Method and apparatus for controlling driving mode of autonomous driving vehicle

Patent metadata

Field	Value
Publication number	US-10576992-B2
Application number	US-201815897556-A
Country	US
Kind code	B2
Filing date	Feb 15, 2018
Priority date	Nov 30, 2017
Publication date	Mar 3, 2020
Grant date	Mar 3, 2020

Abstract

A method for controlling a driving mode of an autonomous driving vehicle, may include comparing a current vehicle speed with a reference vehicle speed when a driving mode change signal is generated during driving of the autonomous driving vehicle in manual driving mode; stopping the manual driving mode and executing autonomous driving mode when a result of the comparing indicates that the current vehicle speed is equal to or slower than the reference vehicle speed; and executing the autonomous driving mode or maintaining the manual driving mode which is a current driving mode, depending on a determination result of whether an APS signal is generated or not, when the result of the comparing indicates that current vehicle speed exceeds the reference vehicle speed.

First claim

What is claimed is:

1. A method for controlling a driving mode of an autonomous driving vehicle, the method comprising:
comparing a current vehicle speed with a reference vehicle speed when a driving mode change signal is generated during driving of the autonomous driving vehicle in a manual driving mode;
stopping the manual driving mode and executing an autonomous driving mode when a result of the comparing indicates that the current vehicle speed is equal to or slower than the reference vehicle speed; and
executing the autonomous driving mode or maintaining the manual driving mode which is a current driving mode, depending on a determination result of whether an accelerator pedal sensor (APS) signal is generated or not, when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed,
wherein the driving mode change signal is generated through operation of a driving mode button,
wherein when the driving mode change signal is generated, a driving mode controller is configured to receive a signal of the current vehicle speed from a speed detector, and configured to compare the current vehicle speed with the reference vehicle speed, and
wherein when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed, the driving mode controller is configured to control an actuator provided in an accelerator pedal, and wherein the actuator generates one of a vibration signal, a pedal effort signal, and a tick signal as a tactile sensation signal, then is configured to determine whether the APS signal is generated within a reference time after the tactile sensation signal is generated, and transmits a manual driving mode execution signal or an autonomous driving mode execution to a vehicle controller, depending on a result of the determination of whether the APS signal is generated or not.

2. The method according to claim 1 , wherein when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed, the actuator provided in the accelerator pedal is operated to generate the tactile sensation signal; and
wherein when no APS signal is generated within the reference time after the tactile sensation signal is generated, the manual driving mode ends and the autonomous driving mode starts.

3. The method according to claim 2 ,
wherein when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed, the actuator provided in the accelerator pedal is operated to generate the tactile sensation signal, and
wherein when the APS signal is generated within the reference time after the tactile sensation signal is generated, the manual driving mode is maintained.

4. The method according to claim 2 , wherein
the driving mode controller is configured to transmit either the manual driving mode execution signal or the autonomous driving mode execution signal to the vehicle controller, and wherein manual driving or autonomous driving of the autonomous driving vehicle is performed by control of the vehicle controller.

5. A method for controlling a driving mode of an autonomous driving vehicle, the method comprising:
comparing a current vehicle speed with a reference vehicle speed when a driving mode change signal is generated during driving of the autonomous driving vehicle in an autonomous driving mode after the autonomous driving vehicle is started;
stopping the autonomous driving mode and executing a manual driving mode when a result of the comparing indicates that the current vehicle speed is equal to or slower than the reference vehicle speed; and
executing the manual driving mode or maintaining the autonomous driving mode which is a current driving mode, depending on a result of a determination of whether an accelerator pedal sensor (APS) signal is generated, when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed,
wherein the driving mode change signal is generated through operation of a driving mode button,
wherein when the driving mode change signal is generated, a driving mode controller is configured to receive a signal from a speed detector, configured to compare the current vehicle speed with the reference vehicle speed,
wherein when the result of the comparing indicates that current vehicle speed exceeds the reference vehicle speed, the driving mode controller is configured to control an actuator provided in an accelerator pedal such that the actuator generates one of a vibration signal, a pedal effect signal, and a tick signal as a tactile sensation signal, configured to determine whether the APS signal is generated in the accelerator pedal within a reference time after the tactile sensation signal is generated, and configured to transmit a manual driving mode execution signal or an autonomous driving mode execution signal to a vehicle controller, depending on a result of the determination of whether the APS signal is generated or not.

6. The method according to claim 5 , further including:
generating the tactile sensation signal by operating the actuator provided in the accelerator pedal when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed; and,
maintaining the current driving mode which is the autonomous driving mode when the APS signal is not generated within the reference time after the tactile sensation signal is generated.

7. The method according to claim 5 , further including:
generating the tactile sensation signal by operating the actuator provided in the accelerator pedal when the result of the comparing indicates that the current vehicle speed exceeds the reference vehicle speed; and
stopping the autonomous driving mode and executing the manual driving mode when the APS signal is generated within the reference time after the tactile sensation signal is generated.

8. The method according to claim 5 , wherein the driving mode controller 15 configured to transmit a manual driving mode execution signal or an autonomous driving mode execution signal to the vehicle controller, and
the vehicle controller performs control such that the autonomous driving vehicle performs manual driving or autonomous driving.

9. An apparatus configured for controlling a driving mode of an autonomous driving vehicle, the apparatus comprising:
a driving mode button configured to generate a driving mode change signal when the driving mode button is pressed;
a speed detector configured to detect vehicle speed information;
an accelerator pedal provided with an actuator and an accelerator pedal detector (APS) configured to generate a tactile sensation signal which is one of a vibration signal, a pedal effect signal, and a tick signal; and
a driving mode controller configured to generate and transmit either a manual driving mode execution signal or an autonomous driving mode execution signal, based on an operation signal of the driving mode button, the vehicle speed information related to the speed detector, and an APS signal of the accelerator pedal, to a vehicle controller,
wherein when the driving mode button generates the operation signal, the driving mode controller is configured to compare a current vehicle speed with a reference vehicle speed by, referring to the vehicle speed information related to the speed detector; and
wherein when a result of the comparison indicates that the current vehicle speed is equal to or slower than the reference vehicle speed, the driving mode controller transmits an execution signal of a driving mode opposite to a current driving mode to the vehicle controller.

10. The apparatus according to claim 9 , whe

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp
• Hyndai Motor Company

Inventors

• Kim Eun Sik

Classifications

• B60W60/0051

  from occupants to vehicle · CPC title

• B60W50/082 Primary

  Selecting or switching between different modes of propelling · CPC title

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W2540/215

  Selection or confirmation of options · CPC title

• B60W50/16

  Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal · CPC title