US 12,116,020 B2
Vehicle for disabling autonomous driving and method of controlling the same
Eungseo Kim, Gyeonggi-do (KR); Yongseok Kwon, Gyeonggi-do (KR); Tae-Geun An, Gyeongsangbuk-do (KR); Dong Hyun Sung, Gyeonggi-do (KR); and Sangmin Lee, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Feb. 11, 2022, as Appl. No. 17/669,747.
Claims priority of application No. 10-2021-0124915 (KR), filed on Sep. 17, 2021.
Prior Publication US 2023/0093168 A1, Mar. 23, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 10/20 (2006.01); B60W 40/105 (2012.01); B60W 50/08 (2020.01); B62D 1/04 (2006.01); B62D 6/10 (2006.01); G06V 20/56 (2022.01); B60W 50/00 (2006.01)
CPC B60W 60/0053 (2020.02) [B60W 10/20 (2013.01); B60W 40/105 (2013.01); B60W 50/082 (2013.01); B62D 1/046 (2013.01); B62D 6/10 (2013.01); G06V 20/588 (2022.01); B60W 2050/0025 (2013.01); B60W 2420/403 (2013.01); B60W 2510/202 (2013.01); B60W 2510/205 (2013.01); B60W 2540/18 (2013.01); B60W 2552/53 (2020.02); B60W 2554/80 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a steering wheel;
a first sensor device configured to detect a steering torque of the steering wheel, a steering angle of the steering wheel, and a steering angular velocity of the steering wheel;
a second sensor device configured to detect a touch of a user applied to the steering wheel;
and
a controller configured to, while the vehicle travels in an emergency control state in which a deceleration/acceleration speed of the vehicle is greater than a predetermined first value during autonomous driving, if the touch of the user on the steering wheel is detected through the second sensor device, assign a first weight to the steering angle changed by the user, assign a second weight to the steering angular velocity, and determine a disabling value based on the steering angle assigned the first weight and the steering angular velocity assigned the second weight;
if the disabling value is greater than or equal to a predetermined threshold value, disable the emergency control state, and if the steering torque changed by the user is greater than or equal to a predetermined torque value, identify that an intervention of the user has occurred; and
if the intervention of the user is identified as having occurred, disable the autonomous driving.