Vehicle for performing minimal risk maneuver and method for operating the same

Abstract

Disclosed is a vehicle which supports a minimal risk maneuver. The vehicle performs driving, perform the minimal risk maneuver when a specific event occurs during the driving, eliminates the risk of the vehicle in accordance with the initiation of the minimal risk maneuver, ends the minimal risk maneuver when the risk of the vehicle is eliminated, and performs the driving again after ending the minimal risk maneuver.

1 . A vehicle for performing a minimal risk maneuver, the vehicle comprising:
 a sensor which senses an environment around the vehicle and generates data related to the environment;   a processor which monitors a state of the vehicle to generate data related to the state of the vehicle, and controls autonomous driving of the vehicle;   a controller which controls operations of the vehicle according to the control of the processor; and   a communication circuit which transmits and receives data to and from the outside,   wherein the processor
 determines any one of a plurality of types as a first minimal risk maneuver type based on a degree of risk around the vehicle and the state of the vehicle, when there is a request for the minimal risk maneuver, 
 controls the controller to perform the minimal risk maneuver of the vehicle in accordance with contents of the first minimal risk maneuver type, and 
 determines any one other than the first minimal risk maneuver type among the plurality of types as a second minimal risk maneuver type, when at least one of the degree of risk around the vehicle and the state of the vehicle is changed while the minimal risk maneuver is being performed. 
   
     
     
         2 . The vehicle of  claim 1 , wherein the plurality of types comprises:
 a straight stop as a level 1 type;   an in-lane stop as a level 2 type;   a lane change plus stop in traffic lane as a level 3 type;   a shoulder stop as a level 4 type; and   a parking lane stop as a level 5 type.   
     
     
         3 . The vehicle of  claim 2 , wherein, when the degree of risk around the vehicle is reduced or the state of the vehicle is improved while the minimal risk maneuver is being performed, the processor determines a higher-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         4 . The vehicle of  claim 2 , wherein, when the degree of risk around the vehicle is increased or the state of the vehicle is degraded while the minimal risk maneuver is being performed, the processor determines a lower-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         5 . The vehicle of  claim 2 , wherein, when a speed of the vehicle is less than a predetermined speed while the minimal risk maneuver is being performed, the processor determines a lower-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         6 . The vehicle of  claim 5 ,
 wherein the first minimal risk maneuver type is the level 3 type or is higher than the level 3 type, and   wherein, when the speed of the vehicle is less than the predetermined speed while the minimal risk maneuver is being performed, the processor determines the level 1 type or the level 2 type as the second minimal risk maneuver type.   
     
     
         7 . The vehicle of  claim 2 , wherein the processor is further configured to determine whether to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type, based on a degree of performance of the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type, and maneuver contents of the second minimal risk maneuver type. 
     
     
         8 . The vehicle of  claim 7 , wherein, when the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type is performed at a level higher than a predetermined level, the processor determines not to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type. 
     
     
         9 . The vehicle of  claim 7 ,
 wherein the first minimal risk maneuver type is the level 1 type or the level 2 type,   wherein the second minimal risk maneuver type is the level 3 type or is higher than the level 3 type, and   wherein, when the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type has been performed at a level higher than a predetermined level and there is no vehicle around the vehicle of the driver, the processor determines to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type.   
     
     
         10 . The vehicle of  claim 2 , wherein the processor determines a highest type among the types that the vehicle is able to perform as the second minimal risk maneuver type. 
     
     
         11 . A method for operating a vehicle for performing a minimal risk maneuver, the method comprising:
 a first step of determining any one of a plurality of types as a first minimal risk maneuver type based on a degree of risk around the vehicle and the state of the vehicle, when there is a request for the minimal risk maneuver;   a second step of performing the minimal risk maneuver of the vehicle in accordance with contents of the first minimal risk maneuver type; and   a third step of determining any one other than the first minimal risk maneuver type among the plurality of types as a second minimal risk maneuver type, when at least one of the degree of risk around the vehicle and the state of the vehicle is changed while the second step is being performed.   
     
     
         12 . The method of  claim 11 , wherein the plurality of types comprises:
 a straight stop as a level 1 type;   an in-lane stop as a level 2 type;   a lane change plus stop in traffic lane as a level 3 type;   a shoulder stop as a level 4 type; and   a parking lane stop as a level 5 type.   
     
     
         13 . The method of  claim 12 , wherein, when the degree of risk around the vehicle is reduced or the state of the vehicle is improved while the second step is being performed, the third step comprises determining a higher-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         14 . The method of  claim 12 , wherein, when the degree of risk around the vehicle is increased or the state of the vehicle is degraded while the second step is being performed, the third step comprises determining a lower-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         15 . The method of  claim 12 , wherein, when a speed of the vehicle is less than a predetermined speed while the second step is being performed, the third step comprises determining a lower-level type than the first minimal risk maneuver type as the second minimal risk maneuver type. 
     
     
         16 . The method of  claim 15 ,
 wherein the first minimal risk maneuver type is the level 3 type or is higher than the level 3 type, and   wherein, when the speed of the vehicle is less than the predetermined speed while the second step is being performed, the third step comprises determining the level 1 type or the level 2 type as the second minimal risk maneuver type.   
     
     
         17 . The method of  claim 12 , further comprising a fourth step of determining whether to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type, based on a degree of performance of the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type, and maneuver contents of the second minimal risk maneuver type. 
     
     
         18 . The method of  claim 17 , wherein, when the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type is performed at a level higher than a predetermined level, the fourth step comprises determining not to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type. 
     
     
         19 . The method of  claim 17 ,
 wherein the first minimal risk maneuver type is the level 1 type or the level 2 type,   wherein the second minimal risk maneuver type is the level 3 type or is higher than the level 3 type,   and wherein, when the minimal risk maneuver of the vehicle according to the contents of the first minimal risk maneuver type has been performed at a level higher than a predetermined level and there is no vehicle around the vehicle of the driver, the fourth step comprises determining to perform the minimal risk maneuver of the vehicle in accordance with the second minimal risk maneuver type.   
     
     
         20 . The method of  claim 12 , wherein the third step comprises determining a highest type among the types that the vehicle is able to perform as the second minimal risk maneuver type.