U.S. patent application number 15/142462 was filed with the patent office on 2017-11-02 for composite autonomous driving assistant system for making decision and method of using the same.
The applicant listed for this patent is AUTOMOTIVE RESEARCH & TEST CENTER. Invention is credited to SHUN-HUNG CHEN, PO-KAI TSENG.
Application Number | 20170313308 15/142462 |
Document ID | / |
Family ID | 60157365 |
Filed Date | 2017-11-02 |
United States Patent
Application |
20170313308 |
Kind Code |
A1 |
TSENG; PO-KAI ; et
al. |
November 2, 2017 |
COMPOSITE AUTONOMOUS DRIVING ASSISTANT SYSTEM FOR MAKING DECISION
AND METHOD OF USING THE SAME
Abstract
A composite autonomous driving assistant system for making
decision and a method of using the same is provided. A
longitudinal-controlling autonomous driving assistant device and a
lateral-controlling autonomous driving assistant device start to
automatically assist in driving a vehicle. Then, a sensing device
senses states of the vehicle and an environment and generates one
sensing signal. When a controller determines that the collision
period is less than a preset collision period and that a
deceleration signal of the sensing signal is larger than a preset
deceleration, the controller generates a turn-stopping signal. When
the controller determines that a rotation angle signal of the
sensing signal is larger than a preset angle, the controller
generates a speed-stopping signal. The present invention
establishes an excellent switching threshold condition when the
plurality autonomous driving assistant device coexist.
Inventors: |
TSENG; PO-KAI; (CHANGHUA
COUNTY, TW) ; CHEN; SHUN-HUNG; (CHANGHUA COUNTY,
TW) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
AUTOMOTIVE RESEARCH & TEST CENTER |
CHANGHUA COUNTY |
|
TW |
|
|
Family ID: |
60157365 |
Appl. No.: |
15/142462 |
Filed: |
April 29, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2520/14 20130101;
B60W 2520/105 20130101; B60W 2050/0094 20130101; B60W 2520/10
20130101; B60W 2554/801 20200201; B60W 30/09 20130101; B60W 30/12
20130101; B60W 2554/00 20200201; B60W 50/0098 20130101; B60W 30/16
20130101 |
International
Class: |
B60W 30/12 20060101
B60W030/12; G05D 1/00 20060101 G05D001/00 |
Claims
1. A composite autonomous driving assistant system for making
decision arranged on a vehicle to automatically assist in driving
said vehicle, and said composite autonomous driving assistant
system for making decision comprising: a longitudinal-controlling
autonomous driving assistant device controlling a moving speed of
said vehicle; a lateral-controlling autonomous driving assistant
device controlling a rotating angle of said vehicle; a sensing
device sensing states of said vehicle and an environment and
generating at least one sensing signal comprising a speed signal, a
distance signal, a rotation angle signal and a deceleration signal;
and a controller electrically connected with said
longitudinal-controlling autonomous driving assistant device, said
lateral-controlling autonomous driving assistant device and said
sensing device, receiving said sensing signal and figuring out a
collision period according to said speed signal and said distance
signal, and when said controller determines that said collision
period is less than a preset collision period and that said
deceleration signal is larger than a preset deceleration, said
controller generates a turn-stopping signal and transmits said
turn-stopping signal to said lateral-controlling autonomous driving
assistant device to stop controlling said rotating angle of said
vehicle, and when said controller determines that said rotation
angle signal is larger than a preset angle, said controller
generates a speed-stopping signal whereby said
longitudinal-controlling autonomous driving assistant device stops
controlling said moving speed of said vehicle.
2. The composite autonomous driving assistant system for making
decision of claim 1, wherein said longitudinal-controlling
autonomous driving assistant device is an autonomous emergency
braking system (AEB) or an adaptive cruise control (ACC).
3. The composite autonomous driving assistant system for making
decision of claim 1, wherein said lateral-controlling autonomous
driving assistant device is a lane keeping system (LKS) or a lane
following control (LFC).
4. The composite autonomous driving assistant system for making
decision of claim 1, wherein said sensing device further comprises:
a speed sensor sensing a speed of said vehicle to generate said
speed signal and said deceleration signal and transmitting said
speed signal and said deceleration signal to said controller; a
turning sensor sensing a turning angle of said vehicle to generate
said rotation angle signal and transmitting said rotation angle
signal to said controller; and a ranging sensor sensing a distance
to a front obstruction to generate said distance signal and
transmitting said distance signal to said controller.
5. The composite autonomous driving assistant system for making
decision of claim 1, wherein when said controller determines that
said collision period is less than said preset collision period,
said controller generates a reminding signal; when said controller
determines that said collision period is less than a preset warning
collision period, said controller generates a turn-stopping warning
signal to warns that said lateral-controlling autonomous driving
assistant device is shutting; when said controller generates said
speed-stopping signal, said controller generates a speed-stopping
warning signal to warn that said longitudinal-controlling
autonomous driving assistant device shut.
6. The composite autonomous driving assistant system for making
decision of claim 5, further comprising a warning device
electrically connected with said controller, receiving said
reminding signal, said turn-stopping warning signal and said
speed-stopping warning signal, and correspondingly warning
according to said reminding signal, said turn-stopping warning
signal and said speed-stopping warning signal.
7. The composite autonomous driving assistant system for making
decision of claim 1, further comprising an operation interface
electrically connected with said controller and providing an
automation-lifting control signal to said controller to generate
said speed-stopping signal and said turn-stopping signal, so as to
shut said longitudinal-controlling autonomous driving assistant
device or said lateral-controlling autonomous driving assistant
device.
8. A composite autonomous driving assistant method for making
decision comprising: Step (A): starting a longitudinal-controlling
autonomous driving assistant device and a lateral-controlling
autonomous driving assistant device to automatically assist in
driving a vehicle; Step (B): sensing states of said vehicle and an
environment and generating at least one sensing signal comprising a
speed signal, a distance signal, a rotation angle signal and a
deceleration signal, wherein said speed signal and said distance
signal are used to figure out a collision period; and Step (C):
making decision to determine whether to shut said
longitudinal-controlling autonomous driving assistant device or
said lateral-controlling autonomous driving assistant device: Step
(C1): determining whether said collision period is less than a
preset collision period and determining whether said deceleration
signal is larger than a preset deceleration: if yes, generating a
turn-stopping signal and transmitting said turn-stopping signal to
said lateral-controlling autonomous driving assistant device to
stop controlling a rotating angle of said vehicle; and if no,
returning said Step (B); Step (C2): determining whether said
rotation angle signal is larger than a preset angle: if yes,
generating a speed-stopping signal and transmitting said
speed-stopping signal said longitudinal-controlling autonomous
driving assistant device to stop controlling a moving speed of said
vehicle; and if no, returning said Step (B).
9. The composite autonomous driving assistant method for making
decision of claim 8, wherein said longitudinal-controlling
autonomous driving assistant device is a autonomous emergency
braking system (AEB) or an adaptive cruise control (ACC).
10. The composite autonomous driving assistant method for making
decision of claim 8, wherein said lateral-controlling autonomous
driving assistant device is a lane keeping system (LKS) or a lane
following control (LFC).
11. The composite autonomous driving assistant method for making
decision of claim 8, wherein said Step (C1) further comprises a
Step (C12) of determining whether said collision period is less
than said preset collision period: if no, returning Step (B); and
if yes, determining whether said deceleration signal is larger than
said preset deceleration: if yes, generating said turn-stopping
signal and transmitting said turn-stopping signal to said
lateral-controlling autonomous driving assistant device to stop
controlling said rotating angle of said vehicle; and if no,
returning Step (B).
12. The composite autonomous driving assistant method for making
decision of claim 11, wherein in said Step (C12) of determining
whether said collision period is less than said preset collision
period, a reminding signal is generated when said collision period
is less than said preset collision period.
13. The composite autonomous driving assistant method for making
decision of claim 12, wherein in said Step (C12) of determining
whether said collision period is less than said preset collision
period, a turn-stopping warning signal is generated to warns that
said lateral-controlling autonomous driving assistant device is
shutting when said collision period is less than a preset warning
collision period.
14. The composite autonomous driving assistant method for making
decision of claim 8, wherein in Step (C2), a speed-stopping warning
signal is generated to warn that said longitudinal-controlling
autonomous driving assistant device shut when said speed-stopping
signal is generated.
15. The composite autonomous driving assistant method for making
decision of claim 12, wherein after generating said reminding
signal in Step (C1), an automation-lifting control signal is
inputted to generate said speed-stopping signal and said
turn-stopping signal, so as to shut said longitudinal-controlling
autonomous driving assistant device or said lateral-controlling
autonomous driving assistant device.
Description
BACKGROUND OF THE INVENTION
Field of the Invention
[0001] The present invention relates to an autonomous driving
assistant technology, particularly to a composite autonomous
driving assistant system for making decision and a method of using
the same. The system switches autonomous assistant driving required
according to an environment.
Description of the Related Art
[0002] An autonomous driving assistant system can use distance or
image sensing devices to sense an external environment of a vehicle
body so that a processor generates a control vehicle body signal
according to the external environment, so as to control the state
that the vehicle body moves on. As a result, the autonomous driving
assistant system can assist in driving the vehicle, thereby
improving driving and road safety and reducing workload for
long-term driving.
[0003] In the United States, the National Highway Traffic Safety
Administration (NHTSA) of Department of Transportation (DOT) has
proposed a formal classification system: The following pertains to
automated vehicles. Level 0: No automation. Level 1:
Function-specific automation. Level 2: Combined function
automation. Level 3: Vehicles at this level of automation enable
the driver to cede full control of all safety-critical functions
under certain traffic or environmental conditions and in those
conditions to rely heavily on the vehicle to monitor for changes in
those conditions requiring transition back to driver control. Level
4: Full self-driving automation.
[0004] The longitudinal-controlling autonomous assistant system is
used to control a longitudinal acceleration, a longitudinal
deceleration, a speed, a relative speed, a relative acceleration
and a relative deceleration of the vehicle body. For example, an
autonomous emergency braking system (AEB) uses precise sensor and
electrical equipment to determine whether there are objects in
front of the vehicle. If the system determines that a collision
possibly occurs, the system automatically makes a quick stop. The
lateral-controlling autonomous assistant system is used to control
a steering wheel angle, a heading angle, a sideslip angle, a
lateral acceleration, a lateral speed and a steering wheel angular
speed of the vehicle body. A lane keeping system (LKS) belongs to
the lateral-controlling autonomous assistant system. The LKS uses a
lens of a charge-coupled device (CCD) in front of the vehicle to
catch an image of a lane to calculate a vehicle deviation. When a
driver deviates from the lane, the system warns and provides
turning control to assist the driver in driving within the
lane.
[0005] However, when only one autonomous assistant system is
installed on the vehicle, the autonomous assistant system is shut
as long as a steering wheel, a throttle or a brake is driven. In
the future, the autonomous assistant system will develop toward
Level 3, namely combined autonomous assistant systems. When
multiple autonomous assistant systems are installed on a vehicle,
its situation is not simple. When a longitudinal-controlling
autonomous assistant system and a lateral-controlling autonomous
assistant system are installed on a vehicle, the vehicle is in the
following dangerous situation without using conversion mechanism
between the longitudinal-controlling autonomous assistant system
and the lateral-controlling autonomous assistant system. When the
vehicle corners too much, the longitudinal-controlling autonomous
assistant system and the lateral-controlling autonomous assistant
system simultaneously start whereby the vehicle turns over and
deviates from the lane to cause greater damage. As a result, how to
make the longitudinal-controlling autonomous assistant system and
the lateral-controlling autonomous assistant system coexist and
define a switching threshold condition for the two autonomous
driving assistant systems is very important.
[0006] To overcome the abovementioned problems, the present
invention provides a composite autonomous driving assistant system
for making decision and a method of using the same, so as to solve
the afore-mentioned problems of the prior art.
SUMMARY OF THE INVENTION
[0007] A primary objective of the present invention is to provide a
composite autonomous driving assistant system for making decision
and a method of using the same, which efficiently makes a
longitudinal-controlling autonomous driving assistant device and a
lateral-controlling autonomous driving assistant device coexist and
defines a threshold condition for two different autonomous driving
assistant devices, and which determines that the
longitudinal-controlling autonomous driving assistant device or the
lateral-controlling autonomous driving assistant device has to shut
at present according to states of a vehicle and an environment,
thereby improving autonomous driving safety.
[0008] Another objective of the present invention is to provide a
composite autonomous driving assistant system for making decision
and a method of using the same, which shuts or starts autonomous
assistant driving according to the driver's will, so as to control
dominance of driving a vehicle, thereby improving driving
safety.
[0009] To achieve the abovementioned objectives, the present
invention provides a composite autonomous driving assistant system
for making decision arranged on a vehicle to automatically assist
in driving the vehicle, and the composite autonomous driving
assistant system for making decision comprises: a
longitudinal-controlling autonomous driving assistant device
controlling a moving speed of the vehicle; a lateral-controlling
autonomous driving assistant device controlling a rotating angle of
the vehicle; a sensing device sensing states of the vehicle and an
environment and generating at least one sensing signal comprising a
speed signal, a distance signal, a rotation angle signal and a
deceleration signal; and a controller electrically connected with
the longitudinal-controlling autonomous driving assistant device,
the lateral-controlling autonomous driving assistant device and the
sensing device, receiving the sensing signal and figuring out a
collision period according to the speed signal and the distance
signal. When the controller determines that the collision period is
less than a preset collision period and that the deceleration
signal is larger than a preset deceleration, the controller
generates a turn-stopping signal and transmits the turn-stopping
signal to the lateral-controlling autonomous driving assistant
device to stop controlling the rotating angle of the vehicle. When
the controller determines that the rotation angle signal is larger
than a preset angle, the controller generates a speed-stopping
signal whereby the longitudinal-controlling autonomous driving
assistant device stops controlling the moving speed of the
vehicle.
[0010] The longitudinal-controlling autonomous driving assistant
device is an autonomous emergency braking system (AEB) or an
adaptive cruise control (ACC). The lateral-controlling autonomous
driving assistant device is a lane keeping system (LKS) or a lane
following control (LFC).
[0011] The sensing device further comprises: a speed sensor sensing
a speed of the vehicle to generate the speed signal and the
deceleration signal and transmitting the speed signal and the
deceleration signal to the controller; a turning sensor sensing a
turning angle of the vehicle to generate the rotation angle signal
and transmitting the rotation angle signal to the controller; and a
ranging sensor sensing a distance to a front obstruction to
generate the distance signal and transmitting the distance signal
to the controller.
[0012] The present invention also provides a composite autonomous
driving assistant method for making decision. Firstly, in Step (A),
a longitudinal-controlling autonomous driving assistant device and
a lateral-controlling autonomous driving assistant device start to
automatically assist in driving a vehicle. Then, in Step (B),
states of the vehicle and an environment are sensed and at least
one sensing signal comprising a speed signal, a distance signal, a
rotation angle signal and a deceleration signal is generated,
wherein the speed signal and the distance signal are used to figure
out a collision period. Then, in Step (C), decision is made to
determine whether to shut the longitudinal-controlling autonomous
driving assistant device or the lateral-controlling autonomous
driving assistant device. Step (C1) further comprises Step (C12) of
determining whether the collision period is less than the preset
collision period: if no, returning Step (B); and if yes,
determining whether the deceleration signal is larger than the
preset deceleration: if yes, generating the turn-stopping signal
and transmitting the turn-stopping signal to the
lateral-controlling autonomous driving assistant device to stop
controlling the rotating angle of the vehicle; and if no, returning
Step (B). When Step (C1) is performed, the process performs Step
(C2) of determining whether the rotation angle signal is larger
than a preset angle: if yes, generating a speed-stopping signal and
transmitting the speed-stopping signal the longitudinal-controlling
autonomous driving assistant device to stop controlling a moving
speed of the vehicle; and if no, returning the Step (B).
[0013] Below, the embodiments are described in detail in
cooperation with the drawings to make easily understood the
technical contents; characteristics and accomplishments of the
present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a block diagram schematically showing a composite
autonomous driving assistant system for making decision according
to an embodiment of the present invention;
[0015] FIG. 2 is a flowchart schematically showing a composite
autonomous driving assistant method for making decision according
to an embodiment of the present invention; and
[0016] FIG. 3 and FIG. 4 are diagrams schematically showing
conversion for a longitudinal-controlling autonomous driving
assistant device and a lateral-controlling autonomous driving
assistant device according to an embodiment of the present
invention.
DETAILED DESCRIPTION OF THE INVENTION
[0017] Refer to FIG. 1. FIG. 1 is a block diagram schematically
showing a composite autonomous driving assistant system for making
decision 1 arranged on a vehicle to automatically assist in driving
the vehicle. The composite autonomous driving assistant system for
making decision 1 comprises a controller 16 electrically connected
with a longitudinal-controlling autonomous driving assistant device
10, a lateral-controlling autonomous driving assistant device 12, a
sensing device 14, a warning device 18 and an operation interface
20. The longitudinal-controlling autonomous driving assistant
device 10 is used to control a moving speed of the vehicle. The
longitudinal-controlling autonomous driving assistant device 10 is
an autonomous emergency braking system (AEB) or an adaptive cruise
control (ACC) to control a longitudinal acceleration, a
longitudinal deceleration, a speed, a relative speed, a relative
acceleration and a relative deceleration of the vehicle. The
lateral-controlling autonomous driving assistant device 12 is used
to control a rotating angle of the vehicle. The lateral-controlling
autonomous driving assistant device 12 is a lane keeping system
(LKS) or a lane following control (LFC), so as to control a
steering wheel angle, a heading angle, a sideslip angle, a lateral
acceleration, a lateral speed and a steering wheel angular speed of
the vehicle.
[0018] The sensing device 14 is used to sense states of the vehicle
and an environment and generate at least one sensing signal
comprising a speed signal, a distance signal, a rotation angle
signal and a deceleration signal. The sensing device 14 further
comprises a speed sensor 142, a turning sensor 144 and a ranging
sensor 146, which are all electrically connected with the
controller 16. The speed sensor 142 senses a speed of the vehicle
to generate the speed signal and the deceleration signal. The
turning sensor 144 senses a turning angle of the vehicle to
generate the rotation angle signal. The ranging sensor 146 can emit
a radar signal to a distance to a front obstruction to generate the
distance signal.
[0019] The controller 16 receives the sensing signal of the sensing
device 14 and figures out a collision period according to the speed
signal generated by the speed sensor 142 and the distance signal
generated by the ranging sensor 146, whereby the controller 16
determines whether the collision period is less than a preset
collision period. Simultaneously, the controller 16 determines
whether the deceleration signal generated by the speed sensor 142
is larger than a preset deceleration. When the collision period is
less than the preset collision period and the deceleration signal
is larger than the preset deceleration, the controller 16 generates
a turn-stopping signal and transmits the turn-stopping signal to
the lateral-controlling autonomous driving assistant device 12 to
stop controlling the rotating angle of the vehicle. When the
collision period is less than the preset collision period, the
controller 16 generates a reminding signal and transmits the
reminding signal to the warning device 18 to warn a driver. When
the collision period is less than a preset warning collision
period, the controller 16 generates a turn-stopping warning signal
and transmits the turn-stopping warning signal to the warning
device 18, so as to warn the driver of the fact that the
lateral-controlling autonomous driving assistant device 12 is
shutting whereby the driver is careful at all times.
[0020] Besides, the controller 16 simultaneously determines whether
the rotation angle signal is larger than a preset angle. When the
rotation angle signal is larger than the preset angle, the
controller 16 generates a speed-stopping signal and transmits the
speed-stopping signal to the longitudinal-controlling autonomous
driving assistant device 10 whereby the longitudinal-controlling
autonomous driving assistant device 10 stops controlling the moving
speed of the vehicle. When the controller 16 generates the
speed-stopping signal, the controller 16 generates a speed-stopping
warning signal and transmits the speed-stopping warning signal to
the warning device 18, so as to warn the driver of the fact that
the longitudinal-controlling autonomous driving assistant device 10
shut.
[0021] The operation interface 20 provides an automation-lifting
control signal to the controller 16 to generate the speed-stopping
signal and the turn-stopping signal, so as to shut the
longitudinal-controlling autonomous driving assistant device 10 or
the lateral-controlling autonomous driving assistant device 12,
whereby autonomous assistant driving shuts and the driver regains
dominance of driving the vehicle at all times. When autonomous
assistant driving malfunctions, manned driving dominates to serve
as a safety mechanism.
[0022] After explaining the system of the present invention, the
flowchart of the present invention is explained. Refer to FIG. 1
and FIG. 2. Firstly, in Step S10, the longitudinal-controlling
autonomous driving assistant device 10 and the lateral-controlling
autonomous driving assistant device 12 start to automatically
assist in driving the Vehicle. Then, in Step S12, the sensing
device 14 senses the states of the vehicle and the environment to
generate at least one sensing signal which comprises a speed
signal, a distance signal, a rotation angle signal and a
deceleration signal, wherein the controller 16 uses the speed
signal and the distance signal to figure out the collision period.
Then, in Step S14, the controller 16 makes decision to determine
whether to shut the longitudinal-controlling autonomous driving
assistant device 10 or the lateral-controlling autonomous driving
assistant device 12. Refer to FIG. 1, FIG. 2 and FIG. 3. In Step
S14, Step S140 is firstly performed. In Step S140, the controller
16 determines whether the collision period is less than the preset
collision period. For example, the preset collision period is 2-1.8
seconds, preferably 1.8 seconds, but the present invention is not
limited thereto. When the controller 16 determines that the
collision period is not less than the preset collision period, the
process returns to Step S12. When the controller 16 determines that
the collision period is less than the preset collision period, the
process proceeds to Step S142. In Step S142, the controller 16
generates the reminding signal and transmits the reminding signal
to the warning device 18 to earn the driver. Then, the process
proceeds to Step 143. In Step S143, the controller 16 determines
whether the collision period is less than the preset warning
collision period. For example, the preset warning collision period
is 1.2-1 second, preferably 1 second. When the controller 16
determines that the collision period is not less than the preset
warning collision period, the process returns to Step S12. When the
controller 16 determines that the collision period is less than the
preset warning collision period, the process proceeds to Step S144.
In Step S144, the controller 16 generates a turn-stopping warning
signal and transmits the turn-stopping warning signal to the
warning device 18 to warn the driver of the fact that the
lateral-controlling autonomous driving assistant device 12 is
shutting. Then, the process proceeds to Step S145. In Step S145,
the controller 16 determines whether the deceleration signal is
larger than the preset deceleration. For example, the preset
deceleration is 2-4 m/s, preferably 3 m/s, but the present
invention is not limited thereto. When the deceleration signal is
larger than the preset deceleration, the process proceeds to Step
S146. In Step S146, the controller 16 generates the turn-stopping
signal and transmits the turn-stopping signal to the
lateral-controlling autonomous driving assistant device 12. When
the deceleration signal is not larger than the preset deceleration,
the process returns to Step 12.
[0023] Then, the present invention explains Step S148. Refer to
FIG. 1, FIG. 2 and FIG. 4. In Step S148, the controller 16
determines whether the rotation angle signal is larger than a
preset angle ranging 15-20 degrees. For example, the preset angle
is 15 degrees in the embodiment, but the present invention is not
limited thereto. When the rotation angle signal is larger than the
preset angle, the process proceeds to Step S149. In Step S149, the
controller 16 generates the speed-stopping signal and transmits the
speed-stopping signal to the longitudinal-controlling autonomous
driving assistant device 10 whereby the longitudinal-controlling
autonomous driving assistant device 10 stops controlling the moving
speed of the vehicle. Meanwhile, the controller 16 generates the
speed-stopping warning signal and transmits the speed-stopping
warning signal to the warning device 18, so as to warn the driver
of the fact that the longitudinal-controlling autonomous driving
assistant device 10 shut. When the rotation angle signal is less
than the preset angle, the process proceeds to Step S12 to sense
the state of the vehicle again.
[0024] After receiving the reminding signal, the speed-stopping
warning signal and the turn-stopping warning signal generated by
the warning device 18, the operation interface 20 provides an
automation-lifting control signal to generate the speed-stopping
signal and the turn-stopping signal, so as to shut the
longitudinal-controlling autonomous driving assistant device 10 or
the lateral-controlling autonomous driving assistant device 12,
thereby shutting autonomous assistant driving whereby the driver
regains dominance of driving. The activity can serve as a safety
mechanism. Certainly, the operation interface 20 provides the
automation-lifting control signal at all times to shut autonomous
assistant driving whereby the driver regains dominance of driving
at all times.
[0025] In conclusion, the present invention efficiently makes the
longitudinal-controlling autonomous driving assistant device and
the lateral-controlling autonomous driving assistant device
coexist, defines a threshold condition for switching two different
autonomous driving assistant devices, shuts the
longitudinal-controlling autonomous driving assistant device or the
lateral-controlling autonomous driving assistant device according
to the states of the vehicle and the environment, thereby improving
autonomous driving safety. The present invention shuts or starts
autonomous assistant driving according to the driver's will. When
the driver observes misjudgments and danger of autonomous assistant
driving, the driver can regain dominance of driving, thereby
greatly improving driving safety.
[0026] The embodiments described above are only to exemplify the
present invention but not to limit the scope of the present
invention. Therefore, any equivalent modification or variation
according to the shapes, structures, features, or spirit disclosed
by the present invention is to be also included within the scope of
the present invention.
* * * * *