Transition governance system and method for autonomous vehicle

Patent metadata

Field	Value
Publication number	US-2019126925-A1
Application number	US-201715797662-A
Country	US
Kind code	A1
Filing date	Oct 30, 2017
Priority date	Oct 30, 2017
Publication date	May 2, 2019
Grant date	—

Abstract

A method of transitioning from an autonomous driving mode to a manual driving mode for a vehicle is provided. The method includes comparing a steering device input angle to an autonomously controlled steering angle to determine a steering angle error. The method also includes comparing an acceleration or deceleration input to an autonomously controlled acceleration or deceleration input to determine an acceleration or deceleration error. The method further includes progressively transitioning to the manual driving mode in a weighted manner based on a confidence level factor determined by a calculation that factors in the steering angle error and the acceleration or deceleration error.

First claim

Having thus described the invention, it is claimed:

1 . A method of transitioning from an autonomous driving mode to a manual driving mode for a vehicle, the method comprising:
comparing a steering device input angle to an autonomously controlled steering angle to determine a steering angle error; comparing an acceleration or deceleration input to an autonomously controlled acceleration or deceleration input to determine an acceleration or deceleration error; and progressively transitioning to the manual driving mode in a weighted manner based on a confidence level factor determined by a calculation that factors in the steering angle error and the acceleration or deceleration error.

2 . The method of claim 1 , further comprising applying a steering torque feedback to an operator.

3 . The method of claim 2 , wherein the magnitude of the steering torque feedback is based on the steering angle error.

4 . The method of claim 1 , further comprising an acceleration or deceleration feedback to an operator based on the acceleration or deceleration error.

5 . The method of claim 1 , further comprising completing the progressive transition when the confidence level factor is within a predetermined range.

6 . The method of claim 5 , further comprising visually displaying a transition path to an operator, the transition path defined by a transition start and a transition target, the transition target located within the predetermined range.

7 . The method of claim 6 , wherein the visually displayed transition path is a 2-dimensional plot of the steering device input angle and the acceleration or deceleration input.

8 . A transition governance system for an autonomous or semi-autonomous vehicle comprising:
a steering input device for inputting manual steering commands by an operator; a braking device; an accelerator; and an advanced driving assist system (ADAS) in operative communication with the steering input device, the braking device, the accelerator, the ADAS controlling autonomous or semi-autonomous driving, a transition from an autonomous driving mode to a manual driving mode governed by the ADAS, the transition based on a confidence level determined by a calculation that factors in a steering angle error and an acceleration or deceleration error, the steering angle error defined as a difference between an angle of the steering input device and a target angle, the accelerator error defined as a difference between an acceleration or deceleration input and a target acceleration or deceleration.

9 . The transition governance system of claim 8 , wherein the target angle is an autonomously controlled steering angle and the target acceleration or deceleration is an autonomously controlled acceleration or deceleration input.

10 . The transition governance system of claim 8 , further comprising a 2-dimensional display viewable to the operator, the 2-dimensional display illustrating a transition path to the operator, the transition path defined by a transition start and a transition target.

11 . The transition governance system of claim 10 , wherein the transition start is determined by the angle of the steering input device and the acceleration or deceleration input, the transition target determined by the target angle and the target acceleration or deceleration.

12 . The transition governance system of claim 10 , wherein the transition target is located within a predetermined range.

13 . The transition governance system of claim 12 , wherein the transition is completed when the operator maneuvers the transition path within the predetermined range.

14 . The transition governance system of claim 8 , further comprising a steering actuator operatively coupled to the steering input device and in operative communication with the ADAS, the steering actuator applying a steering torque feedback to the steering input device.

15 . The transition governance system of claim 14 , wherein the magnitude of the steering torque feedback is based on the steering angle error.

16 . The transition governance system of claim 8 , further comprising an accelerator actuator operatively coupled to the accelerator and in operative communication with the ADAS, the accelerator actuator applying an acceleration feedback to the accelerator based on the acceleration error.

17 . The transition governance system of claim 8 , further comprising a braking actuator operatively coupled to the braking device and in operative communication with the ADAS, the braking actuator applying a braking feedback to the braking device based on the deceleration error.

18 . The transition governance system of claim 8 , wherein the steering input device is a hand wheel.

19 . The transition governance system of claim 8 , wherein the brake device is a brake pedal.

20 . The transition governance system of claim 8 , wherein the accelerator is an accelerator pedal.

Assignees

• Steering Solutions Ip Holding

Inventors

• Ryne Patrik M
• Story Michael R
• Greb Michelle
• Klesing Joachim J
• Longuemare Pierre C
• Rezaeian Ayyoub
• Li Harold
• Llaneras Robert E

Classifications

• B60W60/0053 Primary

  from vehicle to occupant · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W2050/146

  Display means · CPC title

• B60W2540/10

  Accelerator pedal position · CPC title

• B60W10/20

  including control of steering systems · CPC title