Deep learning-based autonomous vehicle control device, system including the same, and method thereof

A deep learning-based autonomous vehicle control device, comprising a processor configured to:

• output a deep learning-based autonomous driving control output value for a deep learning-based autonomous driving control;
• output an expert rule-based autonomous driving control output value based on an expert rule;
• compare the deep learning-based autonomous driving control output value with the expert rule-based autonomous driving control output value and outputting a final autonomous driving control output value depending on a comparison result;
• and
• control an autonomous vehicle using the final autonomous driving control output value,
• wherein when the deep learning-based an autonomous driving control output value corresponds to a steering or acceleration/deceleration output control less than a predetermined minimum time to collision (TTC), the processor stops the steering or acceleration/deceleration output control less than the predetermined minimum TTC, and
• when the deep learning-based autonomous driving control output value corresponds to a steering value greater than a predetermined steering reference value, the processor adjusts the steering value to be less than the steering reference value.

A deep learning-based autonomous vehicle control method, comprising steps of:

• outputting, by a processor, a deep learning-based autonomous driving control output value for a deep learning-based autonomous driving control;
• outputting, by the processor, an expert rule-based autonomous driving control output value based on an expert rule;
• comparing, by the processor, the deep learning-based autonomous driving control output value with the expert rule-based autonomous driving control output value and outputting a final autonomous driving control output value depending on a comparison result;
• and
• controlling, by the processor, an autonomous vehicle using the final autonomous driving control output value,
• wherein the step of outputting a final autonomous driving control output value comprises:
• stopping, by the processor, the steering or acceleration/deceleration output control less than the predetermined minimum TTC, when the deep learning-based an autonomous driving control output value corresponds to a steering or acceleration/deceleration output control less than a predetermined minimum time to collision (TTC), and
• adjusting, by the processor, the steering value to be less than the steering reference value, when the deep learning-based autonomous driving control output value corresponds to a steering value greater than a predetermined steering reference value.