Apparatus for controlling autonomous vehicle based on performing a minimum risk maneuver and method thereof

1 . A method for controlling an autonomous vehicle, the method comprising:

based on determination that a driver of the vehicle does not take over control authority during a specific time after outputting a transition demand from an existing autonomous driving system of the autonomous vehicle to the driver, performing, by a processor, a minimum risk maneuver (MRM) comprising deceleration control and stop control of the autonomous vehicle;

determining, by the processor, that the MRM is completed based on stopping the vehicle;

after the MRM is completed, monitoring, by the processor, manipulation of a user for disabling autonomous driving for a specific time;

determining, by the processor, that the manipulation of the user is not input during the specific time;

determining, by the processor, not to take over control authority of the autonomous vehicle based on the determination that the manipulation of the user is not input during the specific time; and

requesting, by processor, a call connection from an external institution, through a communication terminal, after determining that the control authority of the autonomous vehicle does not take over.

2 . The method of claim 1 , further comprising:

receiving, by an HMI provided in the autonomous vehicle, a cancel command for the call connection from the user; and

canceling, by the processor, the request for the call connection, after the cancel command is input through the HMI.

3 . The method of claim 2 , wherein the receiving of the cancel command for the call connection from the user by the HMI comprises:

receiving, by the HMI, the cancel command for the call connection through an AVN provided in the autonomous vehicle.

4 . The method of claim 1 , further comprising:

unlocking, by the processor, a door of the autonomous vehicle, using a door controller configured to control the door of the autonomous vehicle to be locked or unlocked, after requesting the call connection.

5 . The method of claim 4 , further comprising:

locking, by the processor, the door using the door controller, after a door lock button of the autonomous vehicle is input by the user.

6 . The method of claim 4 , further comprising:

locking, by the processor, the door using the door controller, after a speed of the autonomous vehicle arrives at a specific speed by manipulation of the user or after a shift lever of the autonomous vehicle is manipulated by the user.

7 . The method of claim 4 , further comprising:

receiving, by an HMI provided in the autonomous vehicle, a cancel command for the call connection from the user; and

maintaining, by the processor, the door in a lock state, after the cancel command is input through the HMI.

8 . The method of claim 1 , further comprising:

unlocking, by the processor, a door of the autonomous vehicle using a door controller configured to control the door of the autonomous vehicle to be locked or unlocked, after an agent call occurs in response to the call connection.

9 . The method of claim 1 , wherein the performing of the MRM by the processor comprises:

disabling, by the processor, autonomous driving of the autonomous vehicle, after the manipulation of the user is input while the MRM is being performed.

10 . An apparatus for controlling an autonomous vehicle, the apparatus comprising:

a processor provided in the autonomous vehicle; and

a memory storing instructions executable by the processor,

wherein the processor is configured to:

based on determination that a driver of the vehicle does not take over control authority during a specific time after outputting a transition demand from an existing autonomous driving system of the autonomous vehicle to the driver, perform a minimum risk maneuver (MRM) comprising deceleration control and stop control of the autonomous vehicle,

determine that the MRM is completed based on stopping the vehicle,

after the MRM is completed, monitor manipulation of a user for disabling autonomous driving for a specific time;

based on determination that the manipulation of the user is not input during the specific time, determine to not take over control authority of the autonomous vehicle; and

request a call connection from an external institution, through a communication terminal, after determining that the control authority of the autonomous vehicle does not take over.

11 . The apparatus of claim 10 , further comprising:

a human machine interface (HMI) provided in the autonomous vehicle and configured to receive a cancel command for the call connection from the user,

wherein the processor cancels the request for the call connection, when the cancel command is input through the HMI.

12 . The apparatus of claim 11 , wherein the HMI receives the cancel command for the call connection through an audio, video, navigation (AVN) provided in the autonomous vehicle.

13 . The apparatus of claim 10 , further comprising:

a door controller configured to control a door of the autonomous vehicle to be locked or unlocked,

wherein the processor is further configured to unlock the door, using the door controller, when requesting the call connection.

14 . The apparatus of claim 13 , wherein the processor is further configured to lock the door using the door controller, when a door lock button of the autonomous vehicle is input by the user.

15 . The apparatus of claim 13 , wherein the processor is further configured to lock the door using the door controller, when a speed of the autonomous vehicle arrives at a specific speed by manipulation of the user or when a shift lever of the autonomous vehicle is manipulated by the user.

16 . The apparatus of claim 13 , further comprising:

an HMI provided in the autonomous vehicle and configured to receive a cancel command for the call connection from the user,

wherein the processor is further configured to maintain the door in a lock state, using the door controller, when the cancel command is input through the HMI.

17 . The apparatus of claim 10 , further comprising:

a door controller configured to control a door of the autonomous vehicle to be locked or unlocked,

wherein the processor is further configured to unlock the door, using the door controller, when an agent call occurs in response to the call connection.

18 . The apparatus of claim 10 , wherein the processor disables autonomous driving of the autonomous vehicle, when the manipulation of the user is input while the MRM is being performed.

19 . The apparatus of claim 10 , wherein the manipulation of the user comprises at least one of an input of an autonomous driving operation button provided in the autonomous vehicle, holding of a steering wheel of the autonomous vehicle, manipulation of the steering wheel, an input of a brake provided in the autonomous vehicle, or an operation of a brake override system of the autonomous vehicle.

20 . The apparatus of claim 10 , wherein the processor is further configured to perform the MRM,

when an airbag of the autonomous vehicle is operated,

when the autonomous vehicle or a system included in the autonomous vehicle fails, or

when a request for transition of control authority from the autonomous vehicle to the user occurs during autonomous driving of the autonomous vehicle and after the request is ended because the user does not take over control authority of the autonomous vehicle.