Lane change determination system and method, and non-transient computer

Abstract

To provide a minimum risk determination system for lane change.SOLUTION: The present invention provides a minimum risk determination system for lane change, which is mounted in a vehicle and comprises at least one processor. The processor comprises an exogenous risk interval computation module, a system failure determination module, an automatic drive starting condition confirmation module and a determination module. The exogenous risk interval computation module calculates an exogenous risk interval. The system failure determination module determines whether a system of the vehicle has failed at any time and whether a lateral module of a backup system of the vehicle is valid. The automatic drive starting condition confirmation module confirms whether an automatic drive starting condition is satisfied. The determination execution unit executes a minimum risk determination such that any of an exogenous risk, a system failure risk, or a non-satisfaction risk of the automatic drive starting condition has occurred. This will bring the automatic drive into compliance with a regulation and improve travel safety.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a minimum risk determination system and method, and a non-transitory computer-readable medium, and more particularly to a minimum risk determination system and method for lane change, and a non-transitory computer-readable medium.

Background Art

[0002] In recent years, the automatic driving of vehicles has been developing rapidly. However, the Society of Automotive Engineers (SAE International) and the National Highway Traffic Safety Administration (NHTSA) of the United States have classified self-driving vehicles into five levels according to the degree of driving assistance and automation design. Here, a level 3 self-driving vehicle indicates that the automatic driving system can have environmental recognition ability, but the driver can interfere appropriately.

Summary of the Invention

Problems to be Solved by the Invention

[0003] In order to improve the safety of automatic driving, the United Nations' World Forum for Harmonization of Vehicle Regulations has issued UN R157 as the compliance standard for level 3 self-driving vehicles, which aims to have a transfer of driving rights and a minimum risk protection mechanism in case of an emergency (such as a system failure) occurring in a self-driving vehicle or when the automatic driving does not meet the activation standard. In the prior art, there is a lack of performing minimum risk determination during the lane change process. Therefore, how to make the lane change of a self-driving vehicle meet the provisions of UN R157 has become the goal of the efforts of relevant industries.

Means for Solving the Problems

[0004] To solve the above problems, the present invention provides a minimum risk determination system and method for lane change, and a non-transitory computer-readable medium. Through the system architecture and method steps, a self-driving vehicle can perform minimum risk determination during the lane change process.

[0005] According to an embodiment of the present invention, there is provided a minimum risk determination system for lane change provided on a vehicle and including at least one processor. The at least one processor calculates a collision time with a forward object at the current position at any one of a plurality of time points after the vehicle enters a lane change decision, calculates a lateral acceleration for the vehicle to change lanes from the current position to the target lane at the collision time, and calculates an external risk interval with the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance for the vehicle to change lanes to the target lane by an external risk interval calculation module; a system failure determination module that determines whether the vehicle system has failed at any time point and whether the lateral module of the vehicle backup system is effective; an automatic driving start condition confirmation module that checks whether the automatic driving start condition is satisfied based on whether the state of the vehicle driver is available at any time point; a determination unit that determines whether external risks, system failure risks, and automatic driving start condition non-satisfaction risks have occurred in the vehicle, determines that an external risk has occurred when the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time point is less than or equal to the external risk interval, determines that a system failure risk has occurred when the system fails at a certain time point but the lateral module of the backup system is effective, and determines that an automatic driving start condition non-satisfaction risk has occurred when the system is normal and the relative longitudinal distance at a certain time point is greater than the external risk interval but the automatic driving start condition is not satisfied; a lateral component calculation unit that calculates an emergency lateral acceleration of the vehicle by calculating a lane change time for the vehicle to change lanes to the target lane at the aforementioned certain time point when any one of the external risk, system failure risk, and automatic driving start condition non-satisfaction risk occurs, and calculates the lateral component of the vehicle with the emergency lateral acceleration or the normal lateral acceleration; a travelable space calculation unit that calculates a travelable space in the target lane at the aforementioned certain time point with the lateral distance, the lateral component, and the rear object speed of the rear object in the target lane when any one of the external risk, system failure risk, and automatic driving start condition non-satisfaction risk occurs; a minimum risk determination is performed when any one of the external risk, system failure risk, and automatic driving start condition non-satisfaction risk occurs, and when an external risk or a system failure risk occurs,The vehicle can change lanes with a lateral component to enter the drivable space, or decelerate until it stops. If a risk of non - satisfaction of the automatic driving start condition occurs, the vehicle can change lanes with a lateral component to enter the drivable space, or move at least for a certain period of time along the original trajectory of the lane - change decision to another point in time. When the automatic driving start condition is not continuously satisfied, a decision execution unit that re - checks the target lane, the lateral component of the lane change, and the drivable space at the aforementioned other point in time, and a decision module including the same, are provided.

[0006] By this, the external risk interval can be calculated, and by detecting whether the system is faulty and whether the automatic driving start condition is satisfied, it is possible to determine whether an external risk, a system failure risk, and a risk of non - satisfaction of the automatic driving start condition have occurred. By calculating the drivable space and executing the minimum risk decision, the lane change can meet the requirements of UN R157 and the safety can be improved.

[0007] According to the minimum risk decision system for lane change of the foregoing embodiment, the external risk interval calculation module can

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[0008] According to the minimum risk determination system for lane change in the foregoing embodiment, when the determination unit determines that an exogenous risk or a system failure risk has occurred at a certain time point, the lateral component calculation unit

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[0009] According to the minimum risk determination system for lane change in the foregoing embodiment, when there is no obstacle in the drivable space at a certain time point and the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration by regulations, the vehicle can change lanes and enter the drivable space. Otherwise, it decelerates until it stops.

[0010] According to the minimum risk determination system for lane change in the foregoing embodiment, when the determination unit determines that the risk of non - satisfaction of the automatic driving start condition has occurred at a certain time point, the lateral component calculation unit can calculate the lateral component with the normal lateral acceleration.

[0011] According to the minimum risk determination system for lane change in the foregoing embodiment, when there is an obstacle in the drivable space, it can wait for the obstacle to leave and then enter the drivable space with the normal lateral acceleration.

[0012] According to the minimum risk determination system for lane change in the foregoing embodiment, the vehicle successively changes lanes to the drivable space on the road shoulder towards the right and decelerates until it stops.

[0013] According to the minimum risk determination system for lane change in the foregoing embodiment, when the determination unit determines that the risk of non-satisfaction of the automatic driving start condition occurs at a certain point in time, the determination execution unit can issue a warning within at least the foregoing certain period of time.

[0014] According to another embodiment of the present invention, a method for determining the minimum risk of lane change is provided. After a vehicle enters a lane change decision, an external risk interval calculation module of at least one processor calculates the collision time with a forward object at the current position at any of a plurality of time points, calculates the lateral acceleration at which the vehicle changes lanes from the current position to the target lane based on the collision time, and calculates an external risk interval based on the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance at which the vehicle changes lanes to the target lane. An external risk interval calculation step; a system failure determination module of the at least one processor determines whether the vehicle system has failed at any time point and whether the lateral module of the vehicle backup system is effective. A system failure determination step; an automatic driving start condition confirmation module of the at least one processor confirms whether the automatic driving start condition is satisfied based on whether the state of the vehicle driver is available at any time point. An automatic driving start condition determination step; a determination unit of the at least one processor determines whether external risk, system failure risk, and automatic driving start condition dissatisfaction risk have occurred in the vehicle. When the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time point is less than or equal to the external risk interval, it is determined that an external risk has occurred. When the system fails at a certain time point but the lateral module of the backup system is effective, it is determined that a system failure risk has occurred. When the system is normal and the relative longitudinal distance at a certain time point is greater than the external risk interval, but the automatic driving start condition is not satisfied, it is determined that an automatic driving start condition dissatisfaction risk has occurred. A risk determination step; a lateral component calculation unit of the at least one processor calculates the emergency lateral acceleration of the vehicle by calculating the lane change time at which the vehicle changes lanes to the target lane at the aforementioned certain time point when any of the external risk, system failure risk, and automatic driving start condition dissatisfaction risk occurs, and calculates the lateral component of the vehicle based on the emergency lateral acceleration or the normal lateral acceleration. A lateral component calculation step; a travelable space calculation module of the at least one processor, when any of the external risk, system failure risk, and automatic driving start condition dissatisfaction risk occurs, the lateral distance,A drivable space calculation step for calculating the drivable space at a certain point in time based on the lateral component and the rear object speed of the rear object in the target lane, and when any of the external risk, system failure risk, and insufficient automatic driving activation condition risk occurs in the determination execution unit of the at least one processor, making a minimum risk determination. When an external risk or a system failure risk occurs, causing the vehicle to change lanes with the lateral component and enter the drivable space, or decelerating until stationary. And when an insufficient automatic driving activation condition risk occurs, causing the vehicle to change lanes with the lateral component and enter the drivable space, or moving at least a certain period of time along the original trajectory of the lane change decision until another point in time. If the automatic driving activation condition is not continuously satisfied, reconfirming the target lane, the lateral component of the lane change, and the drivable space at the other point in time in a minimum risk determination execution step, including.

[0015] According to the lane change minimum risk determination method of the foregoing embodiment, the external risk interval calculation module

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[0016] According to the lane change minimum risk determination method of the foregoing embodiment, when the determination unit determines that an exogenous risk or a system failure risk has occurred at a certain time point, the lateral component calculation unit

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[0017] According to the lane change minimum risk determination method of the foregoing embodiment, when there is no obstacle in the drivable space at a certain time point and the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration according to regulations, the vehicle can change lanes and enter the drivable space. Otherwise, it decelerates until it stops.

[0018] According to the lane change minimum risk determination method of the foregoing embodiment, when the determination unit determines that an automatic driving start condition dissatisfaction risk has occurred at a certain time point, the lateral component calculation unit can calculate the lateral component with the normal lateral acceleration.

[0019] According to the lane change minimum risk determination method of the foregoing embodiment, when there is an obstacle in the drivable space, it can wait for the obstacle to leave and then enter the drivable space with the normal lateral acceleration.

[0020] According to the lane change minimum risk determination method of the foregoing embodiment, the vehicle successively changes lanes to the drivable space on the road shoulder towards the right and decelerates until it stops.

[0021] According to the lane change minimum risk determination method of the foregoing embodiment, when the determination unit determines that an automatic driving start condition dissatisfaction risk has occurred at a certain time point, the decision execution unit can issue a warning within at least a certain period of time as described above.

[0022] According to another embodiment of the present invention, a non - transient computer - readable medium is provided, which stores a computer program to cause at least one processor to calculate the time - to - collision with a forward object at the current position at any of a plurality of time points after the vehicle enters a lane - change decision, calculate the lateral acceleration for the vehicle to change lanes from the current position to the target lane based on the time - to - collision, calculate an exogenous - risk interval with the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance for the vehicle to change lanes to the target lane, determine whether the vehicle's system has failed at any time and whether the lateral module of the vehicle's backup system is effective, confirm whether the automatic - driving start conditions are met based on whether the state of the vehicle's driver is available at any time, determine whether exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk have occurred in the vehicle, determine that an exogenous risk has occurred when the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time is less than or equal to the exogenous - risk interval, determine that a system - failure risk has occurred when the system has failed at a certain time but the lateral module of the backup system is effective, determine that an automatic - driving start - condition non - satisfaction risk has occurred when the system is normal and the relative longitudinal distance at a certain time is greater than the exogenous - risk interval but the automatic - driving start conditions are not met, calculate the lane - change time for the vehicle to change lanes to the target lane at the aforementioned certain time when any of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, calculate the emergency lateral acceleration of the vehicle, calculate the lateral component of the vehicle with the emergency lateral acceleration or the normal lateral acceleration, calculate the available driving space at the aforementioned certain time with the lateral distance, the lateral component, and the rear - object speed of the rear object in the target lane when any of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, make a minimum - risk decision when any of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, when an exogenous risk or a system - failure risk has occurred, cause the vehicle to change lanes with the lateral component to enter the available driving space or decelerate to a stop, and when an automatic - driving start - condition non - satisfaction risk has occurred,If the vehicle cannot enter the available driving space by changing lanes with a lateral component or move at least for a certain period of time according to the original trajectory of the lane change decision until another point in time, and the automatic driving start conditions are not continuously satisfied, reconfirm the target lane, the lateral component of the lane change, and the available driving space at the aforementioned another point in time.

Brief Description of the Drawings

[0023]

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Modes for Carrying Out the Invention

[0024] Hereinafter, a plurality of embodiments of the present invention will be disclosed in the drawings and described in detail in the following description together with many practical details for clarity. However, those skilled in the art should understand that in other embodiments of the present invention, these practical details are not necessary and thus do not limit the present invention. Also, for the purpose of simplifying the drawings, some conventional structures and elements are shown simply and schematically in the drawings, and overlapping elements can be denoted by the same or similar numbers.

[0025] Note that the terms "first", "second", and "third" in the present text are only for describing different elements or components, and there is no limitation on the elements / components themselves. Therefore, the first element / component can be read as the second element / component, and the combinations of elements / components / machines / modules in the present text are not the generally known, ordinary or conventional combinations in this field. Whether the elements / components / machines / modules themselves are conventional or not cannot be used to determine whether the combination relationship can be easily completed by those skilled in the art.

[0026] Please refer to FIGS. 1 and 2. FIG. 1 is a system block diagram showing a minimum risk determination system 1000 for lane change according to an embodiment of the present invention, and FIG. 2 is a schematic diagram showing the minimum risk determination system 1000 for lane change according to the embodiment of FIG. 1 installed in a vehicle CH and applied to a road. The minimum risk determination system 1000 for lane change is provided in the vehicle CH, and the minimum risk determination system 1000 for lane change includes at least one processor 1100. The aforementioned at least one processor 1100 includes an external risk interval calculation module 1110, a system failure determination module 1120, an automatic driving start condition confirmation module 1130, and a determination module 1140.

[0027] After the vehicle CH enters the lane change decision, the external risk interval calculation module 1110 calculates the collision time with the forward object CT at the current position at any of a plurality of time points, calculates the lateral acceleration at which the vehicle CH changes lanes from the current position to the target lane at the collision time, and calculates the larger of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance D at which the vehicle CH changes lanes to the target lane y to obtain the external risk interval D FCalculate. The system failure determination module 1120 determines whether the system of the vehicle CH has failed at any point in time and whether the lateral module of the backup system of the vehicle CH is effective. The automatic driving start condition confirmation module 1130 confirms whether the automatic driving start condition is satisfied based on whether the state of the driver of the vehicle CH is available at any point in time.

[0028] The decision module 1140 includes a judgment unit 1141, a lateral component calculation unit 1142, a drivable space calculation unit 1143, and a decision execution unit 1144. The judgment unit 1141 judges whether external risks, system failure risks, and automatic driving start condition non-satisfaction risks have occurred in the vehicle CH. When the system is in a normal state, the relative longitudinal distance D between the vehicle CH and the front object CT at a certain point in time described above r is the external risk interval D F or less (that is, D F ≧D r ), it is determined that an external risk has occurred. When the system fails at a certain point in time but the lateral module of the backup system is effective, it is determined that a system failure risk has occurred. When the system is normal and the relative longitudinal distance D at a certain point in time described above r is the external risk interval D F (that is, D r >D F ), but the automatic driving start condition is not satisfied, it is determined that an automatic driving start condition non-satisfaction risk has occurred.

[0029] When any of the external risk, system failure risk, and automatic driving start condition non-satisfaction risk occurs, the lateral component calculation unit 1142 calculates the emergency lateral acceleration of the vehicle CH by calculating the lane change time for the vehicle CH to change lanes to the target lane at a certain point in time, and calculates the lateral component v of the vehicle CH with the emergency lateral acceleration or the normal lateral acceleration. y Calculate.

[0030] When any of the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition occurs, the travelable space calculation unit 1143 calculates the travelable space S1 at a certain point in time based on the lateral distance D y , the lateral component v y and the rear object speed v of the rear object CR in the target lane r .

[0031] When any of the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition occurs, the decision execution unit 1144 makes a minimum - risk decision. When the external risk occurs or the system failure risk occurs, the vehicle CH changes lanes at the lateral component v y and enters the travelable space S1, or decelerates to a stop. When the non - satisfaction risk of the automatic driving start condition occurs, the vehicle CH changes lanes at the lateral component v y and enters the travelable space S1, or moves at least for a certain period of time according to the original trajectory of the lane - change decision until another point in time. If the automatic driving start condition is not continuously satisfied, the target lane, the lateral component v of the lane - change y and the travelable space S1 at the other point in time are re - confirmed.

[0032] Thus, by calculating the external - risk interval D F and detecting whether the system has failed and whether the automatic driving start condition is satisfied, it is possible to determine whether the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition have occurred. By calculating the travelable space S1 and making a minimum - risk decision, the lane - change satisfies the provisions of UN R157 and improves safety. Hereinafter, the details of the minimum - risk decision system 1000 for lane - change will be described in detail.

[0033] At least one processor 1100 of the minimum risk determination system 1000 for lane change is attached to the vehicle CH. Specifically, the number of processors 1100 is 2. One processor 1100 has a control program of the system (main system), and the other processor 1100 has a control program of the backup system. The processor 1100 may be, for example, a central processing unit (CPU), a digital signal processor (DSP), a microprocessor (MPU), a microcontroller (MCU), etc. The processor 1100 can be programmed to achieve specific functions. In this embodiment, each processor 1100 is divided into an exogenous risk interval calculation module 1110, a system failure determination module 1120, an automatic driving start condition confirmation module 1130, and a determination module 1140 after being programmed. Also, different program parts in the determination module 1140 may be divided into a judgment unit 1141, a lateral component calculation unit 1142, a drivable space calculation unit 1143, and a determination execution unit 1144. In addition to the above functions, the processor 1100 can also be programmed to achieve general control and image processing functions of the vehicle CH, and is not limited thereto. In one embodiment, the main system may include mechanisms on a plurality of vehicles, such as a brake mechanism and a steering mechanism. The operation of the vehicle can be achieved by operating through the control program of the main system. The control program of the backup system can also control these mechanisms, or there are two sets of the same mechanisms. One set is controlled by the main system, and the other set is controlled by the backup system.

[0034] The minimum risk determination system 1000 for lane change may include a driver state detection device 1200 and a sensing module 1300. The sensing module 1300 may include a plurality of cameras for detecting the external environment of the vehicle CH. The cameras can capture the current environment. In this way, the relative longitudinal distance D between the vehicle CH and the front object CT r , the front object speed v of the front object CT t, it is possible to calculate information such as the current position and lane lines in the lane L1 of the vehicle CH. The sensing module 1300 may include a radar for detecting obstacles near the vehicle CH, but is not limited thereto. The driver state detection device 1200 detects the states of the driver's eyes, posture, seat belt, etc., and the automatic driving start condition confirmation module 1130 is used to determine whether the automatic driving start conditions are satisfied. In this embodiment, the automatic driving start conditions may be, for example, the PALS state machine of ISO21202, UNR79, or the specification of 47-2 of Taiwan VACC.

[0035] The exogenous risk interval calculation module 1110

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[0036] As shown in FIGS. 1 and 2, in a state where the vehicle CH is performing autonomous driving, the system determines whether to change lanes based on the road conditions of the current lane (for example, lane L1) where the vehicle CH is located and the adjacent lane (for example, lane L2). After the system makes a lane change decision, the vehicle CH starts an automatic lane change. During the lane change process, the exogenous risk interval calculation module 1110 monitors the own vehicle speed v of the vehicle CH h , the relative longitudinal distance D between the vehicle CH and the front object CT r and the front object speed v of the front object CT t constantly, and in this way,

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[0037] When the determination unit 1141 determines that an exogenous risk or a system failure risk has occurred at a certain point in time, the lateral component calculation unit 1142

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[0038] Also, when the determination unit 1141 determines that there is a risk of non-satisfaction of the automatic driving start condition at a certain point in time, the lateral component calculation unit 1142 similarly [Number] performs calculations, but the lateral component v yIt can be calculated. In such a case, when the automatic driving start condition is not satisfied, only driving is unavailable. To indicate that the system is normal and there is no external risk, the vehicle CH may change lanes at the normal lateral acceleration.

[0039] When planning the drivable space S1, the drivable space calculation unit 1143 refers to the rear object speed v of the rear object CR r to calculate the forward longitudinal extension distance D of the vehicle CH (especially the front of the vehicle CH) in the drivable space S1 NLF and the rear longitudinal extension distance D of the vehicle CH (especially the rear of the vehicle CH) NLR By this, based on the length of the vehicle CH, the lateral component v of the vehicle CH y and the longitudinal component v x , the rear object speed v r , and the lateral distance D between the vehicle CH and the target lane y ,

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[0040] As shown in FIG. 2, if the vehicle CH starts to change lanes from lane L1 to lane L2 and suddenly decelerates or applies brakes when there is a forward object CT, and since the current position of the vehicle CH is still on lane L1, the relative longitudinal distance D at this time r becomes the exogenous risk interval D F If it is as follows, the determination unit 1141 determines that an exogenous risk has occurred, and by calculating the emergency lateral acceleration at this time, the lateral component v y is calculated, and the available driving space S1 on lane L2 adjacent to lane L1 is calculated. When the decision execution unit 1144 determines that there is no obstacle in the available driving space S1 on lane L2 at this time and the emergency lateral acceleration is below the upper limit of the emergency lateral acceleration according to the regulations, it can notify the steering mechanism that the vehicle CH changes lanes and enters the available driving space S1 on lane L2. Conversely, it can notify the braking mechanism to decelerate until the vehicle CH stops. Specifically, when the emergency lateral acceleration is below the upper limit of the emergency lateral acceleration according to the regulations (for example, 4 meters per second squared), to indicate that this emergency lateral acceleration is safe and permitted by the regulations, the lateral component v y calculated with this emergency lateral acceleration and the steering angle enter the available driving space S1 on lane L2. When the emergency lateral acceleration is greater than the upper limit of the emergency lateral acceleration according to the regulations, to indicate that this emergency lateral acceleration is not safe, the lane change is not executed, and it directly decelerates until it stops. Also, when there is an obstacle in the available driving space S1 on lane L2, to indicate that there is a possibility of being collided with when entering this available driving space S1, the lane change cannot be executed, and it directly decelerates until it stops. A particularly noteworthy point is that since the lateral control of the system is effective, before decelerating until it stops, the vehicle body of the vehicle CH first returns to the positive and then decelerates and stops. At this time, since there is a possibility of collision, the deceleration can be set to 4 meters per second squared.

[0041] Furthermore, the vehicle CH can successively change lanes to the drivable space S1 on the road shoulder L3 towards the right and decelerate until it stops. Specifically, when the vehicle CH moves from lane L1 to lane L2, that is, into the drivable space S1 on lane L2, it can move to the right road shoulder L3. That is, the target lane at this time is the road shoulder L3. At this time, recalculate the drivable space S1 and the emergency lateral acceleration on the road shoulder L3 to change the lane of the vehicle CH to the road shoulder L3. As shown in FIG. 2, after the vehicle CH changes lanes to the drivable space S1 of the road shoulder L3, it can decelerate until it stops. Since the road shoulder L3 is relatively safe, the deceleration at this time may be less than 4 m / s², for example, it may be from 1 m / s² to 3 m / s².

[0042] In another case of assumption, when the vehicle CH starts to change lanes from lane L1 to lane L2 and the system fails but the lateral module of the backup system is effective, at this time, the determination unit 1141 determines that a system failure risk has occurred, and calculates the emergency lateral acceleration at this time to calculate the lateral component v y and calculate the drivable space S1 on lane L2 adjacent to lane L1. If there is no obstacle in the drivable space S1 at this time and the emergency lateral acceleration is below the upper limit of the emergency lateral acceleration according to regulations, it can change lanes and enter the drivable space S1 on lane L2, otherwise, decelerate until it stops. The minimum risk determination when a system failure risk occurs is similar to the minimum risk determination when an exogenous risk occurs. Note that when a system failure risk occurs, the processor 1100 including the backup system control program may perform related operations.

[0043] In the case of further assumptions, vehicle CH starts a lane change from lane L1 to lane L2. At a certain point, the driver becomes unconscious due to some reason. After the driver state detection device 1200 detects the driver's eyes, it notifies the driver abnormality to the automatic driving start condition confirmation module 1130. Then, the automatic driving start condition confirmation module 1130 confirms that the automatic driving start conditions are not satisfied. At this time, if the system is normal and no external risk occurs, the determination unit 1141 determines that a risk of non-satisfaction of the automatic driving start conditions has occurred. In the minimum risk determination, the available driving space S1 on lane L2 can be calculated at this time. At this time, there is no obstacle in the available driving space S1 on lane L2, and the lateral component v calculated with the normal lateral acceleration y can change lanes and enter the available driving space S1. If there is an obstacle in the available driving space S2 on lane L1 at this time, after the obstacle has left, the lateral component v calculated with the normal lateral acceleration y can change lanes and enter the available driving space S1 on lane L2. At this time, since the system is normal, it should be noted that vehicle CH can return positively and wait for the obstacle to leave before entering the available driving space S1 on lane L2. Also, after entering the available driving space S1 of lane L2, calculate the available driving space S1 on the road shoulder L3, and the lateral component v calculated with the normal lateral acceleration y to change lanes, that is, vehicle CH can successively change lanes to the available driving space S1 on the road shoulder L3 towards the right, and finally decelerate until it stops.

[0044] In another minimum risk determination, when the determination unit 1141 determines that the risk of non - satisfaction of the automatic driving start condition has occurred, it moves at least for a certain period of time along the original trajectory of the lane change decision until another time point described above, and then checks whether the automatic driving start condition is continuously satisfied. Specifically, the original trajectory refers to, in the lane change decision, the steering angle, speed, acceleration, etc. for changing the lane from lane L1 to lane L2. Since the system is normal and there is no external risk, the decision execution unit 1144 can give a warning, for example, for 10 seconds within the at least certain period of time. Within 10 seconds, it is possible that the movement along the original trajectory is completed, that is, the vehicle CH has changed lanes from lane L1 to lane L2. At this time, whether the automatic driving start condition is continuously satisfied indicates that the driver does not have the ability to react, and in order to avoid the occurrence of danger, it should stop on the side of the road. Therefore, the current position of the vehicle CH at the above - mentioned another time point is lane L2, the target lane is the road shoulder L3, and the available driving space S1 on the road shoulder L3 can be calculated, decelerate until stopping, and the deceleration can be less than 2 square meters per second. It should be particularly noted that the embodiment in FIG. 2 is an example adding the road shoulder L3 to two lanes L1 and L2, but in other embodiments with multiple lanes, it is the available driving space that can move successively to the right into the road shoulder or the curbstone one by one.

[0045] Please refer to FIG. 3. FIG. 3 is a block - flow chart showing the lane - change minimum - risk determination method 2000 according to another embodiment of the present invention. The lane - change minimum - risk determination method 2000 includes an external - risk interval calculation step 2100, a system - failure determination step 2200, an automatic - driving start - condition determination step 2300, a risk determination step 2400, a lateral - component calculation step 2500, an available - driving - space calculation step 2600, and a minimum - risk determination progress step 2700. Hereinafter, the details of the lane - change minimum - risk determination system 1000 will be described with reference to the lane - change minimum - risk determination method 2000 in FIGS. 1 and 2.

[0046] In the external risk interval calculation step 2100, after the vehicle CH enters the lane change decision, the external risk interval calculation module 1110 of at least one processor 1100 calculates the collision time with the forward object CT at the current position at any of a plurality of time points, calculates the lateral acceleration at which the vehicle CH changes lanes from the current position to the target lane based on the collision time, and calculates the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance D at which the vehicle CH changes lanes to the target lane y to calculate the external risk interval D F .

[0047] In the system failure determination step 2200, the system failure determination module 1120 of at least one processor 1100 described above determines whether the system of the vehicle CH has failed at any time point and whether the lateral module of the backup system of the vehicle CH is effective

[0048] In the automatic driving start condition determination step 2300, the automatic driving start condition confirmation module 1130 of at least one processor 1100 described above determines whether the state of the driver of the vehicle CH is available at any time point and confirms whether the automatic driving start conditions are met

[0049] In the risk determination step 2400, the determination unit 1141 of at least one processor 1100 described above determines whether external risks, system failure risks, and automatic driving start condition non - satisfaction risks of the vehicle CH have occurred. When the system is in a normal state, the relative longitudinal distance D between the vehicle CH and the forward object CT at a certain time point r is the external risk interval D F is less than or equal to (i.e., D F ≧D r ), it is determined that an external risk has occurred. When the system fails at a certain time point but the lateral module of the backup system is effective, it is determined that a system failure risk has occurred. When the system is normal and the relative longitudinal distance D at a certain time point r is the external risk interval D F (i.e., D r >D F) Larger, but if the automatic driving start condition is not satisfied, it is determined that a risk has occurred in the automatic driving start condition.

[0050] In the lateral component calculation step 2500, the lateral component calculation unit 1142 of the at least one processor 1100 described above calculates the emergency lateral acceleration of the vehicle CH by calculating the lane change time for the vehicle CH to change lanes to the target space at a certain point in time when any one of the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition occurs, and calculates the lateral component v of the vehicle CH with the emergency lateral acceleration or the normal lateral acceleration y thereof.

[0051] In the drivable space calculation step 2600, the drivable space calculation unit 1143 of the at least one processor 1100 described above, when any one of the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition occurs, calculates the lateral distance D y , the lateral component v y and the rear - object speed v of the rear object CR in the target lane r to calculate the drivable space S1 at a certain point in time.

[0052] In the minimum risk determination progress step 2700, the determination execution unit 1144 of the at least one processor 1100 described above makes a minimum risk determination when any one of the external risk, system failure risk, and non - satisfaction risk of the automatic driving start condition occurs. When an external risk or a system failure risk occurs, it determines whether to change lanes with the lateral component v of the vehicle CH y to enter the drivable space S1, or to decelerate to a stop, and when a non - satisfaction risk of the automatic driving start condition occurs, it determines whether to change lanes with the lateral component v of the vehicle CH y to enter the drivable space S1, or to move at least for a certain period of time along the original trajectory of the lane change decision until another point in time. If the automatic driving start condition is not continuously satisfied, it checks the target lane, the lateral component v of the lane change y and the drivable space S1 at the other point in time.

[0053] Please refer to FIG. 4. FIG. 4 is a first detailed flowchart showing the lane change minimum risk determination method 2000 according to the embodiment of FIG. 3. First, in step S01, the system (i.e., the main system of autonomous driving) operates normally, and in step S02, it is confirmed whether the driver intervenes, that is, whether the driver intervenes and operates the vehicle CH by himself. If so, it proceeds to step S03, and the driving right is returned to the driver. If not, it proceeds to step S04, and it is confirmed whether to enter the lane change determination, that is, the system determines whether to change lanes according to the current road conditions. If not, it returns to step S01, and the system continues to operate. If so, it proceeds to step S05, and it is determined whether the system has failed.

[0054] When the system failure determination module 1120 confirms in step S05 that the system has failed, it proceeds to step S06, and further confirms whether the backup system has failed. If so, it proceeds to step S09, and decelerates until the vehicle CH stops. If not, it proceeds to step S07, and the system failure determination module 1120 confirms whether the horizontal module of the backup system has failed. If the horizontal module has failed, it proceeds to step S09, and decelerates the vehicle CH until it stops. If the horizontal module is valid, it proceeds to step S08, and the judgment unit 1141 determines that a system failure risk has occurred in the vehicle CH.

[0055] When the system failure determination module 1120 determines in step S05 that the confirmation system is normal and has not failed, it proceeds to step S10, and the exogenous risk interval calculation module 1110 calculates the exogenous risk interval D F The calculation method of the exogenous risk interval D F is the same as above, so it will not be repeated here. Then, it proceeds to step S11, and the judgment unit 1141 determines whether the relative longitudinal distance D r between the vehicle CH and the front object CT is less than or equal to the exogenous risk interval D F (that is, D F ≧D rCompare whether it satisfies). If so, proceed to step S12, and the determination unit 1141 determines that an external risk has occurred in the vehicle CH. If not, proceed to step S13, and the automatic driving start condition confirmation module 1130 determines whether the driver is available. If the driver is available, return to step S01, and the system continues to operate. If the driver is not available, proceed to step S14, and the determination unit 1141 determines that a risk of non-satisfaction of the automatic driving start condition has occurred in the vehicle CH.

[0056] Please refer to FIG. 5 and also refer to FIGS. 1 and 2 together. FIG. 5 is a second detailed flowchart showing the lane change minimum risk determination method 2000 according to the embodiment of FIG. 3. If it is confirmed that a system failure risk has occurred in step S08 or an external risk has occurred in step S12, it is possible to proceed to step S15, and the lateral component calculation unit 1142 calculates the emergency lateral acceleration and the lateral component v y and proceed to step S16, and the available driving space calculation unit 1143 calculates the available driving space S1. For example, when the vehicle CH is on lane L1, calculate the available driving space S1 on lane L2.

[0057] If a system failure risk or an external risk has occurred, there are no obstacles in the available driving space S1, and the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration according to the regulations, it is possible to change lanes and enter the available driving space S1. Conversely, decelerate until it stops. Therefore, in step S17, it is possible to check whether there are obstacles in the available driving space S1 on lane L2. If so, proceed to step S21 and decelerate until lane L1 stops. Conversely, proceed to step S18 and further check whether the calculated emergency lateral acceleration conforms to the norm, that is, check whether the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration according to the regulations. If so, proceed to step S19, and the calculated steering angle and lateral component v yBased on this, it enters the drivable space S1 on lane L2. Conversely, it proceeds to step S21 and decelerates until lane L1 stops. After entering the drivable space S1 on lane L2, it determines whether the current drivable space S1 is on the road shoulder (for example, road shoulder L3) or the adjacent curb. In step S20, if it is confirmed as a result of the determination that lane L2 is not the road shoulder L3 or the adjacent curb, it returns to steps S15 and S16, and the lateral component v y and the next drivable space S1, for example, the drivable space S1 on road shoulder L3, are recalculated, and steps S17, S18, S19, and S20 are sequentially performed. At this time, since it is confirmed that the position where the drivable space S1 is located is the road shoulder L3, it proceeds to step S21 and decelerates until it stops.

[0058] Please refer to FIG. 6 and also refer to FIGS. 1 and 2 together. FIG. 6 is a third detailed flowchart showing the lane change minimum risk determination method 2000 according to the embodiment of FIG. 3. After it is confirmed in step S14 that the risk of non-satisfaction of the automatic driving start condition has occurred, it can proceed to step S22. The lateral component calculation unit 1142 calculates the lateral component v y at the normal lateral acceleration, and then proceeds to step S23. The drivable space calculation unit 1143 calculates the drivable space S1, for example, the drivable space S1 on lane L2. Then, it proceeds to step S24 and checks whether there is an obstacle in the drivable space S1 on lane L2. If there is, it proceeds to step S26 and waits in lane L1. At this time, it moves forward positively and continues to wait, returns to steps S22 and S23 again, updates the drivable space S1 on lane L2 with the current position and related data of the vehicle CH, and proceeds to step S24 to check whether there is an obstacle in the drivable space S1 on lane L2. If there is no obstacle, it can proceed to step S25 and change lanes to enter the drivable space S1 on lane L2. Steps S27 and S28 are similar to steps S20 and S21 and will not be repeatedly described.

[0059] Please refer to FIG. 7 and also refer to FIGS. 1 and 2 in combination. FIG. 7 is a fourth detailed flowchart showing the lane change minimum risk determination method 2000 according to the embodiment of FIG. 3. By other means, in step S14, after confirming that the risk of non-satisfaction of the automatic driving start condition has occurred, it is possible to proceed to step S29. First, a warning is given and the original trajectory, that is, the original trajectory of changing lanes from lane L1 to enter lane L2, is maintained. Then, proceed to step S30 to check whether the driver is available. If so, there is a possibility that the driver is sleeping and it indicates that the driver has woken up after receiving the warning, and it is possible to proceed to step S32 for the driver to restart the system. If not, proceed to step S31, and the lateral component calculation unit 1142 calculates the lateral component v y at the normal lateral acceleration, and proceed to step S33 to calculate the available space S1 on the shoulder L3. Steps S33, S34, S35, S36, S37, and S38 are similar to steps S23 to S28 and will not be repeatedly described.

[0060] A further embodiment of the present invention is a non - transitory computer - readable medium that stores a computer program to cause at least one processor to calculate the collision time with a forward object at the current position at any one of a plurality of time points after the vehicle enters a lane - change decision, calculate the lateral acceleration for the vehicle to change lanes from the current position to the target lane at the collision time, calculate the exogenous - risk interval with the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance for the vehicle to change lanes to the target lane, determine whether the vehicle's system has failed at any time and whether the lateral module of the vehicle's backup system is effective, confirm whether the automatic - driving start conditions are met based on whether the state of the vehicle's driver is available at any time, determine whether exogenous risks, system - failure risks, and automatic - driving start - condition non - satisfaction risks have occurred in the vehicle, determine that an exogenous risk has occurred when the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time is less than or equal to the exogenous - risk interval, determine that a system - failure risk has occurred when the system fails at a certain time but the lateral module of the backup system is effective, determine that an automatic - driving start - condition non - satisfaction risk has occurred when the system is normal and the relative longitudinal distance at a certain time is greater than the exogenous - risk interval but the automatic - driving start conditions are not met, calculate the lane - change time for the vehicle to change lanes to the target lane at the aforementioned certain time when any one of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, calculate the emergency lateral acceleration of the vehicle, calculate the lateral component of the vehicle with the emergency lateral acceleration or the normal lateral acceleration, calculate the available driving space at the aforementioned certain time with the lateral distance, lateral component, and the speed of the rear object of the target lane when any one of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, make a minimum - risk decision when any one of the exogenous risk, system - failure risk, and automatic - driving start - condition non - satisfaction risk has occurred, when an exogenous risk or a system - failure risk has occurred, cause the vehicle to change lanes with the lateral component to enter the available driving space or decelerate to a stop, and when an automatic - driving start - condition non - satisfaction risk has occurred,If the vehicle is to change lanes with a lateral component to enter the available driving space, or is to move at least for a certain period of time according to the original trajectory of the lane change decision until another time point, when the automatic driving start condition is not continuously satisfied, reconfirm the target lane, the lateral component of the lane change, and the available driving space at the aforementioned other time point, and execute the above.

[0061] A non-transitory computer-readable medium may be any data storage hardware unit that stores data and can be subsequently read by a computer device, such as a memory device. The non-transitory computer-readable medium may be a hard drive, a network attached storage device (NAS), a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a recordable CD (CD-R), a rewritable optical disc (CD-RW), a magnetic tape, and other optical or non-optical storage hardware units. Thereby, reading and execution of a computer program stored in the non-transitory computer-readable medium are realized.

[0062] In the present invention, the embodiments have been disclosed as described above, but this does not limit the present invention. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention is based on the content specified in the following claims.

Explanation of Reference Numerals

[0063] 1000 Minimum Risk Decision System for Lane Change 1100 Processor 1110 Exogenous Risk Interval Calculation Module 1120 System Failure Determination Module 1130 Automatic Driving Start Condition Confirmation Module 1140 Decision Module 1141 Judgment Unit 1142 Horizontal Component Calculation Unit 1143 Travelable Space Calculation Unit 1144 Decision Execution Unit 1200 Driver State Detection Device 1300 Sensing Module 2000 Lane Change Minimum Risk Decision Method 2100 Exogenous Risk Interval Calculation Step 2200 System Fault Judgment Step 2300 Autonomous Driving Start Condition Judgment Step 2400 Risk Judgment Step 2500 Horizontal Component Calculation Step 2600 Travelable Space Calculation Step 2700 Minimum Risk Decision Progress Step CH Vehicle CT Front Object CR Rear Object D F Exogenous Risk Interval D NLF Front Longitudinal Extension Distance D NLR Rear Longitudinal Extension Distance D r Relative Longitudinal Distance D y Lateral Distance L1, L2 Lanes L3 Shoulder S1 Travelable Space S01, S02, S03, S04, S05, S06, S07, S08, S09, S10, S11, S12, S13, S14, S15, S16, S17, S18, S19, S20, S21, S22, S23, S24, S25, S26, S27, S28, S29, S30, S31, S32, S33, S34, S35, S36, S37, S38 Steps v h Own Vehicle Speed v r Rear Object Speed v t Front Object Speed v x Longitudinal Component v y Horizontal Component

Claims

1. A minimum risk determination system for lane change provided in a vehicle and including at least one processor, wherein the at least one processor, after the vehicle enters a lane change decision, calculates a collision time with a forward object at the current position at any of a plurality of time points, calculates a lateral acceleration at which the vehicle changes lanes from the current position to a target lane at the collision time, and calculates an exogenous risk interval with the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance at which the vehicle changes lanes to the target lane; an exogenous risk interval calculation module; a system failure determination module that determines whether the vehicle system has failed at any of the time points and whether the lateral module of the vehicle backup system is effective; an automatic driving start condition confirmation module that confirms whether the automatic driving start condition is satisfied based on whether the state of the vehicle driver at any of the time points is available; a determination unit that determines whether an exogenous risk, a system failure risk, and an automatic driving start condition non-satisfaction risk have occurred in the vehicle, and determines that the exogenous risk has occurred when the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time point is less than or equal to the exogenous risk interval, and determines that the system failure risk has occurred when the system has failed at a certain time point but the lateral module of the backup system is effective, and determines that the automatic driving start condition non-satisfaction risk has occurred when the system is normal and the relative longitudinal distance at a certain time point is greater than the exogenous risk interval but the automatic driving start condition is not satisfied; a lateral component calculation unit that calculates an emergency lateral acceleration of the vehicle by calculating a lane change time for the vehicle to change lanes to the target lane at the certain time point when any of the exogenous risk, the system failure risk, and the automatic driving start condition non-satisfaction risk occurs, and calculates a lateral component of the vehicle with the emergency lateral acceleration or the normal lateral acceleration; a travelable space calculation unit that calculates a travelable space in the target lane at the certain time point with the lateral distance, the lateral component, and the rear object speed of the rear object in the target lane when any of the exogenous risk, the system failure risk, and the automatic driving start condition non-satisfaction risk occurs; ​ When any of the external risk, the system failure risk, and the risk of non - satisfaction of the automatic driving start condition occurs, a minimum risk determination is made. When the external risk or the system failure risk occurs, the vehicle is lane - changed by the lateral component to enter the drivable space or decelerated until it stops, and When the risk of non - satisfaction of the automatic driving start condition occurs, the vehicle is lane - changed by the lateral component to enter the drivable space or moved at least for a certain period of time according to the original trajectory of the lane - change decision until another time point. When the automatic driving start condition is not continuously satisfied, the decision execution unit re - checks the target lane, the lateral component of the lane - change, and the drivable space at the other time point. A decision module including A lane - change minimum risk determination system comprising

2. The external risk interval calculation module 【Number 20】 、、 and 【Number 21】 Calculate it to obtain T c is the collision time, D r is the relative longitudinal distance between the vehicle and the forward object, v h is the vehicle's own vehicle speed, v t is the forward object speed of the forward object, a y is the lateral acceleration of the vehicle calculated at the collision time, a yrgmax is the maximum normal lateral acceleration, a ymax is the larger of the lateral acceleration and the maximum normal lateral acceleration, D y is the lateral distance, v x is the longitudinal component of the own vehicle speed, D F The minimum risk determination system for lane change according to claim 1, wherein D is the exogenous risk interval.

3. When the determination unit determines that the external risk or the system failure risk occurs at a certain time point, the lateral component calculation unit 【Number 22】 and 【Number 23】 Calculate it to obtain T Lc where T is the lane change time, L is the length of the vehicle, and t ISO limit is the time during which lane crossing is prohibited by regulations, and a y E is the emergency lateral acceleration. The minimum risk determination system for lane change according to claim 2

4. When there is no obstacle in the drivable space at the certain time point and the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration according to the regulations, the vehicle changes lanes to enter the drivable space; otherwise, it decelerates until it stops. The lane - change minimum risk determination system according to claim 3.

5. When the determination unit determines that the risk of non - satisfaction of the automatic driving start condition occurs at a certain time point, the lateral component calculation unit calculates the lateral component with the normal lateral acceleration. The lane - change minimum risk determination system according to claim 2.

6. When there is an obstacle in the drivable space, wait until the obstacle leaves and then enter the drivable space with the normal lateral acceleration. The lane - change minimum risk determination system according to claim 5.

7. The vehicle successively changes lanes to the drivable space on the road shoulder towards the right and decelerates until it stops. The lane - change minimum risk determination system according to claim 4 or 6.

8. When the determination unit determines that the risk of non - satisfaction of the automatic driving start condition occurs at a certain time point, the decision execution unit gives a warning within the at least certain period of time. The lane - change minimum risk determination system according to claim 1.

9. A lane - change minimum risk determination method, comprising The exogenous risk interval calculation module of at least one processor calculates the collision time with a forward object at the current position at any of a plurality of time points after the vehicle enters a lane change decision, calculates the lateral acceleration for the vehicle to change lanes from the current position to the target lane at the collision time, and calculates an exogenous risk interval using the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance for the vehicle to change lanes to the target lane. The exogenous risk interval calculation step; The system fault determination module of at least one processor determines whether the vehicle's system has failed at any of the time points and whether the lateral module of the vehicle's backup system is effective. The system fault determination step; The automatic driving start condition confirmation module of at least one processor confirms whether the automatic driving start condition is satisfied based on whether the state of the vehicle driver at any of the time points is available. The automatic driving start condition determination step; The determination unit of at least one processor determines whether exogenous risk, system fault risk, and automatic driving start condition dissatisfaction risk have occurred in the vehicle. When the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain time point is less than or equal to the exogenous risk interval, it is determined that the exogenous risk has occurred. When the system fails at a certain time point but the lateral module of the backup system is effective, it is determined that the system fault risk has occurred. When the system is normal and the relative longitudinal distance at a certain time point is greater than the exogenous risk interval, but the automatic driving start condition is not satisfied, it is determined that the automatic driving start condition dissatisfaction risk has occurred. The risk determination step; The lateral component calculation unit of at least one processor calculates the emergency lateral acceleration of the vehicle by calculating the lane change time for the vehicle to change lanes to the target lane at the certain time point when any of the exogenous risk, system fault risk, and automatic driving start condition dissatisfaction risk occurs, and calculates the lateral component of the vehicle using the emergency lateral acceleration or the normal lateral acceleration. The lateral component calculation step; When any one of the exogenous risk, the system failure risk, and the risk of non - satisfaction of the automatic driving start condition occurs in the travelable space calculation module of the at least one processor, the rear object of the lateral distance, the lateral component, and the target lane A travelable space calculation step of calculating the travelable space at a certain point in time with the body speed of the object; When any one of the exogenous risk, the system failure risk, and the risk of non - satisfaction of the automatic driving start condition occurs in the decision - execution unit of the at least one processor, a minimum - risk decision is made; When the exogenous risk or the system failure risk occurs, the vehicle is lane - changed with the lateral component to enter the travelable space, or decelerated until it stops, and When the risk of non - satisfaction of the automatic driving start condition occurs, the vehicle is lane - changed with the lateral component to enter the travelable space, or moved at least for a certain period of time according to the original trajectory of the lane - change decision to another said point in time. If the automatic driving start condition is not continuously satisfied, a minimum - risk decision execution step of re - checking the target lane, the lateral component of the lane - change, and the travelable space at the other point in time; A lane - change minimum - risk decision method including the above.

10. The exogenous risk interval calculation module 【24 Points】 and 【Number 25】 Calculate it to obtain T c where T is the collision time, D r is the relative longitudinal distance between the vehicle and the forward object, v h is the own vehicle speed of the vehicle, v t is the forward object speed of the forward object, a y is the lateral acceleration of the vehicle calculated at the collision time, a yrgmax is the maximum normal lateral acceleration, a ymax is the larger value between the lateral acceleration and the maximum normal lateral acceleration, D y is the lateral distance, v x is the longitudinal component of the own vehicle speed, D F The lane change minimum risk determination method according to claim 9, where D is the exogenous risk interval.

11. When the judgment unit determines that the exogenous risk or the system failure risk occurs at a certain point in time, the lateral component calculation unit 【Number 26】 and 【Number 27】 Perform the calculation on T Lc where T is the lane change time, L is the length of the vehicle, and t ISO limit is the time when crossing the lane is prohibited by regulations, and a y E is the emergency lateral acceleration. The method for determining the minimum risk of lane change according to claim 10

12. If there is no obstacle in the travelable space at the certain point in time and the emergency lateral acceleration is less than or equal to the upper limit of the emergency lateral acceleration according to regulations, change lanes to enter the travelable space; otherwise, decelerate until stopping. The lane - change minimum - risk decision method according to Claim 11.

13. When the judgment unit determines that the risk of non - satisfaction of the automatic driving start condition occurs at a certain point in time, the lateral component calculation unit calculates the lateral component with the normal lateral acceleration. The lane - change minimum - risk decision method according to Claim 10.

14. If there is an obstacle in the travelable space, wait for the obstacle to move away and then enter the travelable space with the normal lateral acceleration. The lane - change minimum - risk decision method according to Claim 13.

15. The lane change minimum risk determination method according to claim 12 or 14, wherein the vehicle successively changes lanes to the travelable space on the road shoulder to the right and decelerates until it stops.

16. When the determination unit determines that the risk of non-satisfaction of the automatic driving start condition has occurred at a certain point in time, the determination execution unit issues a warning within at least a certain period of time, according to the lane change minimum risk determination method of claim 9.

17. A non-transitory computer-readable medium that stores a computer program to cause at least one processor to After the vehicle enters a lane change decision, calculate the collision time with a forward object at the current position at any of a plurality of points in time, calculate the lateral acceleration at which the vehicle changes lanes from the current position to the target lane based on the collision time, and calculate the exogenous risk interval based on the greater of the lateral acceleration and the maximum normal lateral acceleration and the lateral distance at which the vehicle changes lanes to the target lane. Determine whether the vehicle's system has failed at any of the points in time and whether the lateral module of the vehicle's backup system is effective. Check whether the automatic driving start condition is satisfied based on whether the state of the vehicle driver at any of the points in time is available. Determine whether exogenous risk, system failure risk, and risk of non-satisfaction of the automatic driving start condition have occurred in the vehicle. When the system is in a normal state and the relative longitudinal distance between the vehicle and the forward object at a certain point in time is less than or equal to the exogenous risk interval, it is determined that the exogenous risk has occurred. When the system fails at a certain point in time but the lateral module of the backup system is effective, it is determined that the system failure risk has occurred. When the system is normal and the relative longitudinal distance at a certain point in time is greater than the exogenous risk interval but the automatic driving start condition is not satisfied, it is determined that the risk of non-satisfaction of the automatic driving start condition has occurred. When any of the exogenous risk, the system failure risk, and the risk of non-satisfaction of the automatic driving start condition occurs, calculate the emergency lateral acceleration of the vehicle by calculating the lane change time for the vehicle to change lanes to the target lane at the certain point in time, and calculate the lateral component of the vehicle based on the emergency lateral acceleration or the normal lateral acceleration. When any of the external risk, the system failure risk, and the risk of non - satisfaction of the autonomous driving start condition occurs, the lateral distance, the lateral component, and the rear - object speed of the rear object in the target lane are used to calculate the drivable space at a certain point in time, When any of the external risk, the system failure risk, and the risk of non - satisfaction of the autonomous driving start condition occurs, a minimum - risk determination is made, When the external risk or the system failure risk occurs, the vehicle is caused to change lanes with the lateral component and enter the drivable space, or decelerate to a stop, and When the risk of non - satisfaction of the autonomous driving start condition occurs, the vehicle is caused to change lanes with the lateral component and enter the drivable space, or move at least for a certain period of time according to the original trajectory of the lane - change decision to another point in time. When the autonomous driving start condition is not continuously satisfied, the target lane, the lateral component of the lane - change, and the drivable space at the other point in time are re - confirmed, A non - transitory computer - readable medium for causing the above to be executed.

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