Deep learning-based autonomous vehicle control device, system including the same, and method thereof

1. A deep learning-based autonomous vehicle control system, comprising:

a processor configured to determine an autonomous driving control based on deep learning, to correct an error in determination of a deep learning-based autonomous driving control based on determination of an autonomous driving control based on a predetermined expert rule, and to control an autonomous vehicle; and

a non-transitory computer-readable storage medium storing data for the determination of the deep learning-based autonomous driving control, data for the determination of the expert rule-based autonomous driving control, and information about the error in the determination of the deep learning-based autonomous driving control,

wherein the processor is further configured to:

output a deep learning-based autonomous driving control output value for the deep learning-based autonomous driving control;

output an expert rule-based autonomous driving control output value based on the expert rule; and

compare the deep learning-based autonomous driving control output value with the expert rule-based autonomous driving control output value and output a final autonomous driving control output value depending on a comparison result,

wherein when the deep learning-based autonomous driving control output value corresponds to a steering direction control in a direction in which there is no free space, the processor corrects the steering direction control to a direction in which there is a free space.

2. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the processor outputs the deep learning-based autonomous driving control output value as the final autonomous driving control output value when the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.

3. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the predetermined expert rule includes at least one of limitations on a steering direction with respect to a free space, a time to collision (TTC), a degree of change in steering, a degree of change in acceleration/deceleration, and a lane departure.

4. The deep learning-based autonomous vehicle control system according to claim 1 , wherein when the deep learning-based an autonomous driving control output value corresponds to a steering or acceleration/deceleration output control less than a predetermined minimum time to collision (TTC), the processor stops the steering or acceleration/deceleration output control less than the predetermined minimum TTC.

5. The deep learning-based autonomous vehicle control system according to claim 1 , wherein when the deep learning-based autonomous driving control output value corresponds to a steering value greater than a predetermined steering reference value, the processor adjusts the steering value to be less than the steering reference value.

6. The deep learning-based autonomous vehicle control system according to claim 1 , wherein when the deep learning-based autonomous driving control output value corresponds to an acceleration/deceleration value greater than an acceleration/deceleration reference value, the processor adjusts the acceleration/deceleration value to be less than the acceleration/deceleration reference value.

7. The deep learning-based autonomous vehicle control system according to claim 1 , wherein when the deep learning-based autonomous driving control output value corresponds to an output value for a steering control in a direction departing from a lane, the processor stops the steering control.

8. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the processor further configured to control the autonomous vehicle using the final autonomous driving control output value.

9. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the deep learning-based autonomous driving control output value includes at least one of a relative speed between a preceding vehicle and a subject vehicle, a relative distance between the preceding vehicle and the subject vehicle, a free space on a neighboring lane, a distance to a left lane, a distance to a right lane, a lane number of a lane on which the subject vehicle is currently driving, and an angle between a lane and the subject vehicle.

10. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the non-transitory computer-readable storage medium comprises:

a deep learning storage storing a deep learning-based output control parameter for the determination of the deep learning-based autonomous driving control;

an expert rule storage storing the predetermined expert rule; and

an error storage storing the information about the error that is determined and corrected by the processor.

11. A deep learning-based autonomous vehicle control device, comprising a processor configured to:

output a deep learning-based autonomous driving control output value for a deep learning-based autonomous driving control;

output an expert rule-based autonomous driving control output value based on an expert rule;

compare the deep learning-based autonomous driving control output value with the expert rule-based autonomous driving control output value and output a final autonomous driving control output value depending on a comparison result; and

control an autonomous vehicle using the final autonomous driving control output value,

wherein when the deep learning-based autonomous driving control output value corresponds to a steering direction control in a direction in which there is no free space, the processor corrects the steering direction control to a direction in which there is a free space.

12. The deep learning-based autonomous vehicle control device according to claim 11 , wherein the processor outputs the deep learning-based autonomous driving control output value as the final autonomous driving control output value when the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.

13. A deep learning-based autonomous vehicle control method, comprising steps of:

outputting, by a processor, a deep learning-based autonomous driving control output value for a deep learning-based autonomous driving control;

outputting, by the processor, an expert rule-based autonomous driving control output value based on an expert rule;

comparing, by the processor, the deep learning-based autonomous driving control output value with the expert rule-based autonomous driving control output value and outputting a final autonomous driving control output value depending on a comparison result; and

controlling, by the processor, an autonomous vehicle using the final autonomous driving control output value,

wherein the step of outputting a final autonomous driving control output value comprises correcting a steering direction control to a direction in which there is a free space, when the deep learning-based autonomous driving control output value corresponds to a steering direction control in a direction in which there is no free space.

14. The deep learning-based autonomous vehicle control method according to claim 13 , wherein the step of outputting the final autonomous driving control output value comprises outputting the deep learning-based autonomous driving control output value as the final autonomous driving control output value when the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.

15. The deep learning-based autonomous vehicle control method according to claim 13 , wherein the expert rule includes at least one of limitations on steering direction with respect to a free space, a time to collision (TTC), a degree of change in steering, a degree of change in acceleration/deceleration, and a lane departure.

16. The deep learning-based autonomous vehicle control system according to claim 1 , wherein the processor outputs the expert rule-based autonomous driving control output value as the final autonomous driving control output value unless the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.

17. The deep learning-based autonomous vehicle control device according to claim 12 , wherein the processor outputs the expert rule-based autonomous driving control output value as the final autonomous driving control output value unless the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.

18. The deep learning-based autonomous vehicle control method according to claim 14 , wherein the step of outputting the final autonomous driving control output value comprises outputting the expert rule-based autonomous driving control output value as the final autonomous driving control output value unless the deep learning-based autonomous driving control output value and the expert rule-based autonomous driving control output value match.