Vehicle driving controller, system including the same, and method thereof

Abstract

A vehicle driving controller, a system including the same, and a method thereof are provided. The vehicle driving controller includes a processor configured to apply a different warning level depending on at least one of a driving situation or a user state during autonomous driving and to provide a notification of a control authority transition demand to a user and a storage configured to store information associated with the driving situation and the user state and information associated with the different warning level.

What is claimed is: 
     
         1 . A vehicle driving controller, comprising:
 a processor configured to perform algorithms to:
 apply a different warning level level of warnings depending on at least one of a driving situation or a user state during autonomous driving; and 
 provide a notification of a control authority transition demand to a user; and 
   a storage configured to store information regarding the driving situation and the user state, and information regarding the different warning level level of warnings,   wherein the processor is configured to perform algorithms to:
 applyprovide the different the warning levellevel of warnings to the user depending on an expected time of collision risk or an expected time of a deviation of an operational design domain (ODD); and 
 determine different minimum risk maneuvers (MRMs) depending on the applied provided different warning level level of warnings when a control authority is not handed over to the user after providing the notification of the control authority transition demand to the user depending on the applied provided different warning level level of warnings. 
   
     
     
         2 . The vehicle driving controller of  claim 1 , wherein the driving situation comprises:
 whether there is the collision risk within a predetermined amount of time; and   whether there is the deviation of the ODD that is configured to perform the autonomous driving.   
     
     
         3 . The vehicle driving controller of  claim 1 , wherein the processor is configured to perform algorithms to:
 track a static object and a dynamic object;   generate a static grid map and a dynamic object list; and   extract map information.   
     
     
         4 . The vehicle driving controller of  claim 3 , wherein the processor is configured to perform algorithms to:
 generate a driving trajectory of a host vehicle;   determine whether there is intersection between the driving trajectory of the host vehicle and the static grid map or whether there is intersection between the driving trajectory of the host vehicle and a trajectory of a dynamic object of the dynamic object list; and   determine whether there is collision.   
     
     
         5 . The vehicle driving controller of  claim 3 , wherein the processor is configured to perform algorithms to:
 determine a deviation time of the ODD and a deviation type of the ODD based on the map information.   
     
     
         6 . The vehicle driving controller of  claim 5 , wherein the deviation type of the ODD comprises:
 when the host vehicle is capable of travelling for a predetermined amount of time after the deviation of the ODD; and   when the host vehicle is incapable of travelling after the deviation of the ODD.   
     
     
         7 . The vehicle driving controller of  claim 1 , wherein the processor is configured to perform algorithms to:
 determine at least one of the user state including a hands-off state, an eyes-off state, and a mind-off state.   
     
     
         8 . The vehicle driving controller of  claim 7 , wherein the processor is configured to perform algorithms to:
 change and apply a notification reference time depending on the user state.   
     
     
         9 . The vehicle driving controller of  claim 8 , wherein the processor is configured to perform algorithms to:
 decrease the notification reference time in an order of the hands-off state, the eyes-off state, and the mind-off state.   
     
     
         10 . The vehicle driving controller of  claim 7 , wherein the processor is configured to perform algorithms to:
 increase the warning level the level of warnings in the order of the hands-off state, the eyes-off state, and the mind-off state.   
     
     
         11 . The vehicle driving controller of  claim 7 , wherein the processor is configured to perform algorithms to:
 determine whether the user state is the eyes-off state or the mind-off state when no driving risk is present in the driving situation;   determine the warning level the level of warnings based on the determined user state;   provide the notification of the control authority transition demand depending on the determined warning level of warnings; and   increase the warning level level of warnings when a predetermined amount of time elapses.   
     
     
         12 . The vehicle driving controller of  claim 1 , wherein appliedprovided different the warning levellevel of warnings comprises:
 level 1 configured to provide a level 1 visual warning;   level 2 configured to provide a level 2 visual warning and a level 2 audible warning;   level 3 configured to:
 provide a level 3 visual warning in a color that is different from a color of the level 1 visual warning and a color of the level 2 visual warning; and 
 provide a level 3 audible warning that is louder than the level 2 audible warning; and 
   level 4 configured to:
 provide a level 4 visual warning in a color that is different from the color of the level 1 visual warning, the color of the level 2 visual warning, and the color of the level 3 visual warning; 
 provide a level 4 audible warning with a highest sound magnitude; and 
   perform an emergency call mode operation.   
     
     
         13 . The vehicle driving controller of  claim 1 , wherein the processor is configured to perform algorithms to:
 perform a vehicle control depending on the MRMs.   
     
     
         14 . The vehicle driving controller of  claim 13 , wherein the MRMs comprise at least one of a constant-speed driving control after decelerating at a constant speed, a stop control, or a shoulder stop control. 
     
     
         15 . The vehicle driving controller of  claim 1 , further comprising:
 a warning device configured to provide a warning corresponding to the applied provided different warning level level of warnings.   
     
     
         16 . The vehicle driving controller of  claim 15 , wherein the warning device is configured to:
 provide at least one of a visual warning, an audible warning, or an emergency call mode.   
     
     
         17 . A vehicle driving control method, comprising:
 determining at least one of a driving situation or a user state during autonomous driving;   applying aproviding different warning levellevel of warnings to a user, depending on at least one of the driving situation or the user state, wherein the different warning levellevel of warnings is applied depending on an expected time of collision risk or an expected time of deviation of an operational design domain (ODD);   providing a notification of a control authority transition demand to a user depending on the applied provided different warning level level of warnings; and   determining different minimum risk maneuvers (MRMs) depending on the applied provided different warning level level of warnings when a control authority is not handed over to the user after providing the notification of the control authority transition demand.   
     
     
         18 . The method of  claim 17 , wherein the method further comprises:
 performing a vehicle control depending on the MRMs.   
     
     
         19 . The method of  claim 17 , wherein the driving situation comprises:
 the collision risk within a predetermined amount of time; and   the deviation of the ODD that is configured to perform the autonomous driving.   
     
     
       20. A vehicle driving controller, comprising:
 a processor configured to perform algorithms to:
 determine at least one of a driving situation or a user state during autonomous driving; 
 apply a different level of warnings depending on the at least one of the driving situation or the user state during the autonomous driving; 
 provide a notification of a control authority transition demand to a user; and 
   a storage configured to store information regarding the driving situation and the user state, and information regarding the different level of warnings,   wherein the processor is configured to perform algorithms to:
 provide the different level of warnings to a user depending on an expected time of collision risk or an expected time of a deviation of an operational design domain (ODD); and 
 determine different minimum risk maneuvers (MRMs) depending on the applied different level of warnings when a control authority is not handed over to the user after providing the notification of the control authority transition demand to the user depending on the applied different level of warnings.