Driver transition assistance for transitioning to manual control for vehicles with autonomous driving modes

• US 10,513,273 B1
• Filed: 09/28/2017
• Issued: 12/24/2019
• Est. Priority Date: 09/28/2017
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Stark, Ethan, Egnor, Daniel Trawick, Cash, Ryan, Schultz, Andrew
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/718,477
• Time in Patent Office: 817 Days
• Field of Search: 701 22, 701 23, 702 3
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• 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 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/18109 Braking
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18159 Traversing an intersection
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/0054 Selection of occupant to assume driving tasks
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00

Abstract

Aspects of the disclosure relate to controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle. For instance, one or more processors of one or more control computing devices may control the vehicle in the autonomous driving mode. While controlling the vehicle in the autonomous driving mode and decelerating at a given rate, the processors may receive at a user input of the vehicle input requesting a transition from the autonomous driving mode to the manual driving mode. In response to the input, the processors may transition the vehicle to the manual driving mode. After transitioning the vehicle to the manual driving mode, the processors may send deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate.

Claims

1. A method of controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle, the method comprising:

controlling, by one or more processors of one or more control computing devices, the vehicle in the autonomous driving mode;

while controlling the vehicle in the autonomous driving mode and decelerating at a given rate, receiving, by the one or more processors at a user input of the vehicle, input requesting a transition from the autonomous driving mode to the manual driving mode;

in response to the input, transitioning the vehicle to the manual driving mode; and

after transitioning the vehicle to the manual driving mode, sending, by the one or more processors over a given period, deceleration signals to a deceleration actuator thereby causing the vehicle to continue to decelerate at the given rate during the given period.

2. The method of claim 1, further comprising, after receiving the input, determining that the one or more control computing devices are currently causing the vehicle to decelerate, and wherein the given period over which the deceleration signals are sent is based on the determination that the control computing devices are currently causing the vehicle to deceleration.

3. The method of claim 2, further comprising, after determining that the one or more control computing devices are currently causing the vehicle to decelerate, comparing an amount of deceleration currently requested by the control computing devices to a threshold deceleration, and wherein the given period over which the deceleration signals are sent is further based on the comparison.

4. The method of claim 1, further comprising, identifying a distance that user input has moved to cause the input, and wherein the given period over which the deceleration signals are sent is based on the distance.

5. The method of claim 1, further comprising, identifying a force on the user input to cause the input, and wherein the given period over which the deceleration signals are sent is based on a magnitude of the force.

6. The method of claim 1, wherein the given period over which the deceleration signals are sent is based upon a current plan of operation by the one or more control computing devices when that the input is received.

7. The method of claim 1, wherein the given period over which the deceleration signals are sent to the deceleration actuator is based upon the time required for a deceleration signal initiated by input at a deceleration pedal of the vehicle to reach the deceleration actuator.

8. The method of claim 1, wherein the given period over which the deceleration signals are sent to the deceleration actuator is based upon the time required for an acceleration signal initiated by user input at a deceleration pedal of the vehicle to reach an acceleration actuator of the vehicle that causes the vehicle to accelerate.

9. The method of claim 1, wherein the user input is a steering wheel of the vehicle.

10. The method of claim 1, wherein the user input is a brake pedal of the vehicle.

11. The method of claim 1, wherein while controlling the vehicle in the autonomous driving mode and decelerating at the given rate, the vehicle is also changing orientation at a second given rate, and wherein the method further comprises, after transitioning the vehicle to the manual driving mode, sending, by the one or more processors, steering orientation signals to a steering actuator thereby causing the vehicle to continue to change orientation at the second given rate.

12. A system for controlling a transition between a manual driving mode and an autonomous driving mode of a vehicle, the system comprising one or more processors configured to:

control the vehicle in the autonomous driving mode;

while controlling the vehicle in the autonomous driving mode and decelerating at a given rate, receive, at a user input of the vehicle, input requesting a transition from the autonomous driving mode to the manual driving mode;

in response to the input, transition the vehicle to the manual driving mode; and

after transitioning the vehicle to the manual driving mode, send deceleration signals to a deceleration actuator for a given period thereby causing the vehicle to continue to decelerate at the given rate during the given period.

13. The system of claim 12, wherein the one or more processors are further configured to, after receiving the input, determine that the one or more control computing devices are currently causing the vehicle to decelerate, and wherein the given period over which deceleration signals are sent is based on the determination that the one or more control computing devices are currently causing the vehicle to deceleration.

14. The system of claim 13, wherein the one or more processors are further configured to, after determining that the one or more control computing devices are currently causing the vehicle to decelerate, compare an amount of deceleration currently requested by the one or more control computing devices to a threshold deceleration, and wherein the given period over which the deceleration signals are sent is further based on the comparison.

15. The system of claim 12, wherein the one or more processors are further configured to, identify a distance that user input has moved to cause the input, and wherein the given period over which the deceleration signals are sent is based on the distance.

16. The system of claim 12, wherein the one or more processors are further configured to identify an amount of force on the user input to cause the input, and wherein the given period over which the deceleration signals are sent is based on the amount of force.

17. The system of claim 12, wherein the fixed period over which the one or more processors continue to send the deceleration signals to the deceleration actuator is based upon the time required for a deceleration signal initiated by input at a deceleration pedal of the vehicle to reach the deceleration actuator.

18. The system of claim 12, wherein the fixed period over which the one or more processors continue to send the deceleration signals to the deceleration actuator is based upon the time required for an acceleration signal initiated by user input at a deceleration pedal of the vehicle to reach an acceleration actuator of the vehicle that causes the vehicle to accelerate.

19. The system of claim 12, wherein while controlling the vehicle in the autonomous driving mode and decelerating at the given rate, the vehicle is also changing orientation at a second given rate, and wherein the one or more processors are further configured to, after transitioning the vehicle to the manual driving mode, send steering orientation signals to a steering actuator thereby causing the vehicle to continue to change orientation at the second given rate.

20. The system of claim 12, further comprising the vehicle.