System for switching control of an autonomous vehicle

• US 9,616,896 B1
• Filed: 03/15/2016
• Issued: 04/11/2017
• 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): Soofi, Yazan
• Application Number:
  US15/070,795
• Time in Patent Office: 392 Days
• Field of Search: 701 23
• CPC Class Codes: B60K 2310/20 Operator actuated switches or levers for cruise control or speed limiting systems
• CPC Class Codes: B60K 2370/12 Input devices or input features
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• 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: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

A control interface for a first vehicle operation of an autonomous vehicle. The control interface detects an autonomy activation signal to enable a first automated controller to control the first vehicle operation. The control interface then couples the first automated controller to a vehicle control platform configured to manage the first vehicle operation in response to input signals. For example, the control inter face may include a double-throw electromechanical relay that switchably couples the vehicle control platform to one of the first automated controller or a manual input mechanism. The control interface then provides the input signals to the vehicle control platform from the first automated controller.

Claims

1. A method of controlling a vehicle operation of an autonomous vehicle, the method comprising:

using a fault detection component, monitoring an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;

detecting the autonomy activation signal to enable the autonomy controller to control the vehicle operation;

in response to the autonomy activation signal, determining, using the fault detection component, whether the autonomy controller is in a ready condition;

in response to determining that the autonomy controller is in the ready condition, coupling the autonomy controller to a vehicle control platform configured to manage the vehicle operation;

receiving input signals from the autonomy controller to autonomously control the vehicle operation; and

based on the autonomy controller being coupled to the vehicle control platform, providing the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.

2. The method of claim 1, wherein the vehicle operation corresponds to a braking, steering, shifting, or throttle operation of the autonomous vehicle.

3. The method of claim 1, further comprising:

based on the autonomy controller being in the ready condition, decoupling a manual input mechanism from the vehicle control platform.

4. The method of claim 3, wherein coupling the autonomy controller to the vehicle control platform comprises:

toggling a relay that switchably couples the vehicle control platform to one of the autonomy controller or the manual input mechanism.

5. The method of claim 4, wherein the relay is a double-throw (DT) electromechanical relay having a normally open position and a closed position.

6. The method of claim 5, wherein the vehicle control platform is coupled to receive the input signals from the manual input mechanism when the relay is in the normally open position.

7. The method of claim 6, wherein toggling the relay comprises:

closing the relay to enable the vehicle control platform to receive the input signals from the autonomy controller.

8. The method of claim 1, further comprising:

detecting an autonomy deactivation signal to disable the autonomy controller; and

in response to the autonomy deactivation signal, decoupling the autonomy controller from the vehicle control platform.

9. The method of claim 1, wherein the autonomy activation signal indicates a standby state for the vehicle operation, the standby state corresponding to the autonomy controller being able to safely assume control of the vehicle operation.

10. The method of claim 1, wherein the autonomy controller corresponds to one of a plurality of autonomy controllers for the autonomous vehicle, and wherein the autonomy activation signal indicates that each of the plurality of autonomy controllers is able to safely assume control of a respective vehicle operation.

11. A control interface for a vehicle operation of an autonomous vehicle, the control interface comprising:

one or more processors; and

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

using a fault detection component, monitor an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;

detect the autonomy activation signal to enable the autonomy controller to control the vehicle operation;

in response to the autonomy activation signal, determine, using the fault detection component, whether the autonomy controller is in a ready condition;

in response to determining that the autonomy controller is in the ready condition, couple the autonomy controller to a vehicle control platform configured to manage the vehicle operation;

receive input signals from the autonomy controller to autonomously control the vehicle operation; and

based on the autonomy controller being coupled to the vehicle control platform, provide the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.

12. The control interface of claim 11, wherein the vehicle operation corresponds to a braking, steering, shifting, or throttle operation of the autonomous vehicle.

13. The control interface of claim 11, wherein execution of the instructions further causes the control interface to:

based on the autonomy controller being in the ready condition, decouple a manual input mechanism from the vehicle control platform.

14. The control interface of claim 13, further comprising:

a relay that switchably couples the vehicle control platform to one of the autonomy controller or the manual input mechanism.

15. The control interface of claim 14, wherein the relay is a double-throw (DT) electromechanical relay having a normally open position and a closed position.

16. The control interface of claim 15, wherein the vehicle control platform is coupled to receive the input signals from the manual input mechanism when the relay is in the normally open position.

17. The control interface of claim 16, wherein execution of the instructions to couple the autonomy controller to the vehicle control platform causes the control interface to:

close the relay to enable the vehicle control platform to receive the input signals from the autonomy controller.

18. The control interface of claim 11, wherein execution of the instructions further causes the control interface to:

detect an autonomy deactivation signal to disable the autonomy controller;

in response to the autonomy deactivation signal, decouple the autonomy controller from the vehicle control platform.

19. The control interface of claim 11, wherein the autonomy activation signal indicates a standby state for the vehicle operation, the standby state corresponding to the autonomy controller being able to safely assume control of the vehicle operation.

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

using a fault detection component, monitor an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;

detect the autonomy activation signal to enable the autonomy controller to control the vehicle operation;

in response to the autonomy activation signal, determine, using the fault detection component, whether the autonomy controller is in a ready condition;

in response to determining that the autonomy controller is in the ready condition, couple the autonomy controller to a vehicle control platform configured to manage the vehicle operation;

receive input signals from the autonomy controller to autonomously control the vehicle operation; and

based on the autonomy controller being coupled to the vehicle control platform, provide the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.