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; and   a controller which controls operations of the vehicle according to the control of the processor,   wherein the processor
 generates a request for the minimal risk maneuver when it is determined that there is an abnormality in at least one of the states of the vehicle, 
 determines any one of a plurality of types as a minimal risk maneuver type based on the state of the vehicle, and 
 controls the controller to perform the minimal risk maneuver of the vehicle in accordance with contents of the minimal risk maneuver type. 
   
     
     
         2 . The vehicle of  claim 1 , wherein the plurality of types comprise a straight stop and a current lane stop. 
     
     
         3 . The vehicle of  claim 2 , wherein the processor determines the straight stop as the minimal risk maneuver type when steering of the vehicle is impossible. 
     
     
         4 . The vehicle of  claim 3 , wherein the processor determines the current lane stop as the minimal risk maneuver type when the steering of the vehicle is possible and next lane detection is impossible. 
     
     
         5 . The vehicle of  claim 2 , wherein the plurality of types further comprise a lane change plus stop, and wherein the processor determines an out-of-lane stop as the minimal risk maneuver type when the steering of the vehicle is possible and next lane detection is possible. 
     
     
         6 . The vehicle of  claim 5 , wherein the out-of-lane stop comprises a lane change plus stop in traffic lane, a shoulder stop, and a parking lane stop. 
     
     
         7 . The vehicle of  claim 6 ,
 wherein the sensor is further configured to provide information on a potential stopping area to the processor, and   wherein the processor is further configured to determine the minimal risk maneuver type based on the potential stopping area.   
     
     
         8 . The vehicle of  claim 7 , wherein the processor determines the lane change plus stop in traffic lane as the minimal risk maneuver type when it is determined that there is no potential stopping area or the vehicle is not able to move to the potential stopping area. 
     
     
         9 . The vehicle of  claim 8 , wherein the processor determines the shoulder stop as the minimal risk maneuver type when it is determined that there is no parking space among the potential stopping area or the vehicle is not able to move to the parking space among the potential stopping area, and when it is determined that the vehicle is able to move to the shoulder. 
     
     
         10 . The vehicle of  claim 9 , wherein the processor determines the parking lane stop as the minimal risk maneuver type when it is determined that the vehicle is able to move to the parking space among the potential stopping area. 
     
     
         11 . A method for operating a vehicle for performing a minimal risk maneuver, the method comprising:
 a first step of generating a request for the minimal risk maneuver of the vehicle;   a second step of monitoring a state of the vehicle;   a third step of determining any one of a plurality of types as a minimal risk maneuver type based on the state of the vehicle; and   a forth step of performing the minimal risk maneuver of the vehicle in accordance with contents of the minimal risk maneuver type.   
     
     
         12 . The method of  claim 11 , wherein the plurality of types comprise a straight stop and a current lane stop. 
     
     
         13 . The method of  claim 12 , wherein the third step comprises determining the straight stop as the minimal risk maneuver type when steering of the vehicle is impossible. 
     
     
         14 . The method of  claim 13 , wherein the third step comprises determining the current lane stop as the minimal risk maneuver type when the steering of the vehicle is possible and next lane detection is impossible. 
     
     
         15 . The method of  claim 12 , wherein the plurality of types further comprise a lane change plus stop, and
 wherein the third step comprises determining an out-of-lane stop as the minimal risk maneuver type when the steering of the vehicle is possible and next lane detection is possible.   
     
     
         16 . The method of  claim 15 , wherein the out-of-lane stop comprises a lane change plus stop in traffic lane, a shoulder stop, and a parking lane stop. 
     
     
         17 . The method of  claim 16 , further comprising generating information on a potential stopping area, wherein the third step comprises determining the minimal risk maneuver type based on the potential stopping area. 
     
     
         18 . The method of  claim 17 , wherein the third step further comprises determining the lane change plus stop in traffic lane as the minimal risk maneuver type when it is determined that there is no potential stopping area or the vehicle is not able to move to the potential stopping area. 
     
     
         19 . The method of  claim 18 , wherein the third step further comprises determining the parking lane stop as the minimal risk maneuver type when it is determined that the vehicle is able to move to the parking space among the potential stopping area. 
     
     
         20 . The method of  claim 19 , wherein the third step comprises determining the shoulder stop as the minimal risk maneuver type when it is determined that there is no parking space among the potential stopping area or the vehicle is not able to move to the parking space among the potential stopping area, and when it is determined that the vehicle is able to move to the shoulder.