Method for driving control based on boarding congestion and a vehicle using the same

1 . A driving control method based on boarding congestion, the method comprising:

generating congestion information based on passenger number information of a vehicle;

constructing driving limit information based on the congestion information and driving state information; and

setting driving control information applied to operating the vehicle based on the driving limit information,

wherein

the vehicle is controlled using autonomous driving set by driving requirement information,

the driving requirement information includes a required velocity and a required velocity change rate expected on a forward path of the vehicle,

the driving state information is a current velocity on the path,

the driving limit information is generated based on the congestion information, the driving requirement information, and the driving state information,

the driving limit information includes a message for indicating i) whether or not a restriction is applied, ii) a permissible velocity, and iii) a permissible velocity change rate,

the message indicates whether or not the permissible velocity and the permissible velocity change rate are set by restricting the driving requirement information by the congestion information,

wherein the driving control information has a driving operation plan of at least one of driving, braking, or steering for the actuating according to a driving control command including a driving plan related to a set velocity and a set velocity change rate established on the forward path based on the driving limit information, and

wherein the vehicle is controlled using autonomous driving established by driving requirement information, and wherein the driving control command includes a driving plan that the set velocity change rate is applied to driving of the vehicle before entry into the forward path to implement the set velocity change rate on the forward path when the driving plan according to the driving limit information is different from an initial control plan on the forward path according to the driving requirement information.

2 . The method of claim 1 , wherein the vehicle is configured to accommodate sitting or standing passengers, and wherein the passenger number information is generated based on maximum passenger number data among multiple pieces of estimated passenger number data estimating a number of passengers in the vehicle.

3 . The method of claim 2 , wherein the passenger number data includes:

board/unboard count information indicating a number of passengers boarding the vehicle based on counts of boarding/unboarding passengers;

sitting count information indicating a number of sitting passengers; and

image count information indicating a number of boarded passengers identified in an image inside the vehicle.

4 . The method of claim 2 , wherein the passenger number information is generated by applying an adjustment factor according to a boarding weight to the maximum passenger number data.

5 . The method of claim 1 , wherein the congestion information is generated as a congestion level based on the number of boarding passengers in the passenger number information and a boarded area of the vehicle.

6 . The method of claim 1 , wherein

the permissible velocity and the permissible velocity change rate are determined based on a velocity limit and a rate of change of the velocity limit over time, respectively, when an absolute value of a driving velocity change rate or an absolute value of a turn velocity change rate, which are predicted based on the driving state information and the driving requirement information, exceeds an absolute value of a respective velocity limit change rate defined by the congestion information, and

the permissible velocity and the permissible velocity change rate are determined based on the driving requirement information, when the absolute value of the driving velocity change rate or the absolute value of the turn velocity change rate are equal to or less than the absolute value of the respective velocity limit change rate.

7 . The method of claim 6 , wherein

the respective velocity limit change rate is a velocity limit change rate of a longitudinal direction and a velocity limit change rate of a transverse direction that are set by the congestion information,

the driving velocity change rate and the velocity limit change rate of the longitudinal direction are velocity rates according to a driving direction of the vehicle, and

the turn velocity change rate and the velocity limit change rate of the transverse direction are velocity rates occurring during a turn of the vehicle along a curve of the forward path.

8 . A vehicle implementing driving control based on boarding congestion, the vehicle comprising:

an actuating unit generating a driving operation;

a memory storing at least one instruction for the vehicle; and

a processor executing the at least one instruction stored in the memory,

wherein the processor is configured to

generate congestion information based on passenger number information of the vehicle,

construct driving limit information based on the congestion information and driving state information, and

set driving control information applied to the actuating unit based on the driving limit information,

wherein

the vehicle is controlled using autonomous driving set by driving requirement information,

the driving requirement information includes a required velocity and a required velocity change rate expected on a forward path of the vehicle,

the driving state information is a current velocity on the path,

the driving limit information is generated based on the congestion information, the driving requirement information, and the driving state information,

the driving limit information includes a message for indicating i) whether or not a restriction is applied, ii) a permissible velocity, and iii) a permissible velocity change rate, and

the message indicates whether or not the permissible velocity and the permissible velocity change rate are set by restricting the driving requirement information by the congestion information,

wherein the driving control information has a driving operation plan for the actuating unit according to a driving control command including a driving plan related to a set velocity and a set velocity change rate established on the forward path based on the driving limit information, and

wherein the vehicle is controlled using autonomous driving established by driving requirement information, and wherein the driving control command includes a driving plan that the set velocity change rate is applied to driving of the vehicle before entry into the forward path to implement the set velocity change rate on the forward path when the driving plan according to the driving limit information is different from an initial control plan on the forward path according to the driving requirement information.

9 . The vehicle of claim 8 , wherein the vehicle is configured to accommodate sitting or standing passengers, and wherein the passenger number information is generated based on maximum passenger number data among multiple pieces of estimated passenger number data estimating a number of passengers in the vehicle.

10 . The vehicle of claim 9 , wherein the estimated passenger number data includes:

board/unboard count information indicating a number of passengers boarding the vehicle based on counts of boarding/unboarding passengers;

sitting count information indicating a number of sitting passengers; and

image count information indicating a number of boarded passengers identified in an image inside the vehicle.

11 . The vehicle of claim 9 , wherein the passenger number information is generated by applying an adjustment factor according to a boarding weight to the maximum passenger number data.

12 . The vehicle of claim 8 , wherein the congestion information is generated as a congestion level based on the number of boarding passengers in the passenger number information and a boarded area of the vehicle.

13 . The vehicle of claim 8 , wherein

the permissible velocity and the permissible velocity change rate are determined based on a velocity limit and a rate of change of the velocity limit over time, respectively, when an absolute value of a driving velocity change rate or an absolute value of a turn velocity change rate, which are predicted based on the driving state information and the driving requirement information, exceeds an absolute value of a respective velocity limit change rate defined by the congestion information, and

the permissible velocity and the permissible velocity change rate are determined based on the driving requirement information, when the absolute value of the driving velocity change rate or the absolute value of the turn velocity change rate are equal to or less than the absolute value of the respective velocity limit change rate.

14 . The vehicle of claim 13 , wherein

the respective velocity limit change rate is a velocity limit change rate of a longitudinal direction and a velocity limit change rate of a transverse direction that are set by the congestion information,

the driving velocity change rate and the velocity limit change rate of the longitudinal direction are velocity rates according to a driving direction of the vehicle, and

the turn velocity change rate and the velocity limit change rate of the transverse direction are velocity rates occurring during a turn of the vehicle along a curve of the forward path.