Dynamic automation level-based autonomous driving system and method

1 . A dynamic automation level-based autonomous driving system comprising:

a route server configured to generate operational design domain determination information and to plan a global route so that an automated driving mode is preferenced; and

an autonomous vehicle configured to drive along the global route, to change automation levels by using multi-layer operational design domain definition information and driving situation monitoring information, and to perform autonomous driving,

wherein the route server receives the multi-layer operational design domain definition information and destination information from the autonomous vehicle and plans the global route,

wherein the route server generates the operational design domain determination information using basic information received from at least one of an infrastructure edge roadside unit (RSU), a preceding vehicle, and an external agency server, the basic information including at least one of weather information, road construction information, and road surface condition information,

wherein the route server calculates a link cost by multiplying an existing cost value of a link including distance or travel time by an automation level weight function determined based on the multi-layer operational design domain definition information and the operational design domain determination information,

wherein the route server transmits information on the global route including an expected automation level corresponding to each link to the autonomous vehicle, and

wherein the autonomous vehicle monitors in real time whether a current driving situation falls within an operational design domain using a weather sensor installed in the autonomous vehicle and changes the automation level when automation conditions are changed.

2 . The dynamic automation level-based autonomous driving system of claim 1 , wherein the route server transmits an expected automation level for each link to the autonomous vehicle.

3 . The dynamic automation level-based autonomous driving system of claim 1 , wherein, when it is confirmed that automation conditions are changed, the autonomous vehicle performs autonomous driving by changing the automation levels.

4 . The dynamic automation level-based autonomous driving system of claim 1 , wherein the autonomous vehicle performs autonomous driving by determining a degraded automated driving mode set for each of the automation levels.

5 . A dynamic automation level-based autonomous driving method performed by a dynamic automation level-based autonomous driving system, comprising:

(a) planning, by a route server, a global route so that an automated driving mode is preferenced; and

(b) monitoring, by an autonomous vehicle, a driving situation while driving along the global route, and performing autonomous driving while changing an automation level in consideration of a multi-layer operational design domain,

wherein the planning of the global route includes generating operational design domain determination information using weather information and irregular road information and planning the global route using a cost calculation logic,

wherein the planning of the global route includes calculating a link cost by multiplying an existing link cost by an automation level weight determined according to the multi-layer operational design domain definition information and the operational design domain determination information,

wherein the monitoring of the driving situation includes determining the automation level using weather information acquired using a weather sensor installed in the autonomous vehicle, road information acquired using a recognition sensor installed in the autonomous vehicle, weather information received from an infrastructure, and road information received from the infrastructure, and

wherein the autonomous driving is performed by determining a degraded automated driving mode preset for each automation level.

6 . The dynamic automation level-based autonomous driving method of claim 5 , wherein, in (b), the automation level is determined using weather information acquired using a weather sensor installed in the autonomous vehicle, road information acquired using a recognition sensor installed in the autonomous vehicle, weather information received from an infrastructure, and road information received from the infrastructure.

7 . The dynamic automation level-based autonomous driving method of claim 6 , wherein, in (b), the determined automation level is transmitted to the route server to be used for a route search request of a following vehicle.

8 . The dynamic automation level-based autonomous driving method of claim 5 , wherein, in (b), the autonomous driving is performed by determining a degraded automated driving mode set in advance in relation to the automation level.

9 . A dynamic automation level-based autonomous vehicle comprising:

an input unit configured to receive global route information;

a memory configured to store a program for performing autonomous driving by using the global route information; and

a processor configured to execute the program,

wherein the processor determines an automation level and whether to execute a degraded automated driving mode according to a result of determining an operational design domain monitored in a process of performing the autonomous driving,

wherein the input unit receives weather information and road condition information acquired by at least one sensor installed in the autonomous vehicle and weather information and road information received from an external infrastructure,

wherein the processor generates an operational design domain determination result using the weather information and the road condition information,

wherein the processor transmits the operational design domain determination result to a route server having transmitted the global route information,

wherein the processor monitors in real time whether a current driving situation falls within an operational design domain using a weather sensor installed in the autonomous vehicle and changes the automation level when automation conditions are changed, and

wherein the processor determines whether to execute the degraded automated driving mode according to the operational design domain determination result.

10 . The dynamic automation level-based autonomous vehicle of claim 9 , wherein the processor determines whether to execute the degraded automated driving mode that prohibits a lane change function, by using the operational design domain determination result.