Patent Publication Number: US-11643117-B2

Title: Apparatus for determining hands-on based on motion recognition, system including the same, and vehicle control method thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims priority to and the benefit of Korean Patent Application No. 10-2019-0160199, filed on Dec. 4, 2019, which is incorporated herein by reference in its entirety. 
     TECHNICAL FIELD 
     The present disclosure relates to an apparatus for determining hands-on based on motion recognition, a system including the same, and a method thereof, and more particularly, relates to technologies of determining a hands-on state based on motion recognition. 
     BACKGROUND 
     The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. 
     In general, the steering wheel of the vehicle is a device for performing steering control of the vehicle as the driver directly holds and manipulates the steering wheel. Recently, with the development of autonomous driving technologies, the lane following assist (LFA) or the like for assisting the driver to drive has been developed. 
     Although the LFA assists the driver to perform lane keeping, the entity of steering control is the driver. Thus, when the driver does not hold the steering wheel, the LFA should warn the driver about it to guide the user to perform safety driving. To this end, it is continuously determined whether the driver holds the steering wheel. There is a representative method of making an indirect determination using a torque sensor mounted on the steering column or making a direct determination using a contact-type sensor mounted on the steering wheel. 
     An existing technology determines a hands-off state using such sensors and warns the driver about hands-off when the driver is in the hands-off state. Thereafter, when it is determined that the driver puts his or her hands on the steering wheel, the existing technology performs vehicle control. The vehicle control is delayed during a transition time from the hands-off state of the driver and the hands-on state of the driver. 
     SUMMARY 
     An aspect of the present disclosure provides an apparatus for determining hands-on based on motion recognition to determine that a driver puts his or her hands on the steering wheel although the driver is slightly away from the steering wheel without holding the steering wheel of a vehicle to minimize a time delay taken from a hands-off state of the steering wheel to a hands-on state of the steering wheel, a system including the same, and a method thereof. 
     Another aspect of the present disclosure provides an apparatus for determining hands-on based on motion recognition to determine suitability of a motion recognition situation based on weather, a motion recognition level, driving road classification, a vehicle control state, and a driver state upon hands-on determination, a system including the same, and a method thereof. 
     The technical problems to be solved by the present disclosure are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains. 
     According to an aspect of the present disclosure, a hands-on determination device may include: a processor that determines a hands-on state of a driver through motion recognition and determines whether to use the result of determining the hands-on state based on the motion recognition, based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state and a storage storing data for the motion recognition. 
     In some forms of the present disclosure, the processor may determine a current state as a hands-on state, when the hands of the driver are located within a predetermined range. 
     In some forms of the present disclosure, the weather condition may be classified as good in weather, normal in weather, or poor in weather. The validity of the motion sensing may be classified as good in sensing time, insufficient in sensing time, good in sensing zone, or poor in sensing zone. The classification of the driving road may be classified as an urban expressway without traffic lights, a city street with traffic lights, or a special section road. The vehicle control state may be classified as a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve. The driver state may be classified as stable in gaze, unstable in gaze, or normal in gaze determination. 
     In some forms of the present disclosure, the processor may apply the result of determining hands-on recognized based on motion recognition immediately to vehicle control, when the weather condition is good or poor in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a situation where a lane change is not controlled or in-lane driving on a gentle curve, when the driver state is always stable in gaze. 
     In some forms of the present disclosure, the processor may apply the result of determining hands-on recognized based on motion recognition within a predetermined monitoring time period to vehicle control, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, and when the vehicle control state is a braking and acceleration command by the driver or a situation where a lane change is controlled in a state where the driver state is stable in gaze. 
     In some forms of the present disclosure, the processor may apply the result of determining hands-on recognized based on motion recognition within a predetermined monitoring time period to vehicle control, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, and when the driver state is normal in gaze determination. 
     In some forms of the present disclosure, the processor may postpone determination of substituting a hands-on signal based on motion recognition, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the driver state is stable in gaze or is normal in gaze determination, and when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve. 
     In some forms of the present disclosure, the processor may postpone determination of substituting a hands-on signal based on motion recognition, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing time, when the driving road is an urban expressway without traffic lights, the driver state is always stable in gaze, and when the vehicle control state is a situation where a lane change is controlled. 
     In some forms of the present disclosure, the processor may postpone determination of substituting a hands-on signal based on motion recognition, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is poor in sensing zone, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on sharp curve, and when the driver state is stable in gaze or is normal in gaze determination. 
     In some forms of the present disclosure, the processor may postpone determination of substituting a hands-on signal based on motion recognition, when the weather condition is good in weather, when the condition for the validity of the motion sensing is poor in sensing zone, when the driving road is an urban expressway without traffic lights, when the vehicle control state is a situation where a lane change is not controlled, and when the driver state is unstable in gaze. 
     In some forms of the present disclosure, the processor may postpone determination of substituting a hands-on signal based on motion recognition, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is good in sensing time and is good in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination. 
     In some forms of the present disclosure, the processor may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition and notifies the driver of the determined result, irrespective of the other conditions, when the weather condition is poor in weather. 
     In some forms of the present disclosure, the processor may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition, irrespective of the other conditions, when the driver state is unstable in gaze, and postpones determination of substituting a hands-on signal based on motion recognition, although the driver state is unstable in gaze, when the weather is good, when the sensing zone is poor, when there is an urban expressway without traffic lights, and when a lane change is not controlled. 
     In some forms of the present disclosure, the processor may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing time and is poor in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination. 
     In some forms of the present disclosure, the processor may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition, in case of at least one or more of when the weather condition is poor in weather, when the driving road is a special section road, when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve, or when the driver state is unstable in gaze, in a state where the condition for the validity of the motion sensing is poor in sensing zone. 
     According to another aspect of the present disclosure, a vehicle system may include: a hands-on determination device that determines a hands-on state of a driver through motion recognition and determines whether to use the result of determining the hands-on state based on the motion recognition, based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state and a vehicle controller that controls a vehicle based on the result determined by the hands-on determination device. 
     According to another aspect of the present disclosure, a vehicle control method may include: determining a hands-on state of a driver through motion recognition, determining whether to use the result of determining the hands-on state based on the motion recognition, based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state, and controlling a vehicle based on the result determined by the hands-on determination device. 
     In some forms of the present disclosure, the determining of the hands-on state may include determining a current state as a hands-on state, when the hands of the driver are located within a predetermined range. 
     In some forms of the present disclosure, the controlling of the vehicle may include applying the result of determining hands-on recognized based on motion recognition immediately to vehicle control, when the weather condition is good or poor in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a situation where a lane change is not controlled or in-lane driving on a gentle curve, when the driver state is always stable in gaze. 
     In some forms of the present disclosure, the controlling of the vehicle may include applying the result of determining hands-on recognized based on motion recognition within a predetermined monitoring time period to vehicle control, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a braking and acceleration command by the driver or a situation where a lane change is controlled in a state where the driver state is stable in gaze. 
     Further areas of applicability will become apparent form the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
    
    
     
       DRAWINGS 
       In order that the disclosure may be well understood, there will now be described various forms thereof, given by way of example, reference being made to the accompanying drawings, in which: 
         FIG.  1    is a block diagram illustrating a configuration of a vehicle system including a hands-on determination device in one form of the present disclosure; 
         FIG.  2    is a drawing illustrating a warning process upon hands-off in one form of the present disclosure; 
         FIG.  3    is a drawing illustrating an exemplary screen displayed on a display upon hands-on determination in one form of the present disclosure; 
         FIG.  4    is a drawing illustrating an exemplary screen for determining hands-off based on motion recognition in one form of the present disclosure; 
         FIG.  5    is a flowchart illustrating a hands-on determination method in one form of the present disclosure; and 
         FIG.  6    is a block diagram illustrating a computing system in one form of the present disclosure. 
     
    
    
     The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. 
     DETAILED DESCRIPTION 
     The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features. 
     Hereinafter, some forms of the present disclosure will be described in detail with reference to the exemplary drawings. In adding the reference numerals to the components of each drawing, it should be noted that the identical or equivalent component is designated by the identical numeral even when they are displayed on other drawings. Further, in describing some forms of the present disclosure, a detailed description of well-known features or functions will be ruled out in order not to unnecessarily obscure the gist of the present disclosure. 
     In describing the components of some forms of the present disclosure, terms such as first, second, “A”, “B”, (a), (b), and the like may be used. These terms are merely intended to distinguish one component from another component, and the terms do not limit the nature, sequence or order of the constituent components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present disclosure pertains. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application. 
     Hereinafter, a description will be given in some forms of the present disclosure with reference to  FIGS.  1  and  6   . 
       FIG.  1    is a block diagram illustrating a configuration of a vehicle system including a hands-on determination device in some forms of the present disclosure. 
     Referring to  FIG.  1   , the vehicle system in some forms of the present disclosure may include a hands-on determination device  100 , a vehicle controller  200 , a warning device  300 , and a display  400 . 
     The hands-on determination device  100  in some forms of the present disclosure may be implemented in a vehicle. In this case, the hands-on determination device  100  may be integrally formed with control units in the vehicle, or may be implemented as a separate device to be connected with the control units of the vehicle by a separate connection means. 
     The hands-on determination device  100  may determine a hands-on state of a driver through motion recognition. When the hands of the driver are located within a predetermined range from the steering wheel, the hands-on determination device  100  may determine a current state as the hands-on state. Furthermore, the hands-on determination device  100  may determine suitability for the result of determining the hands-on based on the motion recognition, based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state to determine whether to use the result of determining the hands-on based on the motion recognition rather than a result of determining hands-on by a sensor. 
     The hands-on determination device  100  may include a communication device  110 , a storage  120 , a sensor device  130 , and a processor  140 . 
     The communication device  110  may be a hardware device implemented with various electronic circuits to transmit and receive a signal through a wireless or wired connection. In some forms of the present disclosure, the communication device  110  may perform network communication technology in the vehicle and may perform vehicle-to-infrastructure (V2I) communication with a server, an infrastructure, or another vehicle outside the vehicle using wireless internet technology or short range communication. Herein, the network communication technology in the vehicle may be to perform inter-vehicle communication through controller area network (CAN) communication, local interconnect network (LIN) communication, flex-ray communication, or the like. Furthermore, the wireless internet technology may include wireless local area network (WLAN), wireless broadband (WiBro), wireless-fidelity (Wi-Fi), world interoperability for microwave access (WiMAX), or the like. Furthermore, the short range communication technology may include Bluetooth, ZigBee, ultra wideband (UWB), radio frequency identification (RFID), infrared data association (IrDA), or the like. 
     As an example, the communication device  110  may receive weather information, driving road information, or the like from an external server and may receive vehicle control state information, driver&#39;s gaze information, motion recognition level information, and the like from devices in the vehicle. 
     The storage  120  may store a sensing result of the sensor device  130 , weather information or driving road information received from the outside, and data and/or algorithms necessary for an operation of the processor  140 . As an example, the storage  120  may store data for motion recognition. Thus, the processor  140  may compare and analyze a captured image with data for motion recognition to determine that the hands of the driver are on or off the steering wheel. 
     The storage  120  may include at least one type of storage medium, such as a flash memory type memory, a hard disk type memory, a micro type memory, a card type memory (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 RAM (MRAM), a magnetic disk, and an optical disk. 
     The sensor device  130  may include one or more sensors for detecting a hands-off state of the driver. As an example, the sensor device  130  may include a torque sensor mounted on a steering column, a contact-type sensor mounted on a steering wheel, or a motion sensor. In this case, the motion sensor may include a camera, a gyro sensor, a strain gauge, or the like. The processor  140  may set a predetermined distance from the steering wheel as a motion recognition range. 
     The processor  140  may be electrically connected with the communication device  110 , the storage  120 , the sensor device  130 , or the like and may electrically control the respective components. The processor  140  may be an electrical circuit which executes instructions of software and may perform a variety of data processing and calculation described below. 
     The processor  140  may process a signal delivered between respective components of the hands-on determination device  100 . The processor  140  may be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or another sub-controller, which is loaded into the vehicle. 
     The processor  140  may determine whether the hands of the driver are present within a predetermined range from the steering wheel, through motion recognition. When the hands of the driver are present within the predetermined range although the hands of the driver are not touched on the steering wheel, the processor  140  may determine a current state as a hands-on state. 
     The processor  140  may determine suitability for the result of determining hands-on based on motion recognition, based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state to determine whether to use the result of determining the hands-on based on the motion recognition for vehicle control. 
     The weather condition may be classified as good, normal, or poor in weather. The condition for the validity of the motion sensing may be classified as good in sensing time, insufficient in sensing time, good in sensing zone, or poor in sensing zone. The classification of the driving road may be classified as an urban expressway without traffic signals, a city street with traffic lights, or a special section road. The vehicle control state may be classified as a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by a driver, or in-lane driving on a sharp curve. The driver state may be classified as stable in gaze, unstable in gaze, or normal in gaze determination. 
     The processor  140  may determine to use a hands-on signal determined by motion recognition immediately, use a hands-on signal determined by motion recognition within a monitoring time, postpone determination of substituting a hands-on signal based on motion recognition (request the driver to input a signal again), or be impossible to determine to substitute a hands-on signal based on motion recognition (notify the driver of an impossible situation), based on at least one or more of a weather condition, a condition for validity of motion sensing, classification of a driving road, a vehicle control state, or a driver state. 
     When the weather condition is good or poor in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a situation where a lane change is not controlled or in-lane driving on a gentle curve, when the driver state is always stable in gaze, the processor  140  may apply the result of determining hands-on recognized based on motion recognition immediately to vehicle control. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a braking and acceleration command by the driver or a situation where a lane change is controlled in a state where the driver state is stable in gaze, the processor  140  may apply the result of determining hands-on recognized based on motion recognition within a predetermined monitoring time period to vehicle control. 
     When the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, and when the driver state is normal in gaze determination, the processor  140  may apply the result of determining hands-on recognized based on motion recognition within the predetermined monitoring time period to vehicle control. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, the driver state is stable in gaze or is normal in gaze determination, and when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing time, when the driving road is an urban expressway without traffic lights, the driver state is always stable in gaze, and when the vehicle control state is a situation where a lane change is controlled, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing zone, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is one of a situation where a lane change is not controlled, an in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or an in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is good in weather, when the condition for the validity of the motion sensing is poor in sensing zone, when the driving road is an urban expressway without traffic lights, when the vehicle control state is a situation where a lane change is not controlled, and when the driver state is unstable in gaze, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is good in sensing time and is good in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is poor, irrespective of the other conditions, the processor  140  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition and may notify the driver of the determined result. 
     When the driver state is unstable in gaze, irrespective of the other conditions, the processor  140  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. Although the driver state is unstable in gaze, when the weather is good, when the sensing zone is poor, when there is an urban expressway without traffic lights, and when a lane change is not controlled, the processor  140  may postpone determination of substituting a hands-on signal based on motion recognition. 
     When the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing time and is poor in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the processor  140  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. 
     In a state where the condition for the validity of the motion sensing is poor in sensing zone, in case of at least one or more of when the weather condition is poor in weather, when the driving road is a special section road, when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve, or when the driver state is unstable in gaze, the processor  140  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. 
     The vehicle controller  200  may receive the result of determining hands-on from the hands-on determination device  100  and may perform autonomous driving control of the vehicle. 
     The warning device  300  may provide a warning for guiding the user to put his or her hands on the steering wheel when the hands of the user are off the steering wheel. In this case, the warning may be provided in various methods such as a visual warning, an audible warning, and a tactile warning. 
     The display  400  may include an input means for receiving a control command from the user and an output means for outputting an operational state, an operation result, or the like of the hands-on determination device  100 . Herein, the input means may include a key button and may further include a mouse, a joystick, a jog shuttle, a stylus pen, or the like. Furthermore, the input means may further include a soft key implemented on a display. The output means may include the display and may further include a voice output means such as a speaker. In this case, a touch sensor such as a touch film, a touch sheet, or a touch pad is provided in the display, the display operates as a touchscreen and may be implemented in a form where the input means and the output means are integrated with each other. In some forms of the present disclosure, the output means may output a sentence for warning the user about hands-off. 
     In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT-LCD), an organic light-emitting diode (OLED) display, a flexible display, a field emission display (FED), or a three-dimensional (3D) display. 
     Some forms of the present disclosure may solve inconvenience according to a time delay in a state transition process from a hands-off condition to a hands-on condition and may enhance the problem where the driver should always hold the steering wheel directly. Furthermore, some forms of the present disclosure may increase continuity at a threshold time when the steering column is unlocked while the vehicle is traveling in an advanced driver assistance systems (ADAS)/autonomous driving mode. 
       FIG.  2    is a drawing illustrating a warning process upon hands-off in some forms of the present disclosure.  FIG.  3    is a drawing illustrating an exemplary screen displayed on a display upon hands-on determination in some forms of the present disclosure. Referring to  FIG.  2   , when 15 seconds elapses in a hands-off state during autonomous driving, a hands-on determination device  100  of  FIG.  1    may primarily output a visual warning to a driver. For example, like reference numeral  301  of  FIG.  3   , the hands-on determination device  100  may output words of guidance for guiding the driver to put his or her hands on the steering wheel. 
     Thereafter, when 30 seconds elapses after hands-off, the hands-on determination device  100  may output a visual warning and an audible warning together. When continuously in the hands-off state, the hands-on determination device  100  may turn off an autonomous driving system. Like reference numeral  302  of  FIG.  3   , the hands-on determination device  100  may notify the driver that the highway driving assist (HDA) which is one of autonomous driving functions is turned off. Like reference numeral  303 , the hands-on determination device  100  may notify the driver that the autonomous driving speed is limited. 
       FIG.  4    is a drawing illustrating an exemplary screen for determining hands-off based on motion recognition in some forms of the present disclosure. 
     Referring to  FIG.  4   , a hands-on determination device  100  of  FIG.  1    may recognize motion of a driver to determine that the driver is in a hands-on state when the driver holds the steering wheel like reference numeral  401  or when the driver is slightly away from the steering wheel although the he or she does not touch the steering wheel like reference numeral  402 . 
     However, when the driver is far away from the steering wheel, for example, folds his or her arms like reference numeral  404 , the hands-on determination device  100  may determine that the driver is in hands-off state. 
     As such, the hands-on determination device  100  may determine a hands-off state through motion recognition to determine a hands-on state in a wider range than that when the hands-on state is determined by a sensor or the like, thus minimizing a delay time caused when changed from the hands-off state to the hands-on state. 
     As such, when the hands of the driver are located within a predetermined range from the steering wheel although he or she does not touch the steering wheel, some forms of the present disclosure may recognize a current state as a state (the hands-on state) where he or she touches the steering wheel to shorten an unnecessary transition time from the hands-off state to the hands-on state, thus increasing convenience of the driver because the driver does not always hold the steering wheel. 
     Furthermore, some forms of the present disclosure may enhance continuity at a threshold time when the steering column is unlocked while the vehicle is traveling in an ADAS/autonomous driving mode, thus enhancing stability. 
     Furthermore, some forms of the present disclosure may accurately identify a trick hands-on state based on motion recognition (e.g., as if the hands of the driver are spuriously on the steering wheel using a PET bottle or the like), thus reducing a dangerous situation due to trick hands-on. 
     Hereinafter, a description will be given in detail of a hands-on determination method in some forms of the present disclosure with reference to  FIG.  5   .  FIG.  5    is a flowchart illustrating a hands-on determination method in some forms of the present disclosure. 
     Hereinafter, it is assumed that a hands-on determination device  100  of  FIG.  1    performs a process of  FIG.  5   . Furthermore, in a description of  FIG.  5   , an operation described as being performed by an apparatus may be understood as being controlled by a processor  140  of the hands-on determination device  100 . 
     Referring to  FIG.  5   , in S 110 , the apparatus may determine a weather condition. In this case, the weather condition may include being good in weather, being normal in weather, or being poor in weather. 
     In S 120 , the apparatus may determine the validity of motion sensing (a motion recognition level). The validity of motion sensing may be classified as good in sensing time, insufficient in sensing time, good in sensing zone, or poor in sensing zone. 
     In S 130 , the apparatus may determine classification of a driving road. The classification of the driving road may be classified as an urban expressway without traffic lights, a city street with traffic lights, or a special section road. 
     In S 140 , the apparatus may determine a vehicle control state. The vehicle control state may be classified as a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve. 
     In S 150 , the apparatus may determine a driver state. In this case, the driver state may refer to driver gaze information. Thus, the driver state may be classified as stable in gaze, unstable in gaze, or normal in gaze determination. 
     In S 160 , the apparatus may perform the following response methods using the weather condition, the validity of motion sensing, the classification of the driving road, the vehicle stable state, the driver state, and the like. 
     Substituting a hands-on signal based on motion recognition immediately 
     Substituting a hands-on signal based on motion recognition within a monitoring time 
     Postponing determination of substituting a hands-on signal (requesting the driver to input a signal again) 
     It is impossible to determine to substitute a hands-on signal (Notify the driver of an impossible situation) 
     Substituting the hands-on signal based on the motion recognition immediately may refer to determining hands-on based on motion recognition immediately and substituting the hands-on signal based on the motion recognition immediately for a hands-on signal determined by a sensor. Substituting the hands-on signal based on the motion recognition within the monitoring time may refer to substituting the hands-on signal determined based on the motion recognition within the monitoring time for a hands-on signal detected by the sensor. 
     Postponing the determination of substituting the hands-on signal may refer to postponing determination for substituting a hands-on signal based on motion recognition. It is impossible to determine to substitute the hands-on signal may mean that determination for substituting a hands-on signal based on motion recognition is impossible. 
     For example, for a lane change assist system, a user should put his or her hands on the steering wheel, within a predetermined time (e.g., 2 seconds) after a turn signal is activated. However, when the user does not put his or her hands on the steering wheel, the lane change assist system is turned off or the lane change assist system requests the driver again to put his or her hands on the steering wheel. Thus, as vehicle control is not performed upon an urgent situation and as the driver is only required to put his or her hands on the steering wheel, vehicle control gaps occur until the driver is in a hands-on state from a hands-off state after the driver is requested to put his or her hands on the steering wheel. Thus, this results in a dangerous situation. 
     Thus, some forms of the present disclosure may recognize a hands-on state in a wider range based on motion recognition, thus minimizing vehicle control gaps due to a hands-off state. 
     The hands-on determination device  100  may be applied to a lane change assist system, a lane keeping assist system (LKAS), a highway driving pilot (HDP), or the like. 
     Hereinafter, a description will be given in detail of an example of substituting a hands-on signal based on motion recognition with reference to Tables 1 to 15 below. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                   
                 Validity 
                   
                 Vehicle 
                   
                 Motion 
               
               
                   
                 of motion 
                 Classification 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 of driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 where 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 lane 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 change 
                   
                 based on 
               
               
                   
                   
                 lights 
                 is not 
                   
                 motion 
               
               
                   
                   
                   
                 controlled 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 based on 
               
               
                   
                   
                 lights 
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 weather 
                 in sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                   
                 curve 
                   
                 based on 
               
               
                   
                   
                   
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 in sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 change is 
                   
                 signal 
               
               
                   
                   
                   
                 not 
                   
                 based on 
               
               
                   
                   
                   
                 controlled 
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 without 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 based on 
               
               
                   
                   
                 lights 
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 lane 
                   
                 signal 
               
               
                   
                   
                   
                 change 
                   
                 based on 
               
               
                   
                   
                   
                 is not 
                   
                 motion 
               
               
                   
                   
                   
                 controlled 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                   
                 curve 
                   
                 based on 
               
               
                   
                   
                   
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 lane 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 change 
                   
                 based on 
               
               
                   
                   
                 lights 
                 is not 
                   
                 motion 
               
               
                   
                   
                   
                 controlled 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 based on 
               
               
                   
                   
                 lights 
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Insufficiency 
                 City street 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 in 
                 in sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                   
                 curve 
                   
                 based on 
               
               
                   
                   
                   
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Insufficiency 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 in sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 lane 
                   
                 signal 
               
               
                   
                   
                   
                 change 
                   
                 based on 
               
               
                   
                   
                   
                 is not 
                   
                 motion 
               
               
                   
                   
                   
                 controlled 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 without 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 based on 
               
               
                   
                   
                 lights 
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 lane 
                   
                 signal 
               
               
                   
                   
                   
                 change 
                   
                 based on 
               
               
                   
                   
                   
                 is not 
                   
                 motion 
               
               
                   
                   
                   
                 controlled 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 In-lane 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 on gentle 
                   
                 signal 
               
               
                   
                   
                   
                 curve 
                   
                 based on 
               
               
                   
                   
                   
                   
                   
                 motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 immediately 
               
               
                   
                   
                   
                   
                   
                 (50 ms) 
               
               
                   
               
            
           
         
       
     
     In Table 1 above, an form is exemplified as a hands-on signal is substituted based on motion recognition immediately (e.g., within 50 ms). 
     In other words, when the weather condition is good or poor in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is a situation where a lane change is not controlled or in-lane driving on a gentle curve, when the driver state is always stable in gaze, the hands-on determination device  100  may apply the result (the hands-on signal) of determining hands-on recognized based on motion recognition immediately to vehicle control. 
     In Tables 2 and 3 below, an form is exemplified as a hands-on signal is substituted based on motion recognition during a monitoring time (e.g., within 2000 ms). 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 2 
               
               
                   
               
               
                   
                 Validity 
                   
                 Vehicle 
                   
                 Motion 
               
               
                   
                 of motion 
                 Classification 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 of driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on signal 
               
               
                   
                 d 
                 without 
                 change is 
                   
                 signal based 
               
               
                   
                 time 
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 where 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 change 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Command 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 to brake and 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 accelerate 
                   
                 signal based 
               
               
                   
                   
                   
                 by driver 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 change is 
                   
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 acceleration 
                   
                 signal based 
               
               
                   
                   
                 traffic 
                 command 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 weather 
                 in sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 curve 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Insufficiency 
                 Urban 
                 Situation 
                 Normal 
                 Substituting 
               
               
                 weather 
                 in sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 without 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Insufficiency 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 in sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                   
                 time 
                 lights 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 change 
                   
                 on motion 
               
               
                   
                   
                   
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 without 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 without 
                 acceleration 
                   
                 signal based 
               
               
                   
                   
                 traffic 
                 command 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 change is 
                   
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 change 
                   
                 on motion 
               
               
                   
                   
                   
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                   
                 zone 
                 lights 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 curve 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 3 
               
               
                   
               
               
                   
                 Validity 
                   
                 Vehicle 
                   
                 Motion 
               
               
                   
                 of motion 
                 Classification 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 of driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Normal 
                 Good in 
                 Urban 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 change is 
                   
                 signal based 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 change 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Braking 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 and 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 acceleration 
                   
                 signal based 
               
               
                   
                   
                   
                 command 
                   
                 on motion 
               
               
                   
                   
                   
                 by driver 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 change is 
                   
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Braking 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 and 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 acceleration 
                   
                 signal based 
               
               
                   
                   
                 traffic 
                 command 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Sufficient 
                 City street 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 in 
                 in sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 curve 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Insufficient 
                 Urban 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 in sensing 
                 expressway 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 without 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Insufficiency 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 in sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 time 
                 lights 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 change 
                   
                 on motion 
               
               
                   
                   
                   
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 without 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 on motion 
               
               
                   
                   
                 lights 
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Braking 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 expressway 
                 and 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 without 
                 acceleration 
                   
                 signal based 
               
               
                   
                   
                 traffic 
                 command 
                   
                 on motion 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Stable 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                   
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 controlled 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Situation 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 where 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 lane 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 change 
                   
                 on motion 
               
               
                   
                   
                   
                 is not 
                   
                 recognition 
               
               
                   
                   
                   
                 controlled 
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                 Normal 
                 Good in 
                 City street 
                 In-lane 
                 Normal 
                 Substitute 
               
               
                 in 
                 sensing 
                 with traffic 
                 driving 
                 in gaze 
                 hands-on 
               
               
                 weather 
                 zone 
                 lights 
                 on gentle 
                 determination 
                 signal based 
               
               
                   
                   
                   
                 curve 
                   
                 on motion 
               
               
                   
                   
                   
                   
                   
                 recognition 
               
               
                   
                   
                   
                   
                   
                 within 
               
               
                   
                   
                   
                   
                   
                 monitoring 
               
               
                   
                   
                   
                   
                   
                 time (2000 ms) 
               
               
                   
               
            
           
         
       
     
     In Table 2 above, when the weather condition is good in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, and when the vehicle control state is a braking and acceleration command by the driver or a situation where a lane change is controlled in a state where the driver state is stable in gaze, the hands-on determination device  100  may apply the result (the hands-on signal) of determining hands-on recognized based on motion recognition within a predetermined monitoring time period to vehicle control. 
     Furthermore, when the weather condition is good in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, and when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, and when the driver state is normal in gaze determination, the hands-on determination device  100  may apply the result (the hands-on signal) of determining hands-on recognized based on motion recognition within the predetermined monitoring time period to vehicle control. Table 3 is the same as Table 2 above in the other conditions except that the weather is normal in weather. 
     In Tables 4 to 9 below, an form is exemplified as determination of substituting a hands-on signal based on motion recognition is postponed (the driver is requested to input a signal again). 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 4 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classifica- 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 tion of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 time 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 time 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                   
                 time 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                   
                 time 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 tion 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 City street 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 ciency 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 in 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 curve 
                 determina- 
                 substituting 
               
               
                   
                 time 
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 City street 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 ciency 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 in 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 curve 
                   
                 substituting 
               
               
                   
                 time 
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 ciency 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                   
                 in 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 tion 
                 determina- 
                 substituting 
               
               
                   
                 time 
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 City street 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 weather 
                 ciency 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                   
                 in 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 tion 
                   
                 substituting 
               
               
                   
                 time 
                   
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 cient 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 in 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                 time 
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 ciency 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 in 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                 time 
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 ciency 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                   
                 in 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 tion 
                 determina- 
                 substituting 
               
               
                   
                 time 
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 Urban 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 weather 
                 ciency 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                   
                 in 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 tion 
                   
                 substituting 
               
               
                   
                 zone 
                 lights 
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Insuffi- 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 ciency 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 in 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 controlled 
                   
                 substituting 
               
               
                   
                 zone 
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 tion 
                 determina- 
                 Substituting 
               
               
                   
                   
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 5 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classifica- 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 tion of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Normal 
                 Good in 
                 City street 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 time 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 City street 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 time 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 time 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion  
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 time 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 tion  
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 City street 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 ciency 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 curve 
                 determina- 
                 substituting 
               
               
                   
                 time 
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 City street 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 ciency 
                 with traffic 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 lights 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 curve 
                   
                 substituting 
               
               
                   
                 time 
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 ciency 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                   
                 tion  
                 determina- 
                 substituting 
               
               
                   
                 time 
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 City street 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 in 
                 ciency 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 lights 
                 accelera- 
                 gaze 
                 of 
               
               
                   
                 sensing 
                   
                 tion  
                   
                 substituting 
               
               
                   
                 time 
                   
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 cient 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                 time 
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 ciency 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                 time 
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 ciency 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 tion  
                 determina- 
                 substituting 
               
               
                   
                 time 
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 Urban 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 in 
                 ciency 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 tion  
                   
                 substituting 
               
               
                   
                 zone 
                 lights 
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Insuffi- 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 ciency 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 in 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                 sensing 
                 traffic 
                 controlled 
                   
                 substituting 
               
               
                   
                 zone 
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Urban 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 tion  
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     In Table 4 above, when the weather condition is good in weather, when the condition for the validity of the motion sensing is one of being good in sensing time, being good in sensing zone, or being insufficient in sensing time, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the driver state is stable in gaze or is normal in gaze determination, and when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     Meanwhile, When the weather condition is good in weather, when the condition for the validity of the motion sensing is insufficient in sensing time, when the driving road is an urban expressway without traffic lights, the driver state is always stable in gaze, and when the vehicle control state is a situation where a lane change is controlled, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     Table 5 above is the same as Table 4 above in the other conditions except that the weather condition is normal in weather. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 6 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classifica- 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 tion of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Poor in 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 not 
                   
                 substituting 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 Situation 
                 Unstable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 not 
                   
                 substituting 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 not 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                 controlled 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion  
                   
                 substituting 
               
               
                   
                   
                   
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion  
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 controlled 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 controlled 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 not 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 controlled 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 7 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classifica- 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 tion of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Normal 
                 Poor in 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 not 
                   
                 substituting 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 not 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                 controlled 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 gentle 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 gentle 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 sharp 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion  
                   
                 substituting 
               
               
                   
                   
                   
                 command 
                   
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 and 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 accelera- 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 tion  
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 command 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                 by driver 
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 controlled 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 controlled 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 not 
                 determina- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 City street 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 lights 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 substituting 
               
               
                   
                   
                 lights 
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Poor in 
                 Urban 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 determina- 
               
               
                 weather 
                 zone 
                 without 
                 change is 
                 gaze 
                 tion of 
               
               
                   
                   
                 traffic 
                 controlled 
                 determina- 
                 substituting 
               
               
                   
                   
                 lights 
                   
                 tion 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     In Tables 6 and 7, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is poor in sensing zone, when the driving road is an urban expressway without traffic lights or a city street with traffic lights, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     Furthermore, when the weather condition is good in weather, when the condition for the validity of the motion sensing is poor in sensing zone, when the driving road is an urban expressway without traffic lights, when the vehicle control state is a situation where a lane change is not controlled, and when the driver state is unstable in gaze, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 8 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 gentle 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 gentle 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 time 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 determinatig 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 on of 
               
               
                   
                   
                   
                 command 
                   
                 substituting 
               
               
                   
                   
                   
                 by driver 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 of 
               
               
                   
                   
                   
                 command 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 by driver 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 controlled 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 controlled 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 9 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 gentle 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 gentle 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 time 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Braking 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 and 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 acceleration 
                 gaze 
                 of 
               
               
                   
                   
                   
                 command 
                   
                 substituting 
               
               
                   
                   
                   
                 by driver 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Braking 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 and 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 acceleration 
                 gaze 
                 of 
               
               
                   
                   
                   
                 command 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 by driver 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 controlled 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 controlled 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 Situation 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 where lane 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 change is 
                 gaze 
                 of 
               
               
                   
                   
                   
                 not 
                   
                 substituting 
               
               
                   
                   
                   
                 controlled 
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Stable 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                   
                 substituting 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                 Normal 
                 Good in 
                 Special 
                 In-lane 
                 Normal 
                 Postpone 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 determination 
               
               
                 weather 
                 zone 
                   
                 sharp 
                 gaze 
                 of 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 substituting 
               
               
                   
                   
                   
                   
                 mination 
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (request 
               
               
                   
                   
                   
                   
                   
                 driver to 
               
               
                   
                   
                   
                   
                   
                 input 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 again) 
               
               
                   
               
            
           
         
       
     
     In Tables 8 and 9, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is good in sensing time and is good in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, or a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     Hereinafter, Tables 10 to 15 indicate that it is impossible to determine to substitute a hands-on signal. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 10 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Poor in 
                 Good in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 not 
                   
                 determine 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 on command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 sharp 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 controlled 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Insufficient 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 11 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Poor in 
                 Good in 
                 Special 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 on command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 poor in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 not 
                   
                 determine 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Poor in 
                 Poor in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     In Tables 10 and 11, when the weather condition is poor, irrespective of the other conditions, the hands-on determination device  100  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition and may notify the driver of the determined result. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 12 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 controlled 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 not 
                   
                 determine 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 time 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 time 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 sharp 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                 traffic 
                 controlled 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 in 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 13 
               
               
                   
               
               
                   
                 Validity 
                   
                   
                   
                   
               
               
                   
                 of 
                 Classification 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Good in 
                 Special 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Urban 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 command 
                   
                 determine 
               
               
                   
                   
                 lights 
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 City street 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Good in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 poor in 
                 Urban 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 not 
                   
                 determine 
               
               
                   
                   
                 lights 
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Urban 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 expressway 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                 without 
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                 traffic 
                 curve 
                   
                 determine 
               
               
                   
                   
                 lights 
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Braking 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 City street 
                 Situation 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 with traffic 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 zone 
                 lights 
                 change is 
                 gaze 
                 to 
               
               
                   
                   
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 In-lane 
                 Unstable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     In Tables 12 and 13, when the driver state is unstable in gaze, irrespective of the other conditions, the hands-on determination device  100  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. Herein, exceptionally, although the driver state is unstable in gaze, when the weather is good, when the sensing zone is poor, when there is an urban expressway without traffic lights, and when a lane change is not controlled, the hands-on determination device  100  may postpone determination of substituting a hands-on signal based on motion recognition. 
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 14 
               
               
                   
               
               
                   
                 Validity 
                 Classifi- 
                   
                   
                   
               
               
                   
                 of 
                 cation 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 stable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 Normal 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 Normal 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                 deter- 
                 determine 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 Situation 
                 stable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Insufficient 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 weather 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 poor in 
                 Special 
                 Braking 
                 Normal 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                 deter- 
                 determine 
               
               
                   
                   
                   
                 by driver 
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Good in 
                 Poor in 
                 Special 
                 Braking 
                 Stable 
                 It is 
               
               
                 weather 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                   
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     
       
         
           
               
               
               
               
               
               
             
               
                 TABLE 15 
               
               
                   
               
               
                   
                 Validity 
                 Classifi- 
                   
                   
                   
               
               
                   
                 of 
                 cation 
                 Vehicle 
                   
                 Motion 
               
               
                   
                 motion 
                 of 
                 control 
                 Driver 
                 recognition 
               
               
                 Weather 
                 sensing 
                 driving road 
                 state 
                 state 
                 Strategy 
               
               
                 STEP1 
                 STEP2 
                 STEP3 
                 STEP4 
                 STEP5 
                 response 
               
               
                   
               
             
            
               
                 Normal 
                 Insufficient 
                 Special 
                 Situation 
                 stable 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Insufficient 
                 Special 
                 Situation 
                 Normal 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 controlled 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Insufficient 
                 Special 
                 Situation 
                 Normal 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                 deter- 
                 determine 
               
               
                   
                   
                   
                 controlled 
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Insufficient 
                 Special 
                 Situation 
                 stable 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 where lane 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 change is 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 not 
                   
                 determine 
               
               
                   
                   
                   
                 controlled 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Insufficient 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Insufficient 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 in 
                 in 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 sensing 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                 time 
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Poor in 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Poor in 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 gentle 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Poor in 
                 Special 
                 In-lane 
                 Normal 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                 deter- 
                 determine 
               
               
                   
                   
                   
                   
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Poor in 
                 Special 
                 In-lane 
                 stable 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 driving on 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 sharp 
                 gaze 
                 to 
               
               
                   
                   
                   
                 curve 
                   
                 determine 
               
               
                   
                   
                   
                   
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 poor in 
                 Special 
                 Braking 
                 Normal 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                 deter- 
                 determine 
               
               
                   
                   
                   
                 by driver 
                 mination 
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                 Normal 
                 Poor in 
                 Special 
                 Braking 
                 Stable 
                 It is 
               
               
                 in 
                 sensing 
                 section road 
                 and 
                 in 
                 impossible 
               
               
                 weather 
                 zone 
                   
                 acceleration 
                 gaze 
                 to 
               
               
                   
                   
                   
                 command 
                   
                 determine 
               
               
                   
                   
                   
                 by driver 
                   
                 to 
               
               
                   
                   
                   
                   
                   
                 substitute 
               
               
                   
                   
                   
                   
                   
                 hands-on 
               
               
                   
                   
                   
                   
                   
                 signal 
               
               
                   
                   
                   
                   
                   
                 (notify 
               
               
                   
                   
                   
                   
                   
                 driver of 
               
               
                   
                   
                   
                   
                   
                 impossible 
               
               
                   
                   
                   
                   
                   
                 situation) 
               
               
                   
               
            
           
         
       
     
     In Tables 14 and 15, when the weather condition is good or normal in weather, when the condition for the validity of the motion sensing is insufficient in sensing time and is poor in sensing zone, when the driving road is a special section road, when the vehicle control state is one of a situation where a lane change is not controlled, in-lane driving on a gentle curve, a situation where a lane change is controlled, a braking and acceleration command by the driver, or in-lane driving on a sharp curve, and when the driver state is stable in gaze or is normal in gaze determination, the hands-on determination device  100  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. 
     Furthermore, in a state where the condition for the validity of the motion sensing is poor in sensing zone, in case of at least one or more of when the weather condition is poor in weather, when the driving road is a special section road, when the vehicle control state is a braking and acceleration command by the driver or in-lane driving on a sharp curve, or when the driver state is unstable in gaze, the hands-on determination device  100  may determine that it is impossible to determine to substitute a hands-on signal based on motion recognition. 
       FIG.  6    is a block diagram illustrating a computing system in some forms of the present disclosure. 
     Referring to  FIG.  6   , a computing system  1000  may include at least one processor  1100 , a memory  1300 , a user interface input device  1400 , a user interface output device  1500 , storage  1600 , and a network interface  1700 , which are connected with each other via a bus  1200 . 
     The processor  1100  may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory  1300  and/or the storage  1600 . The memory  1300  and the storage  1600  may include various types of volatile or non-volatile storage media. For example, the memory  1300  may include a ROM (Read Only Memory) and a RAM (Random Access Memory). 
     Thus, the operations of the method or the algorithm described in some forms of the present disclosure may be embodied directly in hardware or a software module executed by the processor  1100 , or in a combination thereof. The software module may reside on a storage medium (that is, 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. 
     The exemplary storage medium may be coupled to the processor  1100 , and the processor  1100  may read information out of the storage medium and may record information in the storage medium. Alternatively, the storage medium may be integrated with the processor  1100 . The processor  1100  and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside within a user terminal. In another case, the processor  1100  and the storage medium may reside in the user terminal as separate components. 
     The present technology may determine that the driver puts his or her hands on the steering wheel although the driver is slightly away from the steering wheel without holding the steering wheel of the vehicle, thus minimizing a time delay taken from a hands-off state of the steering wheel to a hands-on state of the steering wheel. 
     The present technology may determine suitability of a motion recognition situation based on weather, a motion recognition level, driving road classification, a vehicle control state, and a driver state upon hands-on determination. 
     In addition, various effects directly or indirectly ascertained through the present disclosure may be provided. 
     The description of the disclosure is merely exemplary in nature and, thus, variations that do not depart from the substance of the disclosure are intended to be within the scope of the disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure.