Vehicle for performing minimal risk maneuver and method for operating the same
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 (MRM), 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;
a navigation system which transmits and receives navigation information of the vehicle; and
an infrastructure communication circuit which transmits and receives infrastructure communication information to and from external infrastructures,
wherein the processor
generates a request for the minimal risk maneuver of the vehicle,
determines an MRM safety zone based on at least one of a first safety zone determined based on using a current position of the vehicle and the navigation information, a second safety zone determined based on analyzing information of the sensor, and a third safety zone obtained from the infrastructure communication information wherein the MRM safety zone is a zone where the vehicle targets to stop for the minimal risk maneuver,
determines a common safety zone as the MRM safety zone based on at least two of the first safety zone, the second safety zone, and the third safety zone being located adjacent to each other, and
controls the controller to perform the minimal risk maneuver based on whether the common safety zone exists or not.
2 . The vehicle of claim 1 , wherein the processor
determines any one of a plurality of types as a minimal risk maneuver type based on the state of the vehicle and the MRM safety zone, and
controls the controller to perform the minimal risk maneuver in accordance with contents of the minimal risk maneuver type.
3 . The vehicle of claim 2 , wherein the plurality of types comprises:
moving to the MRM safety zone; and
continuing a driving.
4 . The vehicle of claim 3 , wherein, when it is determined that the vehicle is able to move to the MRM safety zone, the processor determines moving to the MRM safety zone as the minimal risk maneuver type.
5 . The vehicle of claim 3 , wherein, when it is determined that there is no MRM safety zone or the vehicle is not able to move the MRM safety zone, the processor determines the continuing the driving as the minimal risk maneuver type.
6 . The vehicle of claim 1 , wherein each of the first safety zone, the second safety zone, and the third safety zone comprises a rest stop, a shoulder, a variable lane that is not in use, or no safety zone.
7 . A method for operating a vehicle for performing a minimal risk maneuver (MRM), the method comprising:
an MRM step of performing the minimal risk maneuver according to a request for the minimal risk maneuver by the vehicle; and
an MRC step of completing the minimal risk maneuver and performing a stop state management of the vehicle,
wherein the MRM step comprises:
determining an MRM safety zone based on at least one of a first safety zone determined based on using a current position of the vehicle and navigation information, a second safety zone determined based on analyzing information of a sensor, and a third safety zone obtained from infrastructure communication information, wherein the MRM safety zone is a zone where the vehicle targets to stop for the minimal risk maneuver;
determining a common safety zone as the MRM safety zone based on at least two of the first safety zone, the second safety zone, and the third safety zone being located adjacent to each other; and
performing the minimal risk maneuver based on whether the common safety zone exists or not.
8 . The method of claim 7 , wherein the MRM step comprises:
monitoring a state of the vehicle;
determining any one of a plurality of types as a minimal risk maneuver type based on the state of the vehicle and the MRM safety zone; and
perform the minimal risk maneuver in accordance with contents of the minimal risk maneuver type.
9 . The method of claim 8 , wherein the plurality of types comprises:
moving to the MRM safety zone; and
continuing a driving.
10 . The method of claim 9 , wherein, when it is determined that the vehicle is able to move to the MRM safety zone, the determining the minimal risk maneuver type comprises determining moving to the MRM safety zone as the minimal risk maneuver type.
11 . The method of claim 9 , wherein, when it is determined that there is no MRM safety zone or the vehicle is not able to move the MRM safety zone, the determining the minimal risk maneuver type includes determining the continuing the driving as the minimal risk maneuver type.
12 . The method of claim 7 , wherein each of the first safety zone, the second safety zone, and the third safety zone comprises a rest stop, a shoulder, a variable lane that is not in use, or no safety zone.