# US 2019/0315346 A1 · Vehicle driving controller, system including the same, and method thereof

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- Number: US 2019/0315346 A1
- Document ID: US20190315346A1
- Status: Published application
- Kind: A1
- Application number: 16/299,547
- Filed: 2019-03-12
- Published: 2019-10-17
- Earliest claimed: 2018-04-11
- Assignees: Hyundai Motor Company; Kia Motors Corporation
- Applicants: Hyundai Motor Company; Kia Motors Corporation
- Inventors: Su Jung YOO; Dong Hwi LEE; Jin Su JEONG; Jae Yong JEON
- Web page: https://patentgrep.com/patent/US20190315346A1

## CPC

- B60W 50/082: {Selecting or switching between different modes of propelling}
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/14: {Adaptive} cruise control
- B60W 40/09: Driving style or behaviour
- B60W 40/10: related to vehicle motion
- B60W 50/12: Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/0053: {from vehicle to occupant}
- B60W 60/0061: {Aborting handover process}
- B60W 2050/143: {Alarm means}
- B60W 2050/146: {Display means}
- B60W 2540/00: Input parameters relating to occupants
- B60W 2540/223: Posture, e.g. hand, foot, or seat position, turned or inclined
- B60W 2540/225: Direction of gaze
- B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping
- B60W 2554/00: Input parameters relating to objects
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT

## 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.

## Claims

### Claim 1

A vehicle driving controller, comprising:
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
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.

### Claim 2 (depends on 1)

The vehicle driving controller of claim 1, wherein the driving situation comprises:
a collision risk within a predetermined amount of time; and
a deviation of an operational design domain (ODD) that is configured to perform the autonomous driving.

### Claim 3 (depends on 1)

The vehicle driving controller of claim 1, wherein the processor is configured to:
track a static object and a dynamic object;
generate a static grip map and a dynamic object list; and
extract map information.

### Claim 4 (depends on 3)

The vehicle driving controller of claim 3, wherein the processor is configured 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 grip 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.

### Claim 5 (depends on 3)

The vehicle driving controller of claim 3, wherein the processor is configured to:
determine a deviation time of the ODD and a deviation type of the ODD based on the map information.

### Claim 6 (depends on 5)

The vehicle driving controller of claim 5, wherein the deviation type of the ODD comprises:
when the host vehicle is capable of travelling for the 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.

### Claim 7 (depends on 1)

The vehicle driving controller of claim 1, wherein the processor is configured to:
determine at least one of the user state including a “hands-off” state, an “eyes-off” state, and a “mind-off” state.

### Claim 8 (depends on 7)

The vehicle driving controller of claim 7, wherein the processor is configured to:
change and apply a notification reference time depending on the user state.

### Claim 9 (depends on 8)

The vehicle driving controller of claim 8, wherein the processor is configured to:
decrease the notification reference time in an order of the “hands-off” state, the “eyes-off” state, and the “mind-off” state.

### Claim 10 (depends on 7)

The vehicle driving controller of claim 7, wherein the processor is configured to:
increase the warning level in the order of the “hands-off” state, the “eyes-off” state, and the “mind-off” state.

### Claim 11 (depends on 7)

The vehicle driving controller of claim 7, wherein the processor is configured 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 a warning level based on the determined user state;
provide the notification of the control authority transition demand depending on the determined warning level; and
increase the warning level when the predetermined amount of time elapses.

### Claim 12 (depends on 1)

The vehicle driving controller of claim 1, wherein the processor is configured to:
apply the different warning level depending on an expected time of collision risk or an expected time of the deviation of the ODD.

### Claim 13 (depends on 12)

The vehicle driving controller of claim 12, wherein the warning level 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 the highest sound magnitude; and
perform an emergency call mode operation.

### Claim 14 (depends on 12)

The vehicle driving controller of claim 12, wherein the processor is configured to:
determine a minimum risk maneuver (MRM) depending on the warning level when a control authority is not handed over to the user after providing the notification of the control authority transition demand depending on the warning level; and
perform a vehicle control depending on the MRM.

### Claim 15 (depends on 14)

The vehicle driving controller of claim 14, wherein the MRM comprises at least one of a constant-speed driving control after decelerating at a constant speed, a stop control, or a shoulder stop control.

### Claim 16

A vehicle system, comprising:
a vehicle driving controller configured to:
apply a different warning level 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 warning device configured to provide a warning corresponding to the different warning level.

### Claim 17 (depends on 16)

The vehicle system of claim 16, wherein the warning device is configured to:
provide at least one of a visual warning, an audible warning, or an emergency call mode.

### Claim 18

A vehicle driving control method, the method comprising:
determining at least one of a driving situation or a user state during autonomous driving;
applying a different warning level depending on at least one of the driving situation or the user state; and
providing a notification of a control authority transition demand to a user.

### Claim 19 (depends on 18)

The method of claim 18, wherein the method further comprises:
determining a minimum risk maneuver (MRM) depending on the warning level when a control authority is not handed over to the user after providing the notification of the control authority transition demand depending on the warning level; and
performing a vehicle control depending on the MRM.

### Claim 20 (depends on 18)

The method of claim 18, wherein the driving situation comprises:
a collision risk within a predetermined amount of time; and
a deviation of an operational design domain (ODD) that is configured to perform the autonomous driving.