Granted Patent B2

US 12,730,441 · App. 17/545,907 · Granted Sep 8, 2026

Inventors: Jung Eun Choi (Seoul, KR); Jae Pil Hwang (Seoul, KR); Wan Jae Lee (Suwon-Si, KR)

Assignees: Hyundai Motor Company; Kia Corporation

G05D1/0011B60W50/029B60W50/14B60W60/001G08G1/096725B60W2050/146B60W2520/04B60W2556/45

Abstract

Claims (41)

1 . An autonomous vehicle comprising:

an autonomous driving control apparatus including a processor configured for:

determining whether remote control of the autonomous vehicle is required according to at least one of occurrence of failure of the vehicle during autonomous driving of the vehicle, occurrence of an accident, a region where the autonomous driving is not possible, reliability of positioning data of the vehicle, a stopping time of the vehicle, or a response point of a hand signal, and

requesting the remote control to a control system when the remote control of the vehicle is required,

wherein the processor is configured to determine that the remote control of the vehicle is required when the vehicle is stopped for a predetermined time period or longer than the predetermined time period, and

wherein the processor is configured to control the vehicle to move to a vehicle repair shop when the vehicle fails or the accident occurs,

wherein the processor is configured to determine that the remote control of the vehicle is required when the vehicle needs to respond to the hand signal,

wherein the processor, when receiving a remote control start notification signal from the control system, is configured to convert an autonomous driving mode into a remote control mode of the vehicle,

wherein the processor is configured to notify a driver of the conversion of the autonomous driving mode to the remote control mode, and

wherein the processor further includes to a display device configured for outputting a notification screen when converting the autonomous driving mode to the remote control mode.

2 . The autonomous vehicle of claim 1 , wherein the processor is configured to determine that the remote control of the vehicle is required when the reliability of current position information of the vehicle is low.

3 . The autonomous vehicle of claim 1 , wherein the processor is configured to determine whether the remote control of the autonomous vehicle is required according to information which is detected by an in-vehicle sensing device or information which is received from another vehicle or a traffic center.

4 . The autonomous vehicle of claim 3 , wherein the autonomous driving control apparatus further includes a communication device configured for performing vehicle-to- everything (V2X) communication with the other vehicle or the traffic center.

5 . A control system comprising:

a display device configured to display a remote control request screen from an autonomous vehicle; and

a remote control apparatus including a processor, upon receiving a remote control request from the autonomous vehicle, configured for performing remote control of the vehicle according to vehicle data received from the autonomous vehicle, and for transmitting a remote control start notification signal to the autonomous vehicle,

wherein the processor is configured to determine that the remote control of the vehicle is required when the vehicle is stopped for a predetermined time period or longer than the predetermined time period, and

wherein the processor is configured to control the vehicle to move to a vehicle repair shop when the vehicle fails or an accident occurs,

wherein the processor is further configured to determine that the remote control of the vehicle is required when the vehicle needs to respond to a hand signal,

wherein the processor, when receiving a remote control start notification signal from the control system, is configured to convert an autonomous driving mode into a remote control mode of the vehicle,

wherein the processor is configured to notify a driver of the conversion of the autonomous driving mode to the remote control mode, and

wherein the processor further includes a display device configured for outputting a notification screen when converting the autonomous driving mode to the remote control mode.

6 . The control system of claim 5 , wherein the processor is configured to display map information including a current path of the vehicle requesting the remote control and a remote control status table on the display device.

7 . The control system of claim 6 , wherein the remote control status table includes at least one of IDs, vehicle models, driving states, autonomous driving states, driving speeds, autonomous driving distances, or network states of vehicles requesting remote control.

8 . The control system of claim 6 , wherein the processor is configured to display the remote control status table with color or text thickness of an ID of the vehicle being remotely controlled separately from vehicles not being remotely controlled.

9 . The control system of claim 5 , wherein the processor is configured to display a pop-up window for notifying the remote control request on the remote control request screen.

10 . The control system of claim 9 , wherein the pop-up window for notifying the remote control request displays ID information of the vehicle requesting the remote control.

11 . A remote control method for an autonomous vehicle, the method comprising:

determining whether remote control of the autonomous vehicle is required according to at least one of occurrence of failure of the vehicle during autonomous driving of the vehicle, occurrence of an accident, a region where the autonomous driving is not possible, reliability of positioning data of the vehicle, a stopping time of the vehicle, or a response point of a hand signal; and

requesting the remote control to a control system when the remote control of the vehicle is required,

wherein the remote control is determined to be required when the vehicle is stopped for a predetermined time period or longer than the predetermined time period, and

wherein the vehicle is controlled to move to a vehicle repair shop when the vehicle fails or an accident occurs,

wherein the determining whether the remote control of the autonomous vehicle is required includes:

determining that the remote control of the vehicle is required when the vehicle needs to respond to the hand signal,

converting an autonomous driving mode of the vehicle into a remote control mode in response to the remote control start notification,

notifying a driver of the conversion of the autonomous driving mode to the remote control mode, and

outputting a notification screen via a display device, when converting the autonomous driving mode to the remote control mode.

12 . The remote control method of claim 11 , wherein the determining whether the remote control of the autonomous vehicle is required includes:

determining that the remote control of the vehicle is required when the reliability of current position information of the vehicle is low.

13 . The remote control method of claim 11 , wherein the determining whether the remote control of the autonomous vehicle is required includes:

determining that the remote control of the vehicle is required when the vehicle is stopped for the predetermined time period or longer than the predetermined time period in a state where a current speed of the vehicle is 0 kph.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)