Remote control method, computing device and computer program for autonomous vehicle

Abstract

A method, device, and computer program for remote control of an autonomous vehicle are provided. A remote control method for an autonomous vehicle according to various embodiments of the present invention, wherein the remote control method for an autonomous vehicle is performed by a computing device, comprises the steps of obtaining user input from a user through a remote control interface, determining a control command based on the obtained user input, and controlling the operation of the autonomous vehicle using the determined control command.

Description

Technology Field

[0001] Various embodiments of the present invention relate to a remote control method, device, and computer program for an autonomous vehicle. Background Technology

[0002] To enhance the convenience of vehicle users, there is a growing trend of equipping vehicles with various sensors and electronic devices, such as Advanced Driver Assistance Systems (ADAS); in particular, active technological development is underway for autonomous driving systems that recognize the surrounding environment without driver intervention and automatically drive to a given destination based on that environment.

[0003] Here, an autonomous vehicle refers to a vehicle equipped with an autonomous driving system that recognizes the surrounding environment without driver intervention and drives itself to a given destination based on the recognized environment.

[0004] The autonomous driving system performs positioning, perception, prediction, planning, and control for autonomous driving.

[0005] Positioning refers to the operation of estimating the location, attitude, speed, etc., of an autonomous vehicle, while perception refers to the operation of recognizing the presence, distance, and speed of surrounding vehicles, pedestrians, and obstacles, as well as the shape of the road and traffic signals. Furthermore, prediction refers to the operation of anticipating the future state of surrounding vehicles and pedestrians (e.g., future location, speed, path, etc.) and potential hazardous situations (e.g., collisions) in advance; planning refers to the operation of determining the most desirable behavior of the autonomous vehicle (e.g., path, speed, acceleration, etc.); and finally, control may refer to the operation of controlling the movements of the autonomous vehicle (braking, acceleration, steering wheel, etc.) to ensure that the autonomous vehicle drives according to the plan.

[0006] Meanwhile, in the case of autonomous driving systems, situations may arise where normal autonomous driving becomes impossible due to problems such as sensor failures or software errors, or where the vehicle has difficulty responding on its own, such as emergencies affecting passengers. Consequently, there is a growing need for remote control systems that can manage the vehicle's operation from the outside, and some countries, including the United States, are requiring remote control capabilities as a mandatory requirement for operating unmanned autonomous vehicles.

[0007] Furthermore, the need for a remote control system is emerging as vehicles must be able to move in areas outside the operational design domain (ODD) or in situations where it is difficult to receive assistance from autonomous driving software (e.g., situations where driving must be done in areas outside the service area).

[0008] A remote control system is a system that allows an operator not on board the autonomous vehicle to remotely drive the autonomous vehicle or issue control commands, and may be composed of a remote control unit that receives remote control commands from the operator, a communication unit that exchanges remote control commands between the remote control system and the autonomous vehicle, and a control unit that controls the vehicle according to the remote control commands.

[0009] However, in the case of remote control, there is a problem in that precise control of the vehicle is difficult because it involves controlling the vehicle's operation in a limited environment rather than directly perceiving the surrounding environment and manipulating the vehicle's movements from within the autonomous vehicle.

[0010] In addition, in the case of remote control, since control commands are transmitted remotely from outside the autonomous vehicle, there is a problem in that communication delays or data loss may occur as the amount of data to be transmitted increases. The problem to be solved

[0011] The problem that the present invention aims to solve is to provide a remote control method, device, and computer program for an autonomous vehicle that can improve the stability of remote control by enabling stable remote control even in situations where the reliability of the autonomous driving system is low or where it is difficult to receive assistance from autonomous driving software, and by allowing the autonomous vehicle to stop safely even if remote control is abnormally released due to communication delay or communication interruption, for the purpose of resolving the problems of the aforementioned conventional remote control system.

[0012] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by a person skilled in the art from the description below. means of solving the problem

[0013] A remote control method for an autonomous vehicle according to an embodiment of the present invention for solving the above-mentioned problem may include, in a remote control method for an autonomous vehicle performed by a computing device, a step of obtaining user input from a user through a remote control interface, a step of determining a control command based on the obtained user input, and a step of controlling the operation of the autonomous vehicle using the determined control command.

[0014] In various embodiments, the step of determining the control command may include the step of generating a short-term driving path for the autonomous vehicle, the step of generating a speed profile for the autonomous vehicle, and the step of determining a control command that instructs the vehicle to drive the generated short-term driving path according to the generated speed profile.

[0015] In various embodiments, the remote control interface includes a remote control steering wheel for controlling the direction of the autonomous vehicle, and the step of generating the short-term driving path may include, when user input is obtained from the user to operate the remote control steering wheel, generating an expected driving path of the autonomous vehicle based on the amount of operation of the remote control steering wheel, and when the generated expected driving path is approved by the user, setting the generated expected driving path as a short-term driving path for the autonomous vehicle, wherein the set short-term driving path includes steering angle information and angular velocity information for each driving distance of the autonomous vehicle.

[0016] In various embodiments, the remote control interface includes a remote control pedal for speed control of the autonomous vehicle, and the step of generating the speed profile may include, when user input is obtained from the user to operate the remote control pedal, setting the speed profile of the autonomous vehicle to the amount of operation of the remote control pedal, or selecting one speed profile corresponding to the amount of operation of the remote control pedal from a plurality of pre-set speed profiles.

[0017] In various embodiments, the step of controlling the operation of the autonomous vehicle may include providing feedback to the user when the actual driving path and actual speed of the autonomous vehicle resulting from controlling the operation of the autonomous vehicle using the determined control command are different from the generated short-term driving path and the generated speed profile.

[0018] In various embodiments, the step of controlling the operation of the autonomous vehicle may include the step of controlling the operation of the autonomous vehicle to stop after driving along a short driving path generated at a second time point prior to the first time point, when remote control of the autonomous vehicle is abnormally terminated due to communication with the autonomous vehicle being delayed for more than a predetermined time at a first time point or communication with the autonomous vehicle being cut off at the first time point.

[0019] In various embodiments, the step of controlling the operation of the autonomous vehicle may include, when driving of the autonomous vehicle is initiated by controlling the operation of the autonomous vehicle using the determined control command, the step of calculating a collision risk range for the autonomous vehicle based on the expected driving path of the autonomous vehicle, and the step of outputting the generated short-term driving path and the calculated collision risk range through a remote control monitoring interface.

[0020] In various embodiments, the step of calculating the collision risk range may include, when the expected driving path of the autonomous vehicle is a curved path rotating in a first direction, a step of calculating the inner collision risk range of the autonomous vehicle using the difference between the radius of rotation of a wheel of the autonomous vehicle located in front of the first direction and the radius of rotation of a point of the autonomous vehicle located at the shortest distance from the center of rotation of the autonomous vehicle, and a step of calculating the outer collision risk range of the autonomous vehicle using the difference between the radius of rotation of a point of the autonomous vehicle located at the longest distance from the center of rotation and the radius of rotation of a wheel of the autonomous vehicle located in front of the second direction opposite to the first direction.

[0021] In various embodiments, the step of calculating the collision risk range may include the step of calculating the collision risk range of the autonomous vehicle as 0 when the expected driving path of the autonomous vehicle is a straight path.

[0022] In various embodiments, the step of controlling the operation of the autonomous vehicle may include, when the autonomous vehicle is driving according to a control command determined in response to a first user input, obtaining a second user input from the user, generating an expected driving path reflecting the obtained second user input, and outputting the expected driving path reflecting the generated second user input through a remote control monitoring interface, wherein if communication with the autonomous vehicle is delayed for more than a predetermined time, determining the expected location of the autonomous vehicle based on the communication delay time with the autonomous vehicle, and outputting a notification corresponding to the communication delay and the determined expected location through the remote control monitoring interface.

[0023] In various embodiments, the remote control interface includes a remote control steering wheel for controlling the direction of the autonomous vehicle, and the step of controlling the operation of the autonomous vehicle may include, when the autonomous vehicle is driving along the generated short-term driving path while controlling the operation of the autonomous vehicle using the determined control command, obtaining a new user input to operate the remote control steering wheel in a first direction from the user, generating an expected driving path reflecting the obtained new user input, and if the expected driving path reflecting the generated new user input is a path that deviates from the generated short-term driving path, applying a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction.

[0024] In various embodiments, the remote control interface includes a remote control steering wheel for controlling the direction of the autonomous vehicle, and the step of acquiring the user input may include, when acquiring user input from the user to operate the remote control steering wheel in a first direction, a step of applying a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction.

[0025] In various embodiments, the step of applying the resistance torque may include the step of calculating the resistance torque using the current speed of the autonomous vehicle and the first direction angle of the remote control steering wheel, and the step of applying the calculated resistance torque to the remote control steering wheel in the second direction.

[0026] In various embodiments, the step of applying the resistance torque may include the step of calculating the resistance torque using the first direction angle of the remote control steering wheel and the angle threshold of the remote control steering wheel—the angle threshold is calculated based on the current speed of the autonomous vehicle, the minimum turning radius of the autonomous vehicle, the lateral acceleration of the autonomous vehicle, and the maximum turning angle of the remote control steering wheel—and the step of applying the calculated resistance torque to the remote control steering wheel in the second direction.

[0027] In various embodiments, the step of applying the resistance torque may include the step of calculating the resistance torque using the angular velocity of the remote control steering wheel and the first angular velocity of the remote control steering wheel required for the autonomous vehicle to reach a lateral critical distance after a predetermined time, and the step of applying the calculated resistance torque to the remote control steering wheel in the second direction.

[0028] In various embodiments, the step of applying the resistance torque may include the step of calculating the resistance torque using the communication delay time with the autonomous vehicle and the first angular velocity of the remote control steering wheel, and the step of applying the calculated resistance torque to the remote control steering wheel in the second direction.

[0029] In various embodiments, the step of applying the resistance torque may include: a step of calculating a first resistance torque using the current speed of the autonomous vehicle and a first direction angle of the remote control steering wheel; a step of calculating a second resistance torque using the first direction angle of the remote control steering wheel and an angle threshold value of the remote control steering wheel; a step of calculating a third resistance torque using the angular velocity of the remote control steering wheel and the first direction angular velocity of the remote control steering wheel required for the autonomous vehicle to reach a lateral threshold distance after a predetermined time; a step of calculating a fourth resistance torque using the communication delay time with the autonomous vehicle and the first direction angular velocity of the remote control steering wheel; and a step of calculating a final resistance torque by summing the calculated first resistance torque, the calculated second resistance torque, the calculated third resistance torque, and the calculated fourth resistance torque, and applying the calculated final resistance torque to the remote control steering wheel in the second direction, wherein if the calculated final resistance torque exceeds a threshold resistance torque, the step of applying the threshold resistance torque to the remote control steering wheel in the second direction. there is.

[0030] A computing device for performing a remote control method of an autonomous vehicle according to another embodiment of the present invention for solving the above-described problem comprises a processor, a network interface, a memory, and a computer program loaded into the memory and executed by the processor, wherein the computer program may include an instruction for obtaining user input from a user through a remote control interface, an instruction for determining a control command based on the obtained user input, and an instruction for controlling the operation of the autonomous vehicle using the determined control command.

[0031] A computer program according to another embodiment of the present invention for solving the above-described problem may be combined with a computing device and stored on a recording medium readable by the computing device to execute a remote control method for an autonomous vehicle, comprising the steps of obtaining user input from a user through a remote control interface, determining a control command based on the obtained user input, and controlling the operation of the autonomous vehicle using the determined control command.

[0032] Other specific details of the present invention are included in the detailed description and drawings. Effects of the invention

[0033] According to various embodiments of the present invention, there is an advantage in that stable remote control is possible even in situations where the reliability of the autonomous driving system is low or where it is difficult to receive assistance from autonomous driving software, and the stability of remote control can be improved by enabling the autonomous vehicle to stop safely even if remote control is abnormally released due to communication delay or communication interruption.

[0034] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0035] FIG. 1 is a drawing illustrating an autonomous driving system according to one embodiment of the present invention. FIG. 2 is a diagram illustrating the hardware configuration of a computing device for performing a remote control method of an autonomous vehicle according to another embodiment of the present invention. FIG. 3 is a flowchart of a remote control method for an autonomous vehicle according to another embodiment of the present invention. FIG. 4 is a flowchart illustrating a method for determining a user input-based control command in various embodiments. FIG. 5 is a diagram illustrating, in various embodiments, an exemplary remote control monitoring interface provided by a computing device. FIGS. 6 to 8 are drawings illustrating exemplary speed profiles applicable to various embodiments. FIG. 9 is a diagram illustrating the process of calculating the collision risk range in various embodiments. FIG. 10 is a diagram illustrating an exemplary remote control monitoring interface in which an expected driving path and a collision risk range are output in various embodiments. FIG. 11 is a flowchart illustrating a method for applying a resistance torque of a predetermined size through a remote control interface in response to user input in various embodiments. Specific details for implementing the invention

[0036] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined only by the scope of the claims.

[0037] The terms used in this specification are for describing embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. The terms "comprises" and / or "comprising" used in this specification do not exclude the presence or addition of one or more other components in addition to the components mentioned. Throughout the specification, the same reference numerals refer to the same components, and "and / or" includes each of the mentioned components and all combinations of one or more. Although terms such as "first," "second," etc., are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another. Therefore, the first component mentioned below may be the second component within the technical scope of the invention.

[0038] Unless otherwise defined, all terms used herein (including technical and scientific terms) may be used in a meaning commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0039] The terms “part” or “module” as used in the specification refer to software or hardware components, such as FPGAs or ASICs, and “part” or “module” perform certain roles. However, “part” or “module” is not limited to software or hardware. “Part” or “module” may be configured to reside in an addressable storage medium or configured to run on one or more processors. Thus, by example, “part” or “module” includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and “parts” or “modules” may be combined into a smaller number of components and “parts” or “modules,” or further separated into additional components and “parts” or “modules.”

[0040] Spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used to facilitate the description of the relationship between one component and other components as illustrated in the drawings. Spatially relative terms should be understood as encompassing different orientations of components during use or operation, in addition to the orientations depicted in the drawings. For example, if a component depicted in a drawing is inverted, a component described as "below" or "beneath" of another component may be placed "above" of that component. Therefore, the exemplary term "below" may encompass both the lower and upper directions. Components may also be oriented in other directions, and accordingly, spatially relative terms may be interpreted according to the orientation.

[0041] In this specification, the term "computer" refers to any type of hardware device comprising at least one processor, and may be understood to include software configurations operating on said hardware device according to the embodiments. For example, the term "computer" may be understood to include smartphones, tablet PCs, desktops, laptops, and user clients and applications running on each of these devices, but is not limited thereto.

[0042] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0043] Each step described in this specification is described as being performed by a computer, but the subject of each step is not limited thereto, and depending on the embodiment, at least some of each step may be performed on different devices.

[0045] FIG. 1 is a drawing illustrating an autonomous driving system according to one embodiment of the present invention.

[0046] Referring to FIG. 1, an autonomous driving system according to one embodiment of the present invention may include a computing device (100), a user terminal (200), an external server (300), and a network (400).

[0047] Here, the autonomous driving system illustrated in FIG. 1 is according to one embodiment, and its components are not limited to the embodiment illustrated in FIG. 1 and may be added, changed, or deleted as needed.

[0048] In one embodiment, the computing device (100) may provide a remote control service for an autonomous vehicle (10). Here, the remote control service for the autonomous vehicle (10) may refer to a service in which a user (e.g., a remote controller) who is not on board the autonomous vehicle (10) performs operations on the autonomous vehicle (10) from the outside and controls the operation of the autonomous vehicle (10) according to the user's operations, but is not limited thereto.

[0049] In various embodiments, the computing device (100) is connected to a user terminal (200) through a network (400) and, upon receiving a request for the provision of a remote control service from the user through the user terminal (200), can grant the user remote control authority for the autonomous vehicle (10), and through a remote control interface, can determine a control command for the autonomous vehicle (10) based on user input from the user to whom remote control authority has been granted, and can perform remote control of the autonomous vehicle (10) according to the control command.

[0050] Here, the computing device (100) is described as providing a remote control service to the user upon obtaining a request for the provision of a remote control service from the user, but is not limited thereto. In cases where the reliability of the autonomous driving system of the autonomous vehicle (10) is low (e.g., sensor failure or failure of some software modules of the autonomous vehicle (10)), where driving outside the driving design range of the autonomous driving system is required, where there is a possibility of communication delay or disconnection with the autonomous vehicle (10), and where the movement of the vehicle must be stably controlled through remote control, the remote control service for the autonomous vehicle (10) may be initiated even without obtaining a request for the provision of a remote control service from the user.

[0051] In various embodiments, the computing device (100) grants the user remote control authority for the autonomous vehicle (10) upon receiving a request for the provision of a remote control service from the user, but may grant the user remote control authority for the autonomous vehicle (10) only when a pre-set condition is satisfied, for example, when the speed of the autonomous vehicle (10) is 0, but is not limited thereto, and the computing device (100) may grant the user remote control authority for the autonomous vehicle (10) only when the speed of the autonomous vehicle (10) is less than a predetermined amount.

[0052] Here, the computing device (100) is provided outside the autonomous vehicle (10) and can be implemented in a form that remotely controls the operation of the autonomous vehicle (10) from outside the autonomous vehicle (10), but is not limited thereto, and the computing device (100) can be implemented in a form that is provided inside the autonomous vehicle (10) (e.g., a control module that controls the operation of the autonomous vehicle (10) from inside the autonomous vehicle (10).

[0053] Here, the user terminal (200) may include, but is not limited to, a navigation, PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminal, a smartphone, a smart pad, and a tablet PC.

[0054] Additionally, the network (400) may refer to a connection structure capable of exchanging information between each node, such as multiple terminals and servers. For example, the network (400) may include a Local Area Network (LAN), a Wide Area Network (WAN), the World Wide Web (WWW), a wired or wireless data network, a telephone network, a wired or wireless television network, etc.

[0055] In addition, the wireless data communication network may include, but is not limited to, 3G, 4G, 5G, 3GPP (3rd Generation Partnership Project), 5GPP (5th Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), Wi-Fi, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), RF (Radio Frequency), Bluetooth network, NFC (Near-Field Communication) network, satellite broadcasting network, analog broadcasting network, DMB (Digital Multimedia Broadcasting) network, etc.

[0056] In one embodiment, an external server (300) may be connected to a computing device (100) through a network (400), and the computing device (100) Various information and data necessary to perform a remote control method of an autonomous vehicle can be stored and managed, or various information and data generated as the computing device (100) performs a remote control method of an autonomous vehicle can be received, stored, and managed. For example, the external server (300) may be a storage server separately provided outside the computing device (100), but is not limited thereto. Hereinafter, with reference to FIG. 2, the hardware configuration of the computing device (100) that performs a remote control method of an autonomous vehicle will be described.

[0058] FIG. 2 is a diagram illustrating the hardware configuration of a computing device for performing a remote control method of an autonomous vehicle according to another embodiment of the present invention.

[0059] Referring to FIG. 2, in various embodiments, a computing device (100) may include one or more processors (110), a memory (120) for loading a computer program (151) executed by the processor (110), a bus (130), a communication interface (140), and a storage (150) for storing the computer program (151). Here, FIG. 2 illustrates only the components related to the embodiments of the present invention. Accordingly, a person skilled in the art to which the present invention pertains will understand that other general-purpose components may be included in addition to the components illustrated in FIG. 2.

[0060] The processor (110) controls the overall operation of each component of the computing device (100). The processor (110) may be configured to include a CPU (Central Processing Unit), an MPU (Micro Processor Unit), an MCU (Micro Controller Unit), a GPU (Graphic Processing Unit), or any form of processor well known in the art of the present invention.

[0061] Additionally, the processor (110) can perform operations for at least one application or program for executing the method according to embodiments of the present invention, and the computing device (100) may have one or more processors.

[0062] In various embodiments, the processor (110) may further include RAM (Random Access Memory, not shown) and ROM (Read-Only Memory, not shown) for temporarily and / or permanently storing signals (or data) processed within the processor (110). Additionally, the processor (110) may be implemented in the form of a system-on-chip (SoC) comprising at least one of a graphics processing unit, RAM, and ROM.

[0063] Memory (120) stores various data, instructions and / or information. Memory (120) may load a computer program (151) from storage (150) to execute a method / operation according to various embodiments of the present invention. When the computer program (151) is loaded into memory (120), the processor (110) may perform the method / operation by executing one or more instructions constituting the computer program (151). Memory (120) may be implemented as a volatile memory such as RAM, but the technical scope of the present disclosure is not limited thereto.

[0064] The bus (130) provides communication functions between components of the computing device (100). The bus (130) can be implemented as various types of buses, such as an address bus, a data bus, and a control bus.

[0065] The communication interface (140) supports wired and wireless internet communication of the computing device (100). Additionally, the communication interface (140) may support various communication methods other than internet communication. To this end, the communication interface (140) may be configured to include a communication module well known in the art of the present invention. In some embodiments, the communication interface (140) may be omitted.

[0066] Storage (150) can store a computer program (151) non-temporarily. When performing a remote control process of an autonomous vehicle through a computing device (100), storage (150) can store various information necessary to provide the remote control process of the autonomous vehicle.

[0067] The storage (150) may be configured to include non-volatile memory such as ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), flash memory, a hard disk, a removable disk, or any form of computer-readable recording medium well known in the art to which the present invention belongs.

[0068] A computer program (151) may include one or more instructions that cause a processor (110) to perform a method / operation according to various embodiments of the present invention when loaded into memory (120). That is, the processor (110) may perform the method / operation according to various embodiments of the present invention by executing the one or more instructions.

[0069] In one embodiment, the computer program (151) may include one or more instructions for performing a remote control method of an autonomous vehicle, the steps of obtaining user input from a user through a remote control interface, determining a control command based on the obtained user input, and controlling the operation of the autonomous vehicle using the determined control command.

[0070] The steps of the method or algorithm described in connection with embodiments of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or implemented by a combination thereof. The software module may reside in RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), Flash Memory, a hard disk, a removable disk, a CD-ROM, or any form of computer-readable recording medium well known in the art to which the present invention belongs.

[0071] The components of the present invention may be implemented as a program (or application) and stored on a medium to be executed in combination with a computer, which is hardware. The components of the present invention may be executed as software programming or software elements, and similarly, embodiments may be implemented in programming or scripting languages ​​such as C, C++, Java, assembler, etc., including various algorithms implemented as a combination of data structures, processes, routines, or other programming configurations. Functional aspects may be implemented as algorithms executed on one or more processors. Hereinafter, a remote control method of an autonomous vehicle performed by a computing device (100) will be described with reference to FIGS. 3 through 11.

[0073] FIG. 3 is a flowchart of a remote control method for an autonomous vehicle according to another embodiment of the present invention.

[0074] Referring to FIG. 3, in step S110, the computing device (100) can obtain user input from the user through a remote control interface.

[0075] In various embodiments, the computing device (100) may obtain user input from a user to operate a remote control interface for the purpose of performing speed control and / or direction control for an autonomous vehicle (10).

[0076] Here, the remote control interface is a medium connecting the autonomous vehicle (10) and the user, and may refer to an input tool that allows a user located outside the autonomous vehicle (10) to input user input for remotely controlling the autonomous vehicle (10). For example, the remote control interface may include a remote control steering wheel for controlling the direction of the autonomous vehicle (10) and a remote control pedal (e.g., an accelerator pedal and a deceleration pedal) for controlling the speed of the autonomous vehicle (10), but is not limited thereto, and the remote control interface may be implemented in various forms such as a jog dial and a joystick.

[0077] In various embodiments, the computing device (100) can obtain a first user input for controlling the direction of the autonomous vehicle (10) (e.g., user input for operating a remote control steering wheel) and a second user input for controlling the speed of the autonomous vehicle (10) (e.g., user input for operating a remote control pedal) from a user through a remote control interface.

[0078] In step S120, the computing device (100) can determine a control command for the autonomous vehicle (10) based on the user input obtained through step S110.

[0079] Here, the control command includes one or more commands that direct the operation of the autonomous vehicle (10), and may mean a command that directs the autonomous vehicle (10) to operate according to one or more commands, but is not limited thereto.

[0080] In various embodiments, the computing device (100) can generate a short-term driving path and speed profile for the autonomous vehicle (10) based on user input, and can determine a control command using the generated short-term driving path and speed profile. Hereinafter, a more specific method for determining a control command will be described with reference to FIG. 4.

[0082] FIG. 4 is a flowchart illustrating a method for determining a user input-based control command in various embodiments.

[0083] Referring to FIG. 4, in step S210, the computing device (100) can generate a short driving path for the autonomous vehicle (10) based on user input obtained through a remote control interface.

[0084] In various embodiments, when the computing device (100) obtains user input from a user to operate a remote control steering wheel included in a remote control interface, it can generate a short driving path for an autonomous vehicle (10) based on the user input to operate a remote control steering wheel.

[0085] More specifically, first, when the computing device (100) obtains user input from a user to operate a remote control steering wheel, it can generate an expected driving path of the autonomous vehicle (10) based on the amount of operation of the remote control steering wheel (e.g., the amount of change in angle of the remote control steering wheel). For example, the computing device (100) can determine the direction of travel of the autonomous vehicle (10) based on the amount of operation of the remote control steering wheel, and can generate an expected driving path for the autonomous vehicle (10) when the autonomous vehicle (10) travels along the direction of travel for a predetermined period of time.

[0086] Afterwards, the computing device (100) can output an expected driving path for the autonomous vehicle (10) through a remote control monitoring interface that displays the surrounding environment of the autonomous vehicle (10), thereby allowing the user to check the expected driving path.

[0087] Here, the remote control monitoring interface may be a user interface (UI) that outputs an image generated by capturing the surrounding environment of the autonomous vehicle (10) as illustrated in FIG. 5, and may be a screen output through a display provided on the user terminal (200) or a separately provided display device, but is not limited thereto.

[0088] Afterwards, when the computing device (100) receives approval for an expected driving route from the user (e.g., inputting user input to approve the expected driving route), the expected driving route approved by the user can be set as a short-term driving route for the autonomous vehicle (10).

[0089] The short-term driving path set according to the above method may include steering angle information and angular velocity information for each driving distance of the autonomous vehicle (10), but is not limited thereto.

[0090] In step S210, the computing device (100) can generate a speed profile for the autonomous vehicle (10) based on user input obtained through a remote control interface.

[0091] In various embodiments, when the computing device (100) obtains user input from a user to operate a remote control pedal included in a remote control interface, it can generate a speed profile for an autonomous vehicle (10) based on the user input to operate the remote control pedal.

[0092] More specifically, first, when the computing device (100) obtains user input from a user operating a remote control pedal, it can generate a speed profile of the autonomous vehicle (10) based on the amount of operation of the remote control pedal (e.g., the intensity of the force input through the remote control pedal).

[0093] For example, when the computing device (100) obtains user input from a user to operate a remote-controlled accelerator pedal, it can generate a speed profile in which the autonomous vehicle (10) accelerates with a predetermined amount of acceleration based on the intensity of the force input through the remote-controlled accelerator pedal. Additionally, when the computing device (100) obtains user input from a user to operate a remote-controlled deceleration pedal, it can generate a speed profile in which the autonomous vehicle (10) decelerates with a predetermined amount of deceleration based on the intensity of the force input through the remote-controlled deceleration pedal.

[0094] As another example, when the computing device (100) obtains user input from a user to operate a remote control pedal, it may select one of a plurality of preset speed profiles corresponding to the amount of operation of the remote control pedal as a speed profile for the autonomous vehicle (10).

[0095] Here, a plurality of pre-set speed profiles may include different driving control methods for the autonomous vehicle (10).

[0096] For example, as shown in FIG. 6, a plurality of preset speed profiles are used to change the speed of the autonomous vehicle (10) from v0 to a target speed (v0) which is the target speed, when the current speed of the autonomous vehicle (10) is v0 and the current acceleration is a0 (i.e., when the values ​​given to the autonomous vehicle (10) are v0 and a0), using the current acceleration a0 and the preset acceleration. targetIt may include a first speed profile that includes a control method for driving the autonomous vehicle (10) while maintaining the speed of the autonomous vehicle (10) at a target speed, by increasing or decreasing the speed.

[0097] Additionally, the pre-set multiple speed profiles may further include a second speed profile comprising a driving control method that stops the autonomous vehicle (10) by reducing the speed of the autonomous vehicle (10) to 0 using a pre-set acceleration when the current speed of the autonomous vehicle (10) is v0 and the current acceleration is a0 (i.e., when the values ​​given to the autonomous vehicle (10) are v0 and a0), as shown in FIG. 7, that is, a driving control method that stops the autonomous vehicle (10) by decelerating the autonomous vehicle (10) with a constant acceleration when the target speed of the autonomous vehicle (10) is 0.

[0098] In addition, as shown in FIG. 8, a plurality of preset speed profiles have a preset acceleration a when the current speed of the autonomous vehicle (10) is v0 (i.e., when the value given to the autonomous vehicle (10) is v0). emergency It may further include a third speed profile that includes a driving control method for stopping the autonomous vehicle (10) by reducing the speed of the autonomous vehicle (10) from v0 to 0 using v0, that is, in the event of an emergency, decelerating the autonomous vehicle (10) to maximum acceleration to stop the autonomous vehicle (10) abruptly.

[0099] Here, the first to third speed profiles described above are merely examples and are not limited thereto, and may further include speed profiles including various types of driving control methods (e.g., a speed profile including a driving control method in which the autonomous vehicle (10) is decelerated or accelerated to a target speed and maintained for a certain period of time, and then the speed of the autonomous vehicle (10) is reduced to zero and stopped; a speed profile including a driving control method in which the autonomous vehicle (10) is decelerated or accelerated to a target speed and maintained for a certain period of time, and then the speed of the autonomous vehicle (10) is reduced to a target low speed and maintained for a certain period of time, and then the speed of the autonomous vehicle (10) is reduced to zero and stopped; a speed profile including a driving control method in which the speed of the autonomous vehicle (10) is reduced to a target low speed and maintained for a certain period of time, and then the speed of the autonomous vehicle (10) is reduced to zero and stopped, etc.).

[0100] In step S230, the computing device (100) can determine a control command for the autonomous vehicle (10) using the short-term driving path generated through step S210 and the speed profile generated through step S220. For example, if a specific short-term driving path and a specific speed profile are generated, the computing device (100) can determine a control command instructing the vehicle to drive along the specific short-term driving path according to the specific speed profile. However, it is not limited thereto.

[0102] Again, referring to FIG. 3, in step S130, the computing device (100) can control the operation of the autonomous vehicle (10) using the control command determined through step S120.

[0103] For example, when a computing device (100) is provided inside an autonomous vehicle (10), the computing device (100) can directly control the operation of the autonomous vehicle (10) according to a control command determined according to the above method.

[0104] In another example, when the computing device (100) is provided outside the autonomous vehicle (10), the computing device (100) can be connected to the autonomous vehicle (10) through a network (400) and transmits a control command to a control module provided inside the autonomous vehicle (10) and controlling the operation of the autonomous vehicle (10), thereby allowing the control module to control the operation of the autonomous vehicle (10) according to the control command.

[0105] In various embodiments, the computing device (100) may provide feedback to the user when the actual driving path of the autonomous vehicle (10) and the short-term driving path of the autonomous vehicle (10) differ as a result of controlling the operation of the autonomous vehicle (10) using a control command, or when the actual speed of the autonomous vehicle (10) and the speed profile of the autonomous vehicle (10) differ as a result of controlling the operation of the autonomous vehicle (10) using a control command.

[0106] For example, when a control command is transmitted to an autonomous vehicle (10) through a network (400) and connected to a computing device (100) and a network (400), there is a problem that remote control of the autonomous vehicle (10) may not be performed accurately due to issues such as communication delay or data loss.

[0107] Considering these points, the computing device (100) can provide feedback to the user performing remote control of the autonomous vehicle (10) when there is a difference between the short-term driving path and speed profile of the autonomous vehicle (10) and the actual driving path and actual speed of the autonomous vehicle (10), thereby allowing the user to recognize that remote control of the autonomous vehicle (10) is not being performed smoothly.

[0108] Here, the feedback provided to the user may include, but is not limited to, feedback through a remote control interface (e.g., applying a torque of a predetermined magnitude through a remote control steering wheel) and / or feedback through a remote control monitoring interface (e.g., notification output through a remote control monitoring interface).

[0109] In various embodiments, the computing device (100) may control the operation of the autonomous vehicle (10) to stop after driving according to a short driving path generated at a second time point prior to the first time point, if remote control of the autonomous vehicle (10) is abnormally terminated due to communication with the autonomous vehicle (10) being delayed for more than a predetermined time (e.g., the communication delay time exceeding a threshold value) or communication with the autonomous vehicle (10) being cut off at the first time point. For example, if the autonomous vehicle (10) does not receive a control command from the computing device (100), it may be pre-set to stop after driving according to the last control command received from the computing device (100).

[0110] That is, in a situation where a user is performing remote control of an autonomous vehicle (10), if the remote control is terminated abnormally, the autonomous vehicle (10) is made to stop while following a previously generated short-term driving path according to a control command previously received from a computing device (100), thereby minimizing the possibility of an accident occurring due to the abnormal termination of the remote control.

[0111] In various embodiments, when driving of the autonomous vehicle (10) is initiated by controlling the operation of the autonomous vehicle (10) using a control command, the computing device (100) may output an expected driving path of the autonomous vehicle (10) (e.g., 1 in FIG. 5) through a remote control monitoring interface. Here, the expected driving path of the autonomous vehicle (10) is a path predicted to be driven by the autonomous vehicle (10) as the operation of the autonomous vehicle (10) is controlled based on the control command, and the expected driving path of the autonomous vehicle (10) may be a short driving path included in the control command, but is not limited thereto.

[0112] Here, the predicted driving path output through the remote control monitoring interface can be output in a form that gradually lengthens according to the amount of operation of the remote control interface over time. Additionally, by outputting the predicted driving path output through the remote control monitoring interface in a form that lengthens in proportion to the speed of the autonomous vehicle (10), an environment can be established where the speed of the autonomous vehicle (10) can be verified solely by the length of the predicted driving path.

[0113] At this time, the computing device (100) can calculate the collision risk range for the autonomous vehicle (10) based on the expected driving path of the autonomous vehicle (10), and can output the expected driving path of the autonomous vehicle (10) and the collision risk range together through a remote control monitoring interface. Through this, the remote control stability can be further improved by allowing the user (remote controller) to approve the expected driving path they intend to set after confirming that it is a safe driving path.

[0114] In various embodiments, the computing device (100) can calculate the inner collision risk range and the outer collision risk range of the autonomous vehicle (10) based on the expected driving path of the autonomous vehicle (10) when the expected driving path of the autonomous vehicle (10) is a curved path.

[0115] Referring to FIG. 9, first, the computing device (100) [is in the case where the expected driving path of the autonomous vehicle (10) is a curved path that rotates in a first direction (i.e., the radius of rotation of the autonomous vehicle (10) ) is infinite( (In cases other than ), the inner collision risk range of the autonomous vehicle (10) can be calculated by using the difference between the turning radius of the wheel of the autonomous vehicle (10) located in the front of the first direction and the turning radius of a point of the autonomous vehicle (10) located at the shortest distance from the turning center point of the autonomous vehicle (10).

[0116] In various embodiments, the computing device (100) can calculate the inner collision risk range for the autonomous vehicle (10) using the following mathematical formula 1.

[0117] <Mathematical Formula 1>

[0118]

[0119] Here, is the inner collision risk range of the autonomous vehicle (10), is the turning radius for the wheel of the autonomous vehicle (10) located in the front of the first direction (e.g., if the expected driving path is a curved path turning right, the turning radius of the wheel located in the front right (passenger side) of the autonomous vehicle (10), is the center of rotation of the autonomous vehicle (10) A turning radius for a point of the autonomous vehicle (10) located at the shortest distance based on ) and can be the wheelbase length of the autonomous vehicle (10).

[0120] At this time, the computing device (100) uses the following mathematical formula 2 to determine the rotation center point ( of the autonomous vehicle (10) A turning radius ( ) can be produced.

[0121] <Mathematical Formula 2>

[0122]

[0123] Here, The turning radius of the autonomous vehicle (10), can be the width of the autonomous vehicle (10).

[0124] Subsequently, the computing device (100) can calculate the outer collision risk range of the autonomous vehicle (10) by using the difference between the turning radius of a point of the autonomous vehicle (10) located at the longest distance relative to the center of rotation of the autonomous vehicle (10) and the turning radius of a wheel of the autonomous vehicle (10) located in the front of the second direction opposite to the first direction.

[0125] In various embodiments, the computing device (100) can calculate the outer collision risk range for the autonomous vehicle (10) using the following mathematical formula 3.

[0126] <Mathematical Formula 3>

[0127]

[0128] Here, is the outer collision risk range of the autonomous vehicle (10), is the center of rotation ( A turning radius for a point of the autonomous vehicle (10) located at the longest distance based on ), is the turning radius for the wheel of the autonomous vehicle (10) located in the front of the second direction opposite to the first direction (e.g., in the case where the expected driving path is a curved path turning right, the turning radius of the wheel located in the left front (driver's side) of the autonomous vehicle (10)) and The length of the front overhang of the autonomous vehicle (10) (distance between the centerline of the front axle and the front end) may be the front overhang length.

[0129] In various embodiments, the computing device (100) can calculate the collision risk range of the autonomous vehicle (10) as 0 when the expected driving path of the autonomous vehicle (10) is a straight path. For example, when the expected driving path of the autonomous vehicle (10) is a straight path, the computing device (100) can calculate the turning radius ( of the autonomous vehicle (10) ) is infinite( By applying this to mathematical formulas 1 to 3, the inner collision risk range and the outer collision risk range of the autonomous vehicle (10) can be calculated as 0, respectively.

[0130] Afterward, the computing device (100) can output the collision risk range (2) and the expected driving path (1) of the autonomous vehicle (10) calculated according to the above method through a remote control monitoring interface, as shown in FIG. 10. However, it is not limited thereto.

[0131] In various embodiments, when the computing device (100) obtains a second user input from a user while the autonomous vehicle (10) is driving according to a control command determined in response to a first user input, it can generate an expected driving path reflecting the second user input and output the expected driving path reflecting the second user input through a remote control monitoring interface.

[0132] At this time, when communication with the autonomous vehicle (10) is delayed for more than a predetermined time (e.g., when the communication delay time exceeds a threshold value), the computing device (100) can determine the expected location of the autonomous vehicle (10) based on the communication delay time with the autonomous vehicle (10), and can output a notification corresponding to the communication delay and the expected location of the autonomous vehicle (10) through a remote control monitoring interface.

[0133] In various embodiments, the computing device (100) can determine the expected location of the autonomous vehicle (10) based on the communication delay time of the autonomous vehicle (10), the current speed of the autonomous vehicle (10), and a safety factor (a parameter set in advance for safety). For example, if the computing device (100) determines that the expected location of the autonomous vehicle (10) is about 50 cm (= (1,000,000 cm / 3600 s) * 0.2 s * 0.9) ahead of the current location in the direction of travel of the autonomous vehicle (10), when the communication delay time is 200 ms, the current speed of the autonomous vehicle (10) is 10 kph, and the safety factor is set to 0.9.

[0134] In various embodiments, when the autonomous vehicle (10) is driving along a short driving path according to a predetermined control command and the autonomous vehicle (10) is driving along a short driving path according to the predetermined control command, the computing device (100) generates an expected driving path reflected in the new user input, and when the expected driving path reflected in the new user input is a path that deviates from the short driving path the autonomous vehicle (10) is driving along, the device may apply a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction.

[0135] That is, when the user operates the remote control steering wheel to deviate from the short driving path, the computing device (100) can apply a resistance torque to the remote control steering wheel so that it recognizes that the user is deviating from the short driving path by the user's operation.

[0136] Here, resistance torque may refer to a rotational force for rotating the remote control steering wheel in the opposite direction to the direction in which the user operates the remote control steering wheel. For example, if the user operates the remote control steering wheel clockwise, the resistance torque may be a rotational force applied to the remote control steering wheel in a counterclockwise direction, and if the user operates the remote control steering wheel counterclockwise, the resistance torque may be a rotational force applied to the remote control steering wheel in a clockwise direction.

[0137] Meanwhile, in the case of a remote control system, since remote control of the autonomous vehicle (10) is performed from outside the autonomous vehicle (10), there is a possibility that the following problems may occur.

[0138] First, the remote control steering wheel and the steering wheel of the autonomous vehicle (10) may not be matched at the same angle. For example, while the remote control steering wheel can rotate up to 540º, the steering wheel of the autonomous vehicle (10) can rotate up to 720º. If the angles of the remote control steering wheel and the steering wheel of the autonomous vehicle (10) are matched one-to-one, the autonomous vehicle (10) cannot be controlled at an angle exceeding 540º through the remote control steering wheel. If the angles of the remote control steering wheel and the steering wheel of the autonomous vehicle (10) are matched in proportion to the maximum rotation angle to improve this, the angle of the steering wheel of the autonomous vehicle (10) rotates larger and faster than the angle of the remote control steering wheel, so there is a problem that a danger may occur.

[0139] In addition, a user who performs remote control of an autonomous vehicle (10) through a remote control system identifies and recognizes the surrounding conditions of the autonomous vehicle (10) based on sensor data acquired through a sensor (e.g., a camera sensor) mounted on the autonomous vehicle (10). However, if the acquisition of sensor data is delayed due to communication delays with the autonomous vehicle (10), there is a problem that the user may excessively operate the remote control steering wheel, thereby reducing the driving stability of the autonomous vehicle (10) or causing a dangerous situation.

[0140] In addition, even if sensor data is acquired through a sensor mounted on the autonomous vehicle (10), it is difficult to perceive mechanical resistance of the autonomous vehicle (10), resistance due to the road, or lateral acceleration due to steering, and accordingly, there is a problem in that it is difficult to know whether the steering wheel of the autonomous vehicle (10) is rotating at the angle and angular velocity desired by the user.

[0141] Considering these points, the computing device (100) can improve the stability of remote steering control for the autonomous vehicle (10) by applying a resistance torque of a predetermined magnitude to the remote steering wheel in the opposite direction to the specific direction when it obtains user input to operate the remote steering wheel in a specific direction for the direction control of the autonomous vehicle (10). Hereinafter, this will be explained in more detail with reference to FIG. 11.

[0143] FIG. 11 is a flowchart illustrating a method for applying a resistance torque of a predetermined size through a remote control interface in response to user input in various embodiments.

[0144] Referring to FIG. 11, in step S310, the computing device (100) can obtain user input from the user through a remote-controlled steering wheel. Here, the user input acquisition operation performed by the computing device (100) may be implemented in the same or similar form as the user input acquisition operation performed in step S110 of FIG. 3, but is not limited thereto.

[0145] In step S320, the computing device (100) can apply a resistance torque of a predetermined size to the remote control steering wheel in response to the user input obtained through step S310.

[0146] In various embodiments, when the computing device (100) obtains user input from a user to operate a remote control steering wheel in a first direction, it may apply a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction.

[0147] More specifically, first, the computing device (100) can calculate resistance torque when it obtains user input from the user to operate the remote control steering wheel in a first direction.

[0148] For example, the computing device (100) can calculate the first resistance torque using the current speed of the autonomous vehicle (10) and the first direction angle of the remote control steering wheel. For example, the computing device (100) can calculate the first resistance torque using the following mathematical formula 4.

[0149] <Mathematical Formula 4>

[0150]

[0151] Here, is the first resistance torque, is a pre-set constant value, is the current speed of the autonomous vehicle (10) and may be the first direction angle of the remote control steering wheel.

[0152] That is, the computing device (100) can calculate the first resistance torque using the above mathematical formula 4, thereby allowing a stronger resistance torque to be applied to the remote control steering wheel as the speed of the autonomous vehicle (10) increases, and as the first direction angle of the remote control steering wheel increases (as much as the user operates the remote control steering wheel in the first direction), a stronger resistance torque can be applied to the remote control steering wheel.

[0153] As another example, the computing device (100) can calculate a second resistance torque using a first direction angle of the remote control steering wheel and an angle threshold value of the remote control steering wheel. For example, the computing device (100) can calculate an angle threshold value of the remote control steering wheel using the following mathematical formula 5 and can calculate a second resistance torque using the following mathematical formula 6.

[0154] <Mathematical Formula 5>

[0155]

[0156] Here, is the angle threshold of the remote control steering wheel, is a lateral acceleration threshold value (pre-set value) of an autonomous vehicle (10), is the minimum turning radius of the autonomous vehicle (10), is the maximum rotation angle of the remote control steering wheel and This could be the current speed of the autonomous vehicle (10).

[0157] <Mathematical Formula 6>

[0158]

[0159] Here, is the second resistance torque, is a pre-set constant value, is the first direction angle of the remote control steering wheel and can be the angle threshold of the remote control steering wheel.

[0160] That is, the computing device (100) can calculate the second resistance torque using the above mathematical formula 6, thereby enabling a stronger resistance torque to be applied to the remote control steering wheel when the lateral acceleration of the autonomous vehicle (10) exceeds a specific lateral acceleration.

[0161] As another example, the computing device (100) can calculate a third resistance torque using the angular velocity of the remote control steering wheel and the first angular velocity of the remote control steering wheel required for the autonomous vehicle (10) to reach a lateral critical distance (e.g., the distance from an obstacle or lane located lateral to the autonomous vehicle (10) to the position of the autonomous vehicle (10)) after a predetermined time. For example, the computing device (100) can calculate the third resistance torque using the following mathematical formula 7.

[0162] <Mathematical Formula 7>

[0163]

[0164] Here, is the third resistance torque, is a pre-set constant value, is the first directional angular velocity of the remote control steering wheel and ≠

[0165] Here, the computing device (100) uses the following mathematical formula 8 so that the autonomous vehicle (10) at a predetermined time ( Lateral critical distance after ) The angular velocity of the remote-controlled steering wheel required to reach ) ) can be produced.

[0166] <Mathematical Formula 8>

[0167]

[0168] Here, is the lateral travel distance of the autonomous vehicle (10) Satisfying), is the heading direction of the autonomous vehicle (10), is the angle ratio of the remote control steering wheel and the front wheel of the autonomous vehicle (10), is the wheelbase length of the autonomous vehicle (10), is the current speed of the autonomous vehicle (10) and may be the first direction angle of the remote-controlled steering wheel (at this time, is a value assuming it is constant from the start until the collision, and is the physical limit velocity. It becomes saturated).

[0169] That is, the computing device (100) calculates the third resistance torque using the above mathematical formula 7, so that when there is an obstacle or lane in the lateral direction of the autonomous vehicle (10), a stronger resistance torque is applied to the remote control steering wheel when the angular velocity of the remote control steering wheel exceeds the angular velocity that causes it to collide with the obstacle in the lateral direction or deviate from the lane.

[0170] As another example, the computing device (100) can calculate the fourth resistance torque using the communication delay time with the autonomous vehicle (10) and the first direction angular velocity of the remote control steering wheel. For example, the computing device (100) can calculate the fourth resistance torque using the following mathematical formula 9.

[0171] <Mathematical Formula 9>

[0172]

[0173] Here, is the fourth resistance torque, is a pre-set constant value, is communication delay time and may be the first angular velocity of the remote control steering wheel.

[0174] That is, the computing device (100) can calculate the fourth resistance torque using the above mathematical formula 9, so that a stronger resistance torque is applied to the remote control steering wheel as the communication delay time with the autonomous vehicle (10) increases.

[0175] Afterward, the computing device (100) can apply resistance torque to the remote control steering wheel in a second direction when resistance torque is calculated according to the above method.

[0176] That is, the computing device (100) has the advantage of not only enabling the user to recognize that the situation is dangerous, but also preventing the occurrence of a dangerous situation, by applying a resistance torque to the remote control steering wheel in the opposite direction to the direction of operation by the user when there is a risk that the autonomous vehicle (10) may be exposed to a dangerous situation as the user operates the remote control steering wheel.

[0177] In various embodiments, when two or more different resistance torques are calculated according to the above method, the computing device (100) can calculate a final resistance torque by adding the two or more resistance torques and can apply the final resistance torque to the remote control steering wheel in a second direction. For example, when a first resistance torque, a second resistance torque, a third resistance torque, and a fourth resistance torque are calculated, the computing device (100) can calculate a final resistance torque by adding all of the first resistance torque, the second resistance torque, the third resistance torque, and the fourth resistance torque, and can apply the final resistance torque to the remote control steering wheel in a second direction.

[0178] At this time, the computing device (100) may apply a threshold resistance torque to the remote control steering wheel in a second direction when the final resistance torque exceeds the threshold resistance torque. However, it is not limited thereto.

[0180] The aforementioned remote control method for an autonomous vehicle has been explained with reference to the flowchart illustrated in the drawings. For the sake of simplicity, the remote control method for an autonomous vehicle has been described using a series of blocks; however, the present invention is not limited to the order of the blocks, and some blocks may be executed in a different order than that illustrated and described in this specification or simultaneously. Furthermore, new blocks not described in this specification and drawings may be added, or some blocks may be deleted or modified.

[0182] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without altering its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. Explanation of the symbols

[0183] 100: Computing device 200 : User terminal 300 : External server 400 : Network

Claims

Claim 1 delete Claim 2 A method for remotely controlling an autonomous vehicle, performed by a computing device, comprises: a step of obtaining user input from a user through a remote control interface; a step of determining a control command based on the obtained user input; and a step of controlling the operation of the autonomous vehicle using the determined control command, wherein the remote control interface includes a remote control steering wheel for controlling the direction of the autonomous vehicle, and the step of obtaining user input includes, when obtaining user input to operate the remote control steering wheel in a first direction, a step of calculating a resistance torque of a magnitude proportional to a predetermined ratio for each of the communication delay time with the autonomous vehicle and the angular velocity of the remote control steering wheel in the first direction; and a step of applying the calculated resistance torque to the remote control steering wheel in a second direction opposite to the first direction, and the step of determining the control command includes: a step of generating a short driving path for the autonomous vehicle; and a step of generating a speed profile for the autonomous vehicle. The method includes the step of determining a control command that instructs driving along the generated short-term driving path according to the generated speed profile, and the step of controlling the operation of the autonomous vehicle comprises: when the autonomous vehicle is driving according to the control command determined in response to the first user input, when a second user input is obtained from the user, generating an expected driving path reflecting the obtained second user input and outputting the expected driving path reflecting the generated second user input through a remote control monitoring interface; and when communication with the autonomous vehicle is delayed for more than a predetermined time, determining the expected location of the autonomous vehicle based on the communication delay time with the autonomous vehicle and outputting a notification corresponding to the communication delay and the determined expected location through the remote control monitoring interface.A method for remotely controlling an autonomous vehicle, comprising the step of: controlling the operation of the autonomous vehicle using the control command determined above; when the autonomous vehicle is driving along the generated short-term driving path and new user input is obtained from the user to operate the remote control steering wheel in a first direction, generating an expected driving path reflecting the obtained new user input, wherein if the expected driving path reflecting the generated new user input is a path that deviates from the generated short-term driving path, applying a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction. Claim 3 A method for remotely controlling an autonomous vehicle, performed by a computing device, comprises: a step of obtaining user input from a user through a remote control interface; a step of determining a control command based on the obtained user input; and a step of controlling the operation of the autonomous vehicle using the determined control command, wherein the remote control interface includes a remote control steering wheel for controlling the direction of the autonomous vehicle, and the step of obtaining user input comprises: a step of calculating a first resistance torque using the current speed of the autonomous vehicle and a first direction angle of the remote control steering wheel when obtaining user input from the user to operate the remote control steering wheel in a first direction; a step of calculating a second resistance torque using the first direction angle of the remote control steering wheel and an angle threshold value of the remote control steering wheel; a step of calculating a third resistance torque using the angular velocity of the remote control steering wheel and the first direction angular velocity of the remote control steering wheel required for the autonomous vehicle to reach a lateral threshold distance after a predetermined time; and a step of calculating a fourth resistance torque using a communication delay time with the autonomous vehicle and the first direction angular velocity of the remote control steering wheel. The method comprises the step of calculating a final resistance torque by summing the first resistance torque, the second resistance torque, the third resistance torque, and the fourth resistance torque calculated above, and applying the calculated final resistance torque to the remote control steering wheel in a second direction opposite to the first direction, wherein if the calculated final resistance torque exceeds a critical resistance torque, the method comprises applying the critical resistance torque to the remote control steering wheel in the second direction; and the step of determining the control command includes the step of generating a short-term driving path for the autonomous vehicle; and the step of generating a speed profile for the autonomous vehicle.The method includes the step of determining a control command that instructs driving along the generated short-term driving path according to the generated speed profile, and the step of controlling the operation of the autonomous vehicle comprises: when the autonomous vehicle is driving according to the control command determined in response to the first user input, when a second user input is obtained from the user, generating an expected driving path reflecting the obtained second user input and outputting the expected driving path reflecting the generated second user input through a remote control monitoring interface; and when communication with the autonomous vehicle is delayed for more than a predetermined time, determining the expected location of the autonomous vehicle based on the communication delay time with the autonomous vehicle and outputting a notification corresponding to the communication delay and the determined expected location through the remote control monitoring interface. A method for remotely controlling an autonomous vehicle, comprising the step of: controlling the operation of the autonomous vehicle using the control command determined above; when the autonomous vehicle is driving along the generated short-term driving path and new user input is obtained from the user to operate the remote control steering wheel in a first direction, generating an expected driving path reflecting the obtained new user input, wherein if the expected driving path reflecting the generated new user input is a path that deviates from the generated short-term driving path, applying a resistance torque of a predetermined magnitude to the remote control steering wheel in a second direction opposite to the first direction. Claim 4 A computing device for performing a remote control method of an autonomous vehicle, comprising: a processor; a network interface; a memory; and a computer program loaded into the memory and executed by the processor, wherein the processor performs the method of claim 2 or 3 by executing one or more instructions included in the computer program. Claim 5 A computer program that is combined with a computing device and stored on a recording medium readable by the computing device to execute the method of claim 2 or 3.

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