Drive-by-wire control system

• US 9,580,080 B1
• Filed: 03/15/2016
• Issued: 02/28/2017
• Est. Priority Date: 03/15/2016
• Status: Active Grant

• Current Assignee: Uatc, LLC (Uber Technologies, Inc.)
• Original Assignee: Uber Technologies, Inc.
• Inventors: Letwin, Nicholas, Jones, Morgan
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US15/070,754
• Time in Patent Office: 350 Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2310/30 Mode switching, e.g. changing from one cruise control mode to another
• CPC Class Codes: B60K 26/02 of initiating means or elements
• 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 50/08 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 60/005 Handover processes Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: F16H 59/02 Selector apparatus
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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

Abstract

An autonomy controller for a vehicle. The autonomy controller detects a user input to enable an autonomous driving mode for the vehicle. In response to the user input, the autonomy controller determines a condition of one or more control interfaces configured to control respective vehicle operations. The autonomy controller may then selectively enable the autonomous driving mode based at least in part on the condition of each of the one or more control interfaces. For example, the autonomy controller may enable the autonomous driving mode only if each of the one or more control interfaces is in a ready condition.

Claims

1. A method of operating a vehicle, the method comprising:

detecting a first user input on a first input mechanism, the first user input to enable an autonomous driving mode for the vehicle;

in response to the first user input, determining a condition of one or more control interfaces configured to control respective vehicle operations;

determining that each of the one or more control interfaces is in a ready condition;

selectively enabling the autonomous driving mode based on the ready condition of each of the one or more control interfaces;

while the autonomous driving mode is enabled, detecting a second user input on a second input mechanism, the second user input to engage the autonomous driving mode; and

engaging the autonomous driving mode for the vehicle in response to the second user input.

2. The method of claim 1, wherein the one or more control interfaces comprise at least a braking control interface.

3. The method of claim 1, wherein the ready condition indicates that the corresponding control interface is able to safely assume control of the respective vehicle operation.

4. The method of claim 1, further comprising:

disabling the autonomous driving mode if at least one of the one or more control interfaces is not in a ready condition.

5. The method of claim 4, wherein the autonomous driving mode remains disabled at least until a subsequent user input on the first input mechanism, to re-enable the autonomous driving mode, is detected.

6. The method of claim 1, wherein each of the one or more control interfaces is configured to control a respective braking, steering, shifting, or acceleration of the vehicle.

7. The method of claim 2, wherein each of the braking control interface, the steering control interface, and the acceleration control interface are coupled in series to a drive-by-wire controller that implements the autonomous driving mode on the vehicle, and wherein a break in the series, corresponding to a fault condition, automatically disables the autonomous driving mode.

8. The method of claim 1, wherein, prior to engaging the autonomous driving mode, the vehicle operations are controlled by one or more manual input mechanisms.

9. The method of claim 8, wherein the one or more manual input mechanisms include at least one of a brake pedal, an accelerator pedal, a gear selector, or a steering wheel.

10. The method of claim 8, wherein engaging the autonomous driving mode comprises:

transferring control of the vehicle operations to the one or more control interfaces.

11. An autonomy controller for a vehicle, the autonomy controller comprising:

one or more processors; and

a memory storing instructions that, when executed by the one or more processors, cause the autonomy controller to;

detect a first user input on a first input mechanism, the first user input to enable an autonomous driving mode for the vehicle;

in response to the first user input, determine a condition of one or more control interfaces configured to control respective vehicle operations;

determine that each of the one or more control interfaces is in a ready condition;

selectively enable the autonomous driving mode based on the ready condition of each of the one or more control interfaces;

while the autonomous driving mode is enabled, detect a second user input on a second input mechanism, the second user input to engage the autonomous driving mode; and

engage the autonomous driving mode for the vehicle in response to the second user input.

12. The autonomy controller of claim 11,

wherein the ready condition indicates that the corresponding control interface is able to safely assume control of the respective vehicle operation.

13. The autonomy controller of claim 11, wherein execution of the instructions further causes the autonomy controller to:

disable the autonomous driving mode if at least one of the one or more control interfaces is not in a ready condition.

14. The autonomy controller of claim 13, wherein the autonomous driving mode remains disabled at least until a subsequent user input on the first input mechanism, to re-enable the autonomous driving mode, is detected.

15. The autonomy controller of claim 11, wherein each of the one or more control interfaces is configured to control a respective braking, steering, shifting, or acceleration of the vehicle.

16. The autonomy controller of claim 11, wherein the one or more control interfaces comprise at least a braking control interface, a steering control interface, and an acceleration control interface, wherein each of the braking control interface, the steering control interface, and the acceleration control interface are coupled in series to the autonomy controller, and wherein a break in the series, corresponding to a fault condition, automatically disables the autonomous driving mode.

17. The autonomy controller of claim 11, wherein, prior to engaging the autonomous driving mode, the vehicle operations are controlled by one or more manual input mechanisms.

18. The autonomy controller of claim 17, wherein the one or more manual input mechanisms include at least one of a brake pedal, an accelerator pedal, a gear selector, or a steering wheel.

19. The autonomy controller of claim 17, wherein execution of the instructions to engage the autonomous driving mode causes the autonomy controller to:

transfer control of the vehicle operations to the one or more control interfaces.

20. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of an autonomy controller for a vehicle, cause the autonomy controller to:

detect a first user input on a first input mechanism, the first user input to enable an autonomous driving mode for the vehicle;

in response to the first user input, determine a condition of one or more control interfaces configured to control respective vehicle operations;

determine that each of the one or more control interfaces is in a ready condition;

selectively enable the autonomous driving mode based on the ready condition of each of the one or more control interfaces;

while the autonomous driving mode is enabled, detect a second user input on a second input mechanism, the second user input to engage the autonomous driving mode; and

engage the autonomous driving mode for the vehicle in response to the second user input.