KR20180052077A - Interaction method between user and autonomous driving system in fully autonomous driving - Google Patents

Abstract

The present invention relates to an interaction method between a user and an autonomous driving system. The method includes: monitoring a vehicle state of an autonomous vehicle and a driving condition when the autonomous vehicle is autonomously driving; detecting whether a specific event, which is preset, occurs, based on information on the vehicle state and information on the driving condition, which are acquired through monitoring; providing call attention information when the specific event is detected; providing an event and information on follow-up measures after the call attention information is provided; selecting the follow-up measures after the event and the follow-up measures are provided; setting a manner of providing the call attention information, providing the event and the information on follow-up measures, and selecting the follow-up measures; determining and authenticating a user authority for selecting the follow-up measures before or after selecting the follow-up measures; performing one or more follow-up measures, which are selected, after selecting the follow-up measures; and storing information on the follow-up measures after performing the follow-up measures.

Description

{Interaction method between user and autonomous driving system in fully autonomous driving}

The present invention relates to a method of interacting between a user and an autonomous mobile system, and more particularly, to a method of interacting between a user and an autonomous mobile system in a fully autonomous mobile.

For example, in the United States, the Society of Automotive Engineers (SAE) distinguishes the automation level of automobiles from zero to five.

Step 0 is a fully manual operation step in which the driver performs the operation, and Steps 1 to 3 are partial autonomous driving steps, in which the automobile supports some autonomous driving functions, but the driver performs the driving through cooperation with the automobile .

In addition, steps 4 to 5 are autonomous driving modes in which the vehicle performs autonomously in a general situation or in all situations, not in a special situation, and the driver does not directly participate in driving.

Recently, domestic automobile companies such as Hyundai Motors and foreign automobile companies such as BMW, Benz, Audi, Ford, and Tesla are concentrating on developing autonomous vehicles. In addition, information and communication companies such as Google and Apple are developing autonomous vehicles in earnest.

Currently, autonomous driving vehicles are equipped with steering devices and acceleration / deceleration pedals as in most existing automobiles. This is to allow the driver to take over the control at any time and to perform the operation in the manual mode when an unexpected situation occurs or when the autonomous driving is difficult.

Therefore, even if the autonomous vehicle is running in the autonomous mode, the driver should be in the driver's seat while watching the road situation.

In the autonomous driving situation of the vehicle, the driver is informed to the driver whether the vehicle normally performs the autonomous driving function properly, thereby enhancing the driver's psychological stability and performing the function to cope with the case where the driving should be switched to the manual driving mode .

For example, in the prior art, US Pat. No. 9,346,400 "Affective user interface in an autonomous vehicle" and US Pat. No. 9,132,840 "User interface for displaying internal state of autonomous driving system".

In the above-mentioned prior art, even if the automobile is traveling in the self-running mode, when the driver is always in the driver's seat and needs to switch from the self-running mode to the manual drive mode, And discloses a technique based on premise.

Therefore, the driver in the above-mentioned prior art should always pay attention to the road conditions even in the autonomous driving mode, and can not be completely free from the operation of driving.

On the other hand, Ford recently announced plans to develop autonomous vehicles in 2021. These automobiles are self-propelled vehicles that correspond to stages 4 to 5 of automation stages classified by SAE in USA and do not have steering devices and acceleration / deceleration pedals.

In the case of a vehicle without a steering device and an accelerating / decelerating pedal, that is, a vehicle in which a driver can not directly participate in driving, there is no transfer of control between a freewheeling vehicle and a driver, and there is no concept of a driver. A method of interacting between a passenger and an automobile is required.

The above-mentioned prior art discloses warning to inform the driver of the change to the manual mode, if necessary, based on the autonomic travel reliability value which varies from moment to moment, by informing the driver of the voice, visual information, We are.

In such a case, the driver must be careful about the information provided by the car and be prepared to take necessary follow-up measures such as manual driving.

Therefore, even if the vehicle is traveling in the self-driving mode, the driver can not be completely free from the operation of driving, and the resulting psychological burden or fatigue still exists, and sometimes he may experience a more tired situation than the manual driving state.

Particularly, in a fully autonomous driving vehicle in which the driver does not perform direct driving, the seat seats do not look forward, but the passengers face each other, so that the passenger can talk with other passengers, read books, listen to music, You can do anything that is not related to driving.

However, as proposed in the above-mentioned prior art, when information such as reliability of the autonomous driving mode is spoken or visually provided, the occupant is restricted from having leisure time, and experiences psychological discomfort .

In addition, in the case of a fully autonomous traveling vehicle without a steering device or an acceleration / deceleration pedal, there is no way for the driver to perform the operation in the passive mode, so it is meaningless to provide information to the passenger based on the state or reliability of the autonomous traveling vehicle.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a fully autonomous traveling vehicle user and a user of the fully autonomous traveling vehicle, And provides an interaction method between the autonomous navigation system.

In addition, the present invention provides a method for interacting between a user and an autonomous navigation system in a fully autonomous mode, which is applicable to a socially weak person such as a visually impaired person or a hearing impaired person.

In addition, the present invention provides a method for interacting between a user and an autonomous navigation system in a fully autonomous running mode in which a user can select a follow-up action stored in advance for the case where direct driving operation such as steering or acceleration / deceleration can not be performed.

According to another aspect of the present invention, there is provided a method of interacting between a user and an autonomous mobile system in a fully autonomous mobile vehicle, the method comprising: monitoring an autonomous mobile vehicle, Detecting whether a predetermined specific event has occurred based on the vehicle condition information and the running condition information obtained through the monitoring; Providing an event detection situation for the attention ventilation when the specific event is detected; Providing the event detection situation, and then providing the event content; Providing the event content and providing selectable follow-up information; And performing a follow-up action based on the selected follow-up action information provided in response to the user's selection after providing the follow-up action information.

According to the present invention, when a user is aboard a fully autonomous traveling vehicle and is in a state in which the user is not involved in direct driving such as steering, acceleration, deceleration, or the like, It will be able to carry out appropriate follow-up actions effectively.

In addition, through the user's attention ventilation method, the user of the fully autonomous driving vehicle does not have to pay attention to the state of the autonomous driving vehicle and the information or warning about the autonomous driving situation at all times. In the car, the user can enjoy watching movies, listening to music, Conversation with a driver, use of a mobile phone, and so on.

In addition, social disadvantaged persons such as the visually impaired and the hearing impaired can select and execute the necessary follow-up measures, which can contribute to expanding the base of the user base of the fully autonomous driving car.

In addition, the person who has the authority to select the follow-up action can select the follow-up action and can record and store the follow-up action. Therefore, the safety of the follow-up action can be enhanced and the responsibility for the future action can be clearly judged.

1 is a diagram illustrating an example of a system implemented to perform a method of interacting between a user and an autonomous navigation system in a fully autonomous running according to a preferred embodiment of the present invention.
2 is a flowchart for explaining a method of interacting between a user and an autonomous mobile system in a fully autonomous running according to a preferred embodiment of the present invention.

For specific embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be embodied in various forms, And should not be construed as limited to the embodiments described.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms " comprising ", or " having ", and the like, are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

On the other hand, if an embodiment is otherwise feasible, the functions or operations specified in a particular block may occur differently from the order specified in the flowchart. For example, two consecutive blocks may actually be performed at substantially the same time, and depending on the associated function or operation, the blocks may be performed backwards.

The present invention proposes a method of interacting between a user and an autonomous navigation system in a fully autonomous navigation system, in which a user of a fully autonomous navigation vehicle does not have to pay attention to information or warnings related to the state or running situation of the vehicle.

In particular, the present invention proposes a method of interacting between a user and an autonomous navigation system in a fully autonomous running mode, which is applicable to a socially weak person such as a visually impaired person or a hearing impaired person.

In addition, the present invention proposes a method of interacting between a user and an autonomous navigation system in a fully autonomous running mode in which a user can select a follow-up action that is stored in advance for a case in which a direct driving operation such as steering or acceleration or deceleration can not be performed.

To this end, the method of interaction between a user and an autonomous navigation system proposed in the present invention is characterized by providing necessary information after a user's attention is paid out.

In addition, the interaction method between the user and the autonomous navigation system according to the present invention may be implemented by taking care of the user's characteristics (eg, general person, visually impaired person, hearing impaired person, etc.) And a service is provided by selecting the means.

In addition, the present invention provides a method of providing an after-action information pre-stored so that the user can select the method of the interaction between the user and the autonomous navigation system, and allowing the automobile to perform an operation according to the subsequent action selected by the user .

The method of the present invention is characterized in that when a follow-up action is selected, an interaction method between a user and an autonomous navigation system provides a service for determining whether a person having authority has selected a follow-up action, .

Hereinafter, a method of interacting between a user and an autonomous mobile system in a fully autonomous running proposed by the present invention and an interaction system between a user and an autonomous running system for realizing the method will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating an example of a system implemented to perform a method of interacting between a user and an autonomous navigation system in a fully autonomous running according to a preferred embodiment of the present invention.

Referring to FIG. 1, an interaction system 100 (hereinafter, referred to as a system) between a user and an autonomous mobile system in a fully autonomous running mode is implemented so as to execute a method of interacting between a user and an autonomous mobile system in a fully autonomous running proposed in the present invention .

To that end, the system 100 may include at least one processor for performing an interaction between a user and an autonomous navigation system in a fully autonomous running, and at least one or more memories for storing information and execution results necessary for performing a function have.

Specifically, the system 100 includes a monitoring unit 110, an event detection unit 120, an information providing unit 130, a setting unit 140, an authority authentication unit 150, an information storage unit 160, And an execution unit 170.

The monitoring unit 110 monitors a vehicle status and a driving situation when an autonomous vehicle is turned on and autonomous operation is started.

Here, the vehicle state includes a software state and a hardware state related to an automobile or an autonomous driving function, such as whether the autonomous driving function is normally operated or an error occurs.

Incidentally, the driving situation includes roads and surroundings that are recognized during autonomous driving, such as whether the vehicle is traveling along a designated route, an obstacle exists on the road, or an unexpected situation occurs.

Such monitoring of the condition of the vehicle and the driving situation is continuously carried out at a predetermined cycle while the vehicle is being started or running.

For example, the monitoring unit 110 may be configured to monitor the system 100 based on information provided from another system (e.g., an AV (Around View Monitoring) system, an OBSM (On Board Safety Monitoring) And may be implemented to monitor the vehicle condition and driving situation.

The monitoring unit 110 may provide the vehicle status information and the running condition information obtained through monitoring to the event detection unit 120.

The event detection unit 120 detects whether a predetermined specific event has occurred based on information (vehicle state information and running state information) provided from the monitoring unit 110. [

That is, the event detector 120 analyzes the information provided by the monitoring unit 110 and detects a predetermined event.

For example, the event that is preset to be detected by the event detection unit 120 may be an event in which an error occurs in the autonomous driving function or a specific autonomous driving function (ex, pedestrian recognition , Lane recognition, recognition of traffic lights, etc.), the occurrence of an accident or emergency during driving, an accident, or the like.

At this time, the event that is preset to be detected by the event detection unit 120 is preferably set in consideration of a predetermined follow-up action that is determined in advance, rather than considering a driving operation such as steering or acceleration / deceleration performed by the user .

For example, the event is set in consideration of predetermined follow-up measures such as stopping the vehicle or pulling over the shoulder.

The predetermined event may be stored in the event detection unit 120 or may be stored in a storage unit outside the event detection unit 120 so that the event can be used by the event detection unit 120. [

When the predetermined event is detected, the event detection unit 120 provides information (event information) related to the detected event to the information providing unit 130.

The information providing unit 130 includes the attention ventilation unit 131, an event and follow-up guide information providing unit 132, and a follow-up action selecting unit 133. [

The attention ventilation unit 131 induces the attention of the user to be interested in the contents of the event to be provided by triggering the attention of the user before providing the event information detected by the event detection unit 120 to the user .

In particular, the attention ventilation occurs when an event such as an automobile condition, a fault, an autonomous driving function error, an autonomous driving function failure, an unexpected situation or an emergency situation is detected in a fully autonomous driving vehicle, It needs to be provided to all passengers in order to raise awareness and to respond promptly and efficiently.

At this time, the attention ventilation unit 131 should be able to draw attention to the user irrespective of the place of the visual attention such as the user watching a movie or reading.

Accordingly, it is not preferable that the ventilation unit 131 is installed in a device (ex, instrument panel, navigation terminal, etc.) which is installed at a specific position in the vehicle and displays information such as graphic or text.

Therefore, the attention ventilation unit 131 is implemented to effectively attract the user's attention by controlling on / off, color, brightness, flicker, etc. of the lighting through an interior lamp in the vehicle or any other installed illumination device.

The attention ventilation unit 131 should be able to effectively attract the attention of the user even if the occupant considers auditory attention in conversation with the passenger or listening to music.

To this end, the attention ventilation unit 131 may be implemented so as to provide sound distinctly distinct from the music being heard by the occupant or the conversation with the passenger.

For example, a voice such as " caution situation occurred " may be implemented to provide a frequency, a tone, or a volume that the passenger can easily recognize.

The state ventilation unit 131 can be implemented to vibrate a vehicle seat or a seat belt, such as a seat belt, in contact with the body of a passenger, to such an extent that the occupant can feel the ventilation unit 131 .

This attention ventilation method is provided based on the information set by the setting section 140. [

The event and follow-up guide information provider 132 further provides follow-up guide information while providing the contents of the event detected by the event detector 120. [

At this time, for example, the event information can visually or audibly provide the information " an error has occurred in the autonomous drive function ".

In addition, the event and follow-up guide information provider 132 may select one or more appropriate follow-up actions according to the type of the event that has occurred, and then provide the guide information. For example, you can provide information such as "Please select a vehicle stop function or a shoulder stop function" audibly or visually (for example, GUI form of graphic, icon, text, menu) .

At this time, the event and follow-up guide information providing unit 132 may select one or more follow-up actions to be performed based on the type of the event that occurred in the event detecting unit 120, the state of the vehicle (for example, , The road and the surrounding situation (for example, the possibility of stopping the shoulder, the possibility of dangerous situation such as a collision accident when the vehicle is stopped, etc.), and the like.

Such follow-up actions may include control of the movement of the vehicle (e.g., stop, stop at the shoulder, change the route, return to the origin, etc.) or emergency rescue request (e.

On the other hand, the method of providing event and follow-up guide information using time or hearing is provided based on the information set by the setting unit 140. [

The follow-up action selecting unit 133 allows the user to select one or more of the following actions presented through the event and follow-up guide information providing unit 132. [

At this time, the user selects one or more follow-up actions through a GUI such as graphic, icon, text, menu, or voice command or natural language recognition according to the method provided by the event and follow- You can choose.

Also, if a user selects a number of follow-up actions, it may decide whether to run them concurrently or sequentially. For example, you can select both a stop and emergency rescue request and have them run at the same time.

On the other hand, the follow-up action selection method is provided based on the information set by the setting unit 140. [

The setting unit 140 is used to set how the information providing unit 130 provides information, and the user can set the information providing method using the setting unit 140. [

The setting unit 140 provides the information providing method set by the user to the information providing unit 130 so that the information providing unit 130 can provide information according to the established information providing method.

For example, by using the setting unit 140, the user can provide the information by one of visual, auditory, and tactile methods, or at least two or more methods As shown in FIG.

More specifically, the state ventilation unit 131, the event and follow-up guide information providing unit 132, and the follow-up action selecting unit 133 constituting the information providing unit 130 respectively provide a method of providing information to the user Can be set.

For example, in Table 1, the setting unit 140 according to the preferred embodiment of the present invention may include a state ventilation unit 131 of the information providing unit 130, events and / The follow-up guide information providing part 132 and the follow-up action selecting part 133 respectively provide a method of providing information to the user.

Component Public Disabled Time disabled Hearing-impaired The ventilation unit 131, Visual, auditory, tactile Hearing, tactile Visual, tactile Event and follow-up guide information provider 132, Visual, auditory ear Time The follow- Visual, auditory ear Time

That is, the setting unit 140 may be configured such that the attention ventilation unit 131 can use at least one of visual, auditory, and tactile means for attentional triggering in the case of an ordinary person, At least one of visual and tactile means can be used in the case of a hearing-impaired person so that at least one of the auditory and tactile means can be used.

The setting unit 140 may set the time and date of the event so that the event and follow-up guide information providing unit 132 can use at least one of visual and auditory means in order to provide event and follow- In the case of the hearing impaired, visual means (for example, a GUI such as graphic, icon, text, menu, etc.) can be made available so that the hearing impaired can use auditory means have.

The setting unit 140 may be configured to allow the follow-up action selecting unit 133 to use at least one of visual and auditory means in the case of the general public so that the user can select one or a plurality of follow- Visual means (e.g., GUIs for graphics, icons, text, menus, etc.) in the case of the hearing-impaired so that he can use auditory means (e.g. voice commands or natural language recognition) You can set it to.

On the other hand, if the fully autonomous driving car is a private car and there are a lot of people using one car (for example, husband and wife use it together), their preferred means may be set separately.

In addition, if the fully autonomous driving car is a shared car such as car sharing, the user may pre-set his / her preference means in the membership card of the driver or the car loaner, or in the server of the smartphone application or the car sharing company.

This is based on the fact that the car door open function when sharing a car through car sharing is controlled by using an RFID card (membership card) or a smartphone app.

The rights authentication unit 150 performs a function of determining whether the user has the right to select a follow-up action before and after selecting the follow-up action through the follow-up action selection unit 131 do.

If it is determined that the user has the option of selecting the follow-up action, the follow-up performance unit 170 performs one or more selected follow-up actions. However, if it is determined that the user does not have the follow-up selection authority, the follow-up performance unit 170 does not perform one or a plurality of follow-up measures selected by the user, or the follow- You may not be able to choose the action itself.

The choice of follow-up in a fully autonomous driving car can be seen as an important action followed by the responsibility of the chosen person. This is similar to a driver being liable for an accident in a passenger vehicle.

Of course, the problem of whether the vehicle will be responsible for the accident occurring during the running of the vehicle in the self-propelled vehicle is an issue that needs to be discussed separately, so it is not discussed in the present invention.

However, when a large number of passengers are boarded on a fully autonomous driving vehicle, for example, a child who is one of the passengers may deliberately or prank or choose to follow-up unintentionally.

This is not a decision made under the proper judgment of the present situation, which can be a problem and may result in the implementation of inappropriate follow-up measures.

To solve this problem, there is a need for a method that allows passengers with the right to choose follow-up options to select follow-up actions. To this end, the following method is proposed in the present invention.

First, when the fully autonomous driving vehicle is a private car, the authentication of the authority is performed by tagging the smart key of the vehicle to a terminal or a reader installed in a specific location of the vehicle before or after the follow-up action is selected.

This is because it can be determined that the person possessing the smart key of the vehicle is the owner of the vehicle or the driver of the existing passive driving vehicle.

In addition, since the smart key is a device that must be carried in order to start the vehicle, it is possible to eliminate the trouble that the driver carries the separate device. However, in order to do this, a terminal or a reader capable of knowing whether or not the smart key is tagged should be mounted on the vehicle.

On the other hand, when the fully autonomous traveling vehicle is a shared car such as a car sharing, it is a method of authenticating the authority by tagging the membership card having the RFID chip of the vehicle lender to a terminal or a reader installed in the vehicle.

Alternatively, it is possible to use a smart phone possessed by a vehicle lender. In this case, a direct communication method using a smart phone and an in-vehicle terminal or a Bluetooth communication in a reader or a smart phone transmits authentication information to a server of a car sharing company, A method of transmitting authentication information to a car after authentication, or a method of transmitting authentication information to a server of a car sharing company in a smart phone, transmitting an authentication number to a smart phone after authenticating from a server, and inputting the authentication number to a terminal of a car This is possible.

The advantage of using a membership card (RFID card) or a smartphone in the case of a shared car is that it is currently controlled by using a membership card or a smartphone app to control the opening function of a car when sharing a car through car sharing, In this case, there is an advantage that there is no need to carry an additional card or device for authorization.

On the other hand, when the event detected in the above-described event detection step is related to an automobile accident, there may occur a situation where passengers are unable to perform the follow-up selection authority authentication in the above-described manner due to loss of consciousness, injury or the like.

If the owner of the private car is in such a situation, another passenger boarding the vehicle may select the follow-up action by authorizing the vehicle owner's smart key.

Likewise, even in the case of a shared car, if the vehicle lender is in such a state, another passenger who has boarded the vehicle may select a follow-up action by authenticating the authority using the car lenders' membership card or smart phone.

In addition, if the passenger boarding the vehicle can not perform authentication for selecting a follow-up action due to unconsciousness or injury, that is, if the authentication process has not proceeded for a predetermined time, The control unit 130 causes the selection unit 131 to automatically determine a default vehicle action or to determine an optimal vehicle action based on the type of the accident, So that it can be selected.

The information storage unit 160 stores information on the success or failure of the user to perform follow-up action selection, authentication success or failure, the kind of event provided by the event and follow-up guide information providing unit 132, The kind of follow-up actions selected by the follow-up action selecting unit 133, whether or not the follow-up action has been successfully performed by the follow-up action performing unit 170, and the execution process and execution time.

By recording who has chosen which follow-up action, whether the follow-up action chosen by the user was appropriate, whether the fully autonomous vehicle successfully followed up the follow-up, and the process by which the fully autonomous vehicle performed the follow- To obtain the basis information on legal problems that may arise and to analyze the functional defects of fully autonomous vehicles.

The follow-up action performing unit 170 simultaneously or sequentially performs one or a plurality of follow-up actions selected by the follow-up action selecting unit 133. [

For example, if a follow-up action of "stop the traffic" is selected, the fully autonomous vehicle carries out the task of safely stopping the vehicle at the shoulder.

In addition, as described above, the follow-up action performing unit 170 may be configured to perform the following actions when the authentication is successful by the authorization authenticating unit 150, when the default vehicle action is automatically selected, And only when the vehicle judges and selects the recommended vehicle action.

In the above, the interaction system between the user and the autonomous mobile system for realizing the interaction method between the user and the autonomous mobile system in the fully autonomous running proposed in the present invention is described.

Hereinafter, a method of interacting between a user and an autonomous navigation system in the fully autonomous running proposed in the present invention will be described.

2 is a flowchart for explaining a method for interacting between a user and an autonomous mobile system in a fully autonomous running according to a preferred embodiment of the present invention.

Referring to FIG. 2, the order of the interaction between the user and the autonomous navigation system in the fully autonomous driving will be described below.

When the self-running vehicle is started and the autonomous vehicle starts, the monitoring unit 110 monitors the vehicle status and the driving situation (S200).

In this case, prior to step S200, the user may set the information providing method of the information providing part 130 using the setting part 140. [

Specifically, the user uses the setting unit 140 to set the state of the ventilation unit 131, the event and follow-up guide information providing unit 132, and the follow-up action selecting unit 133 constituting the information providing unit 130 Each can set a method to provide information to the user.

On the other hand, the monitoring in step S200 is continuously performed at a predetermined cycle while the starting of the vehicle is turned on or while the vehicle is running.

The information (vehicle state information and running condition information) obtained through the monitoring in step S200 is used to detect whether a predetermined specific event has occurred.

After the step S200, the event detection unit 120 detects whether a predetermined specific event has occurred based on the obtained information (S210).

The specific event in the step S210 may be an event in which an error occurs in the autonomous driving function or a specific autonomous driving function (ex, pedestrian recognition, lane recognition, signal light recognition, etc.) A function required for autonomous operation), a sudden occurrence of an accident while traveling, an emergency situation, or the like.

If the specific event does not occur in step S210 (S210: No), the event detection unit 120 determines whether or not a specific event is detected based on the information (vehicle state information and running state information) acquired and provided by the monitoring unit 110 Is continuously detected (S200).

On the other hand, if a specific event occurs in step S210 (YES in step S210), the event detection unit 120 provides information ('event information') related to the detected event to the information providing unit 130.

More specifically, when a specific event occurs (YES in S210), the state ventilation unit 131 of the information providing unit 130 provides attention triggering information to the user, (S220).

At this time, in step S220, the attention ventilation method may be performed by any one of a visual method, an auditory method, and a tactile method according to a user's setting using the setting unit 140, or may be performed by at least two methods .

After the step S220, the event and follow-up guide information provider 132 further provides the follow-up guide information while providing the contents of the event detected by the event detector 120 at step S230.

At this time, in step S230, the event and follow-up guide information providing method may be performed by any one of a visual method, an auditory method, and a tactile method according to the user's setting using the setting unit 140, Or more.

The authority authentication unit 150 performs a function of determining whether the user has authority to select a follow-up action and authenticating the user before or after selecting the follow-up action through the follow-up action selection unit 131 (S240).

According to a preferred embodiment of the present invention, although the step S240 is described herein as being performed before the follow-up action selection step S250, the step S240 may be performed after the follow-up action selection step S250, There is no problem to perform the function to be presented.

If it is determined in step S240 that the user has the right to select the follow-up action (S240: Yes), the follow-up action selecting unit 133 selects one of the follow- (S250), and the follow-up action performing unit 170 performs one or more selected follow-up actions (S260).

On the other hand, if it is determined in step S240 that the user does not have the follow-up action selecting right (S240: No), the process goes to step S241 to determine whether a predetermined time has elapsed for the follow-

If it is determined in step S241 that the predetermined time has not elapsed (NO in step S241), the process returns to step S240.

This corresponds to a case where the authorization authentication unit 150 fails to authenticate the user due to the attempt of authorization by the user who does not have the follow-up action selection authority, or when the user does not take any action to authenticate the authorization.

If it is determined in step S241 that the predetermined time has elapsed (S241-YES), the rights authentication unit 150 causes the follow-up action selecting unit 131 to automatically select a preset default vehicle action (S242), determining the optimal vehicle action by himself / herself considering the type of accident, current vehicle condition, surrounding environment, and the like.

In step S242, it is determined whether or not the user has continued to receive the authority authentication for a predetermined period of time, or if the occupant boarded the vehicle due to a serious traffic accident, etc., If you can not.

On the other hand, in step S250, the follow-up action selecting unit 133 allows the user to select one or more of the follow-up actions presented through the event and follow-up guide information providing unit 132. [

Also, in step S250, if the user selects a plurality of follow-up actions, it may decide whether to execute them simultaneously or sequentially.

At this time, in step S250, the follow-up action selection method may be performed by any one of a visual method, an auditory method, and a tactile method according to the setting of the user using the setting unit 140, Lt; / RTI >

One or a plurality of subsequent actions selected through the step S250 or the step S242 are performed simultaneously or sequentially by the follow-up action performing unit 170 (S260)

The information storage unit 160 stores information on the type of the event provided by the user authentication unit 150, the success or failure determination result of the user, the success or failure of the authentication, the event and the follow- The type of follow-up actions selected by the time and follow-up action selection unit 133, whether or not the follow-up action has been successfully performed by the follow-up action performing unit 170, and the execution process and execution time.

The above-mentioned method of interaction between the user and the autonomous navigation system in the fully autonomous driving system can be performed until the operation of the autonomous driving vehicle is terminated.

If the operation is not terminated (S280: No), it is determined in step S200 that an interaction process between the user and the autonomous navigation system is performed according to step S270 If the operation is terminated (S280: YES), the interaction process between the user and the autonomous navigation system ends.

At this time, although the completion of the operation of the fully running car in step S280 may be performed by the information providing unit 130, other systems in the car may determine the end of the operation of the vehicle, and the interaction system 100 ) May be terminated.

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of functions combined in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

As described above, the method of interacting between the user and the autonomous navigation system in the fully autonomous running according to the present invention has been described with reference to the embodiments. However, the scope of the present invention is not limited to the specific embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Therefore, the embodiments described in the present invention and the accompanying drawings are intended to illustrate rather than limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings . The scope of protection of the present invention should be construed according to the claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

100: Interaction system between user and autonomous navigation system
110:
120: Event detection unit
130: Information provision
131: Warning Ventilation
132: Event and follow-up guide information
133: Follow-Up Selector
140: Setting section
150:
160: Information storage unit
170: Follow-up action part

Claims (1)

Monitoring an automobile condition and a running condition of an autonomous vehicle during self-running;
Detecting whether a predetermined specific event has occurred based on the vehicle condition information and the running condition information obtained through the monitoring;
Providing attention ventilation information when the specific event is detected;
Providing event and follow-up guide information after providing the attention ventilation information;
Providing the event and follow-up guide information, and then selecting a follow-up action;
Providing the attention ventilation information, providing event and follow-up guide information, and selecting a follow-up action selection method;
Determining and authenticating the user's follow-up choice authority before or after the follow-up action selection;
Performing the selected one or more subsequent actions after the subsequent action selection; And
After performing the follow-up action, storing the follow-up action related information
An Interaction Method between User and Autonomous Navigation System in Fully Autonomous Navigation.

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