Apparatus and method for controlling to enable autonomous sysstem in vehicle

<u>CROSS-REFERENCE TO RELATED APPLICATION</u>

0001The present application claims priority to and the benefit of Korean Patent Application No. <patcit id="pcit0001" dnum="KR1020180163249"><text>10-2018-0163249, filed on December 17, 2018</text></patcit>, which claims priority to and the benefit of <patcit id="pcit0002" dnum="US62655831B"><text>US Patent Application No. 62/655,831, filed on April 11, 2018</text></patcit>, the entire contents of which are incorporated herein by reference.

<u>TECHNICAL FIELD</u>

0002The present disclosure relates to an apparatus and method for controlling to enable an autonomous system included in an autonomous vehicle.

<u>BACKGROUND</u>

0003The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

0004With the development of the auto industry, an autonomous system and a driving assistance system which facilitates partially autonomous driving (hereinafter, for convenience of description, both of autonomous driving and driving assistance are referred to as "autonomous driving") have been developed. The autonomous system may provide a variety of functions, for example, setting speed keeping, vehicle-to-vehicle distance keeping, lane keeping, and a lane change. The autonomous system may perform autonomous driving using various devices such as a sensor for sensing environments outside the vehicle, a sensor for sensing information about the vehicle, a global positioning system (GPS), a detailed map, a driver state monitoring system, a steering actuator, an acceleration/deceleration actuator, a communication circuit, and a control circuit (e.g., an electronic control unit (ECU)). The autonomous system may be enabled according to an input of a driver. When a problem occurs or when the occurrence of the problem is predicted, the autonomous system may provide a notification of control authority transition to the driver. When the driver takes over control authority, the autonomous system may be released.

0005When the autonomous system is released due to the occurrence of a critical situation, after the critical situation is solved, the driver should provide an input for enabling the autonomous system again. There are various critical situations during autonomous driving. Whenever a critical situation occurs, after the autonomous system is released, when the vehicle requests the driver to provide an input for re-enabling the autonomous system, the driver may suffer from inconveniences. However, when the vehicle randomly enables the autonomous system without the input of the driver, the autonomous system may be enabled against the will of the driver.

<u>SUMMARY</u>

0006An aspect of the present disclosure provides an apparatus and method for selectively restarting an autonomous system when a critical situation is solved after the autonomous system is released due to the critical situation.

0007The technical problems to be solved by the present inventive concept are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains.

0008In one aspect of the present disclosure, an apparatus for controlling to enable an autonomous system in a vehicle may include: a sensor configured to sense information about the outside and inside of the vehicle, an input device configured to receive an input from a driver of the vehicle, an output device configured to output a notification in the vehicle, and a control circuit configured to be electrically connected with the sensor, the input device, and the output device. The control circuit may be configured to enable autonomous control in response to an input of the driver to the input device, detect a critical situation for the vehicle using the sensor, output a notification of control authority transition using the output device in response to the detecting of the critical situation, and automatically re-enable the autonomous control when the critical situation is solved after temporarily releasing the autonomous control, when the critical situation corresponds to a critical situation of a specified type.

0009In some form of the present disclosure, the control circuit may be configured to output a fist type of notification using the output device, when the critical situation corresponds to the critical situation of the specified type and output a second type of notification using the output device, when the critical situation does not correspond to the critical situation of the specified type.

0010In some form of the present disclosure, critical situation of the specified type may include at least a portion of prediction of temporary departure from an operational design domain (ODD) of the autonomous control, detection of driver distraction, detection of steering control of less than or equal to a specified level by the driver, or detection of acceleration control of less than or equal to a specified level by the driver.

0011In some form of the present disclosure, the control circuit may be configured to predict the temporary departure based on traveling route information and map information.

0012In some form of the present disclosure, the control circuit may be configured to detect the driver distraction by monitoring whether the driver looks ahead of the vehicle using the sensor.

0013In some form of the present disclosure, the control circuit may be configured to detect the steering control by monitoring movement of a steering wheel included in the vehicle.

0014In some form of the present disclosure, the control circuit may be configured to detect the acceleration control by monitoring movement of an accelerator pedal included in the vehicle.

0015In some form of the present disclosure, the control circuit may be configured to temporarily release the autonomous control, when the critical situation corresponds to the critical situation of the specified type and when control authority is handed over to the driver.

0016In some form of the present disclosure, the control circuit may be configured to output a first type of notification in response to the detecting of the critical situation, when the critical situation corresponds to the critical situation of the specified type and output a second type of notification, when control authority is not handed over to the driver during a specified time after the first type of notification is output.

0017In some form of the present disclosure, the control circuit may be configured to release the autonomous control, when the critical situation does not correspond to the critical situation of the specified type, maintain the state where the autonomous control is released, when the critical situation is solved, and re-enable the autonomous control only when an input of the driver to the input device is detected again.

0018In some form of the present disclosure, the control circuit may be configured to release the autonomous control, when the critical situation does not correspond to the critical situation of the specified type and when control authority is handed over to the driver.

0019In some form of the present disclosure, the control circuit may be configured to control the vehicle according to a predetermined minimum risk maneuver (MRM), when control authority is not handed over to the driver during a specified time after the notification of the control authority transition is output.

0020In some form of the present disclosure, a method for controlling to enable an autonomous system in a vehicle may include: enabling autonomous control in response to an input of a driver of the vehicle to an input device included in the vehicle, detecting a critical situation for the vehicle, outputting a notification of control authority transition in the vehicle in response to the detecting of the critical situation, and automatically re-enabling the autonomous control when the critical situation is solved after temporarily releasing the autonomous control, when the critical situation corresponds to a critical situation of a specified type.

0021In some form of the present disclosure, the re-enabling may include temporarily releasing the autonomous control, when the critical situation corresponds to the critical situation of the specified type and when control authority is handed over to the driver.

0022In some form of the present disclosure, the method may further include releasing the autonomous control, when the critical situation does not correspond to the critical situation of the specified type, maintaining the state where the autonomous control is released, when the critical situation is solved, and re-enabling the autonomous control only when an input of the driver to the input device is detected again.

0023Further areas of applicability will become apparent from the description provided herein. It should 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 disclosure.

<u>DRAWINGS</u>

0024In order that the disclosure may be well understood, there will now be described various forms thereof, given by way of example, reference being made to the accompanying drawings, in which: <ul id="ul0001" list-style="none" compact="compact"><li><figref idref="f0001">FIG. 1</figref> is a block diagram illustrating a configuration of an apparatus for controlling to enable an autonomous system in a vehicle in one form of the present disclosure;</li><li><figref idref="f0002">FIG. 2</figref> is a block diagram illustrating a configuration of an apparatus for controlling to enable an autonomous system in a vehicle in one form of the present disclosure;</li><li><figref idref="f0003">FIG. 3</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling to enable an autonomous system in a vehicle in one form of the present disclosure;</li><li><figref idref="f0004">FIG. 4</figref> is a flowchart illustrating a method for controlling to enable an autonomous system in a vehicle in one form of the present disclosure;</li><li><figref idref="f0005">FIG. 5</figref> is a flowchart illustrating a method for controlling to enable an autonomous system in a vehicle in one form of the present disclosure; and</li><li><figref idref="f0006">FIG. 6</figref> is a block diagram illustrating a configuration of a computing system in one form of the present disclosure.</li></ul>

0025The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

<u>DETAILED DESCRIPTION</u>

0026The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

0027In describing elements of forms of the present disclosure, the terms 1^st, 2^nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements irrespective of the nature, turn, or order of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present disclosure pertains. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application.

0028<figref idref="f0001">FIG. 1</figref> is a block diagram illustrating a configuration of an apparatus for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure.

0029Referring to <figref idref="f0001">FIG. 1</figref>, an apparatus 100 for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure may include a sensor 110, an input device 120, an output device, and a control circuit 140. The apparatus 100 for controlling to enable the autonomous system in <figref idref="f0001">FIG. 1</figref> may be a portion of the autonomous system and may be loaded into the vehicle.

0030The sensor 110 may be configured to sense information about the outside and inside of the vehicle. For example, the sensor 110 may include a radar, a light detection and ranging (LiDAR), a camera, and the like for sensing an environment outside the vehicle, and may include a wheel speed sensor, a yaw rate sensor, an acceleration sensor, a torque sensor, and the like, which sense a state of the vehicle.

0031The input device 120 may be configured to receive an input from a driver of the vehicle. For example, the input device 120 may be implemented as a button, a switch, a lever, a touch sensor, or the like.

0032The output device 130 may be configured to output a notification in the vehicle. For example, the output device 130 may be implemented in a form, such as a speaker, a haptic module, and a display, which is capable of outputting a notification sensuously recognizable by the driver.

0033The control circuit 140 may be electrically connected with the sensor 110, the input device 120, and the output device 130. The control circuit 140 may control the sensor 110, the input device 120, and the output device 130 and may perform a variety of data processing and various arithmetic operations. The control circuit 140 may be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or a sub-controller, which is loaded into the vehicle.

0034In some forms of the present disclosure, the control circuit 140 may enable autonomous control in response to an input of the driver to the input device 120. When the driver provides an input to the input device 120 to enable the autonomous control, the control circuit 140 may initiate the autonomous control.

0035In some forms of the present disclosure, the control circuit 140 may detect a critical situation for the vehicle using the sensor 110. The critical situation may include situations, for example, departure from an operational design domain (ODD) of the autonomous control, driver distraction, steering control by the driver, acceleration control by the driver, deceleration control by the driver, collision risk detection, a system failure, and the like.

0036In some forms of the present disclosure, the control circuit 140 may output a notification of control authority transition using the output device 130 in response to the detecting of the critical situation. The control circuit 140 may output a notification to hand over control authority to the driver in response to the critical situation. In some forms of the present disclosure, when the critical situation corresponds to a critical situation of a specified type, the control circuit 140 may output a first type of notification using the output device 130. When the critical situation does not correspond to the critical situation of the specified type, the control circuit 140 may output a second type of notification using the output device 130. The critical situation of the specified type may be a situation with relatively low risk, and a critical situation of a type except for the specified type may be a situation with relatively high risk.

0037In some forms of the present disclosure, the control circuit 140 may determine whether the critical situation corresponds to the critical situation of the specified type. For example, the critical situation of the specified type may include at least a portion of prediction (e.g., a tollgate) of temporary departure from the ODD of the autonomous control, detection of driver distraction, detection of steering control of less than or equal to a specified level by the driver, or detection of acceleration control of less than or equal to a specified level by the driver. For example, the control circuit 140 may predict the temporary departure based on information about a route where the vehicle is traveling and map information. For another example, the control circuit 140 may detect the driver distraction by monitoring whether the driver looks ahead of the vehicle using the sensor 110. For another example, the control circuit 140 may detect the steering control by monitoring movement of a steering wheel included in the vehicle. For another example, the control circuit 140 may detect the acceleration control by monitoring movement of an accelerator pedal included in the vehicle. The critical situation of the type except for the specified type may be another critical situation except for the critical situation of the specified type. For example, the critical situation of the type except for the specified type may include when control authority is not handed over to the driver in response to a first-stage notification, when departure from the ODD of the autonomous control is predicted (e.g., when the vehicle enters a normal road), when drowsiness of the driver is detected, when steering control of greater than or equal to a specified level is performed by the driver, when acceleration control of greater than or equal to a specified level is performed by the driver, when deceleration control is performed by the driver, when accident (e.g., collision) risk is detected, when a system failure is detected, and the like.

0038In some forms of the present disclosure, when the critical situation corresponds to the critical situation of the specified type, the control circuit 140 may temporarily release the autonomous control and may automatically re-enable the autonomous control when the critical situation is solved. In detail, when the critical situation corresponds to the critical situation of the specified type, the control circuit 140 may output the first type of notification in response to the detecting of the critical situation. When control authority is handed over to the driver while the notification is output, the control circuit 140 may temporarily release the autonomous control. After the autonomous control is released, when the critical situation is solved, the control circuit 140 may automatically re-enable the autonomous control. Thus, in a situation with relatively low risk, the autonomous control may be automatically enabled without an input of the driver.

0039In some forms of the present disclosure, when control authority is not handed over to the driver during a specified time after the first type of notification is output, the control circuit 140 may output a second type of notification. When outputting the second type of notification, the control circuit 140 may proceed with a subsequent process to be the same as when the critical situation does not correspond to the critical situation of the specified type.

0040In some forms of the present disclosure, when the critical situation does not correspond to the critical situation of the specified type, the control circuit 140 may release the autonomous control and may maintain the state where the autonomous control is released when the critical situation is solved, thus re-enabling the autonomous control only when an input of the driver to the input device 120 is detected again. In detail, when the critical situation does not correspond to the critical situation of the specified type, the control circuit 140 may output the second type of notification. When control authority is handed over to the driver while the notification is output, the control circuit 140 may release the autonomous control. After the autonomous control is released, although the critical situation is solved, the control circuit 140 may maintain the state where the autonomous control is released, without enabling the autonomous control. Only when the driver requests the vehicle to enable the autonomous control depending on the will of the driver, the control circuit 140 may re-enable the autonomous control.

0041In some forms of the present disclosure, when the critical situation does not correspond to the critical situation of the specified type and when control authority is not handed over to the driver during a specified time after the notification of control authority is output, the control circuit 140 may control the vehicle according to a predetermined MRM.

0042<figref idref="f0002">FIG. 2</figref> is a block diagram illustrating a configuration of an apparatus for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure.

0043Referring to <figref idref="f0002">FIG. 2</figref>, a driving automation system 200 in some forms of the present disclosure may include a sensor device 210, a determination device 220, and an actuator device 230.

0044The sensor device 210 may recognize a driving environment. For example, the sensor device 210 may include a sensor (e.g., a radar, a light detection and ranging (LiDAR), a camera, and the like) which recognizes an environment around the vehicle and a vehicle sensor (e.g., a wheel speed sensor, a yaw rate sensor, and the like) which measures a state inside the vehicle. The sensor device 210 may include a detailed map or the like for performing a search for a destination and accurate position estimation.

0045The determination device 220 may calculate various determination and control command values for operating the driving automation system 200. The determination device 220 may be, for example, an ECU. The determination device 220 may perform driving determination and control, determination of a critical situation, a warning for control authority transition, determination of driver intervention, and the like. For example, the determination device 220 may determine a critical situation incapable of being avoided, based on the recognized situation around the vehicle and the calculated control command value. For another example, the determination device 220 may determine a stage of the warning for control authority transition. The warning may include a first-stage warning and a second-stage warning. The warning may be configured to be sensuously recognizable by the driver. For another example, the determination device 220 may recognize driver intervention and may determine whether to release the driving automation system 200.

0046The actuator device 230 may control a behavior of the vehicle. The actuator device 230 may include an ECU for motor control, capable of automatically controlling a steering wheel of the vehicle, and an ECU for motor control, capable of automatically controlling a throttle and a brake of the vehicle. The actuator device 230 may include an actuator for controlling the steering wheel, the throttle, and the brake.

0047<figref idref="f0003">FIG. 3</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure.

0048Referring to <figref idref="f0003">FIG. 3</figref>, a vehicle 310 according to an form may perform autonomous control. While the autonomous control is performed, the vehicle 310 may detect a first type of critical situation. The first type of critical situation may be a situation with relatively low risk. The vehicle 310 may output a notification (a first-stage notification) for handing over control authority to its driver. When a steering input, an accelerator pedal input, and a decelerator pedal input occur, the vehicle 310 may determine that driver intervention is detected. When the driver intervention is detected, the vehicle 310 may temporarily release the autonomous control. Subsequently, when the critical situation is released, the vehicle 310 may automatically re-enable the autonomous control.

0049A vehicle 320 in some forms of the present disclosure may perform autonomous control. While the autonomous control is performed, the vehicle 320 may detect a second type of critical situation. The second type of critical situation may be a situation with relatively high risk. The vehicle 320 may output a notification (a second-stage notification) for handing over control authority to its driver. When a steering input, an accelerator input, and a decelerator input occur, the vehicle 320 may determine that driver intervention is detected. When the driver intervention is detected, the vehicle may release the autonomous control. When the second-stage notification is output, although the critical situation is released at a later time, the vehicle 320 may maintain the state where the autonomous control is released. In this case, the autonomous control may be reenabled by only an input of the driver.

0050<figref idref="f0004">FIG. 4</figref> is a flowchart illustrating a method for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure.

0051Hereinafter, it is assumed that a vehicle including an apparatus 100 for controlling to enable an autonomous system in <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0004">FIG. 4</figref>. Furthermore, in a description of <figref idref="f0004">FIG. 4</figref>, an operation described as being performed by the vehicle may be understood as being controlled by a control circuit 140 of the apparatus 100 for controlling to enable the autonomous system.

0052Referring to <figref idref="f0004">FIG. 4</figref>, in operation 410, the vehicle may enable autonomous control in response to an input of its driver. For example, when an input of the driver to a button of the vehicle is received, the vehicle may initiate the autonomous control.

0053In operation 420, the vehicle may detect a critical situation for the vehicle. For example, the vehicle may detect the critical situation based on data generated by its sensor and information obtained from the inside of the vehicle.

0054In operation 430, the vehicle may output a notification of control authority transition. For example, the vehicle may output a sensuously sensible notification to hand over control authority to the driver.

0055In operation 440, the vehicle may determine whether the critical situation corresponds to a critical situation of a specified type. For example, the vehicle may determine whether the critical situation corresponds to a specified situation with relative low risk.

0056When the critical situation corresponds to the critical situation of the specified type, in operation 450, the vehicle may automatically re-enable the autonomous control when the critical situation is solved. For example, as control authority is handed over to the driver, after the autonomous control is released, when the critical situation is solved, the vehicle may automatically re-enable the autonomous control for convenience of the driver.

0057When the critical situation does not correspond to the critical situation of the specified type, in operation 460, the vehicle may maintain the state where the autonomous control is released, when the critical situation is solved. For example, as control authority is handed over to the driver, after the autonomous control is released, although the critical situation is solved, the vehicle may fail to enable the autonomous control for safety of the driver.

0058<figref idref="f0005">FIG. 5</figref> is a flowchart illustrating a method for controlling to enable an autonomous system in a vehicle in some forms of the present disclosure.

0059Hereinafter, it is assumed that a vehicle including an apparatus 100 for controlling to enable an autonomous system in <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0005">FIG. 5</figref>. Furthermore, in a description of <figref idref="f0005">FIG. 5</figref>, an operation described as being performed by the vehicle may be understood as being controlled by a control circuit 140 of the apparatus 100 for controlling to enable the autonomous system.

0060Referring to <figref idref="f0005">FIG. 5</figref>, in operation 505, the vehicle may receive an input of its driver. For example, the vehicle may receive an input of the driver to a button for enabling a driving automation system. In operation 510, the vehicle may enable an autonomous system. The autonomous system may be enabled in consideration of an enabling condition of a system (e.g., in case of a system available on a limited-access road, when the vehicle travels on the limited-access road). In operation 515, the vehicle may determine a critical situation. The vehicle may detect a situation incapable of being controlled by the autonomous system. In operation 520, the vehicle may determine whether the detected critical situation corresponds to a critical situation of a specified type.

0061When the detected critical situation corresponds to the critical situation of the specified type, in operation 525, the vehicle may output a first-stage notification of control authority transition. In operation 530, the vehicle may detect driver intervention. When the driver intervention is detected, in operation 535, the vehicle may temporarily release the autonomous system. In operation 540, the vehicle may determine whether the critical situation is solved. When the critical situation is solved, the vehicle may return to operation 510 to automatically enable the autonomous system.

0062When the detected critical situation does not correspond to the critical situation of the specified type or when there is no driver intervention after the first-stage notification occurs, in operation 545, the vehicle may output a second-stage notification of control authority transition. In operation 550, the vehicle may detect driver intervention. When the driver intervention is not detected, in operation 555, the vehicle may execute an MRM. When the driver intervention is detected, in operation 560, the vehicle may release the autonomous system. After operation 560, the vehicle may fail to automatically enable the autonomous system, and may enable the autonomous system only when an input of the driver to a button of the vehicle or the like is received.

0063<figref idref="f0006">FIG. 6</figref> is a block diagram illustrating a configuration of a computing system in some forms of the present disclosure.

0064Referring to <figref idref="f0006">FIG. 6</figref>, a computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700, which are connected with each other via a bus 1200.

0065The processor 1100 may be a central processing unit (CPU) or a semiconductor device for performing processing of instructions stored in the memory 1300 and/or the storage 1600. Each of the memory 1300 and the storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

0066Thus, the operations of the methods or algorithms described in some forms of the present disclosure disclosed in the specification may be directly implemented with a hardware module, a software module, or combinations thereof, executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and/or the storage 1600) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disc, a removable disc, or a compact disc-ROM (CD-ROM). An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read out information from the storage medium and may write information in the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as a separate component of the user terminal.

0067The apparatus and method in some forms of the present disclosure may reduce inconvenience of the driver due to the release of the autonomous system and may decrease risk due to automatically enabling the system by automatically re-enabling autonomous control in consideration of a type of a critical situation.

0068In addition, various effects directly or indirectly ascertained through the present disclosure may be provided.

0069The description of the disclosure is merely exemplary in nature and, thus, variations that do not depart from the substance of the disclosure are intended to be within the scope of the disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure.