ES2880577T3 - Apparatus and method for providing a safety strategy in a vehicle - Google Patents

Abstract

Apparatus (100) for providing a security strategy in a vehicle, the apparatus (100) comprising: a sensor (110) configured to obtain detection information about the exterior of the vehicle; a memory (120) that stores road information; an output device (130) configured to issue a notification; and a control circuit (140) configured to electrically connect to the sensor (110), memory (120), and output device (130), wherein the control circuit (140) is configured to: recognize an event associated with a critical situation of the vehicle based on at least a portion of the detection information or road information, while performing autonomous control; and when the event is a planned event, maintaining autonomous control, issuing a transition request using the output device (130) and controlling the vehicle according to a predetermined strategy for the critical situation; and when the event is an unplanned event, issuing the transition request and controlling the vehicle according to the predetermined strategy.

Description

DESCRIPTION

Apparatus and method for providing a safety strategy in a vehicle

Cross reference to related request

This application claims the benefit and priority of Korean Patent Application No. 10-2018-0151079, filed on November 29, 2018, which claims the priority and benefit of US Provisional Patent Application No. 62 / 655,831, filed on April 11, 2018.

Country

The present invention relates to an apparatus and a method for providing a strategy for maintaining security depending on the occurrence of an event.

Background

The statements in this section merely provide background information related to this disclosure and may not be prior art.

With the development of the automotive industry, an autonomous system and a driving assistance system have been developed that facilitate partially autonomous driving (hereinafter, for convenience of description, both autonomous driving and driving assistance are called “autonomous driving”). The autonomous system can provide a variety of functions, for example, maintaining a set speed, maintaining vehicle-to-vehicle distance, lane keeping, and a lane change. The autonomous system can perform autonomous driving using various devices such as a sensor to detect environments outside the vehicle, a sensor to detect information about the vehicle, a global positioning system (GPS), a detailed map, a condition monitoring system driver, a steering actuator, an acceleration / deceleration actuator, a communication circuit, and a control circuit (eg, an electronic control unit (ECU)). The autonomous system can detect a critical situation and can provide a minimum risk maneuver (MRM) when it detects the critical situation.

The autonomous system can predict or detect a critical situation. For example, the critical situation can be predicted or it can come as a surprise. When the same MRM is consistently provided in response to the critical situation, a driver's safety can be improved.

US 2018/088574 A1 discloses a control system operable to control a vehicle in an autonomous or semi-autonomous mode that includes a processor that processes data captured by a plurality of external detection sensors. When the control system is operating in the autonomous or semi-autonomous mode and in response to a determination of an impending event that requires the system to transfer control of the vehicle to a driver before the vehicle encounters the event, the control determines (i) a total action time until the vehicle encounters the event, (ii) an estimated time for the driver to take control and (iii) an estimated handling time for the vehicle to be controlled before the vehicle meets the event. In response to the determinations, the control system (i) allows the driver to take control of the vehicle or (ii) controls the vehicle to slow down and stop the vehicle before the vehicle encounters the event.

Document EP 3 284 646 A1 discloses a control system for an autonomous driving vehicle comprising an operating device configured to be operated by a driver; a notification device configured to provide notification to the driver; and an electronic control unit. Autonomous driving is carried out. When the driver operates the operating device during autonomous driving, autonomous driving is terminated and the vehicle driving is switched to manual driving. Furthermore, when the driver is requested to terminate autonomous driving during autonomous driving, the notification device is controlled to first notify the driver of a request to prepare for manual driving and then notify the driver of a request to terminate autonomous driving. .

Document US 2015/0094899 A1 discloses a vehicle driver assistance system, which is capable of controlling the vehicle at least partially automatically. A method alerts the driver to regain control of the vehicle from the driver assistance system based on the distance between the current location of the vehicle and the end of the route section where autopilot can be implemented. An end of a route section is determined on autopilot on a planned route for the vehicle and distance information is determined between a current position of the vehicle and the end of the route section on autopilot. The distance information is compared with a first and a second threshold value and a first or a second indication is output based on it.

Summary

One aspect of the present invention provides an apparatus and method for identifying a critical situation that may occur during autonomous monitoring and providing a suitable MRM for each situation.

According to the present invention an apparatus for providing a security strategy in a vehicle includes: a sensor configured to obtain detection information about the exterior of the vehicle, a memory that stores road information, an output device configured to issue a notification and a control circuit configured to electrically connect to sensor, memory, and output device. The control circuit is configured to recognize an event associated with a critical situation of the vehicle based on at least a portion of the detection information or the road information, while performing autonomous control, maintain autonomous control, issue a request transition using the output device and control the vehicle according to a predetermined strategy for the critical situation, when the event is a planned event, and immediately issue the transition request and control the vehicle according to the predetermined strategy, when the event is an event unplanned.

According to one aspect, the planned event may be associated with a driving road or a driving lane of the vehicle.

According to one aspect, the unplanned event may be associated with an external object or a failure of an autonomous system of the vehicle.

According to one aspect, the control circuit may be configured to calculate an expected remaining time elapsed until the event occurs, when the event is the scheduled event, to maintain autonomous control, when the expected remaining time is greater than the sum of a first time interval and a second time interval, issue the transition request, when the expected remaining time is less than or equal to the sum of the first time interval and the second time interval and is greater than the second time interval , and controlling the vehicle according to the predetermined strategy, when the expected remaining time is less than or equal to the second time interval.

According to one aspect, the first time interval may be preset.

According to one aspect, the second time interval can be calculated based on the speed of the vehicle.

According to one aspect, the control circuit may be configured to immediately issue the transition request and calculate an expected remaining time elapsed until the event occurs, when the event is the unplanned event, and control the vehicle according to the predetermined strategy together with issue the transition request, when the expected remaining time is less than a specified time interval.

According to one aspect, the specified time interval can be calculated based on the speed of the vehicle.

According to one aspect, the control circuit may be configured to immediately control the vehicle according to the predetermined strategy along with issuing the transition request, when the event is the unplanned event.

According to one aspect, the control circuit may be configured to immediately control the vehicle according to the predetermined strategy along with issuing the transition request, when the event is an event involving a surrounding vehicle.

According to one aspect, the control circuit may be configured to immediately control the vehicle according to the predetermined strategy along with issuing the transition request, when the event is an autonomous system failure.

According to one aspect, the control circuit may be configured to control the vehicle according to another strategy for the critical situation, when the deceleration required to avoid the critical situation has a magnitude greater than a specified value.

According to one aspect, the control circuit may be configured to transfer control authority to the driver of the vehicle, when an input is received from the driver after the transition request is issued.

In one aspect, the predetermined strategy may include stopping in a lane, slowing down in a lane, or moving onto a shoulder.

According to the present invention, a method of providing a safety strategy in a vehicle includes recognizing an event associated with a critical situation of the vehicle based on at least a portion of detection information or road information, while performing autonomous control, maintain autonomous control, issue a transition request and control the vehicle according to a predetermined strategy for the critical situation, when the event is a planned event, and immediately issue the transition request and control the vehicle according to the predetermined strategy, when the event is an unplanned event.

According to one aspect, the planned event may be associated with a driving road or a driving lane of the vehicle.

According to one aspect, the unplanned event may be associated with an external object or a failure of an autonomous system of the vehicle.

According to one aspect, vehicle control when the event is the planned event may include calculating an expected remaining time elapsed until the event occurs, maintaining autonomous control, when the expected remaining time is greater than the sum of a first interval of time and a second time interval, issue the transition request, when the expected remaining time is less than or equal to the sum of the first time interval and the second time interval and is greater than the second time interval, and control the vehicle according to the predetermined strategy, when the expected time remaining is less than or equal to the second time interval. According to one aspect, controlling the vehicle when the event is the unplanned event may include immediately issuing the transition request and calculating an expected remaining time elapsed until the event occurs and controlling the vehicle according to the predetermined strategy along with issuing the request. transition, when the expected time remaining is less than a specified time interval.

According to one aspect, controlling the vehicle when the event is the unplanned event may include immediately controlling the vehicle according to the predetermined strategy along with issuing the transition request.

Additional areas of applicability will be apparent from the description provided herein. It is to be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention as defined by the appended claims.

Drawings

In order that the invention may be well understood, various forms thereof, provided by way of example, will now be described with reference to the accompanying drawings, in which:

FIG. 1 is a block diagram illustrating a configuration of an apparatus for providing a security strategy in a vehicle according to one aspect of the present disclosure;

Figure 2 is a block diagram illustrating a configuration of an apparatus for providing a security strategy in a vehicle according to one aspect of the present disclosure;

Figure 3 is a drawing illustrating a planned event recognized by an apparatus for providing a safety strategy in a vehicle in accordance with one aspect of the present disclosure;

Figure 4 is a drawing illustrating an unplanned event recognized by an apparatus for providing a safety strategy in a vehicle in accordance with one aspect of the present disclosure;

FIG. 5 is a drawing illustrating exemplary operation of an apparatus for providing a security strategy in a vehicle in accordance with one aspect of the present disclosure;

FIG. 6 is a drawing illustrating exemplary operation of an apparatus for providing a security strategy in a vehicle in accordance with one aspect of the present disclosure;

FIG. 7 is a drawing illustrating exemplary operation of an apparatus for providing a security strategy in a vehicle in accordance with one aspect of the present disclosure;

Figure 8 is a flow chart illustrating a method of providing a vehicle safety strategy in accordance with one aspect of the present disclosure;

Figure 9 is a flow chart illustrating a method for providing a vehicle safety strategy in accordance with one aspect of the present disclosure; Y

Figure 10 is a block diagram illustrating a configuration of a computer system in accordance with one aspect of the present disclosure.

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure as defined by the appended claims.

Detailed description

It should be understood that, throughout the drawings, corresponding reference numerals indicate similar or corresponding parts and features.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. When adding reference denotations to elements in each drawing, although the same elements are displayed in a different drawing, it should be noted that the same elements have the same denotations. Furthermore, in describing an aspect of the present invention, if a detailed description of well-known related configurations or functions is determined to obscure the essence of an aspect of the present invention, it will be omitted.

In describing elements of the present invention, the terms 1st, 2nd, first, second, A, B, (a), (b) and the like may be used herein. These terms are only used to distinguish one item from another item, but do not limit the corresponding items regardless of the nature, turn, or order of the corresponding items. Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meanings as generally understood by those of ordinary skill in the art to which the present invention pertains. Terms such as those defined in a generally used dictionary should be construed as having meanings equal to contextual meanings in the relevant field of art, and should not be construed as having ideal or overly formal meanings unless clearly defined as having them. in the present application.

FIG. 1 is a block diagram illustrating a configuration of an apparatus for providing a security strategy in a vehicle according to one aspect of the present invention.

Referring to FIG. 1, an apparatus 100 for providing a security strategy in accordance with the invention includes a sensor 110, a memory 120, an output device 130, and a control circuit 140. Apparatus 100 for providing a security strategy in FIG. 1 may be a portion of an autonomous system and may be loaded onto the vehicle.

Sensor 110 detects information associated with the exterior of the vehicle. For example, sensor 110 can detect information (eg, a location, a speed, an acceleration, and the like) associated with an external object located in front of, behind, or on either side of the vehicle. Sensor 110 can also detect information about the vehicle. For example, sensor 110 can detect the location of the vehicle and movement (eg, a speed, an acceleration, a steering angle, and the like) of the vehicle.

Memory 120 stores road information. The road information can include, for example, a map or the like. The road information can include information about, for example, a type (for example, a limited access road, a normal road or the like) of a road, a road end point, a characteristic (for example, a acceleration lane or the like) of a lane and the like.

The output device 130 is configured to issue a notification. The output device 130 may provide a notification recognizable by the senses by the driver of the vehicle. The output device 130 may include, for example, a display element, a speaker, a vibration motor, and / or the like.

Control circuit 140 is configured to electrically connect with sensor 110, memory 120, and output device 130. Control circuit 140 can control sensor 110, memory 120, and output device 130 and can perform a variety of data processing and various arithmetic operations. The control circuit 140 can be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or a sub-controller, which is loaded into the vehicle.

According to one aspect, the control circuit 140 can perform autonomous control. For example, the control circuit 140 may perform driving assistance control on a limited access road.

According to one aspect, the control circuit 140 may recognize an event associated with a critical situation of the vehicle based on at least a portion of detection information or road information while autonomous control is performed. The control circuit 140 may continue to check for a probability that a predefined critical situation will occur. The event can include, for example, a planned event and an unplanned event. According to one aspect, the planned event may be associated with a driving road or a driving lane of the vehicle. According to one aspect, the unplanned event may be associated with an external object or an autonomous system failure. A detailed description of an example of the planned event and the unplanned event will now be provided with reference to Figures 3 and 4. While the autonomous control is performed, the control circuit 140 can control the vehicle as follows in response to critical situation.

According to the invention, when the event is the scheduled event, the control circuit 140 is configured to maintain autonomous control and issue a transition request using the output device 130, thereby controlling the vehicle according to a predetermined strategy for a critical situation. In detail, when the event is the scheduled event, the control circuit 140 may calculate an expected remaining time elapsed until the event occurs. When the expected remaining time is greater than the sum of a first time interval and a second time interval, the control circuit 140 can maintain autonomous control. When the expected remaining time is less than or equal to the sum of the first time interval and the second time interval and is greater than the second time interval, the control circuit 140 may issue the transition request. The transition request may be called TD. When the expected remaining time is less than or equal to the second time interval, the control circuit 140 can control the vehicle according to a predetermined strategy. The default strategy can be an MRM. The predetermined strategy may include various strategies, for example stopping in a lane, accelerating in a lane, or moving onto a shoulder or the like. While the vehicle is controlled according to the predetermined strategy, the control circuit 140 may continue to issue the transition request. For example, the first time interval can be preset. The second time interval can be calculated based, for example, on the speed of the vehicle. A detailed description of an exemplary control strategy corresponding to the planned event will now be provided with reference to FIG. 5.

According to the invention, when the event is the unplanned event, the control circuit 140 is configured to immediately issue a transition request and control the vehicle according to a predetermined strategy. For example, when the event is the unplanned event, the control circuit 140 may immediately issue the transition request and may calculate an expected elapsed time remaining until the event occurs. When the expected remaining time is less than a specified time interval, the control circuit 140 may control the vehicle according to a predetermined strategy along with issuing the transition request.

The specified time interval can be calculated based, for example, on the speed of the vehicle. For another example, when the event is the unplanned event, the control circuit 140 may control the vehicle according to a predetermined strategy along with immediately issuing a transition request. When the event is an event in which a surrounding vehicle interferes or an autonomous system failure, the control circuit 140 can control the vehicle according to the predetermined strategy along with immediately issuing the transition request. A detailed description of an exemplary control strategy for the unplanned event will be provided below.

According to one aspect, when the acceleration required to avoid a critical situation has a magnitude greater than a specified value, the control circuit 140 can control the vehicle according to another strategy for the critical situation. Because the vehicle speed is high, when an acceleration of greater than or equal to 3.7 m / s2 is required to avoid the critical situation, the control circuit 140 can control the vehicle according to an emergency control strategy that it is more advantageous to avoid the critical situation than the predetermined strategy mentioned above.

According to one aspect, after the transition request is issued, when an input is received from the driver of the vehicle, the control circuit 140 may transfer the control authority to the driver. When a manual override of the driver is detected, the control circuit 140 can stop execution of the aforementioned control strategy and can immediately transfer control authority to the driver.

FIG. 2 is a block diagram illustrating a configuration of an apparatus for providing a security strategy in a vehicle according to one aspect of the present invention.

Referring to FIG. 2, the apparatus for providing the safety strategy in the vehicle according to one aspect may include a recognition device 210, a determining device 220, a controller 230, and an output device 240.

The recognition device 210 can recognize a location, movement, and the like of the vehicle. For example, the recognition device 210 may include a global positioning system (GPS) module, an inertial measurement unit (IMU), and the like. The recognition device 210 can recognize surrounding circumstances on a road on which the vehicle is traveling. For example, the recognition device 210 can include a camera, a radar, a light and distance sensing device (LiDAR), and the like.

Determining device 220 may include logic for precise positioning, which may determine the location of the vehicle. The determining device 220 may control the vehicle to travel along a destination or the most probable path (MPP) specified by the driver of the vehicle. Determining device 220 can determine whether it is desirable to perform an MRM, based on the recognized information.

Controller 230 can select a suitable MRM depending on the determined result and can control the vehicle according to the selected strategy. Controller 230 can control the vehicle in the manner described with reference to FIG. 1.

The output device 240 can notify the driver of a system status, a critical situation, and the like. The output device 240 may provide a transition request (TD) to the driver.

Fig. 3 is a drawing illustrating a planned event recognized by an apparatus for providing a safety strategy in a vehicle according to an aspect of the present invention.

Referring to Figure 3, the planned event may include when it is outside an operational design domain (ODD), when a driving path cannot be established due to the vehicle reaching a road end point, when it is impossible to get into an adjacent lane when the vehicle is traveling in an acceleration lane and the like. The planned event can be an event, the occurrence of which can be predicted when autonomous control is performed along a set trajectory, independent of a dynamically changing external environment.

T ^td (a first time interval) can be a default value. For example, T ^td can be set to 8 seconds in response to when you are off the ODD and when the vehicle reaches the end point of the road. For another example, T ^td can be set to 4 seconds in response to when the vehicle is moving down the acceleration lane. When the vehicle is traveling in the acceleration lane, because there is a high probability that the vehicle will enter an adjacent lane, T ^td can be set to be relatively low.

T ^mrm (one second time interval) can be determined based on vehicle speed. T ^mrm can be set to a time when the vehicle can be stopped by a specific deceleration. The higher the speed of the vehicle, the longer T ^mrm can be. Although the vehicle speed is sufficiently low, T ^mrm can be set to a minimum of 10 seconds or more.

When outside the ODD, an event point can be set to a boundary point between the ODD (for example, a limited access road) and a point other than ODD (for example, a conventional highway, a toll booth, or the like) . When the vehicle reaches the end point of the road, the event point can be set to the end point of the road. When the vehicle travels through the acceleration lane, the event point can be set to a point where the acceleration lane disappears.

Fig. 4 is a drawing illustrating an unplanned event recognized by an apparatus for providing a safety strategy in a vehicle according to one aspect of the present invention.

Referring to Fig. 4, the unplanned event may include when a front obstacle is detected, when a vehicle interposing a short distance is detected, when a road construction section is detected, when there is a system failure ( for example, hardware failure such as a sensor and an electronic control unit (ECU) and a software error) and the like. The unplanned event can be an event that is produced by a dynamically changing external environment and can be an event that cannot be predicted.

In case of the unplanned event, when there is a high probability of an emergency situation occurring, the vehicle can immediately generate a transition request (TD) without considering T ^td .

When the front obstacle is detected and when the road construction section is detected, T ^mrm (a specified time interval) can be determined based on the vehicle speed. T ^mrm can be set to a time when the vehicle can be stopped by a specific deceleration. The higher the speed of the vehicle, the longer the T ^mrm can be. Although the vehicle has a sufficiently slow speed, T ^mrm can be set to a minimum of 10 seconds or more.

When the vehicle that interferes at a short distance is detected and when there is a system failure, since there is a higher probability of an emergency situation than of the other unplanned events, the vehicle can immediately perform an MRM together with providing TD regardless of T ^mrm .

When the forward obstacle is detected, an event point can be a point at which a collision with the obstacle is predicted. When the intervening vehicle is detected at a short distance, the event point may be a point where a collision with the intervening vehicle is expected. When the road construction section is detected, the event point may be a point where it is impossible to pan due to the road construction section. When there is a system failure, the event point can be a point where the failure is acknowledged.

FIG. 5 is a drawing illustrating exemplary operation of an apparatus for providing a safety strategy in a vehicle in accordance with one aspect of the present invention.

Referring to Figure 5, the vehicle according to one aspect can perform autonomous control at a speed of 60 kph. While the autonomous control is being carried out, the vehicle can recognize a critical situation. When the critical situation is a planned event, the vehicle can maintain autonomous control until an expected remaining time tEVT is the same as the sum of T ^td and T ^mrm .

When the expected remaining time tEVT is less than the sum of T ^td and T ^mrm , the vehicle can emit a TD until the expected remaining time tEVT is the same as T ^mrm . While TD is issued, the vehicle can perform lane keeping control and distance keeping control between vehicles.

When the expected remaining time tEVT is less than T ^mrm , the vehicle can control itself. For example, the vehicle can control the stop in a lane. While the MRM is being performed, the vehicle can continue to emit the TD.

The vehicle can stop before an event point and can turn its hazard lights on / off while holding the stop.

FIG. 6 is a drawing illustrating exemplary operation of an apparatus for providing a safety strategy in a vehicle in accordance with one aspect of the present invention.

Referring to Fig. 6, the vehicle according to one aspect can perform autonomous control at a speed of 60 kph. While the autonomous control is being carried out, the vehicle can recognize a critical situation.

When the critical situation is an unplanned event, because the unplanned event has a shorter time available for correspondence than a planned event, the vehicle can immediately issue a transition request. The vehicle can issue the transition request until an expected remaining time tEVT is the same as T ^mrm . When the transition request is issued, the vehicle can perform lane keeping control and distance keeping control between vehicles.

When the expected remaining time tEVT is less than T ^mrm , the vehicle can control itself according to an MRM. For example, the vehicle can control the stop in a lane. While the MRM is being performed, the vehicle can continue to issue the transition request.

The vehicle can stop before an event point and can turn its hazard lights on / off while holding stop.

FIG. 7 is a drawing illustrating exemplary operation of an apparatus for providing a safety strategy in a vehicle in accordance with one aspect of the present invention.

Referring to Fig. 7, the vehicle according to one aspect can perform autonomous control at a speed of 60 kph. While performing autonomous control, the vehicle can recognize a critical situation.

When the critical situation is an unplanned event, the vehicle can control itself according to an MRM or an emergency control strategy along with immediately issuing a transition request. Simultaneously, the vehicle can turn its hazard lights on / off. For example, when an expected remaining time tEVT is less than T ^mrm at the moment in which the critical situation is recognized, in which a vehicle is detected that interferes at a short distance, that is, it is during an unplanned event , in which there is an emergency event such as system failure or in which a deceleration greater than the specified deceleration is required (e.g. 3.7 m / s2), the vehicle can control itself according to the MRM or the emergency control strategy along with immediately issuing the transition request. When the required deceleration is less than a specified value, the vehicle can perform MRM. When the required deceleration is greater than or equal to the specified value, the vehicle can execute the emergency control strategy. The vehicle can control, for example, lane departure and stopping. Therefore, the vehicle can stop before an event point.

Figure 8 is a flow chart illustrating a method of providing a vehicle safety strategy in accordance with one aspect of the present invention.

Hereinafter, it is assumed that a vehicle including an apparatus 100 for providing a security strategy in FIG. 1 performs the procedure of FIG. 8. Furthermore, in the description of FIG. 8, it can be understood that an operation What is described being performed by the vehicle is being controlled by a control circuit 140 of apparatus 100 to provide the security strategy.

Referring to FIG. 8, in step 810, the vehicle can perform autonomous control. The vehicle can detect a critical situation while performing autonomous control and can provide a strategy corresponding to the critical situation as follows.

In step 820, the vehicle may recognize an event associated with the critical situation based on at least a portion of detection information or road information. For example, the vehicle can continue to monitor an event associated with a predefined critical situation.

At step 830, the vehicle can determine whether the recognized event corresponds to a planned event. For example, the vehicle can determine if the recognized event is a planned event associated with a driving road or driving lane or if the recognized event is an unplanned event associated with an external object or a failure of its autonomous system.

When the event is the planned event, in operation 840, the vehicle can maintain autonomous control. For example, the vehicle may maintain autonomous control until a predetermined transition request is initiated.

In step 850, the vehicle can issue a transition request. For example, when the predetermined transition request is initiated, the vehicle may issue the transition request to its driver.

In operation 860, the vehicle can control itself according to a predetermined strategy for the critical situation. For example, when an MRM is started, the vehicle can control the stop in a lane.

When the event corresponds to the unplanned event, in step 870, the vehicle can immediately issue a transition request. When the unplanned event has a shorter time available for correspondence than the planned event, the vehicle can immediately issue the transition request to the driver regardless of when the transition request starts.

In operation 880, the vehicle can control itself according to a predetermined strategy for the critical situation. For example, when the MRM is started, the vehicle can control the stop in a lane simultaneously with issuing the transition request.

Figure 9 is a flow chart illustrating a method of providing a vehicle safety strategy in accordance with one aspect of the present invention.

Hereinafter, it is assumed that a vehicle including an apparatus 100 for providing a security strategy in FIG. 1 performs a procedure of FIG. 9. Furthermore, in the description of FIG. 9, it can be understood that an operation What is described being performed by the vehicle is being controlled by a control circuit 140 of apparatus 100 to provide the security strategy.

Referring to FIG. 9, in step 905, the vehicle can perform autonomous control. In operation 910, the vehicle can determine a critical situation. At step 915, the vehicle can determine if the critical situation corresponds to a planned event.

When the critical situation corresponds to the planned event, in step 920, the vehicle can calculate an expected remaining time tEVT until an event point. In operation 925, the vehicle can determine whether the expected remaining time tEVT is less than or equal to the sum of a time T ^td required for a transition request (TD) before an MRM and an expected time T ^mrm elapsed for the MRM. When the expected remaining time tEVT is less than or equal to the sum of T ^td and T ^mrm over time, in step 930, the vehicle can generate a TD. At step 935, the vehicle may determine if an input is received from the driver for transition of control authority. When the input is not received, at step 940, the vehicle may determine whether the expected remaining time tEVT is less than or equal to T ^mrm . When the expected remaining time tEVT is less than or equal to T ^mrm over time, at step 945, the vehicle can perform an MRM. When the input for the control authority transition is received before the MRM is performed, in step 950, the vehicle may transfer the control authority to the driver.

When the critical situation corresponds to an unplanned event, in step 955, the vehicle can calculate an expected remaining time tEVT until an event point. ^{In step} 960, the vehicle can calculate T ^td and T mrm based on a current state and an event type. At step 965, the vehicle can determine if the deceleration required to avoid a hazard is greater than a specified value (eg, 3.7 m / s2). When the deceleration is less than or equal to the specified value, in step 970, the vehicle can generate a TD. At step 975, the vehicle may determine if an input is received from the driver for transition of control authority. When the input is not received, at step 980, the vehicle can determine whether the expected remaining time tEVT is less than or equal to T ^mrm . When the expected remaining time tEVT is less than or equal to T ^mrm over time, at step 985, the vehicle can perform an MRM. When the input for the transition of control authority is received before the MRM is performed, in operation 990, the vehicle may transfer the control authority to the driver. When the deceleration is greater than the specified value, in step 995, the vehicle can perform the emergency control strategy.

Figure 10 is a block diagram illustrating a configuration of a computer system in accordance with one aspect of the present invention.

Referring to FIG. 10, a computer system 1000 may include at least one processor 1100, memory 1300, user interface input device 1400, and user interface output device 1500. user, storage 1600, and network interface 1700, which are connected to each other via bus 1200.

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

Thus, the operations of the methods or algorithms described in connection with the specification can be implemented directly with a hardware module, a software module, or combinations thereof, executed by the processor 1100. The software module can reside in a storage medium (i.e. memory 1300 and / or storage 1600) such as a RAM, a flash memory, a ROM, an erasable programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a disk hard disk, removable disk, or compact disk ROM (CD-ROM). Exemplary storage medium may be coupled to processor 1100. Processor 1100 may read information from storage medium and may write information to storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may reside on an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, the processor and the storage medium may reside as a separate component of the user terminal.

The apparatus for providing the safety strategy in the vehicle according to one aspect of the present disclosure can enhance the safety of a driver through a matching strategy suitable for a situation by classifying an event associated with the critical situation of an autonomous vehicle as an event. planned or unplanned event and providing the matching strategy.

Furthermore, various directly or indirectly determined effects may be provided throughout the present invention.

Claims (15)

1. Apparatus (100) for providing a safety strategy in a vehicle, the apparatus (100) comprising: a sensor (110) configured to obtain sensing information about the exterior of the vehicle; a memory (120) that stores road information; an output device (130) configured to issue a notification; Y a control circuit (140) configured to electrically connect with sensor (110), memory (120) and output device (130), wherein the control circuit (140) is configured to: recognizing an event associated with a critical situation of the vehicle based on at least a portion of the detection information or the road information, while performing autonomous control; Y when the event is a planned event, maintain autonomous control, issue a transition request using the output device (130) and control the vehicle according to a predetermined strategy for the critical situation; Y when the event is an unplanned event, issue the transition request and control the vehicle according to the predetermined strategy. Apparatus (100) according to claim 1, wherein the planned event is associated with a driving road or a driving lane of the vehicle. Apparatus (100) according to claim 1 or 2, wherein the unplanned event is associated with an external object or a failure of an autonomous system of the vehicle. Apparatus (100) according to claim 1, wherein the control circuit (140) is configured to: calculate an expected remaining time elapsed until the event occurs, when the event

is the planned event; maintain autonomous control, when the expected remaining time is greater than a sum of a first time interval and a second time interval; issuing the transition request, when the expected remaining time is less than or equal to the sum of the first time interval and the second time interval and is greater than the second time interval; and controlling the vehicle according to the predetermined strategy, when the expected remaining time is less than or equal to the second time interval. Apparatus (100) according to claim 4, wherein the first time interval is preset. Apparatus (100) according to claim 4, wherein the second time interval is calculated based on the speed of the vehicle. Apparatus (100) according to one of claims 1 to 6, wherein the control circuit (140) is configured to: when the event is an unplanned event, immediately issue the transition request and calculate an expected remaining time elapsed until the event occurs; Y controlling the vehicle according to the predetermined strategy along with issuing the transition request, when the expected remaining time is less than a specified time interval. Apparatus (100) according to claim 7, wherein the specified time interval is calculated based on the speed of the vehicle. Apparatus (100) according to one of claims 1 to 8, wherein the control circuit (140) is configured to: immediately control the vehicle according to the predetermined strategy along with issuing the transition request, when the event is the unplanned event. Apparatus (100) according to one of claims 1 to 9, wherein the control circuit (140) is configured to: immediately controlling the vehicle according to the predetermined strategy along with issuing the transition request, when the event is an event involving a surrounding vehicle. Apparatus (100) according to one of claims 1 to 10, wherein the control circuit (140) is configured to: immediately controlling the vehicle according to the predetermined strategy along with issuing the transition request, when the event is an autonomous system failure. Apparatus (100) according to one of claims 1 to 11, wherein the control circuit (140) is configured to: controlling the vehicle according to another strategy for the critical situation, when the deceleration required to avoid the critical situation has a magnitude greater than a specified value. Apparatus (100) according to one of claims 1 to 12, wherein the control circuit (140) is configured to: transfer control authority to the driver of the vehicle, when input is received from the driver after the transition request is issued. Apparatus (100) according to one of claims 1 to 13, wherein the predetermined strategy comprises stopping in a lane, slowing down in a lane or moving towards a shoulder. 15. Method to provide a safety strategy in a vehicle, comprising the method: recognizing (820), by means of a control circuit (140), an event associated with a critical situation of the vehicle based on at least a portion of detection information from a sensor (110) in electrical connection with the circuit (140) control or road information stored in a memory (120) in electrical connection with the control circuit (140), while autonomous control is performed; and when the event is a planned event, maintaining (840), by means of the control circuit (140), autonomous control; issuing (850), via an output device (130), a transition request; and, by means of the control circuit (140), controlling (860) the vehicle according to a predetermined strategy for the critical situation; Y when the event is an unplanned event, issuing (870), via the output device (130), the transition request; and controlling (880), via the control circuit (140), the vehicle according to the predetermined strategy.