Patent Publication Number: US-2023138530-A1

Title: Autonomous vehicle, control system for remotely controlling the same, and method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims priority to Korean Patent Application No. 10-2021-0150019, filed on Nov. 3, 2021, the entire contents of which is incorporated herein for all purposes by this reference. 
     BACKGROUND OF THE PRESENT DISCLOSURE 
     Field of the Present Disclosure 
     The present disclosure relates to an autonomous vehicle, a control system for remotely controlling the same, and a method thereof, and more particularly, to a technique capable of performing remote control using a surrounding vehicle or surrounding environment when remote control of an autonomous vehicle is impossible. 
     Description of Related Art 
     As an electronic technique of a vehicle develops, an interest in an autonomous vehicle that drives to a destination by recognizing a driving environment of the vehicle itself without manipulation of a driver is growing more and more. 
     An autonomous vehicle refers to a vehicle capable of operating by itself without manipulation of a driver or a passenger. 
     Such an autonomous vehicle may continue to drive by performing autonomous driving control or by performing remote driving control when it is difficult to performing the autonomous driving control. However, when a collision accident occurs during autonomous driving or remote driving, it is necessary to rapidly move an autonomous vehicle from an accident point to a safe area such as a shoulder to prevent secondary accidents. 
     However, when the sensor is damaged due to an accident, not only autonomous driving control but also remote control is impossible, so that the autonomous vehicle is left at the accident point, and thus there is a problem that it may be exposed to secondary accidents caused by other vehicles while driving. 
     The information included in this Background of the present disclosure section is only for enhancement of understanding of the general background of the present disclosure and may not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. 
     BRIEF SUMMARY 
     Various aspects of the present disclosure are directed to providing an autonomous vehicle, a control system for remotely controlling the same, and a method thereof, configured for securing autonomous driving safety by moving a vehicle to a safe zone by performing temporary remote control using a surrounding vehicle and a surrounding environment when autonomous driving and remote driving are not possible due to an accident occurring during autonomous driving of the autonomous vehicle. 
     The technical objects of the present disclosure are not limited to the objects mentioned above, and other technical objects not mentioned may be clearly understood by those skilled in the art from the description of the claims. 
     Various aspects of the present disclosure are directed to providing a control system including an autonomous driving control apparatus including a processor that is configured for controlling remote driving for an autonomous vehicle by obtaining information related to a shaded section caused by a sensor failure according to surrounding information of the autonomous vehicle when receiving a remote driving control request and information related to the shaded section from the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the surrounding information may include surrounding infrastructure information of the autonomous vehicle or information related to a surrounding vehicle positioned adjacent to the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the processor may determine whether the autonomous vehicle is stopped for more than a predetermined time period by monitoring the autonomous vehicle, and when the processor concludes that the autonomous vehicle is stopped for more than the predetermined time period, requests checking whether remote driving is required to the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the processor may generate a remote driving path for moving the autonomous vehicle from a current position of the autonomous vehicle to a safety zone, and determine an entire shaded section of the remote driving path. 
     In an exemplary embodiment of the present disclosure, the processor may determine whether a sensing range of a closed-circuit television (CCTV) around the autonomous vehicle includes the entire shaded section. 
     In an exemplary embodiment of the present disclosure, the processor, when the sensing range of the CCTV includes the entire shaded section, may generate a remote driving path of the autonomous vehicle according to image data of the CCTV. 
     In an exemplary embodiment of the present disclosure, the processor may request cooperation to a surrounding vehicle positioned around the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the processor, may generate a driving path of the surrounding vehicle and transmitting the driving path to the surrounding vehicle when approval of the cooperation request is reached from the surrounding vehicle. 
     In an exemplary embodiment of the present disclosure, the processor may determine an entire shaded section on a remote driving path of the autonomous vehicle, and may generate the driving path of the surrounding vehicle so that a sensing range of the surrounding vehicle includes the entire shaded section. 
     In an exemplary embodiment of the present disclosure, the processor may divide the remote driving path of the autonomous vehicle into a plurality of sections, and may generate a driving path of the surrounding vehicle to be synchronized with the sections to transmit it to the surrounding vehicle when the surrounding vehicle is a vehicle that drives autonomously. 
     In an exemplary embodiment of the present disclosure, the processor, when the surrounding vehicle is a vehicle that drives autonomously, may control the surrounding vehicle to be positioned side by side in a lane next to the autonomous vehicle and to start simultaneously. 
     In an exemplary embodiment of the present disclosure, the processor, when the surrounding vehicle is a general driving vehicle which is directly driven by a driver, may generate some sections of the remote driving path of the autonomous vehicle as a driving path of the general vehicle, and may control the general vehicle to start driving first and the autonomous vehicle to start driving after a predetermined time period. 
     In an exemplary embodiment of the present disclosure, the processor, when a sensor of the autonomous vehicle malfunctions due to an accident of the autonomous vehicle, may generate a remote driving path for moving the autonomous vehicle from an accident point to a safety zone. 
     Various aspects of the present disclosure are directed to providing an autonomous vehicle, including a processor configured to request remote driving control to a control system to transmit information related to a shaded section, and to receive a remote driving path from the control system and follows the remote driving path when a shaded section occurs due to a sensor failure during autonomous driving of the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the processor, when a sensor of the autonomous vehicle malfunctions due to an accident of the autonomous vehicle, may move it from an accident point to a safe zone depending on the remote driving path received from the control system. 
     Various aspects of the present disclosure are directed to providing a remote control method for an autonomous vehicle, including: receiving a remote driving control request and information related to a shaded section due to a sensor failure from the autonomous vehicle; and controlling remote driving of the autonomous vehicle by obtaining information related to the shaded section according to surrounding information of the autonomous vehicle. 
     In an exemplary embodiment of the present disclosure, the controlling of the remote driving may include: generating a remote driving path for moving the autonomous vehicle from a current position of the autonomous vehicle to a safety zone, and determining an entire shaded section of the remote driving path; and determining whether a sensing range of a CCTV around the autonomous vehicle includes the entire shaded section. 
     In an exemplary embodiment of the present disclosure, the controlling of the remote driving may further include: when the sensing range of the CCTV includes the entire shaded section, generating a remote driving path of the autonomous vehicle according to image data of the CCTV. 
     In an exemplary embodiment of the present disclosure, the controlling of the remote driving may further include: when the sensing range of the CCTV does not include the entire shaded section, requesting cooperation to a surrounding vehicle positioned around the autonomous vehicle; and generating a driving path of the surrounding vehicle and transmitting the driving path to the surrounding vehicle when approval of the cooperation request is reached from the surrounding vehicle. 
     In an exemplary embodiment of the present disclosure, the controlling of the remote driving may further include: determining an entire shaded section on a remote driving path of the autonomous vehicle, and generating the driving path of the surrounding vehicle so that a sensing range of the surrounding vehicle includes the entire shaded section; dividing the remote driving path of the autonomous vehicle into a plurality of sections, and generating a driving path of the surrounding vehicle to be synchronized with the sections when the surrounding vehicle is a vehicle that drives autonomously; when the surrounding vehicle is a general driving vehicle which is directly driven by a driver, generating some sections of the remote driving path of the autonomous vehicle as a driving path of the general vehicle; and controlling the general vehicle to start driving first and the autonomous vehicle to start driving after a predetermined time period. 
     According to the present technique, it is possible to secure autonomous driving safety by moving a vehicle to a safe zone by performing temporary remote control using a surrounding vehicle and a surrounding environment when autonomous driving and remote driving are not possible due to an accident occurring during autonomous driving, improving autonomous driving commercialization. 
     Furthermore, various effects which may be directly or indirectly identified through the present specification may be provided. 
     The methods and apparatuses of the present disclosure have other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings, which are incorporated herein, and the following Detailed Description, which together serve to explain certain principles of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    illustrates a block diagram showing a configuration of a system for remotely controlling an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  2    illustrates a view for describing a sensing device of an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  3    illustrates a sensing range of a sensing device of an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  4    illustrates an example for describing a shaded section due to damage to a sensor of an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  5    illustrates an example of a remote driving path for moving an autonomous vehicle in which an accident has occurred to a safe zone using surrounding CCTV information according to various exemplary embodiments of the present disclosure. 
         FIG.  6    illustrates an example of a remote driving path for moving an autonomous vehicle in which an accident has occurred to a safe zone using a surrounding autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  7    illustrates an example of synchronizing a path of an autonomous vehicle in which an accident has occurred with a path of a surrounding autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  8    illustrates an example of paths of a surrounding general vehicle and an autonomous vehicle in which an accident has occurred according to various exemplary embodiments of the present disclosure. 
         FIG.  9    illustrates a flowchart showing a process of remotely controlling an autonomous vehicle based on surrounding information when an accident occurs in the autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  10    illustrates a flowchart detailing a process of remotely controlling an autonomous vehicle by use of surrounding information when an accident occurs in the autonomous vehicle according to various exemplary embodiments of the present disclosure. 
         FIG.  11    illustrates a computing system according to various exemplary embodiments of the present disclosure. 
     
    
    
     It may be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the present disclosure. The specific design features of the present disclosure as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particularly intended application and use environment. 
     In the figures, reference numbers refer to the same or equivalent parts of the present disclosure throughout the several figures of the drawing. 
     DETAILED DESCRIPTION 
     Reference will now be made in detail to various embodiments of the present disclosure(s), examples of which are illustrated in the accompanying drawings and described below. While the present disclosure(s) will be described in conjunction with exemplary embodiments of the present disclosure, it will be understood that the present description is not intended to limit the present disclosure(s) to those exemplary embodiments of the present disclosure. On the other hand, the present disclosure(s) is/are intended to cover not only the exemplary embodiments of the present disclosure, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the present disclosure as defined by the appended claims. 
     Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to exemplary drawings. It should be noted that in adding reference numerals to constituent elements of each drawing, the same constituent elements have the same reference numerals as possible even though they are indicated on different drawings. Furthermore, in describing exemplary embodiments of the present disclosure, when it is determined that detailed descriptions of related well-known configurations or functions interfere with understanding of the exemplary embodiments of the present disclosure, the detailed descriptions thereof will be omitted. 
     In describing constituent elements according to various exemplary embodiments of the present disclosure, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the constituent elements from other constituent elements, and the nature, sequences, or orders of the constituent elements are not limited by the terms. Furthermore, all terms used herein including technical scientific terms have the same meanings as those which are generally understood by those skilled in the technical field of the present disclosure to which an exemplary embodiment of the present disclosure pertains (those skilled in the art) unless they are differently defined. Terms defined in a generally used dictionary shall be construed to have meanings matching those in the context of a related art, and shall not be construed to have idealized or excessively formal meanings unless they are clearly defined in the present specification. 
     Hereinafter, various exemplary embodiments of the present disclosure will be described in detail with reference to  FIG.  1    to  FIG.  10   . 
       FIG.  1    illustrates a block diagram showing a configuration of a system for remotely controlling an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  1   , the remote control system for an autonomous vehicle according to various exemplary embodiments of the present disclosure includes an autonomous vehicle  100  and a control system  200 , and remote control may be performed through communication between the autonomous vehicle  100  and the control system  200 . In the instant case, the autonomous vehicle  100  may include a vehicle that autonomously drives regardless of presence of an occupant. 
     The autonomous vehicle  100  may include an autonomous driving control apparatus  120 , a sensing device  120 , a steering control apparatus  130 , a braking control apparatus  140 , and an engine control apparatus  150 . 
     The autonomous driving control apparatus  110  according to the exemplary embodiment of the present disclosure may be implemented inside the vehicle. In the instant case, the autonomous driving control apparatus  110  may be integrally formed with internal control units of the vehicle, or may be implemented as a separate device to be connected to control units of the vehicle by a separate connection means. 
     When a sensor failure occurs due to a collision accident or the like during autonomous driving, the autonomous driving control apparatus  110  determines a shaded section that occurs due to the sensor failure, and requests remote driving control to the control system  200 . In the instant case, the autonomous driving control apparatus  110  may transmit the information related to the shaded section to the control system  200 , and the control system  200  may generate a remote driving path in consideration of the shaded section by use of surrounding information (peripheral infrastructure information and surrounding vehicle information) to transmit it to the autonomous driving control apparatus  110 , making it possible to follow and move a remote driving route from an accident point to a safe area such as a shoulder. 
     Referring to  FIG.  1   , the autonomous driving control apparatus  110  may include a communication device  111 , a storage  112 , an interface device  113 , and a processor  114 . 
     The communication device  111  is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection, and may transmit and receive information based on in-vehicle devices and in-vehicle network communication techniques. As an exemplary embodiment of the present disclosure, the in-vehicle network communication techniques may include controller area network (CAN) communication, Local Interconnect Network (LIN) communication, flex-ray communication, Ethernet communication, and the like. 
     Furthermore, the communication device  111  may perform communication by use of a server, infrastructure, or third vehicles outside the vehicle, and the like through a wireless Internet technique or short range communication technique. Herein, the wireless Internet technique may include wireless LAN (WLAN), wireless broadband (Wibro), Wi-Fi, Worldwide Interoperability for Microwave Access (WiMAX), Ethernet communication, etc. Furthermore, short-range communication technique may include Bluetooth, ZigBee, ultra wideband (UWB), radio frequency identification (RFID), infrared data association (IrDA), and the like. For example, the communication device  111  may perform wireless communication with the control system  200 , may transmit vehicle position information (e.g., vehicle coordinates), surrounding information (e.g., obstacle information), vehicle information (e.g., vehicle internal and external image data, etc.), shaded section information due to the sensor failure, etc. To the control system  200 , and may receive a remote driving path, a remote driving control command, and the like from the control system  200 . 
     The storage  112  may store sensing results of the sensing device  120 , information received from the control system  200 , data and/or algorithms required for the processor  114  to operate, and the like. As an exemplary embodiment of the present disclosure, the storage  112  may store vehicle information, image data captured through a camera, a command received from the control system  200 , etc. 
     The storage  112  may include a storage medium of at least one type among memories of types such as a flash memory, a hard disk, a micro, a card (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic memory (MRAM), a magnetic disk, and an optical disk. 
     The interface device  113  may include an input means for receiving a control command from a user and an output means for outputting an operation state of the autonomous driving control apparatus  110  and results thereof. Herein, the input means may include a key button, and may further include a mouse, a keyboard, a touch screen, a microphone, a joystick, a jog shuttle, a stylus pen, and the like. Furthermore, the input means may further include a soft key implemented on the display. 
     The output means may include a display, and may further include a voice output means such as a speaker. In the instant case, when a touch sensor formed of a touch film, a touch sheet, or a touch pad is provided on the display, the display may operate as a touch screen, and may be implemented in a form in which an input device and an output device are integrated. For example, the output device may output a current situation of the autonomous vehicle  100 , such as an autonomous driving impossible situation, an autonomous driving re-start situation, a remote driving control situation, and the like. 
     In the instant case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light emitting diode display (OLED display), a flexible display, a field emission display (FED), or a 3D display. 
     As an exemplary embodiment of the present disclosure, the interface device  113  may be implemented as a head-up display (HUD), a cluster, an audio video navigation (AVN), a human machine interface (HM), a user setting menu (USM), or the like. 
     The processor  114  may be electrically connected to the communication device  111 , the storage  112 , the interface device  113 , and the like, may electrically control each component, and may be an electrical circuit that executes software commands, performing various data processing and calculations described below. 
     The processor  114  may process a signal transferred between components of the autonomous driving control apparatus  110 , and may perform overall control so that each of the components can perform its function normally. 
     The processor  114  may be implemented in a form of hardware, software, or a combination of hardware and software, or may be implemented as microprocessor, and may be, e.g., an electronic control unit (ECU), a micro controller unit (MCU), or other subcontrollers mounted in the vehicle. 
     The processor  114  determines whether there is a sensor failure due to a collision accident or the like during autonomous driving, and when the sensor failure occurs, determines that autonomous driving control is impossible. Next, the processor  114  may determine a shaded section due to the sensor failure. In the instant case, the processor  114  may determine a section in which information is not obtained due to a malfunctioning sensor as shown in  FIG.  4    as a shaded section  301 .  FIG.  4    illustrates an example for describing a shaded section due to damage to a sensor of an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     When a shaded section exists due to the sensor failure, the processor  114  determines that autonomous driving is impossible, requests remote driving control to the control system  200 , and transmits information related to the shaded section. Thereafter, the processor  114  follows and controls a remote driving path received from the control system  200 . 
     The sensing device  120  may include one or more sensors that detect an obstacle, e.g., a preceding vehicle, positioned around the host vehicle and measure a position of the obstacle, a distance therewith and/or a relative speed thereof. 
     The sensing device  120  may include a plurality of sensors to detect an external or internal object of the vehicle, to obtain information related to a position of the external object, a speed of the external object, a moving direction of the external object, and/or a type of the external object (e.g., animals, vehicles, pedestrians, bicycles, or motorcycles, etc.). To the present end, the sensing device  120  may include an ultrasonic detector, a radar, a camera (inside and outside the vehicle), a laser scanner and/or a corner radar, a Light Detection and Ranging (LiDAR), an acceleration detector, and the like. 
       FIG.  2    illustrates a view for describing a sensing device of an autonomous vehicle according to various exemplary embodiments of the present disclosure, and  FIG.  3    illustrates a sensing range of a sensing device of an autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  2   , the sensing device  120  may include a front radar mounted on the front of the vehicle, a Light Detection and Ranging (LiDAR), a side LiDAR, a side camera, a corner radar, a high-resolution LiDAR, a rear camera, a rear LiDAR, etc. Furthermore, referring to  FIG.  3   , a surrounding situation may be detected through radars, cameras, and LiDARs of the front, rear, and side of the vehicle. 
     The steering control device  130  may be configured to control a steering angle of a vehicle, and may include a steering wheel, an actuator interlocked with the steering wheel, and a controller configured for controlling the actuator. 
     The braking control device  140  may be configured to control braking of the vehicle, and may include a controller that is configured to control a brake thereof. 
     The engine control unit (ECU)  150  may be configured to control engine driving of a vehicle, and may include a controller that is configured to control a speed of the vehicle. 
     When receiving a remote driving control request from an autonomous vehicle due to a sensor failure, the control system  200  generates a remote driving path in consideration of the shaded section due to the sensor failure. In the instant case, the control system  200  may generate a remote driving path based on surrounding information to transmit it to the autonomous vehicle  100 , and when receiving cooperation from a surrounding vehicle, may generate a driving path of the surrounding vehicle together to transmit the driving path to the surrounding vehicle. 
     The control system  200  may include a communication device  211 , a storage  212 , an interface device  213 , and a processor  214 . 
     The communication device  211  is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection, and may transmit and receive information based on in-vehicle devices and in-vehicle network communication techniques. As an exemplary embodiment of the present disclosure, the in-vehicle network communication techniques may include controller area network (CAN) communication, Local Interconnect Network (LIN) communication, flex-ray communication, Ethernet communication, and the like. 
     Furthermore, the communication device  211  may perform communication by use of a server, infrastructure, or third vehicles outside the vehicle, and the like through a wireless Internet technique or short range communication technique. Herein, the wireless Internet technique may include wireless LAN (WLAN), wireless broadband (Wibro), Wi-Fi, Worldwide Interoperability for Microwave Access (WiMAX), etc. Furthermore, short-range communication technique may include Bluetooth, ZigBee, ultra wideband (UWB), radio frequency identification (RFID), infrared data association (IrDA), and the like. For example, the communication device  211  may perform wireless communication with the autonomous vehicle  100 . For example, the communication device  2110  may communicate with an infrastructure or a surrounding vehicle of the autonomous vehicle  100 . 
     The storage  212  may store information received from the autonomous vehicle  100 , and data and/or algorithm required for the processor  214  to operate, and the like. As an exemplary embodiment of the present disclosure, the storage  212  may store information related to the shaded section and vehicle position information received from the autonomous vehicle  100 , etc. 
     The storage  212  may include a storage medium of at least one type among memories of types such as a flash memory, a hard disk, a micro, a card (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic memory (MRAM), a magnetic disk, and an optical disk. 
     The interface device  213  may include an input means configured for receiving a control command from an operator and an output means for outputting an operation state of the control system  200  and results thereof. Herein, the input means may include a key button, and may further include a mouse, a keyboard, a touch screen, a microphone, a joystick, a jog shuttle, a stylus pen, and the like. Furthermore, the input means may further include a soft key implemented on the display. For example, the interface device  213  may display a remote driving control situation, and may receive a remote driving control command from an operator. Furthermore, the interface device  213  may include all communication terminals such as a personal computer (PC), a notebook computer, a smartphone, a tablet PC, a pad, a personal digital assistant (PDA), and a wearable device. 
     The output means may include a display, and may further include a voice output means such as a speaker. In the instant case, when a touch sensor formed of a touch film, a touch sheet, or a touch pad is provided on the display, the display may operate as a touch screen, and may be implemented in a form in which an input device and an output device are integrated. 
     In the instant case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light emitting diode display (OLED display), a flexible display, a field emission display (FED), or a 3D display. 
     The processor  214  may be electrically connected to the communication device  211 , the storage  212 , the interface device  213 , and the like, may electrically control each component, and may be an electrical circuit that executes software commands, performing various data processing and calculations described below. 
     The processor  214  may process a signal transferred between components of the control system  200 , and may perform overall control so that each of the components can perform its function normally. The processor  214  may be implemented in a form of hardware, software, or a combination of hardware and software, or may be implemented as microprocessor. 
     The processor  214  may determine whether the autonomous vehicle  100  is stopped for more than a predetermined time period by monitoring the autonomous vehicle  100 , and when the autonomous vehicle  100  is stopped for more than the predetermined time period, may request check of whether remote driving is required to the autonomous vehicle  100 . 
     The processor  214  may periodically collect vehicle information (e.g., a vehicle position, vehicle surrounding image data, etc.) from the autonomous vehicle  100 , may collect image information such as an image of a CCTV around the autonomous vehicle  100 , and may generate a remote driving path of the autonomous vehicle  100  based on the collected information. 
     The processor  214  may generate a remote driving path for moving from a current position of the autonomous vehicle  100  to a safety zone (e.g., a shoulder to avoid a secondary collision accident, etc.), and may determine an entire shaded section of the remote driving path. 
     The processor  214  may determine whether a sensing range of the CCTV around the autonomous vehicle  100  includes the entire shaded section. 
     When the sensing range of the CCTV includes the entire shaded section, the processor  214  may generate a remote driving path of the autonomous vehicle  100  based on image data of the CCTV. 
     When it is difficult to generate the remote driving path based on the CCTV, the processor  214  may request cooperation to a surrounding vehicle positioned around the autonomous vehicle  100 . In the instant case, the surrounding vehicle may be positioned in a lane next to the autonomous vehicle  100 , may be positioned within a predetermined distance, and may be positioned in a point configured for covering the shaded section of the autonomous vehicle  100 . 
     Accordingly, the processor  214  may transmit a cooperation request to the surrounding vehicle, and may receive approval or rejection of the cooperation request from the surrounding vehicle. 
     When the approval for the cooperation request is received from the surrounding vehicle, the processor  214  generates a driving path of the surrounding vehicle in consideration of the shaded section of the autonomous vehicle  100  to transmit the driving path to the surrounding vehicle. That is, the processor  214  may determine an entire shaded section on the remote driving path of the autonomous vehicle  100 , and may generate the driving path of the surrounding vehicle so that a sensing range of the surrounding vehicle includes the entire shaded section. When the surrounding vehicle is a vehicle that autonomously drives, that is, when the surrounding vehicle is also an autonomous vehicle, the processor  214  may generate the driving path of the surrounding vehicle by synchronizing it with the remote driving path of the autonomous vehicle  100  in which the accident has occurred. 
     That is, the processor  214  may divide the remote driving path of the autonomous vehicle  100  into a plurality of sections, may generate a driving path of the surrounding vehicle to be synchronized with the sections, and may transmit the driving path to the surrounding vehicle. 
     When the surrounding vehicle is a vehicle that autonomously drives, the processor  214  may control the surrounding vehicle to be positioned side by side in a lane next to the autonomous vehicle  100  and to start at the same time. 
     On the other hand, when the surrounding vehicle is a general vehicle which is directly driven by a driver, the processor  214  may generate some sections of the remote driving path of the autonomous vehicle  100  as a driving path of the general vehicle, and may control the general vehicle to start driving first and the autonomous vehicle  100  to start driving after a predetermined time period. 
     Accordingly, when a sensor fails due to occurrence of an accident of the autonomous vehicle  100 , the processor  214  may generate a remote driving route for moving the autonomous vehicle  100  from an accident point to a safe zone by use of surrounding information, increasing autonomous driving safety. 
       FIG.  5    illustrates an example of a remote driving path for moving an autonomous vehicle in which an accident has occurred to a safe zone using surrounding CCTV information according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  5   , the control system  200  may select the entire shaded section  402  on the remote driving route  401  for moving the autonomous vehicle  100  to a safe zone such as a shoulder. 
     Next, the control system  200  determines whether detection of an entire shaded section  402  is possible by use of surrounding infrastructure information, and when the detection of the shaded section  402  is possible, controls remote driving for moving the autonomous vehicle  100  to the safe zone based on the surrounding infrastructure information. 
       FIG.  6    illustrates an example of a remote driving path for moving an autonomous vehicle in which an accident has occurred to a safe zone using a surrounding autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  6   , the control system  200  may generate a remote driving path  501  for the autonomous vehicle  100  to move from a current position to a safe zone and may select an entire shaded section  502  when it drives on the remote driving path  501 , and then may receive sensing information related to the entire shaded section  502  from a surrounding vehicle  101 . That is, the control system  200  generates a driving route  503  of the surrounding vehicle  101  by requesting cooperation to the surrounding vehicle  101  so that the surrounding vehicle  101  can drive side by side on a lane next to the autonomous vehicle  100 . Accordingly, the control system  200  may cover the entire shaded section  502  caused by a malfunction of a left sensor of the autonomous vehicle  100  based on sensing information of a right sensor of the surrounding vehicle  101 . That is, the control system  200  may obtain information of the entire shaded section  502  based on the sensing information of the right sensor of the surrounding vehicle  101  to enable remote driving control of the autonomous vehicle  100 . 
       FIG.  7    illustrates an example of synchronizing a path of an autonomous vehicle in which an accident has occurred with a path of a surrounding autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  7   , a remote driving path  601  from a current position, which is an accident point of the autonomous vehicle  100  to a safety zone, may be generated, and a driving path  602  of the surrounding vehicle  101  may be generated so that a sensing range  603  of a sensor of the surrounding vehicle  101  which is an autonomous vehicle covers the entire shaded section of the autonomous vehicle  100 . In the instant case, the remote driving path  601  of the autonomous vehicle  100  may be divided into a plurality of sections A, B, C, D, E, F, G, and H, the driving route  602  of the surrounding vehicle  101  is divided into a plurality of sections A′, B′, C′, D′, E′, F′, G′, and H′, and the driving path  602  may be generated so that the sections A, B, C, D, E, F, G, and H of the remote driving path  601  and the sections A′, B′, C′, D′, E′, F′, G′, and H′ of the driving path  602  are synchronized for each section. 
     Accordingly, the control system  200  transmits the synchronized driving path  602  to the surrounding vehicle  101 , and the surrounding vehicle  101  follows and controls the synchronized driving path  602 . Accordingly, the autonomous vehicle  100  and the surrounding vehicle  101  may simultaneously start from the starting sections A and A′, and in the present way, the autonomous vehicle  100  may move to the safe zone. 
       FIG.  8    illustrates an example of paths of a surrounding general vehicle and an autonomous vehicle in which an accident has occurred according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  8   , a remote driving path  701  from a current position, which is an accident point of the autonomous vehicle  100  to a safety zone, may be generated, and a driving path  702  of the surrounding vehicle  102  may be generated so that a sensing range  703  of a sensor of the surrounding vehicle  102  which is a general vehicle covers the entire shaded section of the autonomous vehicle  100 . In the instant case, the general vehicle includes a vehicle which is directly driven by a driver. Accordingly, the driving path  702  may be generated as much as a distance which is available to the driver of the surrounding vehicle  102 . 
     In the instant case, the remote driving path  701  of the autonomous vehicle  100  may be divided into a plurality of sections A, B, C, D, E, F, G, and H, the driving route  702  of the surrounding vehicle  102  is divided into a plurality of sections A′, B′, C′, D′, and E′, and the driving path  702  may be generated so that the sections A, B, C, D, E, F, G, and H of the remote driving path  701  and the sections A′, B′, C′, D′, and E′ of the driving path  702  are synchronized for each section.  FIG.  7    illustrates an example in which the distance available to the driver, i.e., the driving path  702  is shorter than the remote driving path  701 . 
     The control system  200  may control the driver of the surrounding vehicle  102  to start driving first in accordance with the received driving path  702  and control the autonomous vehicle  100  to follow it in a next lane by transmitting the driving path  702  to the surrounding vehicle  102 . 
     Hereinafter, a method for remote control based on surrounding information in the event of an accident of an autonomous vehicle according to various exemplary embodiments of the present disclosure will be described in detail with reference to  FIG.  9    and  FIG.  10   .  FIG.  9    illustrates a flowchart showing a process of remotely controlling an autonomous vehicle based on surrounding information when an accident occurs in the autonomous vehicle according to various exemplary embodiments of the present disclosure, and  FIG.  10    illustrates a flowchart detailing a process of remotely controlling an autonomous vehicle by use of surrounding information when an accident occurs in the autonomous vehicle according to various exemplary embodiments of the present disclosure. 
     Hereinafter, it is assumed that the autonomous driving control apparatus  110  and the control system  200  of the autonomous vehicle  100  of  FIG.  1    perform the processes of  FIG.  9   , and it is assumed that the control system  200  performs the processes of  FIG.  10   . Furthermore, in the description of  FIG.  9    and  FIG.  10   , it may be understood that operations referred to as being performed by each device and system are controlled by a processor of each of the systems. 
     Referring to  FIG.  9   , the autonomous vehicle  100  starts autonomous driving upon receiving an autonomous driving command from the control system  200  (S 101 ). 
     Thereafter, it is determined whether a collision accident of the autonomous vehicle  100  has occurred and whether a sensor has failed (S 102 ). 
     A shaded section caused by sensor failure is determined in the case of sensor failure due to occurrence of a collision accident of the autonomous vehicle  100 . As illustrated in  FIG.  4   , when a left sensor of the autonomous vehicle  100  fails, a shaded section  301  which is not detected is generated at a left side thereof. 
     Accordingly, the autonomous vehicle  100  determines whether a remote driving request is required based on the shaded section (S 104 ), and when it is determined that the remote driving request is required due to the shaded section, requests remote driving to the control system  200  (S 105 ). In the instant case, the autonomous vehicle  100  transmits information related to the shaded section due to the sensor failure when requesting the remote driving request to the control system  200 . 
     Meanwhile, the control system  200  monitors the autonomous vehicle  100  (S 106 ), and determines whether the autonomous vehicle  100  is stopped for more than a predetermined time period (S 107 ). 
     When the autonomous vehicle  100  is stopped for more than the predetermined time period, the control system  200  may determine that the autonomous vehicle  100  is stopped due to a collision accident, etc., and may request checking whether remote driving is required to the autonomous vehicle  100  (S 108 ). 
     On the other hand, when receiving a remote driving request from the autonomous vehicle  100 , the control system  200  searches surrounding infrastructure information and surrounding vehicles that can cover the shaded section by receiving shaded section information together (S 109 ). In the instant case, the surrounding infrastructure information includes image information such as a CCTV around the autonomous vehicle  100 , and the surrounding vehicle may include a vehicle positioned within a predetermined distance from the autonomous vehicle  100 . 
     Accordingly, the control system  200  determines whether remote control is possible based on the surrounding infrastructure information (S 110 ), when the remote control is possible based on the surrounding infrastructure information, performs the remote control based on the surrounding infrastructure information (S 111 ), and when the remote control is possible based on the surrounding infrastructure information, performs the remote control based on surrounding vehicle information (S 112 ). 
     Accordingly, the control system  200  transmits a remote driving control command to the autonomous vehicle  100  so that the autonomous vehicle  100  in which an accident has occurred moves to a safe zone (e.g., a shoulder) based on the surrounding infrastructure information or the surrounding vehicle information (S 113 ). 
     Next, the autonomous vehicle  100  moves to the safe zone by driving depending on the remote driving control command received from the control system  200  (S 114 ). 
     Hereinafter, a remote driving control process based on cooperation of the surrounding information of the control system  200  will be described in detail with reference to  FIG.  10   . 
     Referring to  FIG.  10   , the control system  200  starts a process of requesting surrounding information from surrounding infrastructure and surrounding vehicles (S 201 ). In the instant case, the surrounding information may include surrounding infrastructure information and surrounding vehicle information. The surrounding infrastructure information may include image information such as an image of a CCTV, etc., and the surrounding vehicle information may include information such as a position, a path, and a speed of a vehicle positioned close to the autonomous vehicle  100 . 
     The control system  200  determines whether remote driving control of the autonomous vehicle  100  is possible based on the surrounding infrastructure information (S 202 ), and when remote driving is possible based on the surrounding infrastructure information, requests the surrounding infrastructure information to the surrounding infrastructure (S 203 ). That is, the control system  200  may determine whether there is a surrounding infrastructure such as a CCTV around the autonomous vehicle  100 , and when there is the surrounding infrastructure, may determine that remote driving control of the autonomous vehicle  100  is possible based on the surrounding infrastructure information. 
     The control system  200  checks whether the surrounding infrastructure information is completely received (S 204 ), and when the surrounding infrastructure information is completely received, starts remote driving control for the autonomous vehicle  100  (S 205 ). 
     Thereafter, the control system  200  checks whether the autonomous vehicle  100  has arrived at a destination thereof (S 205 ), and terminates the request for information related to the surrounding infrastructure when it has arrived at the destination (S 207 ). 
     That is, the control system  200  may perform remote control so that the autonomous vehicle  100  moves to a safe zone such as a shoulder based on the surrounding infrastructure information in a state where the autonomous vehicle  100  is stopped after an accident, and may periodically request and receive the surrounding infrastructure information. 
     When the remote driving is impossible based on the surrounding infrastructure information in step S 202 , that is, when there is no infrastructure such as a CCTV close to the autonomous vehicle  100 , the control system  200  may request cooperation to a vehicle surrounding the autonomous vehicle  100  (S 208 ). In the instant case, when receiving a request for cooperation from the control system  200 , the surrounding vehicle may approve or reject the request. 
     Thereafter, the control system  200  determines whether an approval of the cooperation request from the surrounding vehicle is completed (S 209 ). 
     The control system  200  determines whether the vehicle approved for the cooperation request is an autonomous vehicle (S 210 ). 
     When the vehicle approved for the cooperation request is an autonomous vehicle, the control system  200  synchronizes a remote driving path of the autonomous vehicle  100  with a driving path of the surrounding vehicle approved for the cooperation request, to transmit it to the surrounding vehicle (S 211 ). Next, the surrounding vehicle may follow and control the driving path received from the control system  200  to recognize the shaded section of the autonomous vehicle  100  by use of sensor information of the surrounding vehicle. As illustrated in  FIG.  7   , a remote driving path of the autonomous vehicle  100  to a safety zone is divided into a plurality of sections A to F, and a driving path of the surrounding vehicle  101 , which is an autonomous vehicle, is generated by synchronizing it to correspond to each of the sections of the autonomous vehicle  100 . 
     Thereafter, the control system  200  determines whether surrounding vehicle information is completely received (S 212 ), and starts remote driving control when the surrounding vehicle information is completely received (S 205 ). Thereafter, the control system  200  checks whether the autonomous vehicle  100  has arrived at a destination thereof (S 205 ), and terminates the request for information related to the surrounding infrastructure when it has arrived at the destination (S 207 ). 
     On the other hand, when the vehicle approved for the cooperation request in step S 210  is a general vehicle rather than an autonomous vehicle, the control system  200  requests information to the surrounding vehicle, which is a general vehicle (S 213 ). 
     The control system  200  determines whether the information related to the surrounding vehicle, which is the vehicle, is completely received (S 214 ), and when the information related to the surrounding vehicle, which is the vehicle, is completely received, requests driving in some sections of the surrounding vehicle. As illustrated in  FIG.  8   , the control system  200  may partially synchronize the driving path of the surrounding vehicle, which is the general vehicle, with the remote driving path of the autonomous vehicle  100 , and in the instant case, may control a surrounding vehicle  102  to start first and the autonomous vehicle  100  to travel at a predetermined distance from the surrounding vehicle  102 . 
     Thereafter, the control system  200  starts driving of the surrounding vehicle, which is the general vehicle, and starts remote driving control of the autonomous vehicle  100  (S 216 ). 
     Next, the control system  200  checks whether the autonomous vehicle  100  has arrived at a destination thereof (S 217 ), and terminates the request for surrounding information when it has arrived at the destination (S 207 ). 
     Accordingly, when an accident of the autonomous vehicle occurs, the control system  200  in an exemplary embodiment of the present disclosure may move the autonomous vehicle to a safe zone, such as a shoulder, out of an accident site by remote driving. In the instant case, when a sensor malfunction occurs due to an accident, it is possible to remotely control the autonomous vehicle to move to the safe zone based on surrounding infrastructure information and surrounding vehicle information. Accordingly, according to an exemplary embodiment of the present disclosure, it is possible to prevent secondary accidents and to secure stability of autonomous driving by minimizing a condition in which remote driving is impossible in an emergency situation. 
       FIG.  11    illustrates a computing system according to various exemplary embodiments of the present disclosure. 
     Referring to  FIG.  11   , the computing system  1000  includes at least one processor  1100  connected through a bus  1200 , a memory  1300 , a user interface input device  1400 , a user interface output device  1500 , and a storage  1600 , and a network interface  1700 . 
     The processor  1100  may be a central processing unit (CPU) or a semiconductor device that performs processing on commands stored in the memory  1300  and/or the storage  1600 . The memory  1300  and the storage  1600  may include various types of volatile or nonvolatile storage media. For example, the memory  1300  may include a read only memory (ROM)  1310  and a random access memory (RAM)  1320 . 
     Accordingly, steps of a method or algorithm described in connection with the exemplary embodiments included herein may be directly implemented by hardware, a software module, or a combination of the two, executed by the processor  1100 . The software module may reside in a storage medium (i.e., the memory  1300  and/or the storage  1600 ) such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, and a CD-ROM. 
     An exemplary storage medium is coupled to the processor  1100 , which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with the processor  1100 . The processor and the storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within a user terminal. Alternatively, the processor and the storage medium may reside as separate components within the user terminal. 
     The above description is merely illustrative of the technical idea of the present disclosure, and those skilled in the art to which an exemplary embodiment of the present disclosure pertains may make various modifications and variations without departing from the essential characteristics of the present disclosure. 
     For convenience in explanation and accurate definition in the appended claims, the terms “upper”, “lower”, “inner”, “outer”, “up”, “down”, “upwards”, “downwards”, “front”, “rear”, “back”, “inside”, “outside”, “inwardly”, “outwardly”, “interior”, “exterior”, “internal”, “external”, “forwards”, and “backwards” are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures. It will be further understood that the term “connect” or its derivatives refer both to direct and indirect connection. 
     The foregoing descriptions of specific exemplary embodiments of the present disclosure have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described to explain certain principles of the present disclosure and their practical application, to enable others skilled in the art to make and utilize various exemplary embodiments of the present disclosure, as well as various alternatives and modifications thereof. It is intended that the scope of the present disclosure be defined by the Claims appended hereto and their equivalents.