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

Patent metadata

Field	Value
Publication number	US-10845796-B2
Application number	US-201816164269-A
Country	US
Kind code	B2
Filing date	Oct 18, 2018
Priority date	Mar 28, 2017
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

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 comprising:
one or more processors;
one or more driver condition sensors configured to output a driver condition signal;
network interface hardware communicatively coupled to the one or more processors and configured to communicate with a remote server over a network; and
a memory 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:
control the vehicle in response to a received command from a remote operator over the network interface hardware for a first time period;
monitor a driver during the first time period 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 the driver in response to determining that the driver has become available to take control of the vehicle.

2. The electronic control unit of claim 1 , wherein the electronic control unit generates an alert to the driver to take control of the vehicle.

3. The electronic control unit of claim 1 , wherein the electronic control unit determines that an autonomous driving mode of the vehicle will terminate and, in response to determining that the autonomous driving mode of the vehicle will terminate, transfers control of the vehicle to the remote operator.

4. The electronic control unit of claim 1 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate;
determines an availability of the driver to take control of the vehicle upon termination of the autonomous driving mode based on the driver condition signal output by the one or more driver condition sensors; and
transfers control of the vehicle to the remote operator in response to determining that the driver is unavailable to take control of the vehicle upon termination of the autonomous driving mode.

5. The electronic control unit of claim 1 , wherein the electronic control unit transfers control of the vehicle to an autonomous driving mode of the vehicle after the first time period has elapsed when it is determined that the driver is unavailable at an end of the first time period.

6. The electronic control unit of claim 1 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate; and
generates an alert to the driver to take control of the vehicle in response to determining that the autonomous driving mode will terminate.

7. The electronic control unit of claim 1 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate;
generates 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;
waits an observational period after generating the alert to the remote operator and before transferring control of the vehicle to the remote operator; and
transfers control of the vehicle to the remote operator.

8. An electronic control unit for a vehicle 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
a memory 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:
control the vehicle in response to commands received from a remote operator over the network interface hardware for a first time period;
compare driver control behavior with concurrent remote operator control behavior during the first time period; and
transfer control of the vehicle to the driver when a driver control behavior substantially matches the concurrent remote operator control behavior.

9. The electronic control unit of claim 8 , further comprising one or more driver condition sensors configured to output a driver condition signal, and wherein the electronic control unit monitors the driver during the first time period 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.

10. The electronic control unit of claim 8 , wherein the electronic control unit generates an alert to the driver to take control of the vehicle.

11. The electronic control unit of claim 8 , wherein the electronic control unit determines that an autonomous driving mode of the vehicle will terminate and, in response to determining that the autonomous driving mode of the vehicle will terminate, transfers control of the vehicle to the remote operator.

12. The electronic control unit of claim 8 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate;
determines an availability of the driver to take 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; and
transfers control of the vehicle to the remote operator in response to determining that the driver is unavailable to take control of the vehicle upon termination of the autonomous driving mode.

13. The electronic control unit of claim 8 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate; and
generates an alert to the driver to take control of the vehicle in response to determining that the autonomous driving mode will terminate.

14. The electronic control unit of claim 8 , wherein the electronic control unit:
determines that an autonomous driving mode of the vehicle will terminate;
generates 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;
waits an observational period after generating the alert to the remote operator and before transferring control of the vehicle to the remote operator; and
transfers control of the vehicle to the remote operator.

15. A method of controlling a vehicle, the method comprising:
controlling the vehicle in response to a received command from a remote operator over network interface hardware for a first time period;
monitoring a driver during the first time period to determine whether the driver has become available to take control of the vehicle based on a driver condition signal output by one or more driver condition sensors; and
transferring control of the vehicle to the driver in response to determining that the driver has become available to take control of the vehicle.

16. The method of claim 15 , further comprising generating an alert to the driver to take control of the vehicle.

17. The method of claim 15 further comprising:
determining that an autonomous driving mode of the vehicle will terminate; and
transferring control of the vehicle to the remote operator in response to determining that the autonomous driving mode of the vehicle will terminate.

18. The method of claim 15 , further comprising:
determining that an autonomous driving mode of the vehicle will terminate;
determining an availability of the driver to take control of the vehicle upon termination of the autonomous driving mode based on the driver condition signal output by the one or more driver condition sensors; and
transferring

Assignees

• Toyota Res Inst Inc

Inventors

• Michalakis Nikolaos
• Paepcke Stephanie

Classifications

• B60W2540/26

  Incapacity · CPC title

• B60W30/10

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W50/14

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