Apparatus and method transitioning between driving states during navigation for highly automated vechicle

• US 10,527,450 B2
• Filed: 01/26/2017
• Issued: 01/07/2020
• Est. Priority Date: 03/29/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: McNew, John-Michael, Ebe, Kazutoshi, Prokhorov, Danil V., Delp, Michael J.
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/416,901
• Publication Number:
  US 20170284823A1
• Time in Patent Office: 1,076 Days
• Field of Search: 701428
• CPC Class Codes: B60W 2040/0818 Inactivity or incapacity of driver
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: G01C 21/3605 Destination input or retrieval
• CPC Class Codes: G01C 21/3667 Display of a road map G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

A navigation apparatus for an autonomous vehicle includes circuitry configured to receive at least one route between a start location and a destination, display the at least one route on a first screen that allows selection of a first set of routes from the at least one route, receive a plurality of characteristics corresponding to each of the at least one route. Each characteristic of the plurality of characteristics is associated with a measure and a longest block within which each characteristic can be performed continuously. The circuitry further configured to divide a route of the at least one route to generate a plurality of segments based on the plurality of characteristics, and display the first set of routes, the plurality of characteristics corresponding to the first set of routes, the measure and the longest block corresponding to the plurality of characteristics on a second screen.

Claims

1. A navigation apparatus for an autonomous vehicle comprising:

circuitry configured to

determine a plurality of routes between a start location and a destination,

identify characteristics for each of the plurality of routes, each characteristic associated with at least one route of the plurality of routes and a corresponding measure,

divide each route of the plurality of routes into segments based on the characteristics,

determine longest blocks within each route, the longest blocks corresponding to a longest segment of the respective routes along which the characteristics associated with the respective routes can be performed continuously, said each characteristic identifying a state a driver of the autonomous vehicle can occupy while the autonomous vehicle is travelling to the destination,

display the segmented plurality of routes, for each route the display including the characteristics associated with the route, the corresponding measure, and the corresponding longest blocks, and

display a real-time route selected from the plurality of routes by the driver of the autonomous vehicle.

2. The navigation apparatus according to claim 1, wherein the characteristics include a travel time, a travel distance, a hands free state, an eyes-off-road state, a sleeping state, a reclining state, a seat forward state, a manual state, a safety factor and a fuel economy factor.

3. The navigation apparatus according to claim 1, wherein the processing circuitry is further configured to display the plurality of routes including a summary of each of the routes.

4. The navigation apparatus according to claim 3, wherein the summary is based on the characteristics associated with each route and the corresponding measure.

5. The navigation apparatus according to claim 1, wherein a first segment of the segments is highlighted with a first identifier corresponding to a first characteristic of the characteristics and a second segment of the segments is highlighted with a second identifier corresponding to a second characteristic of the characteristics.

6. The navigation apparatus according to claim 5, wherein the first identifier or the second identifier of the segments are based on a color-coding scheme to identify the first segment or the second segment.

7. The navigation apparatus according to claim 6, wherein a first color identifies the first segment having the first characteristic and a second color identifies the second segment having the second characteristic.

8. The navigation apparatus according to claim 1, wherein the corresponding measure is at least one of a time and a distance.

9. The navigation apparatus according to claim 8, wherein the circuitry is further configured to display at least one transition point on the real-time route, wherein each transition point corresponds to a start of a segment of the segments associated with the real-time route.

10. The navigation apparatus according to claim 9, wherein a number of transition points is substantially equal to a number of segments corresponding to the real-time route.

11. The navigation apparatus according to claim 9, wherein the circuitry is further configured to display a transition message at the transition point on the real-time route, the transition point corresponds to a start of a segment of the segments corresponding to the real-time route.

12. The navigation apparatus according to claim 11, wherein the transition message is associated with an appended message, wherein the appended message includes the characteristics ordered based on the corresponding measure of each of the plurality of characteristics.

13. A method for navigation of an autonomous vehicle, the method comprising:

determining a plurality of routes between a start location and a destination;

identifying characteristics for each of the plurality of routes, each characteristic associated with at least one route of the routes and a corresponding measure;

dividing, using processing circuitry, each route of the plurality of routes into segments based on the characteristics;

determining, using, the processing circuitry, longest blocks within each route, the longest blocks corresponding to a longest segment of the respective routes along which the characteristics associated with the respective routes can be performed continuously, said each characteristic identifying a state a driver of the autonomous vehicle can occupy while the autonomous vehicle is travelling to the destination;

displaying, using the processing circuitry, the segmented plurality of routes, for each route the display including the characteristics associated with the route, the corresponding measure, and the corresponding longest blocks; and

displaying, using the processing circuitry, a real-time route selected from the plurality of routes by the driver of the autonomous vehicle.

14. The method according to claim 13, further displaying, using the processing circuitry, at least one transition point on the real-time route, a transition point corresponds to start of a segment of the segments associated with the real-time route.

15. The method according to claim 14, further displaying, using the processing circuitry, a transition message at the transition point on the real-time route, the transition point corresponds to start of a segment of the segments corresponding to the real-time route.

16. The method according to claim 15, wherein the transition message is associated with an appended message, where the appended message includes the characteristics ordered based on the corresponding measure of each of the characteristics.

17. The method according to claim 13, wherein a first segment of the segments is highlighted with a first identifier corresponding to a first characteristics of the characteristics and a second segment the segments is highlighted with a second identifier corresponding to a second characteristic of the characteristics.

18. A non-transitory computer-readable medium storing a program which when executed by a computer, causes the computer to perform a method for navigation of an autonomous vehicle, the method comprising:

determining a plurality of routes between a start location and a destination;

identifying characteristics for each of the plurality of routes, each characteristic associated with at least one route of the plurality of routes and a corresponding measure;

dividing, using processing circuitry, each route of the plurality of routes into segments based on the characteristics;

determining, using, the processing circuitry, longest blocks within each route, the longest blocks corresponding to a longest segment of the respective routes along which the characteristics associated with the respective routes can be performed continuously, said each characteristic identifying a state a driver of the autonomous vehicle can occupy while the autonomous vehicle is travelling to the destination;

displaying, using the processing circuitry, the segmented plurality of routes, for each route the display including the characteristics associated with the route, the corresponding measure, and the corresponding longest blocks; and

displaying, using the processing circuitry, a real-time route selected from the plurality of routes by the driver of the autonomous vehicle.