Autonomous vehicle human driver takeover mechanism using electrodes

• US 10,007,264 B2
• Filed: 07/14/2016
• Issued: 06/26/2018
• Est. Priority Date: 07/14/2016
• Status: Active Grant

• Current Assignee: Baidu USA LLC (Baidu Incorporated)
• Original Assignee: Baidu USA LLC (Baidu Incorporated)
• Inventors: Zhu, Fan, Kong, Qi, Yang, Guang, Wang, Jingao
• Primary Examiner(s): Antonucci, Anne M
• Application Number:
  US15/210,764
• Publication Number:
  US 20180017968A1
• Time in Patent Office: 712 Days
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2540/223 Posture, e.g. hand, foot, or seat position, turned or inclined
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0054 Selection of occupant to assume driving tasks
• CPC Class Codes: B62D 1/046 Adaptations on rotatable parts of the steering wheel for accommodation of switches

Abstract

In one embodiment, an autonomous vehicle is operated in an autonomous mode, where during the autonomous mode, the autonomous vehicle operates without influence of a human driver riding the autonomous vehicle. An electrical current is detected flowing through a first electrode and a second electrode mounted on a steering wheel of the autonomous vehicle. In response to the detecting the electrical current flowing through the first and second electrodes, the autonomous vehicle is transitioned from the autonomous mode to a manual mode. Thereafter, the autonomous vehicle is operated in the manual mode in response to user actions from the human driver.

Claims

1. A computer-implemented method for operating an autonomous vehicle, the method comprising:

operating an autonomous vehicle in an autonomous mode, wherein during the autonomous mode, the autonomous vehicle operates without influence of a human driver riding in the autonomous vehicle;

detecting an electrical current flowing from a first electrode to a second electrode mounted on a steering wheel of the autonomous vehicle, wherein the first electrode is disposed on a first half of the steering wheel and significantly over a surface of the first half of the steering wheel, and wherein the second electrode is disposed on a second half of the steering wheel and significantly over a surface of the second half of the steering wheel;

detecting that the electrical current has been flowing from the first electrode to the second electrode for a predetermined of time;

in response to the detecting the electrical current flowing from the first electrode to the second electrode for the predetermined period of time, transitioning the autonomous vehicle from the autonomous mode to a manual mode; and

operating the autonomous vehicle in the manual mode in response to user actions from the human driver.

2. The method of claim 1, wherein the first electrode is mounted on a first location of the steering wheel and the second electrode is mounted on a second location of the steering wheel without physical contact.

3. The method of claim 2, wherein the first electrode is mounted on a left half of a perimeter of the steering wheel and the second electrode is mounted on a right second half of the perimeter of the steering wheel.

4. The method of claim 2, wherein the electrical current is generated when a first body part of the human driver contacts the first electrode and a second body part of the human driver contacts the second electrode.

5. The method of claim 4, wherein the electrical current is generated due to the electrical current flowing through a human body of the human driver when the human driver contacts the first electrode and the second electrode.

6. The method of claim 4, wherein the electrical current is generated when human driver grabs the steering wheel by hands thereby contacting the first electrode and the second electrode mounted on the steering wheel.

7. The method of claim 1, further comprising:

detecting that the electrical current has stopped flowing through the first electrode and the second electrode while the autonomous vehicle is operating in the manual mode; and

in response to detecting that the electrical current has stopped flowing from the first electrode, to the second electrode, transitioning the autonomous vehicle back to the autonomous mode.

8. A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including

operating an autonomous vehicle in an autonomous mode, wherein during the autonomous mode, the autonomous vehicle operates without influence of a human driver riding in the autonomous vehicle;

detecting an electrical current flowing from a first electrode to a second electrode mounted on a steering wheel of the autonomous vehicle, wherein the first electrode is disposed on a first half of the steering wheel and significantly over a surface of the first half of the steering wheel, and wherein the second electrode is disposed on a second half of the steering wheel and significantly over a surface of the second half of the steering wheel;

detecting that the electrical current has been flowing from the first electrode to the second electrode for a predetermined of time;

in response to the detecting the electrical current flowing from the first electrode to the second electrode for the predetermined period of time, transitioning the autonomous vehicle from the autonomous mode to a manual mode; and

operating the autonomous vehicle in the manual mode in response to user actions from the human driver.

9. The machine-readable medium of claim 8, wherein the first electrode is mounted on a first location of the steering wheel and the second electrode is mounted on a second location of the steering wheel without physical contact.

10. The machine-readable medium of claim 9, wherein the first electrode is mounted on a left half of a perimeter of the steering wheel and the second electrode is mounted on a right half of the perimeter of the steering wheel.

11. The machine-readable medium of claim 9, wherein the electrical current is generated when a first body part of the human driver contacts the first electrode and a second body part of the human driver contacts the second electrode.

12. The machine-readable medium of claim 11, wherein the electrical current is generated due to the electrical current flowing through a human body of the human driver when the human driver contacts the first electrode and the second electrode.

13. The machine-readable medium of claim 11, wherein the electrical current is generated when human driver grabs the steering wheel by hands thereby contacting the first electrode and the second electrode mounted on the steering wheel.

14. The machine-readable medium of claim 8, further comprising:

detecting that the electrical current has stopped flowing through the first electrode and the second electrode while the autonomous vehicle is operating in the manual mode; and

in response to detecting that the electrical current has stopped flowing from the first electrode to the second electrode, transitioning the autonomous vehicle back to the autonomous mode.

15. A data processing system, comprising:

a processor; and

a memory coupled to the processor for storing instructions, which when executed by the processor, cause the processor to perform operations of operating an autonomous vehicle, the operations including

operating an autonomous vehicle in an autonomous mode, wherein during the autonomous mode, the autonomous vehicle operates without influence of a human driver riding in the autonomous vehicle;

detecting an electrical current flowing from a first electrode to a second electrode mounted on a steering wheel of the autonomous vehicle, wherein the first electrode is disposed on a first half of the steering wheel and significantly over a surface of the first half of the steering wheel, and wherein the second electrode is disposed on a second half of the steering wheel and significantly over a surface of the second half of the steering wheel;

detecting that the electrical current has been flowing from the first electrode to the second electrode for a predetermined of time;

in response to the detecting the electrical current flowing from the first electrode to the second electrode for the predetermined period of time, transitioning the autonomous vehicle from the autonomous mode to a manual mode; and

operating the autonomous vehicle in the manual mode in response to user actions from the human driver.

16. The system of claim 15, wherein the first electrode is mounted on a first location of the steering wheel and the second electrode is mounted on a second location of the steering wheel without physical contact.

17. The system of claim 16, wherein the first electrode is mounted on a left half of a perimeter of the steering wheel and the second electrode is mounted on a right half of the perimeter of the steering wheel.

18. The system of claim 16, wherein the electrical current is generated when a first body part of the human driver contacts the first electrode and a second body part of the human driver contacts the second electrode.

19. The system of claim 18, wherein the electrical current is generated due to the electrical current flowing through a human body of the human driver when the human driver contacts the first electrode and the second electrode.

20. The system of claim 18, wherein the electrical current is generated when human driver grabs the steering wheel by hands thereby contacting the first electrode and the second electrode mounted on the steering wheel.

21. The system of claim 15, wherein the operations further comprise:

detecting that the electrical current has stopped flowing from the first electrode to the second electrode while the autonomous vehicle is operating in the manual mode; and

in response to detecting that the electrical current has stopped flowing through the first electrode and the second electrode, transitioning the autonomous vehicle back to the autonomous mode.