US 11,654,939 B2
Autonomous driving apparatus and method that outputs different warnings based on driving risk
Byeong Hwan Jeon, Yongin-si (KR); Jun Han Lee, Yongin-si (KR); Hyuk Lee, Yongin-si (KR); and Soon Jong Jin, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by HYUNDAI MOBIS Co., Ltd., Seoul (KR)
Filed on May 19, 2020, as Appl. No. 16/878,467.
Claims priority of application No. 10-2019-0058611 (KR), filed on May 20, 2019.
Prior Publication US 2020/0369297 A1, Nov. 26, 2020
Int. Cl. B60W 60/00 (2020.01); B60W 40/09 (2012.01); G06V 20/56 (2022.01)
CPC B60W 60/0059 (2020.02) [B60W 40/09 (2013.01); B60W 60/0016 (2020.02); B60W 60/0017 (2020.02); G06V 20/56 (2022.01); B60W 2540/227 (2020.02)] 14 Claims
OG exemplary drawing
 
1. An autonomous driving apparatus comprising:
a sensor unit configured to detect a surrounding vehicle around an ego vehicle that autonomously travels and a state of a passenger who is in the ego vehicle;
an output unit;
a memory configured to store a map information; and
a processor configured to control an autonomous driving of the ego vehicle based on the map information stored in the memory,
wherein the processor is configured to:
generate an actual driving trajectory and an expected driving trajectory of the surrounding vehicle based on driving information of the surrounding vehicle detected by the sensor unit and the map information stored in the memory,
determine an autonomous driving risk of the ego vehicle based on whether a driving mode of the surrounding vehicle is an autonomous driving mode and a trajectory error between the actual driving trajectory and the expected driving trajectory of the surrounding vehicle,
control one or more of driving modes of the ego vehicle and provide communication with an external organization, based on the state of the passenger detected by the sensor unit when the autonomous driving mode of the ego vehicle is turned off, and based on the determined autonomous driving risk of the ego vehicle; and
output a warning to the passenger through the output unit at a level corresponding to the determined autonomous driving risk,
wherein the output the warning comprises:
output, to the passenger, the warning corresponding to a first level through the output unit when the driving mode of the surrounding vehicle is the autonomous driving mode, and
output, to the passenger, the warning corresponding to a second level through the output unit when the driving mode of the surrounding vehicle is a manual driving mode,
wherein the processor outputs the warnings to the passenger through the output unit, as the first level, the second level, or a third level warning based on ascending order of the autonomous driving risk of the ego vehicle,
wherein the first warning is a visual display of a first color, the second warning is a visual display of a second color different from the first color, and the third warning is a visual display of a third color different from the first and second colors.