Arrangement and method for facilitating handover to and from an automated autonomous driving aid system

Patent metadata

Field	Value
Publication number	US-9919716-B2
Application number	US-201615172341-A
Country	US
Kind code	B2
Filing date	Jun 3, 2016
Priority date	Jun 23, 2015
Publication date	Mar 20, 2018
Grant date	Mar 20, 2018

Abstract

An arrangement for facilitating handover to and from an automated autonomous driving aid system of a vehicle comprises a lane marking detecting unit, a steering control driving aid system for performing steering in response to detected lane markings, a positioning system for determining a current position and a current heading direction, an alert signal arrangement for selectively providing an alert signal, and a communication arrangement for communicating with a database comprising data indicative of an incapability of performing automated steering at a portion of a road ahead. The communication arrangement is configured to receive the data from the database and configured to provide an alert signal in case the data indicates an incapability of performing an automated steering at an upcoming road portion.

First claim

What is claimed is:

1. A handover facilitating arrangement configured to facilitate handover to and from an automated autonomous driving aid system of a vehicle hosting the handover facilitating arrangement, the handover facilitating arrangement comprising:
a lane marking detecting unit configured to detect lane markings in an environment surrounding the vehicle;
a positioning system configured to determine a current position of the vehicle and a current heading direction of the vehicle;
an alert signal device configured to selectively provide an alert signal in a driver environment of the vehicle;
a communication system configured to communicate wirelessly with a database comprising lane mark data indicative of an incapability of performing automated steering of the vehicle at a portion of a road preceding the vehicle wherein the communication system is configured to upload, to the database, at least one of the current position together with the current heading direction of the vehicle, and a planned route of the vehicle, and in response thereto, receive the lane mark data from the database, and wherein the communication system is configured to provide an alert signal, via the alert signal device in case the lane mark data indicates the incapability of performing an automated steering of the vehicle at an upcoming portion of the road; and
a steering control driving aid system having an activated state in which the steering control driving aid system is configured to perform an automated steering of the vehicle by controlling steering of the vehicle in response to the detected lane markings, and a deactivated state in which no automated steering is performed after handover of control of steering of the vehicle to a driver based on the alert signal.

2. The handover facilitating arrangement according to claim 1 wherein the lane mark data comprises data indicative of at least one of missing lane markings at the upcoming portion of the road, lane markings being difficult to detect at the upcoming portion of the road, lane markings merging or splitting up at the upcoming portion of the road, and lane markings having a complex geometry at the upcoming portion of the road.

3. The handover facilitating arrangement according to claim 1 wherein the lane mark data at least partially is based on data recorded by one or more vehicles having previously travelled the upcoming portion of the road.

4. The handover facilitating arrangement according to claim 3 wherein the lane mark data comprises at least one of data indicative of steering control driving aid systems of the one or more vehicles having been switched from an activated state to an deactivated state at the upcoming portion of the road, date and time when the data was recorded, and driving direction of the one or more vehicles when the data was recorded.

5. The handover facilitating arrangement according to claim 1 wherein the handover facilitating arrangement is configured to provide the alert signal at a first predetermined distance to, or at a first predetermined time prior to an estimated time of arrival to, the upcoming portion of the road.

6. The handover facilitating arrangement according to claim 1 wherein the alert signal comprises at least one of an estimated time of arrival to the upcoming portion of the road, and a distance to the upcoming portion of the road.

7. The handover facilitating arrangement according to claim 1 further comprising a vehicle velocity control driving aid system configured to control velocity of the vehicle hosting the handover facilitating arrangement, wherein the vehicle velocity control driving aid system is configured to reduce the velocity of the vehicle in case at least one of a distance from the vehicle hosting the handover facilitating arrangement to the upcoming portion of the road is shorter than a second predetermined distance and an estimated time of arrival to the upcoming portion of the road is lower than a second predetermined time prior to an estimated time of arrival to the upcoming portion of the road.

8. The handover facilitating arrangement according to claim 1 wherein the handover facilitating arrangement is further configured to provide a notification signal in a driver environment, via the alert signal arrangement, in case the steering control driving aid system is in the deactivated state and in case at least one of a distance from the vehicle hosting the handover facilitating arrangement to the upcoming portion of the road exceeds a third predetermined distance and an estimated time of arrival to the upcoming portion of the road exceeds a third predetermined time prior to an estimated time of arrival to the upcoming portion of the road.

9. The handover facilitating arrangement according to claim 1 wherein the handover facilitating arrangement is configured to record the lane mark data indicative of the incapability of performing automated steering of the vehicle and wherein the communication system is configured to upload the recorded lane mark data to the database together with a position of the vehicle and a heading direction of the vehicle in which the recording were performed.

10. A vehicle comprising the arrangement according to claim 1 .

11. A method for facilitating handover to and from an automated autonomous driving aid system of a vehicle hosting a handover facilitating arrangement wherein the handover facilitating arrangement comprises a lane marking detecting unit configured to detect lane markings in an environment surrounding the vehicle, and a steering control driving aid system having an activated state in which the steering control driving aid system is configured to perform an automated steering of the vehicle by controlling steering of the vehicle in response to the detected lane markings, and a deactivated state in which no automated steering is performed, the method comprising:
determining a current position of the vehicle and a current heading direction of the vehicle, using a positioning system of the handover facilitating arrangement;
uploading to a database, via a communication system of the handover facilitating arrangement, at least one of the current position together with the current heading direction of the vehicle, and a planned route of the vehicle, wherein the database comprises lane mark data indicative of an incapability of performing automated steering of the vehicle at a portion of a road preceding the vehicle;
receiving the lane mark data from the database;
providing an alert signal, via an alert signal device of the handover facilitating arrangement, in case the lane mark data indicates the incapability of performing automated steering of the vehicle at an upcoming portion of the road; and
performing a handover of control of steering of the vehicle to a driver based on the alert signal.

12. The method according to claim 11 wherein the handover facilitating arrangement further comprises a vehicle velocity control driving aid system configured to control velocity of the vehicle hosting the handover facilitating arrangement, the method further comprising:
reducing the velocity of the vehicle, using the vehicle velocity control driving aid system, in case at least one of a distance from the vehicle hosting the handover facilitating arrangement to the upcoming portion of the road is shorter than a second predetermined distance and an estimated time of arrival to the upcoming portion of the road is lower than a second predetermined time prior to an estimated time of arrival to the upcoming portion of the road.

13. The method according to claim 11 further comprising:
providing a notification signal in a driver environm

Assignees

• Volvo Car Corp

Inventors

• Christensen Claus Allan
• Hedegaard Christian
• Israelsson Erik
• Bove Thomas

Classifications

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• B60W2556/50

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

• B60W2050/143

  Alarm means · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title