# US 2023/0066321 A1 · Autonomous vehicle, control system for remotely controlling the same, and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0066321 A1 - Document ID: US20230066321A1 - Status: Published application - Kind: A1 - Application number: 17/850,492 - Filed: 2022-06-27 - Published: 2023-03-02 - Earliest claimed: 2021-08-26 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Kyeong Eun Kim; Kyung Joo Bang; Il Hwan Kim; Dong Hyuk Kim; Jeong Ki Hong - Web page: https://patentgrep.com/patent/US20230066321A1 ## CPC - G05D 1/0011: {associated with a remote control arrangement} - G06Q 10/02: Reservations, e.g. for tickets, services or events - G06Q 10/0283: {for travel seating} - G06Q 50/40: Business processes related to the transportation industry (shipping G06Q10/083) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract Disclosed are an autonomous vehicle, a control system for remotely controlling the same, and a method thereof. Provided is an autonomous vehicle, including an autonomous driving control apparatus. The control apparatus is configured to include a processor. The processor is configured to generate a candidate path group to a destination, request a remote driving reservation to the control system when an autonomous driving section and a section requiring remote control are included in the candidate path group, receive a path selected from the candidate path group by a user depending on availability of a remote driving reservation of the control system and estimated fare, control the vehicle to follow the selected path, and control the vehicle depending on remote control of the control system when the vehicle reaches the section requiring remote control. The control apparatus is further configured to include a communication device configured to communicate with the control system. ## Claims ### Claim 1 An autonomous vehicle comprising: an autonomous driving control apparatus configured to comprise: a processor configured to: generate a candidate path group to a destination, request a remote driving reservation to a control system when an autonomous driving section and a section requiring remote control are included in the candidate path group, receive a path selected from the candidate path group by a user, depending on availability of the remote driving reservation and an estimated fare, control the vehicle to follow the selected path, and control the vehicle depending on remote control of the control system when the vehicle reaches the section requiring remote control; and a communication device configured to communicate with the control system. ### Claim 2 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the processor is further configured to generate a final path candidate group in the candidate path group depending on availability of the remote driving reservation and the estimated fare, and wherein the autonomous driving control apparatus further comprises an interface device configured to display the final path candidate group. ### Claim 3 (depends on 1) The autonomous vehicle of claim 1, wherein the processor is further configured to calculate a fare by applying a predetermined weight to a driving time of the autonomous driving section and a driving time of the section requiring remote control, and wherein the process is further configured to generate the candidate path group in the order of lowest fare. ### Claim 4 (depends on 1) The autonomous vehicle of claim 1, wherein the processor is further configured to generate the candidate path group in the case of at least one of an initial input of a destination, a change of the destination, or an increase in fare compared to an existing path. ### Claim 5 (depends on 1) The autonomous vehicle of claim 1, wherein the processor is configured to calculate a start time of a section requiring remote control for each candidate path and an end time of a section requiring remote control for each candidate path when generating the candidate path group. ### Claim 6 (depends on 5) The autonomous vehicle of claim 5, wherein the processor is further configured to transmit, to the control system, at least one of a start time of the section requiring remote control for each candidate path, an end time of the section requiring remote control for each candidate path, a path of a section requiring remote control, or vehicle data when requesting the remote driving reservation to the control system. ### Claim 7 (depends on 2) The autonomous vehicle of claim 2, wherein the processor is further configured to generate paths that receive reservation progress flags from the control system as a final path candidate group. ### Claim 8 (depends on 7) The autonomous vehicle of claim 7, wherein the processor is further configured to transmit a reservation confirmation flag of a path selected by a user in the final path candidate group to the control system, and displays the path selected by the user as the final path on the interface device when receiving the reservation completion flag from the control system. ### Claim 9 (depends on 8) The autonomous vehicle of claim 8, wherein the processor is further configured to perform autonomous driving by following the final path, and wherein the process is further configured to receive a remote driving start signal from the control system and control the vehicle depending on a remote control command received from the control system, when a start point of the remote control required section is reached. ### Claim 10 (depends on 2) The autonomous vehicle of claim 2, wherein the processor is further configured to display a remote driving fare on the interface device, and wherein the processor is further configured to display a screen indicating that autonomous driving is in progress when driving of the section requiring remote control ends. ### Claim 11 (depends on 2) The autonomous vehicle of claim 2, wherein the processor is further configured to display a screen indicating that a fare is generated on the interface device when re-reserving a path after canceling it during remote driving. ### Claim 12 A control system comprising: a processor configured to: check whether a reservation for a section requiring remote control is available, calculate an estimated fare, and transmit it to an autonomous vehicle when receiving a remote driving reservation request for a path including an autonomous driving section and a section requiring remote control from an autonomous vehicle, and confirm the reservation to transmit it to the autonomous vehicle when a reservation confirmation for a path selected by a user is requested from the autonomous vehicle depending on the reservation availability and the estimated fare; and a communication device configured to communicate with the autonomous vehicle. ### Claim 13 (depends on 12) The control system of claim 12, wherein the processor is further configured to check whether the reservation for the section requiring remote control is available based on occupancy of a remote driving control device at a start time of the section requiring remote control and whether driving of the section requiring remote control is possible. ### Claim 14 (depends on 13) The control system of claim 13, wherein the processor is further configured to proceed reservations in order of smallest occupancy on a same day in the remote driving control device. ### Claim 15 (depends on 13) The control system of claim 13, wherein the processor is further configured to transmit a remote driving reservation progress result and an estimated fare for each path requested for remote control to the autonomous vehicle. ### Claim 16 (depends on 15) The control system of claim 15, wherein the processor is further configured to confirm the reservation when a reservation confirmation flag is received from the autonomous vehicle within a predetermined time after the remote driving reservation progress result and the estimated fare are transmitted to the autonomous vehicle. ### Claim 17 (depends on 16) The control system of claim 16, wherein the processor is further configured to initialize all reservation progress flags other than the path for which the reservation is confirmed; and wherein the processor transmits a reservation completion flag for the path for which the reservation is confirmed to the autonomous vehicle. ### Claim 18 (depends on 16) The control system of claim 16, wherein the processor is further configured to start remote control and transmits a remote driving start signal to the autonomous vehicle when the start time of the section requiring remote control is reached. ### Claim 19 (depends on 18) The control system of claim 18, wherein the processor is further configured to determine whether an extension reservation of an allocated remote control device is possible until a recalculated expected remote control end time when the autonomous vehicle does not reach the section requiring remote control within a reserved time; and wherein the processor is further configured to transmit a reservation cancellation flag to the autonomous vehicle when the extension reservation is impossible. ### Claim 20 A remote control method for an autonomous vehicle, comprising: generating a candidate path group to a destination; requesting a remote driving reservation to a control system when an autonomous driving section and a section requiring remote control are included in the candidate path group; receiving a path selected from the candidate path group by a user, depending on availability of the remote driving reservation and an estimated fare; following and controlling the selected path; and controlling the vehicle depending on remote control of the control system when the vehicle reaches the section requiring remote control.