Autonomous driving system and method for same

• US 10,345,806 B2
• Filed: 02/17/2015
• Issued: 07/09/2019
• Est. Priority Date: 02/18/2014
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Inventors: Dias, Eduardo
• Primary Examiner(s): Merlino, David P.
• Application Number:
  US15/119,021
• Publication Number:
  US 20160357186A1
• Time in Patent Office: 1,603 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/0074 Driver shifts control to the controller, e.g. by pressing a button
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0055 only part of driving tasks shifted to occupants
• CPC Class Codes: G06V 20/59 inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
• CPC Class Codes: G06V 40/107 Static hand or arm
• CPC Class Codes: G06V 40/28 Recognition of hand or arm movements, e.g. recognition of deaf sign language static hand signs G06V40/113

Abstract

The invention relates to an activation system for a vehicle comprising a steering wheel (20) and a semi-autonomous or an autonomous control system. The activation system comprises at least one imaging means (12), such as a camera, having a field of view encompassing at least a substantial portion of the steering wheel arranged to collect, in use, a first image data set representing a raw image of a subject within said field of view. A control module is also provided for processing said first image data and for making a determination as to whether a driver currently has both of their hands on the steering wheel or not. In response to making said determination, the activation system is configured and/or arranged to trigger a semi-autonomous or an autonomous control system.

Claims

1. An activation system for a vehicle semi-autonomous or autonomous steering control system, the activation system comprising:

at least one imager having a field of view encompassing at least a portion of a driver operable steering device, wherein the at least one imager collects a first image data set representing a raw image within said field of view; and

a control module comprising one or more processors configured to receive the first image data set and to process said first image data set to determine whether a driver is currently operating said driver operable steering device or not;

wherein, in response to determining that the driver is not currently operating said driver operable steering device, the activation system activates the semi-autonomous or autonomous steering control system;

wherein processing the first image data set comprises;

comparing the first image data set with a background image data set;

creating a first modified data set in dependence upon said first image data set and in dependence upon said background image data set;

creating a second modified data set in dependence upon a brightness characteristic associated with data elements of the first modified data set;

creating a third modified data set by identifying and blending incongruous pixels represented by data elements in the second modified data set with the pixels around them;

determining whether turning whether the third modified data set comprises data elements relating to two areas corresponding to both hands of the driver within the field of view of the at least one imager; and

identifying shapes of the two areas and comparing the identified shapes of the two areas to one or more reference shapes to identify a shape in an expected region of the driver'"'"'s fingers indicating that the fingers are gripping the steering device or are not gripping the steering device.

2. The system of claim 1, wherein determining whether a driver is currently operating said driver operable steering device or not is made by determining whether both hands of the driver are off the steering device or whether both hands of the driver are on the steering device.

3. The system of claim 1, wherein the at least one imager comprises a thermal camera, a near infra-red camera, a stereo camera, a time of flight camera, a monochrome camera or an RGB camera.

4. The system of claim 1, wherein the at least one imager is located in one or more of a portion of an interior roof of the vehicle in a region above a driver'"'"'s seat, a portion of the interior roof, a housing for interior lights, a rear-view mirror and/or in a B-pillar of the vehicle.

5. The system of claim 1, wherein the driver operable steering device comprises a steering wheel.

6. The system of claim 1, wherein said background image data set characterizes a background image collected when no driver is present within the field of view, and wherein said background image data set comprises a first sequence of data elements each representing a pixel of the background image.

7. The system of claim 6, wherein said first image data set comprises a second sequence of data elements each representing a pixel of said raw image of the subject within said field of view, and wherein said background image data set and said first image data set comprise a same number of data elements.

8. The system of claim 7, wherein said first modified data set is created by comparing data elements of said first image data set with corresponding data elements of said background image data set and characterizing matching data elements by a dark and/or black data element in said second image data set, and by characterizing different data elements by a white and/or bright data element.

9. The system of claim 1, wherein data elements of the first modified data set are categorized via the one or more processors as being above or below a brightness threshold in creating a second modified data set.

10. The system of claim 1, wherein upon determining that the third modified data set comprises data elements relating to two white and/or bright areas, a negative determination is made that a driver'"'"'s hands are off the driver operable steering device, or wherein upon determining that the third modified data set does not comprise data elements relating to the two white and/or bright areas, a positive determination is made that a driver'"'"'s hands are off the driver operable steering device.

11. A vehicle comprising the system of claim 1.

12. The vehicle of claim 11, wherein the autonomous or semi-autonomous steering control system controls vehicle steering.

13. The vehicle of claim 12, wherein the autonomous or semi-autonomous steering control system controls one or more of the following:

vehicle speed, headway, following distance, acceleration, deceleration, and spatial positioning with respect to other vehicles, in response to activation thereof.

14. A method of activating a semi-autonomous or autonomous control system by recognizing whether a person'"'"'s hands are present within an image, the method comprising:

receiving a first image data set representing a raw image within a field of view encompassing at least a portion of a driver operable steering device; and

processing said first image data set to determine whether a driver is currently operating the driver operable steering device or not;

wherein, in response to determining that the driver is not currently operating said driver operable steering device, activating the semi-autonomous or autonomous steering control system;

the processing of said first image data comprising;

comparing the first image data set with a background image data set;

creating a first modified data set in dependence upon said first image data set and in dependence upon said background image data set;

creating a second modified data set in dependence upon a brightness characteristic associated with data elements of the first modified data set;

creating a third modified data set by identifying and blending incongruous pixels represented by data elements in the second modified data set with the pixels around them;

determining whether the third modified data set comprises data elements relating to two areas corresponding to both hands of the driver within the field of view; and

identifying shapes of the two areas and comparing the identified shapes of the two areas to one or more reference shapes to identify a shape in an expected region of the driver'"'"'s fingers indicating that the fingers are gripping the steering device or are not gripping the steering device.

15. The method of claim 14, further comprising:

in the absence of data elements within the third modified data set relating to two areas, determining that the person'"'"'s hands are off the steering device present within the image; and

in the presence of data elements within the third modified data set relating to two areas, determining that the person'"'"'s hands are on the steering device present within the image.