The present invention relates to an autonomous driving system for switching between an autonomous driving mode and a manual driving mode in an autonomous driving situation, and a fallback method for an autonomous driving failure situation performed in the autonomous driving system, according to the present invention, comprises the steps of: predicting whether, on a route a vehicle is traveling, the vehicle will deviate from an operational design domain (ODD) in which autonomous driving is possible; and when deviation is predicted, performing a minimal risk maneuver (MRM) process for controlling the vehicle so as to respond to an autonomous driving failure situation at a deviation point. According to the present invention, stability of the autonomous driving system when an emergency situation occurs can be increased, and by proposing the stable mode switching method of the autonomous driving system, a best response method may be provided.

    La présente invention concerne un système de conduite autonome permettant une commutation entre un mode de conduite autonome et un mode de conduite manuelle dans une situation de conduite autonome, et un procédé de traitement de secours dans une situation de défaillance de conduite autonome intervenant dans le système de conduite autonome qui, selon la présente invention, comprend les étapes consistant à : prédire, sur un itinéraire que parcourt un véhicule, si le véhicule s'écarte d'un domaine de conception fonctionnelle (ODD) dans lequel une conduite autonome est possible ; et lorsqu'un écart est prédit, exécuter un processus de manœuvre de risque minimal (MRM) pour commander le véhicule de façon à répondre à une situation de défaillance de conduite autonome au niveau d'un point d'écart. La présente invention permet d'améliorer la stabilité du système de conduite autonome lorsqu'une situation d'urgence se produit, et permet d'obtenir, en proposant le procédé de commutation de modes stable du système de conduite autonome, le meilleur procédé de réponse.

    본 발명은 자율 주행 상황에서 자율주행 모드와 수동 운전 모드 간 전환을 위한 자율 주행 시스템에 관한 것으로 본 발명에 따른 자율주행 시스템에서 수행되는 자율주행 실패(Failure) 상황의 대응(fall back) 방법은 주행 중 차량의 경로상 자율 주행이 가능한 운행 설계 영역(ODD, operational design domain)의 이탈 여부를 예측하는 단계; 및 상기 이탈이 예측되는 경우 이탈 지점을 자율 주행 실패 상황에 대응하도록 차량을 제어하는 MRM(Minimal Risk Maneuver) 프로세스를 수행하는 단계를 포함한다. 본 발명에 따르면 자율 주행 시스템의 긴급 상황 발생시 안정성을 높일 수 있으며 자율 주행 시스템의 안정적인 모드 전환 방법을 제안함으로써 최선의 대응방법을 제공해 줄 수 있다.


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    Titel :

    IN-VEHICLE AUTONOMOUS DRIVING SYSTEM FOR SUPPORTING SWITCHING BETWEEN DRIVING MODES


    Weitere Titelangaben:

    SYSTÈME DE CONDUITE AUTONOME EMBARQUÉ DESTINÉ À PRENDRE EN CHARGE UNE COMMUTATION ENTRE DES MODES DE CONDUITE
    주행 모드 간 전환을 지원하는 차량 내 자율 주행 시스템


    Beteiligte:
    YU SI BOK (Autor:in) / PARK JEONG TAE (Autor:in) / LEE YONG KI (Autor:in) / SHIN YU YEONG (Autor:in) / SONG MOON HYUNG (Autor:in)

    Erscheinungsdatum :

    2023-06-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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