US 11,753,004 B2
Apparatus for controlling autonomous driving of a vehicle, system having the same and method thereof
Jun Soo Kim, Seoul (KR); Jin Su Jeong, Suwon-si (KR); and Jae Yong Jeon, Suwon-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed on Oct. 19, 2020, as Appl. No. 17/73,613.
Claims priority of application No. 10-2020-0041711 (KR), filed on Apr. 6, 2020.
Prior Publication US 2021/0309217 A1, Oct. 7, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 30/18163 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02)] 15 Claims
OG exemplary drawing
 
12. A vehicle system comprising:
a sensing device configured to sense a travelling situation and a lane position during an autonomous driving control; and
an autonomous driving control apparatus configured to determine an autonomous driving control maneuver of a vehicle based on the travelling situation and the lane position,
wherein the autonomous driving control apparatus is configured to:
control the vehicle by selecting one of an emergency avoidance strategy, a minimum risk maneuver, and a control authority transfer of the vehicle to a driver,
determine a safety of lanes of a road on which the vehicle is travelling, and
control the vehicle to stop on a lane, among the lanes of the road, representing a highest safety, after starting a minimum risk maneuver of the autonomous driving control maneuver,
wherein the autonomous driving control maneuver further includes:
at least one of an emergency maneuver, or a control authority transition,
wherein the autonomous driving control apparatus is further configured to:
when a front vehicle is suddenly stopped or when an accident is present in front of the vehicle, perform the emergency maneuver,
when the emergency maneuver is performed, perform an emergency stop on a lane on which the vehicle is travelling,
when an autonomous driving control function is unable to perform and transferring a control authority of the vehicle to the driver of the vehicle is failed, perform the minimum risk maneuver, and
when the vehicle is out of an area designed for an operation of a specified autonomous driving control function, determine that the control authority transfer of the vehicle to the driver of the vehicle is required.