by performing at least one of: changing the backrest angle of the backrest of a seat connected to the user depending on a predetermined period of time, applying a braking force of a predetermined magnitude to the main vehicle, or changing the backrest angle in combination with the repeated applying of the braking force.The method of claim 18, wherein the repeated application of the braking force comprises: repeating application of the braking force of the predetermined magnitude in the form of a pulse by the control unit using the second feedback device.The method of claim 12, further comprising: based on receipt of the response regarding the transmission of the control authority by the user during the first time period or the second time period, turning off the first feedback device and the second feedback device and disabling the autonomous driving mode.

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