KR102756926B1 - Apparatus and method for controlling emergency stop of vehicle - Google Patents

Abstract

The emergency stop control device of the vehicle of the present invention is characterized by including an accelerator pedal sensor that detects displacement of an accelerator pedal; a brake pedal sensor that detects displacement of a brake pedal; and a processor that determines, in a state where an emergency stop function is activated according to an abnormality in the driver's biometric information, whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will and selectively performs the emergency stop function according to the determination result.

Description

{APPARATUS AND METHOD FOR CONTROLLING EMERGENCY STOP OF VEHICLE}

The present invention relates to an emergency stop control device and method for a vehicle, and more specifically, to an emergency stop control device and method for a vehicle that selectively controls an emergency stop function of the vehicle by recognizing whether a driver is operating the vehicle in an unconscious state while the emergency stop function is activated.

Recently, traffic accidents caused by drivers who are drowsy due to fatigue or who lose consciousness due to unexpected medical accidents have been on the rise. To prevent such traffic accidents, vehicles are equipped with an emergency stop function.

The emergency stop function automatically checks the vital information of elderly people or patients with underlying diseases while driving and stops the vehicle in emergency situations such as cardiac arrest.

However, although the emergency stop function is a useful technology to minimize secondary damage in an emergency situation, it can lead to a major accident if the driver stops the vehicle even though he or she is in normal condition.

That is, even in a normal driving situation, a driver may mistakenly perceive an emergency situation and stop the vehicle, which can cause a car accident.

Such misrecognitions may occur due to noise generated by the vehicle, biometric data mixed with external data, or in the process of interpreting data that cannot be generalized due to racial differences, gender differences, or differences in the way underlying diseases manifest themselves.

Therefore, even in cases of such misrecognition, there was a need to control the vehicle so that a secondary accident would not be caused by the emergency stop function.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-1642697 (July 20, 2016), ‘System and method for measuring vehicle driver bio-information signals.’

The present invention has been created to improve the above-mentioned problems, and an object of one aspect of the present invention is to provide an emergency stop control device and method for a vehicle that selectively controls the emergency stop function of the vehicle by recognizing whether a driver is operating the vehicle in an unconscious state while the emergency stop function is activated.

An emergency stop control device for a vehicle according to one aspect of the present invention is characterized by including: an accelerator pedal sensor that detects displacement of an accelerator pedal; a brake pedal sensor that detects displacement of a brake pedal; and a processor that determines, when an emergency stop function is activated according to an abnormality in the driver's biometric information, whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will, and selectively performs the emergency stop function according to the determination result.

The processor of the present invention is characterized in that, when the emergency stop function is activated, the displacement per unit time of the accelerator pedal is within a preset normal range, the emergency stop function is deactivated.

The processor of the present invention is characterized in that, when the displacement of the accelerator pedal per unit time changes within a preset first accelerator pedal setting range while the emergency stop function is activated, and then the displacement of the brake pedal changes within a preset first brake pedal setting range, the emergency stop function is maintained in an activated state.

The processor of the present invention is characterized in that, when the displacement of the accelerator pedal per unit time changes to within a preset second accelerator pedal setting range while the emergency stop function is activated, and when the distance to the front object changes to within a preset distance while the displacement of the brake pedal changes to within the second brake pedal setting range, the emergency stop function is maintained in an activated state.

The present invention further includes a steering wheel sensor that detects a steering angle of a steering wheel, and the processor determines whether the driver is operating the vehicle through at least one of the accelerator pedal, the brake, and the steering wheel when the emergency stop function is activated, and, based on the determination result, warns the driver of a danger through a warning unit and repeatedly operates the brake momentarily multiple times to request a response from the driver.

The processor of the present invention is characterized in that it steers the vehicle to the shoulder of the road and stops the vehicle if there is no response from the driver.

The processor of the present invention is characterized by reducing the vehicle speed at a preset deceleration rate from the current vehicle speed.

The processor of the present invention is characterized in that when the vehicle stops, it flashes the vehicle's emergency lights and opens the trunk to notify a vehicle driving behind that the vehicle is stopped.

The processor of the present invention is characterized by transmitting vehicle information, vehicle location information, and emergency situation guidance information to an organization server or a previously stored emergency contact.

A method for controlling an emergency stop of a vehicle according to one aspect of the present invention is characterized by including the steps of: a processor determining whether at least one of a displacement of an accelerator pedal and a displacement of a brake pedal is caused by the driver's will when an emergency stop function is activated according to an abnormality in the driver's biometric information; and a step of the processor selectively performing the emergency stop function according to the determination result.

In the step of selectively performing the emergency stop function by the processor of the present invention, the processor is characterized in that, when the emergency stop function is activated, if the displacement per unit time of the accelerator pedal is within a preset normal range, the emergency stop function is deactivated.

In the step of the processor of the present invention selectively performing the emergency stop function, the processor is characterized in that, when the displacement of the accelerator pedal per unit time changes within a preset first accelerator pedal setting range and then the displacement of the brake pedal changes within a first brake pedal setting range while the emergency stop function is activated, the processor maintains the emergency stop function in an activated state.

In the step of the processor of the present invention selectively performing the emergency stop function, the processor is characterized in that, when the displacement of the accelerator pedal per unit time changes within a preset second accelerator pedal setting range while the emergency stop function is activated, and when the displacement of the brake pedal changes within a preset distance while the distance to the front object is within a preset distance, the emergency stop function is maintained in an activated state.

In the step of the processor of the present invention selectively performing the emergency stop function, the processor is characterized in that, while the emergency stop function is activated, it determines whether the driver is operating the vehicle through at least one of the accelerator pedal, the brake, and the steering wheel, and, based on the determination result, warns the driver of danger through the warning unit and repeatedly performs the process of momentarily operating the brake multiple times to request a response from the driver.

In the step of the processor of the present invention selectively performing the emergency stop function, the processor is characterized in that, if there is no response from the driver, the vehicle is steered to the shoulder of the road and stopped.

In the step of selectively performing the emergency stop function by the processor of the present invention, the processor is characterized in that it reduces the vehicle speed from the current vehicle speed to a preset deceleration rate.

In the step where the processor of the present invention selectively performs the emergency stop function, the processor is characterized in that when the vehicle is stopped, the emergency lights of the vehicle are flashed and the trunk is opened to notify a vehicle driving behind that the vehicle is stopped.

In the step where the processor of the present invention selectively performs the emergency stop function, the processor is characterized in that it transmits vehicle information, vehicle location information, and emergency situation guidance information to an organization server or a previously stored emergency contact.

An emergency stop control device and method for a vehicle according to one aspect of the present invention recognizes whether a driver operates a vehicle in an unconscious state while an emergency stop function is activated, thereby preventing the release of the emergency stop function due to an unconscious operation of the vehicle, thereby ensuring the safety of the driver.

An emergency stop control device and method for a vehicle according to another aspect of the present invention prevents vehicle stopping due to misrecognition, thereby preventing rear-end collisions with following vehicles.

An emergency stop control device and method for a vehicle according to another aspect of the present invention can safely protect a driver in the event of an emergency.

FIG. 1 is a block diagram of an emergency stop control device for a vehicle according to one embodiment of the present invention.
Figure 2 is a flowchart of a vehicle emergency stop control method according to one embodiment of the present invention.

Hereinafter, an emergency stop control device and method for a vehicle according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines and the size of components illustrated in the drawings may be exaggerated for the sake of clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of their functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of an emergency stop control device for a vehicle according to one embodiment of the present invention.

Referring to FIG. 1, an emergency stop control device according to one embodiment of the present invention includes a biometric information sensor (10), a vehicle status information sensor unit (20), a vehicle controller (30), and a processor (40).

The biometric sensor (10) detects the driver’s biometric information.

A driver's biometric information may include body temperature, blood pressure, heart rate, oxygen saturation, electrocardiogram, pupils, face, etc., and the type of biometric information is not particularly limited.

The biometric sensor (10) can be provided in various ways according to the driver's biometric information. As the biometric sensor (10), a wearable type sensor worn directly by the driver, a contact sensor installed on the steering wheel of the vehicle, an image sensor, etc. can be employed, and the type of the biometric sensor (10) is not particularly limited.

The vehicle status information sensor unit (20) collects information about the vehicle’s driving status.

The vehicle status information sensor unit (20) includes an accelerator pedal sensor (21), a brake pedal sensor (22), a steering angle sensor (23), a distance sensor (24), a position sensor (25), and a vehicle speed sensor (26).

The accelerator pedal sensor (21) detects the displacement of the accelerator pedal.

The brake pedal sensor (22) detects the displacement of the brake pedal.

The steering angle sensor (23) is installed on the steering shaft that transmits the operating force in conjunction with the steering wheel operated by the driver and detects the steering angle (rotation angle) of the steering wheel.

The distance sensor (24) detects the distance to an object in front of the vehicle.

A radar sensor, a lidar sensor, an ultrasonic sensor, an image sensor, etc. can be used as the distance sensor (24), and there is no particular limitation on the type of the distance sensor (24).

The position sensor (25) detects the position of the vehicle.

The position sensor (25) may be a GPS (Global Positioning System) that receives signals from multiple GPS satellites and calculates the current location of the vehicle.

The vehicle speed sensor (26) detects the vehicle speed.

The vehicle speed sensor (26) can detect the speed of a tire rotating while in contact with the ground, or can receive the vehicle speed from a position sensor (25).

Meanwhile, the vehicle status information sensor unit (20) is not limited to the above-mentioned accelerator pedal sensor (21), brake pedal sensor (22), steering angle sensor (23), distance sensor (24), position sensor (25), and vehicle speed sensor (26), and may be added or changed depending on the type or derivation method of information on the driving status.

The vehicle controller (30) controls the driving or operation of the vehicle according to the control command of the processor (40).

The vehicle controller (30) includes an engine controller (31), a brake controller (32), a steering controller (33), and a communication controller (34).

The engine controller (31) controls the engine of the vehicle. That is, the engine controller (31) controls the intake and exhaust system, fuel supply system, and ignition system using information from various sensors installed in the engine, thereby controlling the output of the engine.

The brake controller (32) controls the brake system according to the displacement of the brake pedal to control the braking pressure of the wheels, thereby decelerating the vehicle.

The steering controller (33) arbitrarily changes the center of rotation of the front wheels of the vehicle to drive the vehicle in the direction desired by the driver, so that the direction of travel of the vehicle can be changed at the driver's will.

The communication controller (34) performs wireless communication between the vehicle and various external infrastructures. The communication controller (34) can transmit and receive various information of the vehicle to various external servers or wired/wireless terminals.

Information transmitted through the communication controller (34) may include vehicle information, vehicle location information, and emergency situation guidance information.

Vehicle information is information about the vehicle, and may include the vehicle number or the owner's personal information.

Vehicle location information is the current location information of the vehicle.

Emergency information is information that informs the driver that they are currently in an emergency situation.

Meanwhile, the vehicle controller (30) is not limited to the engine controller (31), brake controller (32), steering controller (33), and communication controller (34), and a controller for controlling the operation of the trunk, door, or cluster of the vehicle may be added or changed.

The processor (40) collects the driver's biometric information from the biometric information sensor (10).

The processor (40) analyzes the driver's biometric information to determine whether the driver is currently in an emergency situation.

If the driver is currently in an emergency situation, the processor (40) activates the vehicle's emergency stop function.

The emergency stop function of a vehicle is to stop the vehicle in case of an emergency. Therefore, when the emergency stop function of a vehicle is activated, the vehicle will drive to a safe area or the shoulder and stop even if the driver does not directly operate the vehicle.

Meanwhile, the emergency stop function is activated based on the driver's biometric information. If the biometric information is misrecognized and the emergency stop function is activated, the emergency stop function may cause inconvenience to the driver.

Alternatively, even if the emergency stop function is activated, the emergency stop function may be deactivated by conscious or unconscious manipulation by the driver in an emergency situation. In this case, the driver may be put at risk due to the deactivation of the emergency stop function.

Accordingly, the processor (40) deactivates or maintains the emergency stop function in an activated state according to various vehicle status information collected by the vehicle status information sensor unit (20) when the emergency stop function is activated according to abnormalities in the driver's biometric information, and in particular, when the emergency stop function is activated, it protects the driver by controlling operations such as vehicle speed, steering, and communication through the vehicle controller (30).

That is, the processor (40) determines whether the operation is in accordance with the driver's will through at least one of the displacement of the accelerator pedal and the displacement of the brake pedal while the emergency stop function is activated, and selectively performs the emergency stop function based on the determination result.

For example, when the emergency stop function is activated, the vehicle speed decreases, but a driver in normal conditions tries to increase the vehicle speed by pressing the accelerator pedal normally.

Accordingly, if the displacement of the accelerator pedal detected by the accelerator pedal sensor (21) is within a preset normal range, the processor (40) deactivates the emergency stop function and increases the vehicle speed through the vehicle controller (30).

The normal range is the displacement of the accelerator pedal when a driver in normal conditions presses the accelerator pedal to control the vehicle speed.

On the other hand, drivers in emergency situations may consciously or unconsciously apply abrupt pressure to the vehicle's accelerator and brake pedals.

Accordingly, with the emergency stop function activated, the processor (40) maintains the emergency stop function in an activated state when the displacement per unit time of the accelerator pedal changes within the preset first accelerator pedal setting range and then the displacement of the brake pedal changes within the first brake pedal setting range.

Here, the first accelerator pedal setting range is the displacement of the accelerator pedal when a driver in an emergency situation wants to accelerate the vehicle.

The first brake pedal setting range is the brake pedal displacement that a driver would use in an emergency situation to slow down the vehicle.

In addition, in an emergency situation, a driver may step on the accelerator pedal to accelerate the vehicle, but may not recognize an obstacle or preceding vehicle ahead, and may suddenly apply the brake pedal to avoid the risk of collision with them.

Accordingly, when the displacement of the accelerator pedal per unit time changes to within the preset second accelerator pedal setting range, and when the distance to the front object changes to within the preset distance and the displacement of the brake pedal changes to within the preset second brake pedal setting range, the processor (40) maintains the emergency stop function in the activated state.

Here, the second accelerator pedal setting range is the displacement of the accelerator pedal when the driver wants to accelerate the vehicle.

The second brake pedal setting range is the displacement of the brake pedal when rapidly decelerating the vehicle.

The set distance is the distance from a preceding vehicle or obstacle with a relatively high collision risk. Here, the collision risk can be calculated based on the distance from the preceding vehicle or obstacle, speed, steering angle, wheel speed, driving direction, etc., and the method of calculating the collision risk is obvious to those skilled in the art, so a detailed explanation thereof is omitted here.

Meanwhile, as described above, when the emergency stop function is activated, the processor (40) warns the driver of danger through the vehicle controller (30) and repeatedly applies the brakes momentarily multiple times to provide the driver with a deceleration shock multiple times, thereby requesting the driver's response.

Here, the driver's response may include operating the vehicle's steering wheel or operating the accelerator pedal within a normal range.

At this time, if there is no response from the driver, the processor (40) steers the vehicle to the shoulder or a safe point through the vehicle controller (30) and stops the vehicle.

At this time, the processor (40) can reduce the vehicle by a preset deceleration rate, for example, 0.2%, from the current vehicle speed. That is, if the current vehicle speed is 60 km, the vehicle is stopped within 120 m, and if the current vehicle speed is 100 km, the vehicle is gradually stopped within 200 m.

In addition, when the vehicle stops, the processor (40) flashes the vehicle's emergency lights and opens the trunk through the vehicle controller (30) to notify the vehicle driving behind that the vehicle is stopped, thereby preventing a collision with the vehicle driving behind.

Additionally, when the vehicle stops, the processor (40) transmits vehicle information, vehicle location information, and emergency situation guidance information to the agency server or a previously stored emergency contact.

The agency server may be a server of the control center, a server of the police department, or a server of the safety call service center, but is not particularly limited thereto.

Emergency contacts may be pre-saved contacts of family members or friends.

Hereinafter, a method for controlling an emergency stop of a vehicle according to one embodiment of the present invention will be described in detail with reference to FIG. 2.

Figure 2 is a flowchart of a vehicle emergency stop control method according to one embodiment of the present invention.

Referring to Fig. 2, first, the biometric information sensor (10) detects the driver's biometric information, and the processor (40) collects the driver's biometric information from the biometric information sensors (10) (S10).

At this time, the processor (40) activates the emergency stop function according to the driver's biometric information (S20). That is, the processor (40) analyzes the driver's biometric information to determine whether the driver is currently in an emergency situation, and if the determination result is an emergency situation, it activates the vehicle's emergency stop function.

When the vehicle's emergency stop function is activated, the processor (40) collects vehicle status information from the vehicle status information sensor unit (20) (S30) and deactivates or maintains the emergency stop function in an activated state based on the vehicle status information (S40).

With the emergency stop function activated, the processor (40) can determine whether the operation is in accordance with the driver's will through at least one of the displacement of the accelerator pedal and the displacement of the brake pedal, and selectively perform the emergency stop function based on the determination result. If the displacement of the accelerator pedal detected by the accelerator pedal sensor (21) is within a preset normal range, the processor (40) deactivates the emergency stop function (S50).

On the other hand, when the displacement of the accelerator pedal per unit time changes within the preset first accelerator pedal setting range and then the displacement of the brake pedal changes within the preset first brake pedal setting range while the emergency stop function is activated, the processor (40) maintains the emergency stop function in the activated state.

Alternatively, if the displacement of the accelerator pedal per unit time changes to within the preset second accelerator pedal setting range and the distance to the front object changes to within the preset distance while the displacement of the brake pedal changes to within the second brake pedal setting range, the processor (40) maintains the emergency stop function in an activated state.

In addition, the processor (40) warns the driver of danger through the vehicle controller (30) and requests the driver's response by repeatedly applying the brakes momentarily multiple times to provide the driver with a deceleration shock multiple times (S60).

If there is no response from the driver, the processor (40) controls the vehicle controller (30) to steer the vehicle to the shoulder or a safe point and stop the vehicle (S70). At this time, the processor (40) can stop the vehicle at a preset deceleration rate from the current vehicle speed.

As described above, when the vehicle stops, the processor (40) transmits vehicle information, vehicle location information, and emergency situation guidance information to the organization server or a previously stored emergency contact (S80).

In addition, the processor (40) flashes the vehicle's emergency lights and opens the trunk to warn the vehicle driving behind that the vehicle is stopped (S90), thereby preventing a collision with the vehicle driving behind.

In this way, the emergency stop control device and method for a vehicle according to one embodiment of the present invention recognizes whether the driver operates the vehicle in an unconscious state while the emergency stop function is activated, thereby preventing the release of the emergency stop function due to the driver operating the vehicle in an unconscious state, thereby ensuring the driver's safety.

In addition, the emergency stop control device and method of a vehicle according to one embodiment of the present invention prevents vehicle stopping due to misrecognition, thereby preventing rear-end collisions with following vehicles.

In addition, the emergency stop control device and method of a vehicle according to one embodiment of the present invention can safely protect a driver in the event of an emergency.

The implementations described herein may be implemented, for example, as a method or process, an apparatus, a software program, a data stream or a signal. Even if discussed in the context of only a single form of implementation (e.g., discussed only as a method), the implementation of the discussed features may also be implemented in other forms (e.g., as an apparatus or a program). The apparatus may be implemented using suitable hardware, software, firmware, and the like. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, a microprocessor, an integrated circuit, or a programmable logic device. A processor also includes a communication device such as a computer, a cell phone, a personal digital assistant ("PDA"), and other devices that facilitate communication of information between end-users.

Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Accordingly, the true technical protection scope of the present invention should be determined by the following patent claims.

10: Biometric information sensor 20: Vehicle status information sensor section
21: Accelerator pedal sensor 22: Brake pedal sensor
23: Steering angle sensor 24: Distance sensor
25: Position sensor 26: Speed sensor
30: Vehicle controller 31: Engine controller
32: Brake controller 33: Steering controller
34: Communication controller 40: Processor

Claims (18)

Accelerator pedal sensor that detects the displacement of the accelerator pedal;
A brake pedal sensor that detects the displacement of the brake pedal; and
In a state where the emergency stop function is activated based on an abnormality in the driver's biometric information, a processor is included that determines whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will, and selectively performs the emergency stop function based on the determination result.
An emergency stop control device for a vehicle, characterized in that the processor maintains the emergency stop function in an activated state when the displacement of the accelerator pedal per unit time changes within a preset first accelerator pedal setting range and the displacement of the brake pedal changes within a first brake pedal setting range while the emergency stop function is activated. In the first paragraph, the processor
An emergency stop control device for a vehicle, characterized in that the emergency stop function is deactivated when the displacement per unit time of the accelerator pedal is within a preset normal range while the emergency stop function is activated. delete Accelerator pedal sensor that detects the displacement of the accelerator pedal;
A brake pedal sensor that detects the displacement of the brake pedal; and
In a state where the emergency stop function is activated based on an abnormality in the driver's biometric information, a processor is included that determines whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will, and selectively performs the emergency stop function based on the determination result.
An emergency stop control device for a vehicle, characterized in that the processor, when the emergency stop function is activated, if the displacement of the accelerator pedal per unit time changes to within a preset second accelerator pedal setting range, and the distance to a front object changes to within a preset distance and the displacement of the brake pedal changes to within the second brake pedal setting range, the emergency stop function is maintained in an activated state. In the first paragraph,
Further comprising a steering wheel sensor for detecting the steering angle of the steering wheel,
An emergency stop control device for a vehicle, characterized in that the processor determines whether the driver is operating the vehicle through at least one of the accelerator pedal, the brake, and the steering wheel while the emergency stop function is activated, and, based on the determination result, warns the driver of a danger through a warning unit and repeatedly operates the brake momentarily multiple times to request a response from the driver. In the fifth paragraph, the processor
An emergency stop control device for a vehicle, characterized in that it steers the vehicle to the shoulder of the road and stops the vehicle if there is no response from the driver. In the sixth paragraph, the processor
An emergency stop control device for a vehicle, characterized in that it reduces the vehicle speed from the current vehicle speed to a preset deceleration rate. In the sixth paragraph, the processor
An emergency stop control device for a vehicle, characterized in that when the vehicle stops, the vehicle's emergency lights flash and the trunk is opened to notify vehicles driving behind that the vehicle is stopped. In the fifth paragraph, the processor
An emergency stop control device for a vehicle, characterized by transmitting vehicle information, vehicle location information, and emergency situation guidance information to an agency server or a previously stored emergency contact. A step in which the processor determines whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will, while the emergency stop function is activated based on the driver's biometric information abnormality; and
According to the above determination result, the processor includes a step of selectively performing the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that in the step of the processor selectively performing the emergency stop function, when the displacement of the accelerator pedal per unit time changes within a preset first accelerator pedal setting range and then the displacement of the brake pedal changes within a first brake pedal setting range while the emergency stop function is activated, the processor maintains the emergency stop function in an activated state. In the 10th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the processor deactivates the emergency stop function when the displacement per unit time of the accelerator pedal is within a preset normal range while the emergency stop function is activated. delete A step in which the processor determines whether at least one of the displacement of the accelerator pedal and the displacement of the brake pedal is caused by the driver's will, while the emergency stop function is activated based on the driver's biometric information abnormality; and
According to the above determination result, the processor includes a step of selectively performing the emergency stop function,
In the step where the above processor selectively performs the above emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that, when the displacement of the accelerator pedal per unit time changes to within a preset second accelerator pedal setting range while the emergency stop function is activated, and when the distance to a front object changes to within a preset distance while the displacement of the brake pedal changes to within a second brake pedal setting range, the emergency stop function is maintained in an activated state. In the 10th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the processor determines whether the driver is operating the vehicle through at least one of the accelerator pedal, the brake, and the steering wheel while the emergency stop function is activated, and, based on the determination result, warns the driver of a danger through a warning unit and repeatedly operates the brake momentarily multiple times to request a response from the driver. In the 14th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the processor steers the vehicle to the shoulder of the road and stops the vehicle if there is no response from the driver. In the 15th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the above processor reduces the vehicle speed at a preset deceleration rate from the current vehicle speed. In the 15th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the above processor flashes the vehicle's emergency lights and opens the trunk when the vehicle stops to notify a vehicle driving behind that the vehicle is stopped. In the 14th paragraph, in the step where the processor selectively performs the emergency stop function,
A method for controlling an emergency stop of a vehicle, characterized in that the above processor transmits vehicle information, vehicle location information, and emergency situation guidance information to an agency server or a previously stored emergency contact.

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