KR20220058794A - Method and apparatus for perfoming fail-safe function of autonomous vehicle - Google Patents

Abstract

Disclosed in the present invention is a method for performing a fail-safe function of an autonomous vehicle and, more specifically, to the method which comprises: a step (a) in which, in case a failure of a sensor or a component is detected during the driving of an autonomous vehicle, a computing device of the autonomous vehicle recognizes a driving road on which the autonomous vehicle is being driven, and checks a sensing range by means of the sensors of the autonomous vehicle and an operating range by means of operating modules of the autonomous vehicle to determine whether the autonomous vehicle is in a state of being able to change lanes; and a step (b) in which the computing device, in case (b-1) the autonomous vehicle is determined to be in the state of being able to change lanes, checks a side road or a parking area, and, when the side road or the parking area is checked, allows the autonomous vehicle to be stopped at the side road or the parking area, and, when the side road or the parking area is not checked, allows the autonomous vehicle to be stopped on a lane on which the same is being currently driven, and in case (b-2) the autonomous vehicle is determined to be in a state of being unable to change lanes, checks whether driving lane information is acquired, and, when the driving lane information is acquired, allows the autonomous vehicle to be stopped on the lane on which the same is being currently driven, and, when the driving lane information is not acquired, allows the driving speed of the autonomous vehicle to be decreased. Therefore, the stability of the vehicle can be increased.

Description

METHOD AND APPARATUS FOR PERFOMING FAIL-SAFE FUNCTION OF AUTONOMOUS VEHICLE

The present invention relates to a method of performing a fail-safe function of an autonomous vehicle, and more particularly, when a sensor or part of the autonomous vehicle fails, the autonomous vehicle can be safely driven according to the sensing range and driving range. It relates to a method and an apparatus for performing a fail-safe function of a self-driving car.

In recent years, as the autonomous vehicle market rapidly grows, the importance of a fail-safe function for the stability of an autonomous vehicle is increasing.

The fail-safe function is a function to ensure safety so that an accident or disaster does not occur when a failure occurs in the device.

In the case of ADAS (Advanced Driver Assistance System) currently applied to autonomous vehicles, when a failure occurs in the autonomous driving system, the autonomous driving system is turned off or an alarm is generated to call the driver. On the other hand, in the case of the fail-safe function, when a failure occurs in the autonomous driving system, the vehicle can be safely stopped by controlling the autonomous driving system by itself, so there is no need for the driver to intervene.

For this reason, there is a need for a fail-safe function for preventing accidents and disasters by controlling the autonomous vehicle by itself when the autonomous vehicle detects a system failure.

An object of the present invention is to solve all of the above problems.

Another object of the present invention is for the autonomous vehicle to control the steering and speed of the autonomous vehicle by itself in response to a failure situation.

Another object of the present invention is to increase the stability of the autonomous vehicle by safely stopping itself when a failure of the autonomous vehicle occurs.

The characteristic configuration of the present invention for achieving the object of the present invention as described above and for realizing the characteristic effects of the present invention to be described later is as follows.

According to an aspect of the present invention, in a method of performing a fail-safe function of an autonomous vehicle, (a) when a failure of a sensor or component is detected while the autonomous vehicle is driving, a computing device of the autonomous vehicle includes: A state in which the autonomous vehicle can change to a lane by recognizing the driving road on which the autonomous vehicle is driving and checking the sensing range by the sensors of the autonomous vehicle and the driving range by the driving modules of the autonomous vehicle determining cognition; and (b) the computing device, (b-1) If it is determined that the autonomous vehicle is in a state capable of changing a lane, checks a shoulder or a stopping area, and when the shoulder or the stopping area is confirmed, the autonomous vehicle is stopped at the shoulder or the stopping area, and if the shoulder or the stopping area is not identified, the autonomous vehicle is stopped at the current driving lane, and (b-2) the autonomous vehicle cannot change lanes If it is determined that the driving lane information is obtained, it is checked whether the driving lane information is obtained, and when the driving lane information is obtained, the autonomous vehicle is stopped in the current driving lane, and if the driving lane information is not obtained, the autonomous driving vehicle is driven A method comprising the step of causing the speed to be reduced is disclosed.

As an example, in the step (b), when it is determined that the autonomous vehicle is in a state in which a lane change is possible, the computing device determines whether information on the lane on the driving road is recognizable, (i) the If it is determined that the lane information is not recognizable, the autonomous vehicle sequentially changes lanes in the outer direction of the driving road until the road boundary line of the driving road is detected, and then the shoulder or the stopping area A method of determining whether the shoulder road or the stopping area exists by referring to the lane information when it is determined that the vehicle information is in a recognizable state is disclosed.

As an example, in step (b), when the autonomous vehicle is stopped at the shoulder or the stopping area, the computing device is configured to detect the road boundary of the autonomous vehicle in the absence of the lane information. In a state in which the autonomous driving vehicle changes lanes sequentially until the time of arrival or the autonomous driving vehicle changes the lane to the outermost lane with reference to the lane information, and the autonomous vehicle drives, the shoulder or the stop in response to the sensing range Disclosed is a method of detecting an area, and when the shoulder or the stopping area is detected, causing the autonomous vehicle to enter the shoulder or the stopping area and then causing the autonomous vehicle to come to a stop.

As an example, in the step (b), when the autonomous vehicle is stopped in the current driving lane, the computing device may (i) refer to information sensed by sensors of the autonomous vehicle to determine the driving lane. detecting information on both lanes and generating a predicted driving route of the autonomous vehicle in the driving lane by referring to the detected information on both lanes, or (ii) referring to information sensed by sensors of the autonomous vehicle If information on both lanes is not detected, detecting another vehicle or a guard rail driving ahead of the autonomous vehicle, generating the predicted driving route with reference to the driving information of the other vehicle or the guard rail, and the autonomous driving A method of causing a vehicle to stop on the predicted driving path is disclosed.

As an example, when the driving speed of the autonomous vehicle is to be reduced in step (b), the computing device may (i) refer to information sensed by sensors of the autonomous vehicle Detects the wheel speed and detects the driving speed of the autonomous vehicle by referring to the wheel speed of the autonomous vehicle, or when the wheel speed of the autonomous vehicle is not detected, a GPS signal or longitudinal/lateral acceleration of the autonomous vehicle Detects the estimated driving speed of the autonomous vehicle with reference, and when the driving speed or the estimated driving speed is faster than a preset speed, causes the autonomous vehicle to decelerate within a first target time, and the driving speed or the estimated driving speed when the driving speed is slower than the preset speed, cause the autonomous vehicle to decelerate within a second target time, wherein the second target time is longer than the first target time, (ii) the driving speed or the Disclosed is a method of causing the autonomous vehicle to decelerate according to a preset deceleration when an estimated driving speed is not detected.

According to another aspect of the present invention, there is provided an apparatus for performing a fail-safe function of an autonomous vehicle, comprising: at least one memory storing instructions; and at least one processor configured to execute the instructions, wherein the processor is configured to: (I) select a driving road on which the autonomous vehicle is traveling when a failure of a sensor or component is detected while the autonomous vehicle is driving a process of recognizing and determining whether the autonomous vehicle is in a state in which a lane change is possible by checking a sensing range by sensors of the autonomous vehicle and a driving range by driving modules of the autonomous vehicle; and (II) (II-1) when it is determined that the autonomous vehicle is in a state in which a lane change is possible, a shoulder or a stopping area is checked, and when the shoulder or the stopping area is confirmed, the autonomous vehicle is moved to the shoulder or the The vehicle is stopped at the stopping area, and if the shoulder or the stopping area is not identified, the autonomous vehicle is stopped at the current driving lane (II-2) If it is determined that the autonomous vehicle is in a state where changing lanes is impossible , checking whether driving lane information is obtained, causing the autonomous vehicle to stop in the current driving lane when the driving lane information is obtained, and decelerating the driving speed of the autonomous vehicle if the driving lane information is not obtained An apparatus for performing a process is provided.

As an example, in the process (II), in a state in which it is determined that the autonomous vehicle is in a state in which a lane change is possible, the processor determines whether information on lanes on the driving road is recognizable, (i) the lane If it is determined that the information is not in a recognizable state, the autonomous vehicle sequentially changes lanes in the outer direction of the driving road until the road boundary line of the driving road is detected, and then the shoulder or the stopping area exists and (ii) if it is determined that the lane information is in a recognizable state, a device for checking whether the shoulder road or the stopping zone exists with reference to the lane information is provided.

As an example, in the process (II), when the autonomous vehicle stops at the shoulder or the stopping area, the autonomous vehicle detects the road boundary line in the absence of the lane information. In a state in which the autonomous driving vehicle changes lanes sequentially until and, when the shoulder or the stopping area is detected, causes the autonomous vehicle to enter the shoulder or the stopping area, and then stops the autonomous vehicle.

As an example, in the process (II), when the autonomous vehicle is to be stopped in a current driving lane, (i) both sides of the driving lane with reference to information sensed by sensors of the autonomous vehicle Detecting lane information and generating a predicted driving path of the autonomous vehicle in the driving lane by referring to the detected information on both lanes, or (ii) referring to information sensed by sensors of the autonomous vehicle If lane information is not detected, detecting another vehicle or a guard rail driving ahead of the autonomous vehicle, generating the predicted driving route with reference to the driving information of the other vehicle or the guard rail, and the autonomous vehicle There is provided an apparatus for causing to stop on the predicted driving path.

As an example, in the process (II), when the driving speed of the autonomous vehicle is to be decelerated, the processor may be configured to: (i) refer to information sensed by sensors of the autonomous vehicle to determine the wheel speed of the autonomous vehicle. Detects and detects the driving speed of the autonomous vehicle by referring to the wheel speed of the autonomous vehicle to detect the estimated driving speed of the autonomous driving vehicle, and when the driving speed or the estimated driving speed is faster than a preset speed, cause the autonomous driving vehicle to decelerate within a first target time, and the driving speed or the estimated driving speed if the speed is lower than the preset speed, cause the autonomous vehicle to decelerate within a second target time, wherein the second target time is longer than the first target time, (ii) the driving speed or the estimated Provided is an apparatus for decelerating the autonomous vehicle according to a preset deceleration when the driving speed is not detected.

According to the present invention, the following effects are obtained.

According to the present invention, the autonomous vehicle has an effect of controlling the steering and speed of the autonomous vehicle by itself in response to a failure situation.

In addition, the present invention has an effect of increasing the stability of the autonomous vehicle by safely stopping itself when a failure of the autonomous vehicle occurs.

1 schematically shows an apparatus for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention;
2A and 2B are schematic flowcharts illustrating a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention;
3A and 3B schematically show a flowchart of a process of stopping at a shoulder or a stopping area of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention;
4 is a schematic diagram of an autonomous vehicle changing a lane and entering a shoulder or a stop zone in the process of stopping in a currently traveling lane of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention; FIG. is shown,
5 is a schematic flowchart of a process of stopping in a currently driving lane of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention;
6 is a flowchart schematically illustrating a process of decelerating a driving speed of a method of performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scope equivalents as those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to enable those of ordinary skill in the art to easily practice the present invention.

1 schematically illustrates an apparatus 100 for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 1 , the device 100 for performing the fail-safe function of the present invention includes a memory 110 in which instructions for performing a fail-safe function of an autonomous vehicle are stored, and instructions stored in the memory 110 . Accordingly, the processor 120 may include a fail-safe function of the autonomous vehicle.

Specifically, the device 100 for performing the fail-safe function may include a computer processor, memory, storage, input device and output device, and other devices that may include components of existing computing devices; electronic communication devices such as routers, switches, and the like; Desired system performance, including electronic information storage systems such as network attached storage (NAS) and storage area networks (SANs), using combination with computer software (ie, instructions that cause a computing device to function in a particular way) may be to achieve

In addition, the processor of the computing device may include a hardware configuration such as a micro processing unit (MPU) or a central processing unit (CPU), a cache memory, and a data bus. In addition, the computing device may further include an operating system and a software configuration of an application for performing a specific purpose.

However, a case in which the computing device includes an integrated processor in which a medium, a processor, and a memory are integrated for implementing the present invention is not excluded.

A method of performing the fail-safe function of the autonomous vehicle using the apparatus 100 configured as described above for performing the fail-safe function of the autonomous vehicle according to an embodiment of the present invention will be described as follows.

First, a process of performing the fail-safe function of the autonomous vehicle will be described with reference to FIGS. 2A and 2B .

2A and 2B are schematic flowcharts illustrating a method of performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

First, referring to FIG. 2A , the autonomous vehicle starts running ( S101 ). During autonomous driving (S102), it is detected whether a failure of a sensor or component of the autonomous vehicle has occurred (S103), and if no failure is detected, the autonomous driving state is maintained, and when a failure is detected, the autonomous vehicle's computing device A, the autonomous vehicle recognizes the driving road on which the autonomous vehicle is driving (S104), and confirms the sensing range by the sensors of the autonomous vehicle and the driving range by the driving modules of the autonomous vehicle (S105), It may be determined whether a change is possible (S106).

Thereafter, referring to FIG. 2B , when the computing device determines that the autonomous vehicle is in a state in which a lane change is possible, the computing device may determine whether a shoulder or a stop zone exists ( S110 ). If it is determined that the shoulder or the stopping area exists, the computing device may execute a process of stopping at the shoulder or the stopping area (S200). In addition, if it is determined that the shoulder road or the stopping zone does not exist, the computing device may execute a process of stopping in the currently traveling lane ( S300 ).

In addition, when determining whether the autonomous vehicle is in a state in which a lane change is possible ( S106 ), if it is determined that the lane change is not possible, it is determined whether driving lane information can be obtained thereafter ( S107 ). As a result, if the driving lane information can be obtained, the computing device executes a process of stopping in the current driving lane (S300), and if the driving lane information cannot be obtained, the computing device executes a driving speed deceleration process (S400).

In a state in which it is determined that the autonomous vehicle is in a state in which a lane change is possible, the computing device may determine whether lane information is recognizable ( S108 ). Here, the lane information may be information on a plurality of lanes in the driving road on which the autonomous driving vehicle is driving (eg, information on which lane in the driving road the autonomous driving vehicle is driving). Subsequently, when it is determined that the lane information is unrecognizable, the autonomous vehicle may sequentially change lanes in the outer direction until the road boundary line 210 of the driving road is detected ( S109 ). Here, the road boundary line 210 may be a solid line on the driving road. On the other hand, if it is determined that the lane information is recognizable, a process of stopping at the shoulder or stopping area may be executed with reference to the lane information (S200).

Here, the flowcharts shown in FIGS. 2A and 2B are not limited to the method of performing the fail-safe function of the autonomous vehicle of the present invention, and the fail-safe function of the autonomous vehicle may be performed by adding or removing a process. .

The process of stopping at the shoulder or stopping zone (S200), the process of stopping in the currently traveling lane (S300), and the process of decelerating the driving speed (S400) will be described in more detail below with reference to other drawings.

Next, a process of stopping (S200) at the shoulder or stopping area will be described in detail with reference to FIGS. 3A and 3B.

3A and 3B are schematic flowcharts of a process ( S200 ) of stopping at a shoulder or a stopping area of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

First, referring to FIG. 3A , the computing device may determine whether the road being driven is a highway ( S201 ). When the computing device determines that the vehicle in which the autonomous vehicle is driving is not a highway, it is assumed that the autonomous vehicle stops at a stopping area other than the shoulder in the subsequent process.

Thereafter, the computing device determines whether vehicle information is obtainable ( S202 ). Although FIG. 3A shows that the process of stopping in the current driving lane is performed in the absence of lane information (S300), the autonomous vehicle may sequentially change lanes until the road boundary line 210 is detected.

If it is determined that the lane information is obtainable, the computing device determines a lane number in which the autonomous vehicle is driving ( S203 ). Thereafter, it is checked whether the autonomous vehicle is driving in the outermost lane with reference to lane information (S204). If the autonomous vehicle is not driving in the outermost lane, the lane is changed to the next outer lane (S205), and the process of confirming whether the autonomous vehicle is driving in the outermost lane again is repeated. When it is confirmed that the autonomous vehicle is driving in the outermost lane, a shoulder or a stopping area is detected in response to the sensing range (S206).

Referring to FIG. 3B , the computing device detects a shoulder or a stop area to determine whether a shoulder or a stop area exists (S207), and if the shoulder or stop area does not exist, repeating the steps of detecting the shoulder or stop area while driving carry out If it is confirmed that the shoulder or the stopping area exists, the computing device causes the autonomous vehicle to enter the shoulder or the stopping area (S208). The autonomous vehicle is stopped after decelerating on the shoulder (S209).

Next, with reference to FIG. 4 , a process in which the autonomous vehicle enters a shoulder road or a stop zone by changing a lane will be described.

4 is a schematic diagram of an autonomous vehicle changing a lane and entering a shoulder or a stop zone in the process of stopping in a currently driving lane of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention; FIG. it will be shown

Referring to FIG. 4 , the autonomous vehicle may repeatedly change lanes. At this time, when the road boundary line 210 of the driving road is detected, it is checked whether a shoulder road or a stop zone exists, and when it is confirmed that the shoulder road or a stop zone exists, the lane can be changed beyond the road boundary line 210 . Here, the road boundary line 210 may be a solid line on the driving road. Thereafter, the autonomous vehicle decelerates to a stop on the shoulder or within the stopping area.

Next, a process of stopping ( S300 ) in a currently traveling lane will be described in detail with reference to FIG. 5 .

5 is a schematic flowchart of a process of stopping ( S300 ) in a currently driving lane of a method of performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 5 , the computing device may determine whether information on both lanes of a lane in which the autonomous vehicle is traveling can be detected ( S301 ). When it is confirmed that both lane information is detectable, the computing device detects information on both lanes of the driving lane with reference to information sensed by sensors of the autonomous vehicle, and autonomous driving in the driving lane with reference to the detected information on both lanes A predicted driving path of the vehicle may be generated (S306).

Also, the computing device may determine whether information on one of the two lanes is detectable ( S302 ), and at this time, may estimate the information on the lane by referring to the detected information on one of the lanes ( S303 ). On the other hand, if information on both lanes cannot be detected with reference to information sensed by sensors of the autonomous vehicle, the computing device may detect another vehicle or a guard rail driving ahead of the autonomous vehicle (S305), and When driving information of the vehicle or the guard rail is detected, a predicted driving path of the autonomous vehicle in the driving lane may be generated with reference to this (S306). When the driving information of the other vehicle or the guard rail is not detected or when lane information is estimated by referring to the detected information on one lane, the computing device may check again whether information on both lanes is detectable if the preset time has not been exceeded, If the time has been exceeded, a process of decelerating the driving speed may be performed (S400).

After the predicted driving path of the autonomous vehicle is generated, the computing device calculates a control parameter linked at a target point that is a stopping target of the autonomous vehicle (S307), and generates a steering angle or a steering torque with reference to the control parameter (S308) ) can cause the autonomous vehicle to stop on the predicted driving path.

Finally, a process of decelerating the driving speed ( S400 ) will be described in detail with reference to FIG. 6 .

6 is a flowchart schematically illustrating a process of decelerating a driving speed ( S400 ) of a method for performing a fail-safe function of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 6 , the computing device detects the wheel speed of the autonomous vehicle with reference to sensing information by sensors of the autonomous vehicle and detects the driving speed of the autonomous vehicle with reference to the wheel speed of the autonomous vehicle (S401) ), if the wheel speed of the autonomous vehicle is not detected, the estimated driving speed of the autonomous vehicle is detected by referring to the GPS signal or the longitudinal/lateral acceleration of the autonomous vehicle (S402, S403), and the driving speed or the estimated driving speed is faster than the preset speed (S406), and if the driving speed or the estimated driving speed is faster than the preset speed, the autonomous vehicle is decelerated within the first target time (S407), and the driving speed or the estimated driving speed is If the speed is slower than the set speed, the autonomous vehicle may be decelerated within the second target time (the second target time is longer than the first target time) (S408). Here, the speed of the nearby dynamic obstacle is estimated ( S409 ), and a final deceleration command is generated with reference to this ( S405 ), so that the autonomous vehicle can be decelerated accordingly.

In addition, when the computing device fails to detect the driving speed or the estimated driving speed, the autonomous vehicle generates a preset deceleration command (S404), and generates the generated final deceleration accordingly (S405), accordingly Self-driving cars could be slowed down.

In the above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments No, those of ordinary skill in the art to which the present invention pertains can devise various modifications and variations from these descriptions.

Accordingly, the spirit of the present invention should not be limited to the above-described embodiments, and not only the claims described below, but also all modifications equivalently or equivalently to the claims described below belong to the scope of the spirit of the present invention. will do it

Claims (10)

A method of performing a fail-safe function of an autonomous vehicle, the method comprising:
(a) When a failure of a sensor or a component is detected while driving of the autonomous vehicle, the computing device of the autonomous vehicle recognizes the driving road on which the autonomous vehicle is traveling, and uses the sensors of the autonomous vehicle determining whether the autonomous vehicle is in a state in which a lane change is possible by checking a sensing range and a driving range by driving modules of the autonomous vehicle; and
(b) the computing device, (b-1) If it is determined that the autonomous vehicle is in a state capable of changing a lane, it checks a shoulder or a stop area, and when the shoulder or the stop area is confirmed, the autonomous vehicle The vehicle is stopped at the shoulder or the stopping area, and if the shoulder or the stopping area is not identified, the autonomous vehicle is stopped in the current driving lane, (b-2) the autonomous vehicle cannot change lanes If it is determined that , it is checked whether driving lane information is obtained, and when the driving lane information is obtained, the autonomous vehicle is stopped in the current driving lane, and if the driving lane information is not obtained, the driving speed of the autonomous vehicle causing the acceleration to decelerate;
How to include. According to claim 1,
In step (b),
In a state in which it is determined that the autonomous vehicle is in a state in which it is possible to change lanes,
The computing device determines whether the lane information on the driving road is in a recognizable state, and (i) if it is determined that the lane information is not in a recognizable state, the autonomous vehicle until a road boundary line of the driving road is detected. changes lanes sequentially in the outer direction of the driving road, checks whether the shoulder road or the stopping zone exists, and (ii) if it is determined that the lane information is recognizable, the lane information is referred to and the How to determine if a shoulder or said stop zone exists. According to claim 1,
In step (b), when the autonomous vehicle is stopped at the shoulder or the stopping area,
The computing device sequentially changes lanes until the road boundary line is detected by the autonomous driving vehicle in the absence of the lane information, or the autonomous vehicle changes lanes to the outermost lane with reference to the lane information to detect the shoulder or the stopping area in response to the sensing range in a state in which the autonomous vehicle is driven, and when the shoulder or the stopping area is detected, the autonomous vehicle moves to the shoulder or the stopping area A method of causing the self-driving car to come to a stop after allowing it to enter. According to claim 1,
In step (b), when the autonomous vehicle is stopped in a currently driven lane,
The computing device is configured to: (i) detect information on both lanes of a driving lane with reference to information sensed by sensors of the autonomous driving vehicle, and refer to the detected information on both lanes of the autonomous driving vehicle in the driving lane generating a predicted driving route, or (ii) detecting information on both lanes by referring to information sensed by sensors of the autonomous vehicle, detecting another vehicle or guard rail driving ahead of the autonomous vehicle; , generating the predicted driving path by referring to driving information of the other vehicle or the guard rail, and causing the autonomous vehicle to stop on the predicted driving path. According to claim 1,
In step (b), when the driving speed of the autonomous vehicle is reduced,
The computing device is configured to: (i) detect a wheel speed of the autonomous vehicle with reference to information sensed by sensors of the autonomous vehicle, and detect a driving speed of the autonomous vehicle with reference to the wheel speed of the autonomous vehicle; , when the wheel speed of the autonomous vehicle is not detected, the estimated driving speed of the autonomous vehicle is detected by referring to a GPS signal or longitudinal/lateral acceleration of the autonomous vehicle, and the driving speed or the estimated driving speed is When the speed is faster than the preset speed, the autonomous vehicle is decelerated within a first target time, and when the driving speed or the estimated driving speed is slower than the preset speed, a second target time - the second target time is the to decelerate the autonomous vehicle within a time longer than the first target time, and (ii) cause the autonomous vehicle to decelerate according to a preset deceleration when the driving speed or the estimated driving speed is not detected Way. A device for performing a fail-safe function of an autonomous vehicle, comprising:
at least one memory storing instructions; and
at least one processor configured to execute the instructions;
The processor is configured to: (I) when a failure of a sensor or a component is detected while driving of the autonomous vehicle, recognize a driving road on which the autonomous vehicle is traveling, and a sensing range by the sensors of the autonomous vehicle and the autonomous vehicle a process of determining whether the autonomous vehicle is in a state in which a lane change is possible by checking a driving range by driving modules of the driving vehicle; and (II) (II-1) when it is determined that the autonomous vehicle is in a state in which a lane change is possible, a shoulder or a stopping area is checked, and when the shoulder or the stopping area is confirmed, the autonomous vehicle is moved to the shoulder or the The vehicle is stopped at the stopping area, and if the shoulder or the stopping area is not identified, the autonomous vehicle is stopped in the current driving lane (II-2) When it is determined that the autonomous vehicle cannot change lanes , checking whether driving lane information is obtained, causing the autonomous vehicle to stop in a currently traveling lane when the driving lane information is obtained, and decelerating the driving speed of the autonomous vehicle if the driving lane information is not obtained A device that performs a process; 7. The method of claim 6,
The processor is
In the process (II), in a state in which it is determined that the autonomous vehicle is in a state in which a lane change is possible, it is determined whether lane information on the driving road is in a recognizable state, and (i) the lane information is not in a state that is recognizable. If it is determined to be, the autonomous vehicle sequentially changes lanes in the outward direction of the driving road until the road boundary line of the driving road is detected, and then confirms whether the shoulder or the stopping area exists, and (ii) When it is determined that the lane information is in a recognizable state, an apparatus for checking whether the shoulder road or the stopping area exists with reference to the lane information. 7. The method of claim 6,
The processor is
In the process (II), when the autonomous vehicle is stopped at the shoulder or the stopping area, the autonomous vehicle sequentially changes lanes in the absence of the lane information until the road boundary line is detected, or , in a state in which the autonomous driving vehicle changes a lane to the outermost lane with reference to the lane information so that the autonomous vehicle drives, the shoulder road or the stopping area is detected in response to the sensing range, and the shoulder road or When the stopping zone is detected, the autonomous driving vehicle enters the shoulder or the stopping zone, and then the autonomous driving vehicle is stopped. 7. The method of claim 6,
The processor is
In the process (II), when the autonomous vehicle is stopped in the currently driving lane, (i) information on both lanes of the driving lane is detected by referring to information sensed by sensors of the autonomous vehicle, and detection When a predicted driving path of the autonomous vehicle in the driving lane is generated by referring to the information on both lanes, or (ii) when information on both lanes is not detected by referring to information sensed by sensors of the autonomous vehicle , detects another vehicle or a guard rail driving ahead of the autonomous vehicle, and generates the predicted driving path by referring to driving information of the other vehicle or the guard rail, and the autonomous vehicle stops on the predicted driving path device to do it. 7. The method of claim 6,
The processor is
In the process (II), when the driving speed of the autonomous vehicle is to be decelerated, (i) detects the wheel speed of the autonomous vehicle with reference to information sensed by sensors of the autonomous vehicle and detects the speed of the autonomous vehicle The driving speed of the autonomous vehicle is detected by referring to the wheel speed of detects a driving speed, and when the driving speed or the estimated driving speed is faster than a preset speed, causes the autonomous vehicle to decelerate within a first target time, and the driving speed or the estimated driving speed is higher than the preset speed if slow, cause the autonomous vehicle to decelerate within a second target time, wherein the second target time is longer than the first target time, (ii) if the driving speed or the estimated driving speed is not detected , a device for causing the autonomous vehicle to decelerate according to a preset deceleration rate.

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