The present invention relates to an automatic driving system for a transition between an autonomous driving mode and a manual driving mode in an autonomous driving situation. A fallback method of an autonomous driving failure situation, which is performed in the autonomous driving system, comprises: a step of predicting whether a route of a vehicle deviates during driving from an operational design domain (ODD) in which autonomous driving is possible; and a step of performing a minimal risk maneuver (MRM) process that controls the vehicle to respond to the autonomous driving failure situation in a deviation point when the deviation is predicted. According to the present invention, it is possible to increase stability in case of an emergency in the autonomous driving system and provide an optimized response method by suggesting a stable mode transition method for the autonomous driving system.

    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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    Title :

    Automatic Driving System for supporting Driving mode transition


    Additional title:

    주행 모드 간 전환을 지원하는 차량 내 자율 주행 시스템


    Contributors:
    YU SI BOK (author) / PARK JEONG TAE (author) / LEE YONG KI (author) / SHIN YU YEONG (author) / SONG MOON HYUNG (author)

    Publication date :

    2023-06-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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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