Method to gain driver's attention for autonomous vehicle

Patent metadata

Field	Value
Publication number	US-2016146618-A1
Application number	US-201414554291-A
Country	US
Kind code	A1
Filing date	Nov 26, 2014
Priority date	Nov 26, 2014
Publication date	May 26, 2016
Grant date	—

Abstract

A computer-implemented method for the automated driving of a vehicle. The method may include coordinating a planned vehicle path using a path planner application. The path planner application may receive information based on inputs to sensors disposed on the vehicle. The method may include sending a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path. While the vehicle follows the planned vehicle path, the method may include receiving an indication that the path planner application is not meeting a threshold performance level. After receiving the indication that the path planner application is not meeting the threshold performance level, a command is sent to one or more vehicle systems to control the vehicle to follow a temporary and irregular full vehicle movement to alert a vehicle driver. The temporary and irregular full vehicle movement may be a full vehicle side-to-side wobbling movement.

First claim

What is claimed is:

1 . A computer-implemented method for the automated driving of a vehicle, the method comprising:
coordinating a planned vehicle path using a path planner application; directing the vehicle to follow the planned vehicle path; receiving information from one or more sensors of the vehicle; determining that the information from the one or more sensors is not sufficient to meet a threshold performance level; and initiating a full vehicle side-to-side wobbling movement to alert a driver of the vehicle.

2 . The method of claim 1 , wherein at least one of the one or more sensors comprises a camera, and the step of receiving information from the one or more sensors of the vehicle comprises obtaining images of lane markers.

3 . The method of claim 2 , wherein the vehicle comprises one or more processors configured to:
analyze at least one of a sharpness quality and a clarity quality of the lane markers; and determine that the path planner application is not capable of meeting a threshold performance level when at the least one of the sharpness quality and the clarity quality of the lane markers fails to meet predetermined minimum standards.

4 . The method of claim 3 , wherein the one or more processors is further configured to:
determine a probability whether a future threshold performance level can be met based on a current ability to analyze data from the one or more sensors.

5 . The method of claim 1 , wherein at least one of the one or more sensors captures signals for use with a global navigation satellite system or a global positioning system, and the vehicle comprises one or more processors configured to:
determine that the path planner application is not capable of meeting a threshold performance level when the global navigation satellite system or the global positioning system fails to meet predetermined minimum standards; or determine a probability whether a future threshold performance level can be met based on a current ability to analyze data from the one or more sensors.

6 . The method of claim 1 , wherein at least one of the one or more sensors captures signals for use with a light detection and ranging system, and the vehicle comprises one or more processors configured to:
determine that the path planner application is not capable of meeting a threshold performance level when the light detection and ranging system fails to map-match the vehicle with landmarks according to predetermined minimum standards; or determine a probability whether a future threshold performance level can be met based on a current ability to analyze data from the one or more sensors.

7 . The method of claim 1 , wherein at least one of the one or more sensors comprises a camera, and the step of receiving information from the one or more sensors of the vehicle comprises obtaining images of landmarks for use with a simultaneous localization and mapping system, and the vehicle comprises one or more processors configured to:
determine that the path planner application is not capable of meeting a threshold performance level when the simultaneous localization and mapping system fails to map-match the vehicle with landmarks according to predetermined minimum standards; or determine a probability whether a future threshold performance level can be met based on a current ability to analyze data from the one or more sensors.

8 . An automated driving system for a vehicle, the system comprising:
one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, the computing device comprising: one or more processors for controlling the operations of the computing device; and memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: determine, using a path planner application receiving information based on inputs to the one or more sensors, a planned vehicle path; send a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; periodically determine whether the path planner application is meeting a threshold performance level; and if the path planner application is not meeting the threshold performance level, send a command to the one or more vehicle systems to control the vehicle to initiate a temporary and irregular full vehicle movement to alert a driver of the vehicle.

9 . The system of claim 8 , wherein the one or more processors are further configured to:
after sending the command to the one or more vehicle systems to control the vehicle to initiate the temporary and irregular full vehicle movement, send a secondary notification to the driver of the vehicle to take control of the one of more vehicle systems.

10 . The system of claim 9 , wherein the one or more processors are further configured to:
after sending the secondary notification to the driver of the vehicle to take control of the one or more vehicle systems, receive an indication that the driver of the vehicle has taken control of the one or more vehicle systems; and in response to the indication that the driver of the vehicle has taken control of the one or more vehicle systems, disable the automated driving system.

11 . The system of claim 8 , wherein the command to the one or more vehicle systems to control the vehicle to initiate a temporary and irregular full vehicle movement comprises:
directing a full vehicle side-to-side wobbling movement.

12 . The system of claim 11 , further comprising:
sending a command for the vehicle to continue following the planned vehicle path after the temporary and irregular full vehicle movement.

13 . The system of claim 8 , wherein the one or more processors are further configured to perform at least one of:
analyzing a navigation route of the vehicle; and analyzing information specific to an environment surrounding the vehicle including at least one of proximate object information, landmarks, and lane marking information.

14 . The system of claim 8 , wherein the one or more sensors disposed on the vehicle comprises a camera configured to obtain images of lane markers, and wherein the one or more processors are further configured to:
analyze at least one of a sharpness quality and a clarity quality of the lane markers; and determine that the path planner application is not capable of meeting a threshold performance level when at the least one of the sharpness quality and the clarity quality of the lane markers fails to meet predetermined minimum standards.

15 . The system of claim 8 , wherein the step of periodically determining whether the path planner application is meeting the threshold performance level comprises determining a probability that a future threshold performance level can be met based on a current ability to analyze data from the one or more sensors.

16 . A computer-implemented method for the automated driving of a vehicle, the method comprising:
coordinating, using a path planner application receiving information based on inputs to one or more sensors disposed on a vehicle, a planned vehicle path; sending a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; monitoring the planned vehicle path, and periodically determining whether the path planner application is meeting a threshold performance level; and if the path planner application is not meeting the threshold performance level, sending a command to one or more vehicle systems to control the vehicle to in

Assignees

• Toyota Eng & Mfg North America

Inventors

• Caveney Derek S

Classifications

• B60W60/0053 Primary

  from vehicle to occupant · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W50/14

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

• B60W50/16

  Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title