Autonomous vehicle

• US 10,457,210 B2
• Filed: 11/28/2017
• Issued: 10/29/2019
• Est. Priority Date: 11/29/2016
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Leem, Chaewah, Yu, Junyoung, Lee, Taekyung, Shin, Hyunseok
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/824,264
• Publication Number:
  US 20180147988A1
• Time in Patent Office: 700 Days
• CPC Class Codes: B60K 2360/115 Selection of menu items
• CPC Class Codes: B60K 2360/175 Autonomous driving
• CPC Class Codes: B60K 2360/177 Augmented reality
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/205 using a head-up display
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/308 by overlaying the real scene, e.g. through a head-up display on the windscreen
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/3685 the POI's being parking facilities
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/012 from other sources than vehicle or roadside beacons, e.g. mobile networks
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: H04W 4/70 : Services for machine-to-machine communication [M2M] or machine type communication [MTC]

Abstract

Disclosed is an autonomous vehicle including a display unit and a controller which is configured to: obtain vehicle driving information, in a state in which (i) the vehicle moves within a first distance from a destination or (ii) the vehicle receives a stop request while the vehicle is travelling, search for at least one available stopping area based on the vehicle driving information, and display information about the at least one available stopping area on the display unit or transmit the information to a terminal.

Claims

1. A vehicle control device that operates in an autonomous driving mode, the vehicle control device comprising:

a controller that is configured to;

obtain vehicle driving information of a vehicle,

in a state in which (i) the vehicle moves within a first distance from a destination or (ii) the vehicle receives a stop request while the vehicle is travelling, search for at least one available stopping area based on the vehicle driving information, and

display information about the at least one available stopping area on a display unit or transmit the information to a terminal,

wherein the controller is further configured to;

determine a location of an occupant inside the vehicle, and

display the information about the at least one available stopping area on any one selected display inside the vehicle according to which display corresponds to the location of the occupant inside the vehicle.

2. The vehicle control device of claim 1, further comprising:

an object detection device that is configured to detect object information that represents information about one or more objects outside the vehicle,

wherein the controller is configured to;

obtain the object information from the object detection device, and

based on the object information, determine whether an area outlined by a parking line or a stopping-allowed line or an area having a space for the vehicle to enter and stop is the at least one available stopping area.

3. The vehicle control device of claim 2, wherein the controller is configured to:

based on the object information, determine (i) whether an area outlined by a parking line or a stopping-allowed line exists, (ii) whether one or more objects are in the area outlined by the parking line or the stopping-allowed line, and (iii) whether the area outlined by the parking line or the stopping-allowed line includes a space for the vehicle to enter and stop, and

based on the determinations (i) to (iii), determine the area outlined by the parking line or the stopping-allowed line is the at least one available stopping area.

4. The vehicle control device of claim 3, further comprising:

a communication device that is configured to receive communication information,

wherein the controller is configured to;

obtain the communication information from the communication device, and

based on the communication information, determine that a first area that is assigned to a first vehicle is not the at least one available stopping area.

5. The vehicle control device of claim 3, wherein the vehicle driving information includes map information and regulation information, and

wherein the controller is configured to:

based on at least one of the object information, the map information, and the regulation information, determine whether a second area that is within a second distance from a restricted area including at least one of an illegal stopping area, a bus stop, a taxi stand, a subway station, a train station, an intersection, a ramp, a traffic structure, and an access road is not the at least one available stopping area.

6. The vehicle control device of claim 2, wherein the controller is configured to:

determine a recommended area from the at least one available stopping area based on the vehicle driving information, and

transmit information about the recommended area to the display unit or the terminal.

7. The vehicle control device of claim 6, wherein the vehicle driving information includes map information,

wherein the controller is configured to:

based on the map information, determine a respective distance between each of at least one available stopping area and the destination, and

based on the distances, determine that a third area having the smallest distance to the destination is the recommended area.

8. The vehicle control device of claim 6, wherein the vehicle driving information includes map information, traffic information, and location information of the vehicle, and

wherein the controller is configured to:

based on at least one of the map information, the traffic information, and the location information of the vehicle, for each of the at least one available stopping area, determine (i) a first time period that represents a time period for the vehicle to stop and (ii) a second time period that represents a time period for a user to move from the available stopping area to the destination, and

based on the respective first time periods and the respective second time periods, determine the recommended area from the at least one available stopping area.

9. The vehicle control device of claim 6, wherein the vehicle driving information includes at least one of object information, nearby vehicle information, and traffic information, and

wherein the controller is configured to:

based on at least one of the object information, the nearby vehicle information, and the traffic information, calculate a safety level for each of the at least one available stopping area, and

based on the respective safety levels, determine the recommended area from the at least one available stopping area.

10. The vehicle control device of claim 9, wherein the controller is configured to:

obtain a first available stopping area from the at least one stopping area,

based on the object information or the nearby vehicle information, determine a probability of collision between the vehicle and one or more objects on a way from a current location of the vehicle to the first available stopping area,

based on the traffic information, determine traffic within a third distance from the first available stopping area, and

based on the probability of collision and the traffic, determine the safety level,

wherein the safety level is inversely proportional to the probability of collision and the traffic.

11. The vehicle control device of claim 6, wherein the vehicle driving information includes stopping type information and object information, and

wherein the controller is configured to:

based on the stopping type information, determine an expected stop duration of the vehicle,

based on the object information, determine a fourth area, from the at least one available stopping area, at which the vehicle is allowed to stop for the expected stop duration, and

determine the fourth area as the recommended area.

12. The vehicle control device of claim 6, wherein the vehicle driving information includes map information and destination information, and

wherein the controller is configured to:

obtain, from the destination information, a first destination that is a destination after stopping at the recommended area,

based on the map information and the destination information, determine a fifth area, from the at least one available stopping area, that is on a route to the first destination from a current location of the vehicle, and

determine the fifth area as the recommended area.

13. The vehicle control device of claim 6, wherein the vehicle driving information includes (i) occupant location information that represents a location of an occupant inside the vehicle and (ii) object information, and

wherein the controller is configured to:

based on the occupant location information, determine an occupant disembarking location that represents a location at which the occupant gets off the vehicle,

based on the object information, determine a sixth area, from the at least one available stopping area, at which no object is located within a fourth distance from the occupant disembarking location, and

determine the sixth area as the recommended area.

14. The vehicle control device of claim 6, wherein the controller is configured to:

receive user input that selects a particular area from the at least one available stopping area, and

in response to receiving the user input, control the vehicle to move and stop at the particular area.

15. The vehicle control device of claim 14, further comprising:

a communication device,

wherein the controller is configured to transmit, through the communication device, information about the particular area.

16. The vehicle control device of claim 14, further comprising:

a user interface device,

wherein the controller is configured to;

during moving to the particular area, based on the vehicle driving information, determine whether the vehicle is not allowed to stop at the particular area,

based on a determination that the vehicle is not allowed to stop at the particular area, output a stopping menu through the user interface device,

receive first user input from the user interface device,

in response to the first user input, (i) search for a new available stopping area or a new recommended area or (ii) switch to a passive designation mode to receive a new stopping area from a user, and

at the passive designation mode, control the vehicle to stop at the new stopping area that is received from the user.

17. The vehicle control device of claim 6, further comprising:

a user interface device,

wherein the controller is configured to;

receive an emergency stop request through the user interface device while the vehicle is travelling,

based on the vehicle driving information, determine one or more areas for the vehicle to enter and stop as the at least one available stopping area,

based on the vehicle driving information, determine a recommended area from the at least one available stopping area,

provide information about the at least one available stopping area or the recommended area to the display unit or the terminal,

receive user input selecting an emergency stopping area from the at least one available stopping area or the recommended area, and

control the vehicle to stop at the emergency stopping area.

18. The vehicle control device of claim 1, further comprising:

a user interface device,

wherein the controller is configured to;

in a state in which the at least one available stopping area does not exist, output a stopping menu through the user interface device,

receive first user input from the stopping menu,

in response to the first user input, search for a new available stopping area using a new search condition or switch to a passive designation mode to receive a new stopping area from a user, and

at the passive designation mode, control the vehicle to stop at the new stopping area that is received from the user.

19. The vehicle control device of claim 1, further comprising:

an occupant sensing unit; and

a display unit,

wherein the display unit comprises at least one of a transparent display, a Head Up Display (HUD), a Center Information Display (CID), a front passenger seat display, and a Rear Seat Entertainment (RSE), and

wherein the controller is configured to;

determine a location of an occupant inside the vehicle by using the occupant sensing unit;

display the found available stopping area on any one selected among the transparent display, the HUD, the CID, the front passenger seat display, and the RSE according to which correspond to the location of the occupant; and

when the found available stopping area is displayed on the transparent display or the HUD, display the found available stopping area in augmented reality (AR),

wherein when the found available stopping area is displayed either on the front passenger seat display or on the RSE, the CID displays a top-view image in which the found available stopping area is indicated.

20. The vehicle control device of claim 1, further comprising:

an occupant sensing unit; and

a communication device,

wherein the controller is configured to;

determine the location of an occupant inside the vehicle using the occupant sensing unit,

based on the location of the occupant inside the vehicle, determine whether the occupant is located at a rear seat in the vehicle or an occupant does not exist in the vehicle,

based on a determination that the occupant is located at the rear seat in the vehicle or an occupant does not exist in the vehicle, transmit a top-view image of the at least one available stopping area to the terminal through the communication device, and

receive, from the terminal, user input selecting a stopping area from the at least one available stopping area,

in response to the user input, control the vehicle to stop at the stopping area.