Transitioning steering control from an autonomous vehicle to a driver

Patent metadata

Field	Value
Publication number	US-12179805-B2
Application number	US-202318176714-A
Country	US
Kind code	B2
Filing date	Mar 1, 2023
Priority date	May 13, 2019
Publication date	Dec 31, 2024
Grant date	Dec 31, 2024

Abstract

Techniques are described for transitioning control of a steering system from an autonomous mode in a vehicle to a driver-controlled mode where the driver can control the steering wheel of the steering system. A method includes receiving values that describe an amount of torque and a direction of torque in response to a torque applied to a steering wheel of a steering system operated in an autonomous mode, determining that the values are either greater than or equal to a threshold value or are less than or equal to a negative of the threshold value, determining that the values are measured over a period of time greater than or equal to a pre-determined amount of time, and transitioning the steering system from being operated in the autonomous mode to being operated in a driver-controlled mode in which the steering system is under manual control.

First claim

What is claimed is:

1. A method of controlling a vehicle operation, comprising:
performing a first determination, by a computer located in a vehicle, that each torque value in a set of torque values is past one or more threshold values, wherein the set of torque values indicate torque applied over time to a steering wheel of a steering system of the vehicle;
performing a second determination that a period of time over which the set of torque values were measured is greater than a certain amount of time, wherein the period of time is determined based on a number of torque values in the set of torque values; and
causing, in response to the first determination and the second determination, the vehicle to transition from a first mode where the computer is configured to control the steering system to a second mode where the steering system is operated under manual control.

2. The method of claim 1 , wherein each torque value in the set of torque values is associated with a time stamp value.

3. The method of claim 2 , wherein the period of time is determined by subtracting a last time stamp value associated with a last torque value in the set of torque values from a first time stamp value associated with a first torque value in the set of torque values.

4. The method of claim 1 ,
wherein in the first mode, a position control command is sent to the steering system to control a steering of the vehicle, and
wherein the position control command indicates an amount of angular displacement or a position of the steering wheel.

5. The method of claim 1 ,
wherein in the first mode, a torque control command is sent to the steering system to control a steering of the vehicle, and
wherein the torque control command indicates an amount of torque to be applied to the steering wheel.

6. The method of claim 1 ,
wherein each torque value in the set of torque values is determined to be past the one or more threshold values upon comparing each torque value with a first threshold value or upon comparing each torque value with a second threshold value, and
wherein the first threshold value is higher than the second threshold value.

7. The method of claim 6 , wherein the comparing the set of torque values with the first threshold value includes determining that each torque value is greater than the first threshold value.

8. The method of claim 6 , wherein the comparing the set of torque values with the second threshold value includes determining that each torque value is less than the second threshold value.

9. The method of claim 6 , wherein the comparing the set of torque values with the first threshold value is performed before the comparing each torque value to the second threshold value.

10. The method of claim 1 , wherein the set of torque values are periodically measured.

11. A system comprising a computer that includes a processor and a memory comprising stored instructions that upon execution configure the processor to:
perform a first determination, by the computer located in a vehicle, that each torque value in a set of torque values is past one or more threshold values, wherein the set of torque values indicate torque applied over time to a steering wheel of a steering system of the vehicle;
perform a second determination that a period of time over which the set of torque values were measured is greater than a certain amount of time, wherein the period of time is determined based on a number of torque values in the set of torque values; and
cause, in response to the first determination and the second determination, the vehicle to transition from a first mode where the computer is configured to control the steering system to a second mode where the steering system is operated under manual control.

12. The system of claim 11 ,
wherein the steering system includes the steering wheel that is connected to one side of a steering column,
wherein another side of the steering column is coupled to a steering shaft, and
wherein the steering column is associated with a motor that is configured to assist the steering column to turn the steering shaft.

13. The system of claim 11 ,
wherein the vehicle is operated in an autonomous mode as the first mode, and
wherein, in the autonomous mode, the processor is configured to operate one or more systems within the vehicle to cause the vehicle to be driven.

14. The system of claim 11 , wherein each torque value in the set of torque values is associated with a time stamp value.

15. The system of claim 11 , wherein the set of torque values are periodically measured.

16. A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising:
performing a first determination, by a computer located in a vehicle, that each torque value in a set of torque values is past one or more threshold values, wherein the set of torque values indicate torque applied over time to a steering wheel of a steering system of the vehicle;
performing a second determination that a period of time over which the set of torque values were measured is greater than a certain amount of time, wherein the period of time is determined based on a number of torque values in the set of torque values; and
causing, in response to the first determination and the second determination, the vehicle to transition from a first mode where the computer is configured to control the steering system to a second mode where the steering system is operated under manual control.

17. The non-transitory computer readable program storage medium of claim 16 ,
wherein a control command is not sent to the steering system in the second mode, and
wherein the control command includes a position control command indicative of an amount of angular displacement or a position of the steering wheel, or a torque control command indicative of an amount of torque to be applied to the steering wheel.

18. The non-transitory computer readable program storage medium of claim 16 , wherein each torque value in the set of torque values is associated with an indication that indicates a direction in which torque is applied.

19. The non-transitory computer readable program storage medium of claim 18 , wherein the first determination includes that each torque value in the set of torque values is past the one or more threshold values and each torque in the set of torque values has a same direction.

20. The non-transitory computer readable program storage medium of claim 18 , wherein the direction includes a clockwise direction or a counterclockwise direction.

21. The non-transitory computer readable program storage medium of claim 16 , wherein the causing the vehicle to transition from the first mode to the second mode includes sending a command to disable operation of the steering system under the first mode.

Assignees

• Tusimple Inc

Inventors

• Zheng Kaixin
• Han Xiaoling
• Huang Zehua
• Price Charles A

Classifications

• B62D6/10

  characterised by means for sensing {or determining} torque · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W40/105

  Speed · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W60/0057

  Estimation of the time available or required for the handover · CPC title