Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode

Patent metadata

Field	Value
Publication number	US-10133270-B2
Application number	US-201715471065-A
Country	US
Kind code	B2
Filing date	Mar 28, 2017
Priority date	Mar 28, 2017
Publication date	Nov 20, 2018
Grant date	Nov 20, 2018

Abstract

An electronic control unit for a vehicle for switching vehicle control from an autonomous driving mode includes one or more processors, network interface hardware configured to communicate with a remote server over a network, and one or more memory modules that store logic. The electronic control unit executes logic to determine that the autonomous driving mode of the vehicle will terminate, determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving, transfer control of the vehicle to a remote operator over the network interface hardware for a first time period, generate an alert to the driver to take manual control of the vehicle, and transfer control of the vehicle to one of the driver and the autonomous driving mode after the first time period has elapsed.

First claim

What is claimed is:

1. An electronic control unit for a vehicle for switching vehicle control from an autonomous driving mode, the electronic control unit comprising:
one or more processors;
network interface hardware communicatively coupled to the one or more processors and configured to communicate with a remote server over a network; and
one or more memory modules communicatively coupled to the one or more processors that store logic that, when executed by the one or more processors, cause the electronic control unit to:
determine that the autonomous driving mode of the vehicle will terminate;
determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode based on a driver condition signal output by one or more driver condition sensors;
transfer control of the vehicle to a remote operator over the network interface hardware for a first time period in response to determining that the driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode;
generate an alert to the driver to take manual control of the vehicle in response to determining that the autonomous driving mode will terminate;
monitor the driver during the first time period, in response to transferring control of the vehicle to the remote operator, to determine whether the driver has become available to take control of the vehicle based on the driver condition signal output by the one or more driver condition sensors; and
transfer control of the vehicle to one of the driver or the autonomous driving mode after the first time period has elapsed.

2. The electronic control unit of claim 1 , wherein control is only transferred to the driver after the first time period has elapsed when it is determined that the driver is available.

3. The electronic control unit of claim 1 , wherein control is transferred to the autonomous driving mode after the first time period has elapsed when is determined that the driver is not available.

4. The electronic control unit of claim 1 , wherein:
the electronic control unit determines that the autonomous driving mode of the vehicle will terminate based on at least one of a driving condition signal output by one or more driving condition sensors and a communication received over the network interface hardware; and
the driving condition signal output by one of the one or more driving condition sensors and the communication received over the network interface hardware includes at least one of: upcoming traffic conditions, upcoming inclement weather, upcoming construction zones, and upcoming restricted autonomous driving zones.

5. The electronic control unit of claim 1 , wherein the transfer of control of the vehicle to the remote operator grants the remote operator control over one or more vehicle systems including at least one of a steering system, a propulsion system, a stability control system, a navigation system, and an energy system.

6. The electronic control unit of claim 1 , wherein, when executed by the one or more processors, the logic stored on the one or more memory modules further cause the electronic control unit to:
generate an alert to the remote operator over the network interface hardware to take control of the vehicle in response to determining that the autonomous driving mode will terminate and that the driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode; and
wait an observational period after generating the alert to the remote operator and before transferring control of the vehicle to the remote operator.

7. The electronic control unit of claim 1 , wherein, when executed by the one or more processors, the logic stored on the one or more memory modules further causes the electronic control unit to:
after alerting the driver to take manual control the vehicle in response to determining that the autonomous driving mode will terminate, compare driver control behavior with concurrent remote operator control behavior; and
transfer control of the vehicle to the driver when the driver control behavior substantially matches the concurrent remote operator control behavior.

8. A vehicle for switching vehicle control from an autonomous driving mode, the vehicle comprising:
one or more driver condition sensors that output a driver condition signal;
an electronic control unit comprising:
one or more processors;
network interface hardware communicatively coupled to the one or more processors and configured to communicate with a remote server over a network;
one or more memory modules communicatively coupled to the one or more processors that store logic that, when executed by the one or more processors, cause the electronic control unit to:
determine that the autonomous driving mode of the vehicle will terminate;
determine that a driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode based on a driver condition signal output by the one or more driver condition sensors;
transfer control of the vehicle to a remote operator over the network interface hardware for a first time period in response to determining that the driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode;
generate an alert to the driver to take manual control of the vehicle in response to determining that the autonomous driving mode will terminate;
monitor the driver during the first time period, in response to transferring control of the vehicle to the remote operator, to determine whether the driver has become available to take control of the vehicle based on the driver condition signal output by the one or more driver condition sensors; and
transfer control of the vehicle to one of the driver or the autonomous driving mode after the first time period has elapsed.

9. The vehicle of claim 8 , wherein control is only transferred to the driver after the first time period has elapsed when it is determined that the driver is available.

10. The vehicle of claim 8 , wherein control is transferred to the autonomous driving mode after the first time period has elapsed when is determined that the driver is not available.

11. The vehicle of claim 8 , wherein:
the electronic control unit determines that the autonomous driving mode of the vehicle will terminate based on at least one of a driving condition signal output by the one or more driving condition sensors and a communication received over the network interface hardware; and
the driving condition signal output by one of the one or more driving condition sensors and the communication received over the network interface hardware includes at least one of: upcoming traffic conditions, upcoming inclement weather, upcoming construction zones, and upcoming restricted autonomous driving zones.

12. The vehicle of claim 8 , wherein, when executed by the one or more processors, the logic stored on the one or more memory modules further causes the electronic control unit to:
generate an alert to the remote operator over the network interface hardware to take control of the vehicle in response to determining that the autonomous driving mode will terminate and that the driver is unavailable to take immediate control of the vehicle upon termination of the autonomous driving mode; and
wait an observational period after generating the alert to the remote operator and before transferring control of the vehicle to the remote operator.

13. The vehicle of claim 8 , wherein, when executed by the one or more processors, the logic stored on the one or more me

Assignees

• Toyota Res Inst Inc

Inventors

• Michalakis Nikolaos
• Paepcke Stephanie

Classifications

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W30/02

  Control of vehicle driving stability · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• B60W2540/26

  Incapacity · CPC title