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 . An autonomous 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   a controller which controls operations of the vehicle according to the control of the processor,   wherein the processor   controls autonomous driving of the vehicle,   controls the controller to perform a minimal risk maneuver according to a request for the minimal risk maneuver, and   stops performing the minimal risk maneuver when a driver intervenes while the minimal risk maneuver is being performed, and gives a control authority of the vehicle to the driver.   
     
     
         2 . The vehicle of  claim 1 , wherein the processor controls the controller to perform a stop state management of the vehicle after completing the minimal risk maneuver. 
     
     
         3 . The vehicle of  claim 2 , wherein the processor stops performing the stop state management of the vehicle when the driver intervenes while the stop state management is being performed, and gives a control authority of the vehicle to the driver. 
     
     
         4 . The vehicle of  claim 3 , wherein the processor generates the request for the minimal risk maneuver when it is determined that there is an abnormality in at least one of a surrounding of the vehicle and the state of the vehicle. 
     
     
         5 . The vehicle of  claim 3 , wherein the processor receives the request for the minimal risk maneuver from the outside. 
     
     
         6 . The vehicle of  claim 3 ,
 wherein the processor requests the driver to intervene,   and wherein, when the driver does not intervene within a predetermined time after requesting the intervention, the processor generates the request for the minimal risk maneuver.   
     
     
         7 . The vehicle of  claim 6 , wherein, when the driver intervenes within a predetermined time after requesting the intervention, the processor gives the control authority of the vehicle to the driver. 
     
     
         8 . The vehicle of  claim 1 ,
 wherein, when a cause of the request for the minimal risk maneuver is generated from the driver, the processor continues to perform the minimal risk maneuver even though the driver intervenes while performing the minimal risk maneuver.   
     
     
         9 . A method for operating a vehicle for performing a minimal risk maneuver (MRM), the method comprising:
 an autonomous driving step of performing the autonomous driving by the vehicle;   an MRM step of performing the minimal risk maneuver according to a request for the minimal risk maneuver; and   a transferring step of stops performing the MRM step when a driver intervenes while the MRM step is being performed, and of giving a control authority of the vehicle to the driver.   
     
     
         10 . The method of  claim 9 , further comprising an MRC step of performing a stop state management of the vehicle after completing the MRM step. 
     
     
         11 . The method of  claim 10 , further comprising a step of stopping performing the MRC step when the driver intervenes while the MRC step is being performed, and giving the control authority of the vehicle to the driver. 
     
     
         12 . The method of  claim 11 , further comprising generating the request for the minimal risk maneuver when it is determined that there is an abnormality in at least one of a surrounding of the vehicle and the state of the vehicle. 
     
     
         13 . The method of  claim 11 , further comprising receiving the request for the minimal risk maneuver from the outside. 
     
     
         14 . The method of  claim 11 , further comprising:
 requesting the driver to intervene; and   generating the request for the minimal risk maneuver when the driver does not intervene within a predetermined time after requesting the intervention.   
     
     
         15 . The method of  claim 11 , further comprising giving the control authority of the vehicle to the driver when the driver intervenes within a predetermined time after requesting the intervention. 
     
     
         16 . The method of  claim 9 , wherein the transferring step comprises continuing to perform the minimal risk maneuver even though the driver intervenes while performing the minimal risk maneuver when a cause of the request for the minimal risk maneuver is generated from the driver.