Autonomous confidence control

Patent metadata

Field	Value
Publication number	US-9989963-B2
Application number	US-201615073116-A
Country	US
Kind code	B2
Filing date	Mar 17, 2016
Priority date	Feb 25, 2016
Publication date	Jun 5, 2018
Grant date	Jun 5, 2018

Abstract

Signals are from a plurality of sources representing aspects of the vehicle and an environment surrounding the vehicle. An autonomous confidence factor is developed based on component confidence levels for at least one of the signals. Control of the vehicle is transitioned between levels of autonomous control based at least in part on the autonomous confidence factor.

First claim

The invention claimed is:

1. A method, comprising:
collecting data from each of a plurality of respective vehicle subsystems;
determining a component confidence factor for each subsystem indicating a quality of the collected data from the respective subsystem based on the collected data and a weighting factor;
determining a global autonomous confidence factor based at least in part on the component confidence factors; and
transitioning between levels of autonomous control of the vehicle based at least in part on the global autonomous confidence factor.

2. The method of claim 1 , wherein the levels include an autonomous, a semi-autonomous, and a manual level of control.

3. The method of claim 1 , wherein the specific weighted factor for a respective subsystem is determined by a value of the collected data from the respective subsystem.

4. The method of claim 1 , wherein the plurality of vehicle subsystems includes at least one of a lidar, a radar, an optical camera, an infrared camera, an ultrasonic transducer, an altimeter, a global position system, and a telematics system.

5. The method of claim 1 , further comprising changing from a first one of the levels of autonomous control to a second one of the levels of autonomous control when the global autonomous confidence factor exceeds a first threshold.

6. The method of claim 5 , further comprising changing to a semi-autonomous level of control when the global autonomous confidence factor is below the first threshold and exceeds a second threshold.

7. The method of claim 5 , wherein the vehicle subsystems each have a specific autonomous confidence threshold, the method further comprising autonomously controlling each of the vehicle subsystems when a specific component confidence factor for the vehicle subsystem exceeds the specific autonomous confidence threshold and allowing manual control of each of the vehicle subsystems when the specific component confidence factor for the vehicle subsystem that is below the specific autonomous confidence threshold.

8. The method of claim 1 , further comprising actuating at least one of vehicle steering, braking, and propulsion according to the global autonomous confidence factor.

9. The method of claim 1 , wherein the autonomous control includes control of each of vehicle steering, braking, and propulsion by a vehicle computer, semi-autonomous control includes control of at least one of vehicle steering, braking, and propulsion by the vehicle computer, and manual control includes control of none of vehicle steering, braking, and propulsion by the vehicle computer.

10. An autonomous vehicle, comprising:
a plurality of vehicle control subsystems; and
at least one controller programmed to:
collect data from each of the plurality of respective vehicle subsystems;
determine a component confidence factor for each subsystem indicating a quality of the collected data from the respective subsystem based on the collected data and a weighting factor;
determine a global autonomous confidence factor based at least in part on the component confidence factors; and
between levels of autonomous control of the vehicle based at least in part on the global autonomous confidence factor.

11. The vehicle of claim 10 , wherein the levels include an autonomous, a semi-autonomous, and a manual level of control.

12. The vehicle of claim 10 , wherein the plurality of vehicle subsystems includes at least one of a lidar, a radar, an optical camera, an infrared camera, an ultrasonic transducer, an altimeter, a global position system, and a telematics system.

13. The vehicle of claim 11 , wherein the controller is programmed to change from a first one of the levels of autonomous control to a second one of the levels of autonomous control when the global autonomous confidence factor exceeds a first threshold.

14. The vehicle of claim 13 , wherein the controller is programmed to change to a semi-autonomous level of control when the global autonomous confidence factor is below the first threshold and exceeds a second threshold.

15. The vehicle of claim 13 , wherein the vehicle subsystems each have a specific autonomous confidence threshold, the controller programmed to autonomously control each of the vehicle subsystems when a specific component confidence factor for the vehicle subsystem exceeds the specific autonomous confidence threshold and allowing manual control of each of the vehicle subsystems when the specific component confidence factor for the vehicle subsystem that is below the specific autonomous confidence threshold.

16. The vehicle of claim 10 , wherein the controller is programmed to actuate at least one of vehicle steering, braking, and propulsion according to the global autonomous confidence factor.

Assignees

• Ford Global Tech Llc

Inventors

• Perkins William Paul
• Kelley David B
• Miller Kenneth James

Classifications

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W60/0055

  only part of driving tasks shifted to occupants · CPC title

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• B62D15/0265

  Automatic obstacle avoidance by steering · CPC title

• B60W30/182

  Selecting between different operative modes, e.g. comfort and performance modes · CPC title