Method for adjusting autonomous driving mode of vehicle and apparatus therefor

Abstract

A method performed by an autonomous driving control device according to an embodiment of the present disclosure may comprise the steps of: identifying an autonomous driving level of a vehicle and state information of a driver; determining a need to adjust an autonomous driving mode on the basis of the autonomous driving level and the state information of the driver; and adjusting the autonomous driving mode of the vehicle on the basis of the determined need to adjust.

Description

Method for adjusting the autonomous driving system of a vehicle and the device thereof

[0001] The present disclosure describes a method for adjusting an autonomous driving method in a vehicle.

[0002] Autonomous driving systems can be classified into a total of six levels, from Level 0 to Level 5. Level 0 is a fully manual driving system with no functions; Level 1 is a system that assists in either the longitudinal or lateral direction; Level 2 is a system that assists in both the longitudinal and lateral directions; Level 3 is a system that can recognize in advance when a control transfer is required and provide a control transfer request to the driver; Level 4 is a system that drives perfectly within a limited area without the need to transfer control to the driver; and Level 5 is a system that drives perfectly without any area limitations without the need for a driver.

[0003] Currently commercialized autonomous driving systems are Level 2 and Level 3, which require a transfer of control to the driver. In situations where autonomous driving is impossible, the driver must take control of the vehicle from the system and drive manually. This poses a problem because if the transfer of control is not properly executed in such situations, it can lead to an accident.

[0004] Current autonomous driving systems utilize technology to stop driving for safe operation when a transfer of control cannot be performed due to issues such as the driver performing a secondary task. For example, it is defined to perform a maneuver of least risk by sending a warning alarm to the driver and stopping the vehicle if necessary.

[0005] However, if the vehicle comes to a complete stop every time control is not transferred upon detecting driver behavior, it can lead to a decline in the user experience of autonomous driving and a significant reduction in its benefits. Therefore, there is a need for a solution that can compensate for the driver's failure to transfer control prior to a complete stop.

[0006] The objective of the technical concept of the present disclosure is to reduce the difficulty of switching control to the driver.

[0007] The objective of the technical concept of the present disclosure is to enhance the user experience of autonomous driving by securing an organic method for switching to autonomous driving.

[0008] The technical problems that the technical concept of the present disclosure aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below.

[0009] A method performed by an autonomous driving control device according to one aspect of the technical concept of the present disclosure may include: identifying the autonomous driving level of a vehicle and the state information of a driver; determining the need for adjustment of the autonomous driving method based on the autonomous driving level and the state information of the driver; and adjusting the autonomous driving method of the vehicle based on the determined need for adjustment.

[0010] In one embodiment, the method may include a step of determining whether the state of the driver corresponding to the state information of the driver is a state within a range limited by a standard corresponding to the current autonomous driving level of the vehicle.

[0011] In one embodiment, the state within the range limited by the standard corresponding to the autonomous driving level may be a state in which a transfer of control is not required at the current autonomous driving level of the vehicle, but adjustment of the autonomous driving method is required.

[0012] In one embodiment, the method may include a step of determining that adjustment of the autonomous driving method is required when the autonomous driving level is level 2 and the driver's gaze is focused on the front but is performing a secondary task not related to driving.

[0013] In one embodiment, the method may include a step of determining that adjustment of the autonomous driving method is required when the autonomous driving level is autonomous driving level 3 and performing an auxiliary task that reduces the driver's ability to switch to driving to below a reference value.

[0014] In one embodiment, the method may include a step of driving with an autonomous driving pattern different from the existing one in the same situation, or adjusting the autonomous driving method so that an autonomous driving setting different from the existing one is applied in the same situation.

[0015] In one embodiment, the autonomous driving setting may include a distance between the vehicle in front of the vehicle set according to the situation or a distance between the vehicle behind the vehicle set according to the situation.

[0016] In one embodiment, the autonomous driving pattern may include an autonomous driving pattern that causes the vehicle to change its driving lane to the lane with the fewest lanes.

[0017] In one embodiment, after performing the adjustment of the autonomous driving method, the method may include the step of re-identifying the driver's state information; the step of re-determining the need for adjustment of the autonomous driving method based on the autonomous driving level and the re-identified driver's state information; and the step of deactivating the autonomous driving method adjustment function if it is determined that there is no need for adjustment.

[0018] In one embodiment, the method further includes the step of requesting the driver to confirm whether to activate the autonomous driving mode adjustment function; the step of receiving input from the driver to activate the autonomous driving mode adjustment function; and the step of activating the autonomous driving mode adjustment function based on the input, wherein the input may include a smartphone, a display touch input, or voice interaction.

[0019] In one embodiment, when the autonomous driving method of the vehicle is adjusted, the method further includes the step of transmitting alarm information to the driver to inform the driver that the autonomous driving method is being adjusted, and the alarm information may be displayed through a tactile signal using sound, vibration inside the vehicle, etc., or through a display of the vehicle.

[0020] In one embodiment, the method may include: a step of determining whether there exists a route with lower traffic complexity than the current route; a step of changing the route of the vehicle to the route with lower traffic complexity if the route with lower traffic complexity exists; and a step of determining whether cruising is possible by decelerating the speed of the vehicle if the route with lower traffic complexity does not exist.

[0021] In one embodiment, the method may further include: a step of driving the vehicle at a reduced speed when the vehicle can be driven at a reduced speed; a step of determining whether temporary deceleration of the vehicle is possible when the vehicle cannot be driven at the reduced speed; a step of increasing the distance between the vehicle and the vehicle ahead when temporary deceleration of the vehicle is possible; and a step of determining whether there is a lane with fewer other vehicles than the vehicle's driving lane when temporary deceleration of the vehicle is not possible.

[0022] In one embodiment, the method may further include the step of changing the driving lane of the vehicle to the lane with fewer other vehicles when there is a lane with fewer other vehicles; the step of re-determining the need for adjustment of the autonomous driving method after a certain period of time when there is no lane with fewer other vehicles; the step of determining whether there is a route with lower traffic complexity than the current route when there is a need for adjustment of the autonomous driving method when there is a re-determined need for adjustment of the autonomous driving method; and the step of deactivating the autonomous driving method adjustment function of the vehicle when there is no need for adjustment of the autonomous driving method when there is a re-determined need for adjustment of the autonomous driving method.

[0023] In an autonomous driving control device according to another embodiment of the technical concept of the present disclosure, the device comprises a communication interface, a memory, and a processor connected to the communication interface and the memory, wherein the processor may be configured to identify the autonomous driving level of a vehicle and the state information of a driver, determine the need for adjustment of the autonomous driving method based on the autonomous driving level and the state information of the driver, and adjust the autonomous driving method of the vehicle based on the determined need for adjustment.

[0024]

[0025] According to the embodiments of the present disclosure, safe autonomous driving can be provided by adjusting the autonomous driving method to make it easier to switch control when switching control during autonomous driving.

[0026] According to the embodiments of the present disclosure, the difficulty of switching control in response to various levels of autonomous driving can be lowered, thereby improving the driver's experience of using autonomous driving technology.

[0027] The effects obtainable by embodiments according to the technical concept of the present disclosure are not limited to the effects mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the technical concept of the present disclosure belongs from the description below.

[0028] A brief description of each drawing is provided to help to better understand the drawings cited in the detailed description of the present disclosure.

[0029] FIG. 1 is a conceptual diagram of an exemplary autonomous driving control system in which methods according to various embodiments of the present disclosure can be implemented.

[0030] FIG. 2 is a block diagram showing an autonomous driving control device according to one embodiment of the present disclosure.

[0031] FIG. 3a is a diagram illustrating a method of performing a lane change by adjusting an autonomous driving method according to one embodiment of the present disclosure.

[0032] FIG. 3b is a diagram illustrating a method of performing deceleration driving by adjusting the autonomous driving method according to one embodiment of the present disclosure.

[0033] FIG. 3c is a diagram illustrating a method of changing the distance between vehicles by adjusting the autonomous driving method according to one embodiment of the present disclosure.

[0034] FIG. 4 is a flowchart showing the application of an autonomous driving method adjustment according to one embodiment of the present disclosure.

[0035] FIG. 5 is a flowchart for performing autonomous driving method adjustment in an autonomous driving control device according to one embodiment of the present disclosure.

[0036]

[0037] The technical concept of the present disclosure is subject to various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the technical concept of the present disclosure to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the scope of the technical concept of the present disclosure.

[0038] In describing the technical concept of the present disclosure, detailed descriptions of related prior art are omitted if it is determined that such descriptions would unnecessarily obscure the essence of the technical concept of the present disclosure. Furthermore, numbers used in the description of the present invention (e.g., First, Second, etc.) are merely identification symbols to distinguish one component from another.

[0039] In addition, when a component is described in this document as being "connected" or "joined" with another component, it should be understood that the component may be directly connected or joined to the other component, but unless otherwise specifically stated, it may also be connected or joined through another component in between.

[0040] Additionally, terms such as “~part,” “~device,” and “~part” described herein refer to a unit that processes at least one function or operation, and this may be implemented as hardware such as a processor, microprocessor, microcontroller, CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerate Processor Unit), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), software, or a combination of hardware and software.

[0041] Furthermore, it is intended to clarify that the classification of the components in this document is merely based on the primary function each component is responsible for. That is, two or more components described below may be combined into a single component, or a single component may be divided into two or more components based on more subdivided functions. Additionally, each component described below may additionally perform some or all of the functions of other components in addition to its primary function, and it is obvious that some of the primary functions of each component may be exclusively performed by other components.

[0042] Hereinafter, various embodiments according to the technical concept of the present disclosure will be described in detail in turn.

[0043]

[0044] FIG. 1 is a conceptual diagram of an exemplary autonomous driving control system in which methods according to various embodiments of the present disclosure can be implemented.

[0045] As illustrated in FIG. 1, the autonomous driving control system (10) may include a vehicle (100), an input / output interface (110), an internal sensor (120), an external sensor (130), and an autonomous driving control device (200). The configuration of the autonomous driving control system (10) is not limited thereto and does not necessarily have to include all components.

[0046] The input / output interface (110) may include an input interface for receiving operation information based on the operation of a passenger of the vehicle (100), and an output interface for transmitting various information of the vehicle to the passenger of the vehicle (100).

[0047] The input interface may include a configuration for a user to control the vehicle. For example, the input interface may include a terminal mounted on the vehicle, a user terminal (e.g., a mobile phone, smartphone, tablet PC, etc.), a controller mounted on the steering wheel, a microphone, etc.

[0048] The output interface may include a configuration capable of transmitting information to a user. For example, the output interface may include speakers mounted in the vehicle, a display mounted in the vehicle, a head-up display, an instrument panel, etc. Additionally, the output interface may include a configuration for controlling the vehicle. For example, the output interface may include an engine control interface, a driving control interface, a steering control interface, etc.

[0049] The internal sensor (120) may include various sensors for detecting overall status information inside the vehicle, such as status information of the vehicle itself, driver information, and passenger information.

[0050] The internal sensor (120) may include an internal camera, a black box, a steering sensor, a speed sensor, an acceleration sensor, a yaw / pitch / roll sensor, a front object detection sensor, an acoustic sensor, a camera sensor, a seat sensor, a vehicle motion sensor, etc., and may be composed of a combination of these.

[0051] In one embodiment, the internal sensor (120) can identify the driver's movement inside the vehicle (100), the degree of departure from the seat, and the driver's voice information.

[0052] The external sensor (130) may include various sensors for detecting external state information of the vehicle, such as information about surrounding vehicles, information about a vehicle in front, information about a vehicle behind, and road information.

[0053] The external sensor (130) may include a front camera, a rear camera, a steering sensor, a speed sensor, an acceleration sensor, a yaw / pitch / roll sensor, a front object detection sensor, an acoustic sensor, a rear object detection sensor, a side object detection sensor, a position detection sensor, a lidar sensor, a radar sensor, a camera sensor, an ultrasonic sensor, etc., and may be composed of a combination of these.

[0054] In one embodiment, the external sensor (130) can identify information (location, distance, speed, etc.) about surrounding vehicles (front, rear, side) of the vehicle (100).

[0055] The autonomous driving control device (200) may represent a device for controlling the autonomous driving of a vehicle. The autonomous driving control device (200) may determine a preset autonomous driving method according to the autonomous driving level. Here, the autonomous driving method may represent an autonomous driving pattern or autonomous driving setting applied while performing autonomous driving. For example, the autonomous driving control device (200) may determine the minimum speed and maximum speed, etc., at each autonomous driving level, and may determine an autonomous driving method to safely and clearly handle autonomous driving, such as the distance between surrounding vehicles, driving path, and preferred driving lane.

[0056] The autonomous driving control device (200) can receive control of the vehicle from the driver in autonomous driving mode. The autonomous driving control device (200) can receive only a portion of the control of the vehicle based on the autonomous driving level set in the vehicle. Based on the degree of control, the autonomous driving control device (200) can control the vehicle using the vehicle's internal sensors (120), external sensors (130), and input / output interface (110).

[0057] The autonomous driving control device (200) can transfer control to the driver during autonomous driving according to a predetermined setting. For example, at autonomous driving level 2, control can be transferred to the driver by determining whether the driver is looking forward or whether the driver's hand is in contact with the steering wheel. Or, at autonomous driving level 3, control can be transferred to the driver if it is determined that manual driving can be switched within a certain period of time based on the driver's state information.

[0058] The autonomous driving control device (200) may include an autonomous driving method adjustment function according to an embodiment of the present invention. The autonomous driving method adjustment function may represent a function that reduces the difficulty of switching control of autonomous driving in preparation for a control switching that may occur later, even though the situation is not severe enough for the autonomous driving control device (200) to switch control to the driver. The adjustment of the autonomous driving method may represent adjusting the autonomous driving method so that the vehicle is controlled according to a different autonomous driving pattern or autonomous driving setting in the same situation during autonomous driving.

[0059] The autonomous driving control device (200) can determine the need to adjust the autonomous driving method based on the autonomous driving level and driver status information. If the autonomous driving control device (200) determines that there is a need to adjust the autonomous driving method, it can adjust the autonomous driving method.

[0060] The autonomous driving control device (200) can determine whether to activate the autonomous driving method adjustment function according to the passenger's settings. If the passenger does not activate the autonomous driving method adjustment function, the transfer of control of the vehicle can be performed in the manner of a conventional autonomous driving control device (200). If the passenger activates the autonomous driving method adjustment function, the autonomous driving method can be adjusted to reduce the difficulty of transferring control according to the method described in the present disclosure.

[0061] The autonomous driving control device (200) can control the vehicle in accordance with the adjusted method after adjusting the autonomous driving method. After controlling the vehicle, the autonomous driving control device (200) can transfer control to the driver according to predetermined conditions.

[0062] The specific operation method by which the autonomous driving control device (200) performs autonomous driving method adjustment will be explained in detail below in FIGS. 2 to 6.

[0063]

[0064] FIG. 2 is a block diagram showing an autonomous driving control device according to one embodiment of the present disclosure.

[0065] The autonomous driving control device (200) of FIG. 2 may be the same as the autonomous driving control device (200) described in FIG. 1.

[0066] In FIG. 2, the structure of the autonomous driving control device (200) is shown by dividing it into functional configurations, and each does not necessarily mean a physically connected code or a single type of hardware.

[0067] Referring to FIG. 2, the autonomous driving control device (200) may include a processor (205), a communication interface (240), and a memory (250).

[0068] The communication interface (240) can interface with the autonomous driving control device (200), the input / output interface, internal / external sensors, devices outside the vehicle (satellites, other vehicles, smartphones, etc.), and other components among the electronic devices (e.g., central control unit, ECU, etc.).

[0069] The communication interface (240) may include an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency interface, a USB (universal serial bus) interface, a wireless short-range interface (e.g., a Wi-Fi interface), a cellular network interface, a GPS interface, etc.

[0070] The communication interface (240) can transmit and receive various data information, signals, etc. between internal devices.

[0071] The communication interface (240) can receive vehicle location information, driving road information, traffic volume information, weather information, major traffic information (e.g., accident information, road control information, etc.) from an external device.

[0072] The memory (250) can store data, programs, commands, software, etc., necessary for the overall operation of the autonomous driving control device (200).

[0073] According to an embodiment, the memory (250) may store a program including program code for performing an autonomous driving method adjustment according to an embodiment of the present invention, and the memory (250) may be combined with a processor (205) to execute the program.

[0074] The memory (250) can store input values ​​obtained through the input / output interface, internal / external sensors, etc., and various information.

[0075] Despite the term, memory (250) can be implemented in various means capable of storing data, such as a database.

[0076] The memory (250) can store all data related to driving, such as basic programs for the operation of the vehicle, application programs, setting information, and log data related to driving. The memory (250) can store data included in signals received by the vehicle. The memory (250) can be composed of a storage medium or a combination of storage media such as ROM, RAM, hard disk, CD-ROM, and DVD.

[0077] The processor (205) can control the overall driving operation of the vehicle. The processor (205) can control the vehicle to perform any one of the operations of the embodiments of the present disclosure.

[0078] The processor (205) may include a data collector (210), a self-driving method adjustment necessity determiner (220), and a self-driving method adjuster (230).

[0079] The data collector (210), the autonomous driving method adjustment necessity determiner (220), and the autonomous driving method adjuster (230) are distinguished to indicate that they can be functionally and logically separated, and this does not necessarily mean that each of the components is separated into a separate physical device or written in a separate code.

[0080] The processor (205) can be electrically and physically connected to the vehicle's input / output interface, internal / external sensors, communication interface (240), and memory (250), and can control them to perform operations.

[0081] The processor (205) may be implemented in hardware, software, or a combination of hardware and software. The processor (205) may include a CPU (central processing unit), GPU (graphics processing unit), APU (accelerated processing unit), microprocessor, microcontroller, DSP (digital signal processor), FPGA (field-programmable gate array), ASIC (application-specific integrated circuit), or other types of processing components.

[0082] The processor (205) may include one or more processors that can be programmed to perform one or more functions.

[0083] The autonomous driving control device (200) can assist in safely transferring control when the actual transfer of control is performed by reducing the difficulty of transferring control through the adjustment of the autonomous driving method during autonomous driving. Alternatively, the autonomous driving control device (200) can allow autonomous driving to continue without stopping the vehicle in specific situations during autonomous driving by supplementing the ability to transfer control.

[0084] The autonomous driving control device (200) can be automatically activated when the vehicle switches to autonomous driving mode.

[0085] The autonomous driving control device (200) may request the driver to confirm whether to activate the autonomous driving method adjustment function when switching to autonomous driving. For example, when switching to autonomous driving mode, the driver may be asked to confirm whether to activate the autonomous driving method adjustment function through a display pop-up or voice. The driver may activate the autonomous driving method adjustment function through an input interface or voice.

[0086] When the autonomous driving method adjustment function is activated, the autonomous driving control device (200) can perform an operation for adjusting the autonomous driving method.

[0087] The data collector (210) can collect various data related to vehicle driving through the vehicle's input / output interface, internal / external sensors, communication interface, memory, etc.

[0088] The data collector (210) can transmit the collected data to the autonomous driving method adjustment necessity determiner (220) and the autonomous driving method adjuster (230).

[0089] The data collector (210) can identify the autonomous driving level and driver status information to determine the need for autonomous driving adjustment.

[0090] The data collector (210) can identify vehicle driving state information, surrounding vehicle information, vehicle location information, driving road information, driving lane information, traffic volume information, weather information, and major traffic information for adjusting the autonomous driving method.

[0091] The autonomous driving method adjustment necessity determination device (220) can determine the need for adjustment of the autonomous driving method based on the autonomous driving level and driver status information identified from the data collector (210).

[0092] The autonomous driving method adjustment necessity determination device (220) can determine from the collected data whether the driver's state corresponding to the driver's state information is within a range limited by the criteria corresponding to the current vehicle's autonomous driving level. A state within a range limited by the criteria corresponding to the autonomous driving level may mean a state where a transfer of control is not required at the current vehicle's autonomous driving level, but an adjustment of the autonomous driving method is required.

[0093] According to an embodiment, the autonomous driving method adjustment necessity determination device (220) may determine that the autonomous driving method adjustment is necessary when the current autonomous driving level of the vehicle is level 2 and the driver's gaze is focused on the front but is performing a secondary task unrelated to driving.

[0094] For example, the scope limited in correspondence with Level 2 may include auxiliary tasks (or secondary tasks of Level 2). Auxiliary tasks corresponding to Level 2 may represent tasks that can be performed in parallel with the primary task corresponding to driving. Auxiliary tasks may include making a phone call, partially moving out of the seat, conversing with another person, removing the seatbelt, etc. Here, the driver may pre-set actions corresponding to auxiliary tasks as needed.

[0095] According to an embodiment, the scope of auxiliary tasks limited to Level 2 can be determined by considering not only the type of action but also the degree of concentration on the action. For example, the autonomous driving method adjustment necessity determiner (220) can determine the degree of concentration on the auxiliary task based on the driver's facial expression or posture, etc. In this case, the autonomous driving method adjustment necessity determiner (220) can determine that adjustment of the autonomous driving method is necessary based on the type of action and the degree of concentration of the auxiliary task.

[0096] According to an embodiment, the autonomous driving method adjustment necessity determination device (220) may determine that the autonomous driving method adjustment is necessary when the current vehicle’s autonomous driving level is Level 3 and it is performing an auxiliary task (or a primary task of Level 3) that reduces the driver’s ability to switch to driving to below a reference value. Here, the auxiliary task may include non-driving tasks, which are tasks that are not driving performed by the driver. In the case of Level 3, since the driver does not participate in driving, non-driving tasks may be expressed as auxiliary tasks (or primary tasks of Level 3). That is, the auxiliary task corresponding to Level 3 may include all tasks excluding driving performed by the driver. However, the driver may pre-set tasks corresponding to the auxiliary task as needed.

[0097] For example, auxiliary tasks limited to a range corresponding to Level 3 may include eating and drinking, eating, reading, closing one's eyes for a certain period of time or longer, using a smartphone, leaving the driver's seat, etc.

[0098] According to an embodiment, the auxiliary task within the limited range corresponding to Level 3 can be determined by considering not only the type of action but also the degree of concentration on the action. For example, the autonomous driving method adjustment necessity determiner (220) can determine the degree of concentration on the secondary (or auxiliary) task based on the driver's facial expression or posture, etc. In this case, the autonomous driving method adjustment necessity determiner (220) can determine that adjustment of the autonomous driving method is necessary based on the type of action and the degree of concentration of the secondary task.

[0099] If the autonomous driving method adjustment necessity determination unit (220) determines that adjustment of the autonomous driving method is necessary, it can transmit the decision to adjust the autonomous driving method to the autonomous driving method adjustment unit.

[0100] If the autonomous driving method adjustment necessity determination device (220) determines that adjustment of the autonomous driving method is necessary, it may request the driver to confirm whether to perform the adjustment of the autonomous driving method.

[0101] The autonomous driving method adjuster (230) can receive information for adjusting the autonomous driving method from the data collector (210). The autonomous driving method adjuster (230) can receive a decision on adjusting the autonomous driving method from the autonomous driving method adjustment necessity determiner (220).

[0102] The autonomous driving method adjuster (230) can adjust the autonomous driving method if requested by the user, even if there is no decision to adjust the autonomous driving method.

[0103] The autonomous driving method adjuster (230) can adjust the autonomous driving method suitable for the situation based on the autonomous driving method adjustment decision and the identified data.

[0104] According to an embodiment, the autonomous driving method adjuster (230) can adjust the autonomous driving method so that it drives with a different autonomous driving pattern than before in the same vehicle surrounding situation, or applies a different autonomous driving setting than before in the same vehicle situation. The autonomous driving method adjuster (230) can adjust the settings for the vehicle speed, distance between vehicles in front and behind, driving lane, driving road, etc., according to various existing autonomous driving situations set in correspondence with the autonomous driving level without changing the autonomous driving level.

[0105] For example, the autonomous driving settings may include the distance between the vehicle and the vehicle in front, or the distance between the vehicle and the vehicle behind, set according to the situation.

[0106] For example, an autonomous driving pattern may include an autonomous driving pattern that causes the vehicle to change its driving lane to the lane with the fewest lanes.

[0107] Here, the specific method for adjusting the autonomous driving method will be explained in detail below in FIGS. 3a to 6.

[0108] The autonomous driving method adjustment necessity determination unit (220) can automatically determine whether further adjustment of the autonomous driving method is necessary after the autonomous driving method adjustment has been performed. The autonomous driving method adjustment necessity determination unit (220) can receive updated data from the data collector (210) after the autonomous driving method adjustment has been performed. Based on the updated data, the autonomous driving method adjustment necessity determination unit (220) can determine the necessity of adjusting the autonomous driving method in the same way as the initial determination.

[0109] The autonomous driving control device (200) can control the vehicle based on the adjusted autonomous driving method after the autonomous driving method adjustment is performed.

[0110] The autonomous driving control device (200) can transfer control to the driver based on predetermined conditions after the autonomous driving method adjustment is performed. At this time, the conditions for the autonomous driving method adjustment and the conditions for the transfer of control can be set differently from each other. Before transferring control to the driver, the autonomous driving control device (200) can redetermine the deactivation of the autonomous driving method adjustment function and, based on this, readjust the autonomous driving method to correspond to the existing settings.

[0111] After the autonomous driving control device (200) has performed the autonomous driving method adjustment, it may request the driver to confirm whether to disable the autonomous driving method adjustment function again.

[0112] The autonomous driving control device (200) can determine whether the autonomous driving method adjustment is necessary when the driver requests the deactivation of the autonomous driving method adjustment function. The autonomous driving method adjustment necessity judgment device (220) determines the necessity of the autonomous driving method adjustment and, if it determines that there is no necessity, can decide to deactivate the autonomous driving method adjustment function according to the driver's request. However, if the autonomous driving method adjustment necessity judgment device (220) determines that there is a necessity for the autonomous driving method adjustment, it can notify the driver through an alarm that the autonomous driving method adjustment function cannot be deactivated. For example, if the autonomous driving method adjustment function is activated by detecting the driver's performance of a secondary task, and the driver requests the deactivation of the autonomous driving method adjustment function, the deactivation of the autonomous driving method adjustment function can be refused by notifying the driver that the driver is currently performing a secondary task.

[0113] Figures 3a to 3c below describe specific embodiments of how an autonomous driving control device (200) performs autonomous driving method adjustment.

[0114] FIG. 3a is a diagram illustrating a method of performing a lane change by adjusting an autonomous driving method according to one embodiment of the present disclosure. FIG. 3b is a diagram illustrating a method of performing deceleration driving by adjusting an autonomous driving method according to one embodiment of the present disclosure. FIG. 3c is a diagram illustrating a method of changing the distance between vehicles by adjusting an autonomous driving method according to one embodiment of the present disclosure.

[0115] FIGS. 3a to 3c may show embodiments of an autonomous driving method adjustment method and a control method therefrom that are performed when it is determined that an autonomous driving method adjustment is necessary while the autonomous driving method adjustment function described in FIG. 2 is activated.

[0116] The operation of FIGS. 3a to 3c can be controlled by the processor described in FIG. 2. Although all operations in FIGS. 3a to 3c are described as being performed by the vehicle, the operations can be performed by an autonomous driving control device included in the vehicle.

[0117] First, in FIG. 3a, the vehicle (305) can perform driving according to a set autonomous driving level. If it is decided to perform an autonomous driving method adjustment based on the method in FIG. 2, the vehicle can decide to change lanes using the autonomous driving adjustment method. When a lane change is decided, the vehicle (305) can adjust the autonomous driving method to drive to a safer driving lane to reduce the difficulty of switching control from the driving lane determined according to the existing autonomous driving level.

[0118] In one embodiment, when it is determined that the vehicle (305) will perform an autonomous driving method adjustment, it can adjust the autonomous driving method to perform autonomous driving in a stored driving lane.

[0119] In one embodiment, the vehicle (305) can identify the vehicle's location information, the vehicle's driving information, the vehicle's driving road information, the vehicle's surrounding condition information, traffic information, etc.

[0120] The vehicle (305) can identify the lane it is driving in through the autonomous driving level, the vehicle's location information, and the vehicle's surrounding state information. The vehicle (305) can identify surrounding vehicles (310, 315, 320) located within a certain distance (330) based on sensors. The vehicle (305) can identify the lane with the fewest vehicles in the vicinity based on the identified surrounding vehicles, the vehicle's location information, and the lane it is driving in. When the vehicle (305) identifies the lane with the fewest vehicles in the vicinity, it can perform a lane change to that lane. For example, when the vehicle (305) identifies that the vehicle (305) is driving in the second lane (350), it can identify the location and distance of surrounding vehicles located within a predetermined distance. The vehicle (305) can identify that there are two vehicles (315, 320) in the first lane (340), another vehicle (310) in front in the second lane (350), and no vehicles in the third lane (360). The vehicle (305) can adjust the autonomous driving method in a direction where autonomous driving can be safe based on the location of surrounding vehicles. The vehicle (305) can decide to change lanes to the third lane (360), where the number of vehicles in motion is the lowest.

[0121] In one embodiment, the vehicle (305) can identify driving road information, weather information, and traffic information. The vehicle (305) can determine lane stability by synthesizing the identified information. The vehicle (305) can determine a lane change based on the determined lane stability.

[0122] In another embodiment, the vehicle (305) can perform autonomous driving by determining a route to a destination. When it is decided to perform an adjustment of the autonomous driving method, the vehicle (305) can identify route information, road condition information, weather information, traffic information, driving road information, etc. Based on the identified information, the vehicle (305) can determine which route allows for safer driving. For example, even if it takes a little longer than the existing route, the autonomous driving method can be adjusted to a route where safer driving is possible if there is less traffic based on traffic complexity.

[0123]

[0124] In FIG. 3b, the vehicle (305) can perform autonomous driving by controlling the vehicle's speed based on autonomous driving settings. The vehicle can perform cruising based on existing autonomous driving methods.

[0125] If it is decided to adjust the autonomous driving method based on the method shown in Fig. 2, the vehicle can adjust the autonomous driving method by driving at a reduced speed.

[0126] In one embodiment, when it is determined that the vehicle (305) will perform autonomous driving, it can adjust the autonomous driving method to perform autonomous driving by decelerating to a stored speed.

[0127] In one embodiment, the vehicle (305) can identify the maximum speed and minimum speed set according to the autonomous driving level, vehicle location information, and road information. For example, the vehicle (305) can identify the maximum speed limit and minimum speed limit set on the road where the vehicle is located. The vehicle can determine the maximum speed, minimum speed, and current driving speed to perform autonomous driving based on the user's settings or autonomous driving level in the interval between the identified maximum speed limit and minimum speed limit. For example, based on the vehicle location information, if the vehicle (305) is located on a highway, it can identify that the minimum speed is 50 km and the maximum speed is 100 km. Accordingly, the vehicle (305) can determine the maximum speed and minimum speed to maintain between 50 and 100 km based on the user's settings or autonomous driving level on the road and determine the current driving speed.

[0128] In one embodiment, when it is determined to perform an autonomous driving method adjustment, the vehicle (305) may adjust the autonomous driving method in a direction that reduces the maximum speed, minimum speed, and current driving speed based on the autonomous driving level. The vehicle (305) may reduce the vehicle speed more as the autonomous driving level is higher. For example, since the difficulty of switching control is relatively lower when the autonomous driving level is 2 than when the autonomous driving level is 3, the vehicle (305) may reduce the maximum speed, minimum speed, and current driving speed less when the autonomous driving level is 2 than when the autonomous driving level is 3.

[0129] The vehicle (305) can gradually reduce its speed using various sensors of the vehicle based on the reduced current driving speed so as not to cause a sudden deceleration.

[0130]

[0131] In FIG. 3c, the vehicle (305) can perform autonomous driving by setting a certain distance between itself and a vehicle ahead based on the autonomous driving settings. That is, an initial distance between vehicles (380) may be set according to the autonomous driving settings. For example, the vehicle (305) can identify a vehicle ahead (370) and perform autonomous driving to maintain a certain distance from the vehicle ahead by utilizing the set initial distance between vehicles (380).

[0132] If it is decided to perform an autonomous driving method adjustment based on the method shown in Fig. 2, the vehicle can adjust the autonomous driving method by increasing the distance between the vehicle and the vehicle in front.

[0133] In one embodiment, when it is determined that the vehicle (305) will perform autonomous driving, it can adjust the autonomous driving method to perform autonomous driving by applying the stored distance between the vehicle and the vehicle ahead.

[0134] In one embodiment, when it is decided to perform an autonomous driving method adjustment, the vehicle (305) may determine an adjusted distance (385) that is wider than the initial distance (380). The adjusted distance (385) may be determined by considering the initial distance (380), surrounding vehicle information, road information, weather information, traffic information, etc. When the adjusted distance (385) is determined, the vehicle (305) may reduce the speed of the vehicle and, once the adjusted distance (385) is reached, perform autonomous driving at the original speed again.

[0135] The operations of FIGS. 3a to 3c are just one of various examples for adjusting the autonomous driving method, and in addition to the described method, any method that can be controlled for safe autonomous driving can be adjusted.

[0136]

[0137] FIG. 4 is a flowchart showing the application of an autonomous driving method adjustment according to one embodiment of the present disclosure.

[0138] The autonomous driving method adjustment method performed in Fig. 4 can determine the necessity of adjusting the autonomous driving method by the autonomous driving control device as in Fig. 2, and the autonomous driving method adjustment method described in Fig. 3 can be applied at each stage.

[0139] The operation of FIG. 4 can be controlled by the processor described in FIG. 2. Although FIG. 4 describes all operations as being performed by the vehicle, the operations can be performed by an autonomous driving control device, etc.

[0140] In step S410, if it is determined that there is a need to adjust the autonomous driving method, the vehicle may perform an adjustment to the autonomous driving method.

[0141] First, at stage S420, the vehicle can determine whether safer driving is possible when the vehicle moves to a destination via a different route. The vehicle can determine whether there is another route that allows for safer autonomous driving than the current route by identifying current route information, vehicle location information, autonomous driving level, road condition information, driving condition information, weather information, traffic information, etc.

[0142] If the vehicle determines that there is another route where autonomous driving is safer than the current route, it may change route from the current route to that route.

[0143] If the vehicle determines that there is no other route where autonomous driving is safer than the current route, it may consider S430.

[0144] In step S430, the vehicle can determine whether cruising is possible by decelerating based on driving conditions. The vehicle can determine whether cruising is possible at a predetermined speed lower than the current driving speed by identifying current route information, vehicle location information, autonomous driving level, road condition information, driving status information, weather information, traffic information, road speed limit information, speed of rear vehicles, and distance between vehicles.

[0145] If the vehicle determines that it can maintain cruising speed at a lower speed, it may perform deceleration. In this case, the vehicle can be controlled so that the speed is slowly decelerated to the target speed.

[0146] If it is determined that the vehicle cannot maintain cruising speed at a lower speed, the S440 stage may be considered.

[0147] In step S440, the vehicle can determine whether to adjust the distance between itself and the vehicle ahead by performing temporary deceleration based on the driving situation.

[0148] The vehicle can determine whether it is possible to drive while maintaining a greater distance from the vehicle ahead than the current distance from the vehicle ahead by identifying current route information, vehicle location information, autonomous driving level, road condition information, driving status information, weather information, traffic information, road speed limit information, distance from the vehicle ahead, and the speed and distance from the vehicle behind.

[0149] If it is determined that the distance between vehicles can be adjusted, the vehicle can temporarily decelerate to increase the distance to the vehicle ahead and then adjust its speed back to the existing autonomous driving speed.

[0150] If it is determined that adjusting the distance between vehicles is impossible, the vehicle may consider the S450 stage.

[0151] In the S450 stage, the vehicle can determine whether it can change the driving lane through a lane change based on the driving situation.

[0152] The vehicle can determine whether it is safe to drive in a lane other than the current driving lane by identifying current route information, vehicle location information, autonomous driving level, road condition / type information, driving status information, weather information, traffic information, road speed limit information, speed and distance of the vehicle in front, speed and distance of the vehicle behind, speed and distance of the vehicle to the side, presence of vehicles in the vehicle's blind spot, and information on surrounding vehicles within a certain distance.

[0153] If it is determined that it is safer to drive in a different lane than the current driving lane, the vehicle can perform a lane change and conduct autonomous driving in the other lane.

[0154] If it is determined that there is no lane safer to drive in than the current lane, the vehicle may not perform adjustments to the autonomous driving method.

[0155] In step S460, if the vehicle does not perform adjustments to the autonomous driving method, it may redetermine whether adjustments to the autonomous driving method are necessary after a certain period of time. The vehicle may redetermine the necessity of adjusting the autonomous driving method based on information about the vehicle after a certain period of time in the manner described in FIG. 2.

[0156] If it is determined that adjustments to the autonomous driving method are still necessary, the vehicle may return to step S410 and repeat steps S410 through S450.

[0157] If it is determined that there is no longer a need to adjust the autonomous driving mode, the vehicle may disable the autonomous driving mode adjustment function.

[0158]

[0159] FIG. 5 is a flowchart for performing autonomous driving method adjustment in an autonomous driving control device according to one embodiment of the present disclosure.

[0160] Although the method described in FIG. 5 is described as being performed by an autonomous driving control device, it can be performed in the vehicle and processor described in FIG. 1 to 4, respectively, and can also be performed separately for each operation by the components included in the device.

[0161] In step S510, the autonomous driving control device (e.g., the autonomous driving control device (200) of FIGS. 1 and 2) can identify the autonomous driving level of the vehicle in autonomous driving and the status information of the driver of the vehicle.

[0162] In step S520, the autonomous driving control unit can determine whether there is a need to adjust the currently applied autonomous driving method based on the identified autonomous driving level and driver state information.

[0163] In one embodiment, the autonomous driving control device can determine whether the state of the driver corresponding to the driver's state information is within a range limited by a standard corresponding to the current autonomous driving level of the vehicle.

[0164] In one embodiment, the state within the range limited by the standard corresponding to the autonomous driving level may be a state in which a transfer of control is not required at the current autonomous driving level of the vehicle, but adjustment of the autonomous driving method is required.

[0165] In one embodiment, the autonomous driving control device may determine that adjustment of the autonomous driving method is required when the autonomous driving level is level 2 and the driver's gaze is focused on the front but is performing a secondary task not related to driving.

[0166] In one embodiment, the autonomous driving control device may determine that adjustment of the autonomous driving method is required when the autonomous driving level is autonomous driving level 3 and the auxiliary task of reducing the driver's ability to switch to driving to below a reference value is being performed.

[0167] In step S530, if the autonomous driving control device determines that there is a need to adjust the autonomous driving method, it can adjust the autonomous driving method of the vehicle.

[0168] In one embodiment, the autonomous driving control device can adjust the autonomous driving method so that it drives with an autonomous driving pattern different from the existing one in the same situation, or applies an autonomous driving setting different from the existing one in the same situation.

[0169] In one embodiment, the autonomous driving setting may include a distance between the vehicle in front of the vehicle set according to the situation or a distance between the vehicle behind the vehicle set according to the situation.

[0170] In one embodiment, the autonomous driving pattern may include an autonomous driving pattern that causes the vehicle to change its driving lane to the lane with the fewest lanes.

[0171] In one embodiment, after performing the adjustment of the autonomous driving method, the autonomous driving control device re-identifies the driver's state information, re-determines the need for adjustment of the autonomous driving method based on the autonomous driving level and the re-identified driver's state information, and if it is determined that there is no need for adjustment, the autonomous driving method adjustment function may be disabled.

[0172] In one embodiment, the autonomous driving control device requests confirmation from the driver to activate the autonomous driving method adjustment function, receives input from the driver to activate the autonomous driving method adjustment function, and can activate the autonomous driving method adjustment function based on the input, and the input may include a smartphone, a display touch input, or voice interaction.

[0173] In one embodiment, when the autonomous driving control device adjusts the autonomous driving method of the vehicle, it may transmit alarm information to the driver indicating that the autonomous driving method is being adjusted, and the alarm information may be displayed through a tactile signal using sound, vibration inside the vehicle, etc., or through a display of the vehicle.

[0174] In one embodiment, the autonomous driving control device determines whether there is a route with lower traffic complexity than the current route, and if there is a route with lower traffic complexity, changes the route of the vehicle to the route with lower traffic complexity, and if there is no route with lower traffic complexity, determines whether cruising is possible by decelerating the speed of the vehicle.

[0175] In one embodiment, the autonomous driving control device can reduce the speed of the vehicle and drive it when the vehicle can drive at a reduced speed, and when the vehicle cannot drive at the reduced speed, determine whether temporary deceleration of the vehicle is possible, and when temporary deceleration of the vehicle is possible, increase the distance between the vehicle and the vehicle in front, and when temporary deceleration of the vehicle is not possible, determine whether there is a lane with fewer other vehicles than the vehicle's driving lane.

[0176] In one embodiment, the autonomous driving control device changes the driving lane of the vehicle to the lane with fewer other vehicles when there is a lane with fewer other vehicles, and when there is no lane with fewer other vehicles, it re-determines the need for adjustment of the autonomous driving method after a certain period of time, and when there is a need for adjustment of the re-determined autonomous driving method, it determines whether there is a route with lower traffic complexity than the current route, and when there is no need for adjustment of the re-determined autonomous driving method, it can disable the autonomous driving method adjustment function of the vehicle.

[0177] In various embodiments of the present disclosure, an autonomous driving control device comprises a communication interface, a memory, and a processor, wherein the processor identifies the autonomous driving level of a vehicle and the state information of a driver, determines the need for adjustment of the autonomous driving method based on the autonomous driving level and the state information of the driver, and can adjust the autonomous driving method of the vehicle based on the determined need for adjustment.

[0178]

[0179] The various operations of the methods described above may be performed by any suitable means capable of performing the corresponding functions. The means include, but are not limited to, various hardware and / or software component(s) and / or module(s), including application-specific integrated circuits (ASICs) or processors. Generally, where there are operations corresponding to the drawings, these operations may have corresponding relative means plus functional components having the same number.

[0180] The various exemplary logic blocks, modules, and circuits described in connection with this disclosure may be implemented or performed by a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to perform the functions disclosed herein. The general-purpose processor may be a microprocessor, but alternatively, the processor may be any commercially available processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors coupled with a DSP core, or any other such configuration.

[0181] While the foregoing disclosure provides examples and descriptions, it is not intended to be comprehensive or to limit the aspects to the exact form disclosed. Modifications and variations may be made in the context of the foregoing disclosure or obtained from the practice of the aspects.

[0182] As used herein, the term "component" is intended to be broadly interpreted as hardware, firmware, and / or a combination of hardware and software. As used herein, "processor" is implemented as hardware, firmware, and / or a combination of hardware and software. It will be apparent that the systems and / or methods described herein may be implemented in different forms of hardware, firmware, and / or a combination of hardware and software. The actual specific control hardware or software code used to implement these systems and / or methods is not a limitation of the aspects. Accordingly, the operation and behavior of the systems and / or methods have been described herein without reference to specific software code, and it is understood that software and hardware may be designed to implement the systems and / or methods based at least partially on the description herein.

[0183] Furthermore, the aforementioned term "determining" encompasses a wide variety of actions. For example, "determining" may include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, database, or other data structure), verifying, etc. Additionally, "determining" may include receiving (e.g., receiving information), accessing (accessing data in memory), etc. Furthermore, "determining" may include resolving, selecting, choosing, establishing, etc.

[0184] The embodiments exemplified in this disclosure are intended to explain, not limit, the technical concept of this disclosure, and the scope of the technical concept of this disclosure is not limited by these embodiments.

[0185] The scope of protection of the technical concept of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of the technical concept of the present disclosure.

[0186] The device described in this disclosure may be used as a hardware component, a software component, and / or a combination of a hardware component and a software component. For example, the components used in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as a processor, a controller, a digital signal processor, a microprocessor, or any device capable of responding to instructions, and one or more general-purpose or special-purpose sensors capable of collecting data, such as a camera, an infrared camera, a distance sensor, a microphone, an ultrasonic sensor, a speed sensor, an acceleration sensor, a steering sensor, a tactile sensor, or one or more general-purpose or special-purpose communication devices capable of Bluetooth, Wi-Fi, or communication. These devices or combinations of devices may execute an operating system and one or more software applications executed on said operating system. Additionally, these devices or combinations of devices may be capable of accessing, storing, processing, manipulating, and generating data in response to the execution of software. For convenience of understanding, in this patent, such a device may be described as being used as a single one; however, those skilled in the art will know that the device comprises a plurality of components or a plurality of types of components. For example, a device capable of responding to a command may include multiple or one processor and controller.

[0187] Methods according to various embodiments of the present disclosure may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiments, or may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media may include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions may include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0188] A person skilled in the art to which this disclosure pertains will be able to make various modifications and variations without departing from the essential nature of the technical concept of this disclosure.

[0189] Specific combinations of features are mentioned in the claims and / or disclosed in the specification, but such combinations are not intended to limit the disclosure of various aspects. In fact, most of these features may be combined in ways not specifically cited in the claims and / or disclosed in the specification. Each dependent claim listed below depends directly on only one claim, but the disclosure of various aspects includes each dependent claim in combination with all other claims in the set of claims. As used herein, the phrase referred to as "at least one of a list of items" refers to any combination of those items, including single members. For example, "at least one of a, b, or c" is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination of multiple identical elements (e.g., aa, aaa, aab, aac, abb, acc, bb, bbb, bbc, cc, and ccc or any other ordering of a, b, and c).

[0190] Any element, action, or command used in this specification shall not be interpreted as deterministic or essential unless explicitly stated otherwise. Furthermore, as used in this specification, singular expressions are intended to include one or more items and may be used interchangeably with "one or more." Additionally, as used in this specification, the adjective "he" is intended to include one or more items referenced in relation to the adjective "he" and may be used interchangeably with "one or more." Also, as used in this specification, the terms "set" and "group" are intended to include one or more items (e.g., associated items, unrelated items, combinations of associated and unrelated items, etc.) and may be used interchangeably with "one or more." If only one item is intended, the phrase "only one" or a similar phrase is used. Also, as used in this specification, terms such as "having" are intended as open-ended terms. Additionally, the phrase “based on or grounded in” is intended to mean “at least partially based on or at least partially based on” unless otherwise explicitly stated. Furthermore, as used herein, the term “or” is intended to be inclusive when used consecutively and may be used interchangeably with “and / or” unless otherwise explicitly stated (e.g., when used in combination with “either one” or “only one of”).

Claims

1. In a method performed by an autonomous driving control device, A step of identifying the vehicle's autonomous driving level and driver's state information; A step of determining the need for adjustment of the autonomous driving method based on the above autonomous driving level and the above driver's state information; and A method comprising the step of adjusting the autonomous driving method of the vehicle based on the adjustment necessity determined above.

2. In Paragraph 1, The step of determining the need for adjustment of the autonomous driving method based on the above-mentioned autonomous driving level and the above-mentioned driver's state is: A method comprising the step of determining whether the state of the driver corresponding to the state information of the driver is a state within a range limited by a standard corresponding to the autonomous driving level of the current vehicle.

3. In Paragraph 2, The state within the limited range of the criteria corresponding to the above autonomous driving level is, A method in which, at the current autonomous driving level of the above vehicle, a transfer of control is not required, but adjustment of the autonomous driving method is required.

4. In Paragraph 3, The step of determining the need for adjustment of the above-mentioned autonomous driving method is: A method comprising the step of determining that adjustment of the autonomous driving method is required when the autonomous driving level is Level 2 and the driver's gaze is focused on the front but is performing a secondary task unrelated to driving.

5. In Paragraph 3, The step of determining the need for adjustment of the above-mentioned autonomous driving method is: A method comprising the step of determining that adjustment of the autonomous driving method is required when the above-mentioned autonomous driving level is autonomous driving level 3 and performing an auxiliary task that reduces the driver's ability to switch to driving to below a reference value.

6. In Paragraph 1, The step of adjusting the autonomous driving method of the above vehicle is: A method including a step of driving with an autonomous driving pattern different from the existing one in the same situation, or adjusting the autonomous driving method so that an autonomous driving setting different from the existing one is applied in the same situation.

7. In Paragraph 6, The above autonomous driving settings are, A method including a distance between the vehicle in front of the vehicle set according to the situation or a distance between the vehicle behind the vehicle set according to the situation.

8. In Paragraph 6, The above autonomous driving pattern is, A method comprising an autonomous driving pattern that causes the vehicle in operation to change the driving lane of the vehicle to the lane with the fewest lanes.

9. In Paragraph 1, After performing the adjustment of the above-mentioned autonomous driving method, a step of re-identifying the driver's state information; A step of re-determining the need for adjustment of the autonomous driving method based on the above autonomous driving level and the above re-identified driver state information; and A method comprising the step of disabling the autonomous driving method adjustment function when it is determined that there is no need for the above adjustment.

10. In Paragraph 1, A step of requesting the driver to confirm whether to activate the autonomous driving mode adjustment function; A step of receiving input from the driver to activate the autonomous driving method adjustment function; and It further includes a step of activating the autonomous driving method adjustment function based on the above input, and The above input is a method including a smartphone, display touch input, or voice interaction.

11. In Paragraph 1, When adjusting the autonomous driving method of the above vehicle, the method further includes the step of transmitting alarm information to the driver to inform the driver that the autonomous driving method is being adjusted. A method of displaying the above alarm information through a tactile signal using sound, vibration inside the vehicle, etc., or through a display of the vehicle.

12. In Paragraph 1, The step of adjusting the autonomous driving method of the above vehicle is: A step of determining whether there exists a route with lower traffic complexity than the current route; If a route with low traffic complexity exists, a step of changing the route of the vehicle to the route with low traffic complexity; and A method comprising the step of determining whether cruising is possible by reducing the speed of the vehicle when there is no route with low traffic complexity.

13. In Paragraph 12, The step of adjusting the autonomous driving method of the above vehicle is: If the vehicle is capable of cruising at a reduced speed, a step of driving by reducing the speed of the vehicle; A step of determining whether temporary deceleration of the vehicle is possible when it is impossible to drive the vehicle at the decelerated speed; If temporary deceleration of the above vehicle is possible, a step of increasing the distance between the above vehicle and the vehicle in front; and A method comprising the step of determining whether there is a lane with fewer other vehicles than the driving lane of the vehicle when temporary deceleration of the vehicle is impossible.

14. In Paragraph 13, The step of adjusting the autonomous driving method of the above vehicle is: If there is a lane with fewer other vehicles, the step of changing the driving lane of the vehicle to the lane with fewer other vehicles; If there is no lane with fewer other vehicles, a step of re-determining the need for adjustment of the autonomous driving method after a certain period of time; If there is a need to adjust the above-determined autonomous driving method, a step of determining whether there exists a route with lower traffic complexity than the current route; A method further comprising the step of disabling the autonomous driving method adjustment function of the vehicle when there is no need to adjust the aforementioned re-determined autonomous driving method.

15. In an autonomous driving control device, communication interface, memory, It includes a processor connected to the above communication interface and memory, and The above processor is: Identifying the vehicle's autonomous driving level and driver status information, Determining the necessity of adjusting the autonomous driving method based on the above autonomous driving level and the above driver state information, and An autonomous driving control device configured to adjust the autonomous driving method of the vehicle based on the adjustment necessity determined above.

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