Autonomous driving control system for vehicle

A system for controlling an action against a driver during an autonomous driving of a vehicle, comprising:

• a driver condition sensor configured to detect a condition of the driver of the vehicle;
• a front camera provided on the vehicle configured to detect traffic signals;
• an electronic control unit (ECU) configured to:
• calculate a vigilance of the driver for the autonomous driving based on the detected driver condition;
• control the autonomous driving of the vehicle;
• calculate an output-reliance of the autonomous driving control based on at least one output-reliance of:
• a determined location information of the vehicle;
• a detected object information around the vehicle;
• a classification information of the detected object as a static object or a dynamic object;
• a tracking information of the object if the detected object is classified as a dynamic object;
• an integrated surrounding environment information based on the determined location information, the detected object information, the classification information, and the tracking information;
• determine traffic signal information based on the front camera;
• using a road map and navigation system, generate a target path based on the integrated surrounding environment information and the traffic signal information;
• calculate a lower limit vigilance target value which is a lower limit target value of the driver vigilance based on the calculated autonomous driving output reliance and
• control an action against the driver, including changing a degree of at least one of a display, a sound, or a vibration, based on both the calculated vigilance of the driver and the calculated output reliance, to cause the vigilance of the driver to be maintained at or above the lower limit vigilance target value.