Driver training in an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10146222-B2
Application number	US-201615208043-A
Country	US
Kind code	B2
Filing date	Jul 12, 2016
Priority date	Jul 12, 2016
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

Described embodiments include a self-propelled vehicle, method, and system. The self-propelled vehicle includes an autonomous driving system configured to dynamically determine maneuvers operating the vehicle along a route in an automated mode without continuous input from a human driver. The vehicle includes an input device configured to receive a real-time request for a specific dynamic maneuver by the vehicle operating along the route from the human driver. The vehicle includes a decision circuit configured to select a real-time dynamic maneuver by arbitrating between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system. The vehicle includes an implementation circuit configured to output the selected real-time dynamic maneuver to an operations system of the vehicle.

First claim

What is claimed is:

1. A self-propelled vehicle comprising:
an autonomous driving system configured to dynamically determine maneuvers operating the vehicle along a route in an automated mode without continuous input from a human driver;
an input device configured to receive a real-time request from the human driver for a specific dynamic maneuver by the vehicle operating along the route;
a decision circuit configured to select a real-time dynamic maneuver by arbitrating one of:
between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, wherein the decision circuit is configured to default to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if the received real-time request for the specific dynamic maneuver from the human driver deviates by a predetermined factor from the real-time determination relative to the specific dynamic maneuver by the autonomous driving system; and
between (i) the received real-time request for the specific dynamic maneuver by the vehicle from the human driver, (ii) the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) an evaluation of the driving skill level of the human driver generated by a driver grading circuit configured to evaluate a driving skill level of the human driver at least partially responsive to (i) hours of driving experience in the vehicle based on data indicative of a driving experience level of the human driver received from another input device or (ii) how often the decision circuit selected the real-time request for a specific dynamic maneuver from the human driver as the selected real-time dynamic maneuver; and

an implementation circuit configured to output the selected real-time dynamic maneuver to an operations system of the vehicle.

2. The vehicle of claim 1 , wherein the autonomous driving system is configured to dynamically determine a steering, speed, acceleration, or braking maneuver moving the vehicle along the route.

3. The vehicle of claim 1 , wherein the autonomous driving system is configured to dynamically determine maneuvers moving the vehicle along the route in response to sensor acquired data.

4. The vehicle of claim 1 , wherein the automated mode includes a conditional automation mode.

5. The vehicle of claim 1 , wherein the automated mode includes a high automation mode.

6. The vehicle of claim 1 , wherein the automated mode includes a full automation mode.

7. The vehicle of claim 1 , wherein the input device is configured to receive a real-time request for a specific steering direction by the vehicle operating along the route from the human driver.

8. The vehicle of claim 1 , wherein the input device is configured to receive a real-time request for a specific speed by the vehicle operating along the route from the human driver.

9. The vehicle of claim 1 , wherein the input device is configured to receive a real-time request for a specific acceleration by the vehicle operating along the route from the human driver.

10. The vehicle of claim 1 , wherein the input device is configured to receive a real-time request for a specific braking by the vehicle operating along the route from the human driver.

11. The vehicle of claim 1 , wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm responsive to the received real-time request for the specific dynamic maneuver from the human driver and the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system.

12. The vehicle of claim 1 , wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm that blends the received real-time request for the specific dynamic maneuver from the human driver and the real-time determination relative to the specific dynamic maneuver by the autonomous driving system.

13. The vehicle of claim 1 , wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm that selects the received real-time request for the specific dynamic maneuver from the human driver or the real-time determination relative to the specific dynamic maneuver by the autonomous driving system in response to a probability factor.

14. The vehicle of claim 1 , wherein the decision circuit is configured to select a real-time dynamic maneuver by arbitrating among (i) a received real-time request for the specific dynamic maneuver from the human driver, (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) data indicative of traffic and road conditions ahead.

15. The vehicle of claim 1 , wherein the decision circuit is configured to default to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if real-time traffic or road conditions are not suitable for a skill level of the human driver.

16. The vehicle of claim 1 , further comprising:
a human interface configured to output to the human driver perceivable information indicative of the selected real-time dynamic maneuver.

17. The vehicle of claim 16 , wherein the interface is further configured to output to the human driver a reason, explanation, or rationale for the decision circuit's rejection or modification of the real-time request by the human driver for the specific dynamic maneuver.

18. The vehicle of claim 16 , wherein the interface is further configured to output to the human driver a reason, explanation, or rationale for the decision circuit's selection of the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system.

19. The vehicle of claim 1 , further comprising:
a communication circuit configured to transmit data to a selected receiver indicative of at least one received real-time request for a specific dynamic maneuver from the human driver and a corresponding selected real-time dynamic maneuvering by the decision circuit.

20. The vehicle of claim 1 , further comprising:
a non-transitory tangible computer-readable storage medium configured to store data indicative of a driving experience level of the human driver.

21. The vehicle of claim 1 , further comprising:
an external interface configured to output to nearby vehicles or pedestrians a human perceivable information indicating the vehicle is in a driver training mode.

22. A driver training system comprising:
an autonomous driving system configured to dynamically determine maneuvers operating a self-propelled vehicle along a route in an automated mode without continuous input from a human driver;
an input device configured to receive a real-time request from the human driver for a specific dynamic maneuver by the self-propelled vehicle operating along the route;
a decision circuit configured to select a real-time dynamic maneuver by arbitrating one of:
between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, wherein the decision circuit is configured to default to the real-time determination relative

Assignees

• Elwha Llc

Inventors

• Chan Alistair K
• Cheatham Iii Jesse R
• Chin Hon Wah
• Duncan William David
• Hyde Roderick A
• Tuckerman David B
• Weaver Thomas Allan

Classifications

• B60W60/0055

  only part of driving tasks shifted to occupants · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• G09B9/042

  providing simulation in a real vehicle (G09B9/052, G09B9/058 take precedence) · CPC title

• B60W50/087

  where the control system corrects or modifies a request from the driver · CPC title

• B60W2540/10

  Accelerator pedal position · CPC title