Autonomous-vehicle-control system and method incorporating occupant preferences

• US 10,266,182 B2
• Filed: 01/10/2017
• Issued: 04/23/2019
• Est. Priority Date: 01/10/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Krishnan, Lakshmi, Charette, Francois
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/402,960
• Publication Number:
  US 20180194366A1
• Time in Patent Office: 833 Days
• Field of Search: 701 23, 701300
• CPC Class Codes: B60W 2040/089 Driver voice
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/087 where the control system corrects or modifies a request from the driver
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: G01C 21/36 Input/output arrangements for on-board computers
• CPC Class Codes: G10L 15/22 Procedures used during a speech recognition process, e.g. man-machine dialogue
• CPC Class Codes: G10L 2015/223 Execution procedure of a spoken command
• CPC Class Codes: G10L 2015/228 of application context

Abstract

A method is disclosed for incorporating preferences of a human occupant into an autonomous driving experience. The method may include a computer system autonomously controlling speed and steering of a vehicle. While it is controlling the vehicle, the computer system may interpret a speech command received from a human occupant of the vehicle. The computer system may determine whether changing at least one of the speed and steering in accordance with the speech command would be safe and legal. If it would be safe and legal, the computer system may change the at least one of the speed and steering in accordance with the speech command. If it would not be safe and legal, the computer system may leave the at least one of the speed and steering unchanged in contravention of the speech command.

Claims

1. A method comprising:

autonomously controlling, by a computer system, speed and steering of a vehicle;

interpreting, by the computer system during the controlling, a speech command received from a human occupant of the vehicle;

(a) determining, by the computer system, whether changing at least one of the speed and steering in accordance with the speech command would be safe and legal; and

(b) implementing, by the computer system, the speech command in accordance with (a) at a first time;

(c) determining a location at which the speech command was received;

(d) storing the location and the speech command;

(e) detecting a return navigation to the location a second time after the first time; and

(f) in response to (e), again implementing, by the computer system, the speech command in accordance with (a).

2. The method of claim 1, wherein the implementing comprises changing the at least one of the speed and steering in accordance with the speech command when the computer system determines it would be safe and legal to do so.

3. The method of claim 1, wherein the implementing comprises leaving the at least one of the speed and steering unchanged in contravention of the speech command when the computer system determines it would be unsafe or illegal to act in accordance with the speech command.

4. The method of claim 1, wherein the implementing comprises changing, as the vehicle navigates a feature corresponding to the location within a real world driving environment, the at least one of the speed and steering in accordance with the speech command when the computer system determines it would be safe and legal to do so.

5. The system of claim 1, wherein the speech command is a command to take a turn at a slower speed and the location is the location of the turn;

and

wherein the system is programmed to respond to the speech command by executing each instance of traversing the turn at the slower speed.

6. A method comprising:

autonomously controlling, by a first computer system, speed and steering of a first vehicle;

interpreting, by the first computer system during the controlling, a speech command received from a human occupant of the first vehicle;

storing, by the first computer system on a remote storage device, information communicated in the speech command as a preference of the human occupant associated with a unique identifier of the human occupant;

autonomously controlling, by a second computer system, speed and steering of a second vehicle distinct from the first vehicle;

detecting, by the second computer system, the human occupant within the second vehicle;

determining, by the second computer system, that human occupant corresponds to the unique identifier;

obtaining, by the second computer system, the preference of the human occupant associated with the unique identifier from the remote storage device;

determining, by the second computer system, whether changing at least one of the speed and steering of the second vehicle in accordance with the preference would be safe and legal; and

implementing, by the second computer system, the preference in accordance with the determining.

7. The method of claim 6, wherein the implementing comprises changing the at least one of the speed and steering of the second vehicle in accordance with the preference when the second computer system determines it would be safe and legal to do so.

8. The method of claim 6, wherein the implementing comprises leaving the at least one of the speed and steering of the second vehicle unchanged in contravention of the preference when the second computer system determines it would be unsafe or illegal to act in accordance with the preference.

9. The method of claim 6, wherein the interpreting occurs during a first navigation of a first particular feature within a real world driving environment by the first vehicle.

10. The method of claim 9, wherein the implementing occurs during a second, subsequent navigation of the first particular feature by the second vehicle.

11. The method of claim 9, wherein the implementing occurs while navigating, by the second vehicle, a second particular feature spaced within the real world driving environment from the first particular feature.

12. A system comprising:

at least one processor carried on-board a first autonomous vehicle; and

first memory operably connected to the at least one processor, the first memory storing software programmed to

control speed and steering of the first autonomous vehicle,

interpret a speech command received from a human occupant of the first autonomous vehicle, the speech command being a preference for behavior during a driving maneuver;

autonomously determine to perform the driving maneuver in multiple instances;

for each instance of the multiple instances in which the driving maneuver is performed;

determine whether changing at least one of the speed and steering of the first autonomous vehicle in accordance with the preference is within a range of safe and legal limits, and

change the at least one of the speed and steering of the first autonomous vehicle in accordance with the preference when it is determined that the preference is within the range of safe and legal limits, and

leave the at least one of the speed and steering of the first autonomous vehicle unchanged in contravention of the speech command when it is determined that the preference is not within the range of safe and legal limits.

13. The system of claim 12, wherein the first memory further stores software programmed to store on a remote storage device information communicated in the speech command as a preference of the human occupant.

14. The system of claim 13, further comprising:

one or more processors carried on-board a second autonomous vehicle; and

second memory operably connected to the one or more processors, the second memory storing software programmed to control speed and steering of the second autonomous vehicle.

15. The system of claim 14, wherein the second memory further stores software programmed to:

detect the human occupant within the second autonomous vehicle;

obtain the preference from the remote storage device;

determine whether changing at least one of the speed and steering of the second autonomous vehicle in accordance with the preference would be safe and legal; and

change the at least one of the speed and steering of the second autonomous vehicle in accordance with the preference when it is determined that it would be safe and legal to do so; and

leave the at least one of the speed and steering of the second autonomous vehicle unchanged in contravention of the preference when it is determined that it would be unsafe or illegal to act in accordance with the preference.

16. The system of claim 12, wherein

the preference is a preferred turning speed;

wherein the software is further programmed to, for each turn autonomously determined to be executed by the software, (a) evaluate the preferred turning speed with respect to safe and legal limits for the each turn, and (b) when the preferred turning speed is within the safe and legal limits for the each turn, autonomously execute the each turn at the preferred turning speed.

17. The system of claim 16, wherein the preferred turning speed is a percentage of a maximum turning speed.