Systems and methods for transitioning a vehicle from an autonomous driving mode to a manual driving mode

Patent metadata

Field	Value
Publication number	US-2020150652-A1
Application number	US-201816189220-A
Country	US
Kind code	A1
Filing date	Nov 13, 2018
Priority date	Nov 13, 2018
Publication date	May 14, 2020
Grant date	—

Abstract

System, methods, and other embodiments described herein relate to transitioning a vehicle from an autonomous to a manual driving mode. One embodiment analyzes data from one or more vehicle sensors to detect, at a current vehicle position, features in a first detection region and a second detection region ahead of the vehicle; determines, for each of one or more hypothetical vehicle positions, which features detected at the current position, if any, lie within the first detection region at that hypothetical position; identifies, among the one or more hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position; and initiates a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.

First claim

What is claimed is:

1 . A system for transitioning a vehicle from an autonomous driving mode to a manual driving mode, the system comprising:
one or more sensors; one or more processors; a memory communicably coupled to the one or more processors and storing: a feature detection module including instructions that when executed by the one or more processors cause the one or more processors to analyze data from the one or more sensors to detect, at a current position of the vehicle, features ahead of the vehicle in a first detection region and a second detection region, wherein the second detection region extends farther ahead of the vehicle along a direction of travel than the first detection region; a feature detection simulation module including instructions that when executed by the one or more processors cause the one or more processors to determine, for each of one or more hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position; a localization simulation module including instructions that when executed by the one or more processors cause the one or more processors to identify, among the one or more hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position; and a driving-mode control module including instructions that when executed by the one or more processors cause the one or more processors to:
receive, from the localization simulation module, the at least one localization-failure position; and
initiate a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.

2 . The system of claim 1 , wherein the driving-mode control module further includes instructions to notify a driver of the transition from the autonomous driving mode to the manual driving mode.

3 . The system of claim 1 , wherein the localization simulation module further includes instructions to:
calculate a distance from the current position of the vehicle to a localization-failure position and; output the distance to the driving-mode control module.

4 . The system of claim 3 , wherein the driving-mode control module further includes instructions to estimate a period of time until the manual driving mode is to commence based, at least in part, on the distance.

5 . The system of claim 1 , wherein the detected features include lane markings.

6 . The system of claim 1 , wherein the feature detection simulation module further includes instructions to predict, for at least one of the one or more hypothetical positions, a position of an obstacle based on a measured speed and heading of the obstacle.

7 . The system of claim 1 , wherein the driving-mode control module further includes instructions to initiate a transition from the manual driving mode to the autonomous driving mode in response to an absence of identified localization-failure positions.

8 . The system of claim 1 , wherein the one or more sensors include at least one of a camera and a LIDAR sensor.

9 . A non-transitory computer-readable medium for transitioning a vehicle from an autonomous driving mode to a manual driving mode and storing instructions that when executed by one or more processors cause the one or more processors to:
analyze data from one or more vehicle sensors to detect, at a current position of the vehicle, features ahead of the vehicle in a first detection region and a second detection region, wherein the second detection region extends farther ahead of the vehicle along a direction of travel than the first detection region; determine, for each of one or more hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position; identify, among the one or more hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position; and initiate a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.

10 . The non-transitory computer-readable medium of claim 9 , wherein the instructions to initiate a transition from the autonomous driving mode to the manual driving mode further include instructions to notify a driver of the transition.

11 . The non-transitory computer-readable medium of claim 9 , wherein the instructions to identify, among the one or more hypothetical positions, at least one localization-failure position further include instructions to calculate a distance from the current position of the vehicle to a localization-failure position.

12 . The non-transitory computer-readable medium of claim 11 , wherein the instructions to initiate a transition from the autonomous driving mode to the manual driving mode further include instructions to estimate a period of time until the manual driving mode is to commence based, at least in part, on the distance.

13 . The non-transitory computer-readable medium of claim 9 , wherein the instructions to determine, for each of one or more hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position further include instructions to predict, for at least one of the one or more hypothetical positions, a position of an obstacle based on a measured speed and heading of the obstacle.

14 . The non-transitory computer-readable medium of claim 9 , wherein the instructions further include instructions to initiate a transition from the manual driving mode to the autonomous driving mode in response to an absence of identified localization-failure positions.

15 . A method of transitioning a vehicle from an autonomous driving mode to a manual driving mode, the method comprising:
analyzing data from one or more vehicle sensors to detect, at a current position of the vehicle, features ahead of the vehicle in a first detection region and a second detection region, wherein the second detection region extends farther ahead of the vehicle along a direction of travel than the first detection region; determining, for each of one or more hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position; identifying, among the one or more hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position; and initiating a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.

16 . The method of claim 15 , further comprising notifying a driver of the transition from the autonomous driving mode to the manual driving mode.

17 . The method of claim 15 , further comprising calculating a distance from the current position of the vehicle to a localiza

Assignees

• Toyota Res Inst Inc

Inventors

• Urano Hiromitsu
• Ichikawa Kentaro
• Sugaiwa Taisuke

Classifications

• B60W50/082

  Selecting or switching between different modes of propelling · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W50/14

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

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2900/00

  Indexing codes relating to the purpose of, or problem solved of road vehicle drive control systems not otherwise provided for in groups B60W30/00 · CPC title