Apparatuses, systems and methods for transitioning between autonomous and manual modes of vehicle operations

• US 9,690,292 B1
• Filed: 01/13/2016
• Issued: 06/27/2017
• Est. Priority Date: 01/13/2015
• Status: Active Grant

• Current Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Original Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Inventors: Chan, Aaron Scott, Sanchez, Kenneth Jason, Mullen, Christina P.
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US14/994,424
• Time in Patent Office: 531 Days
• CPC Class Codes: B60R 21/01542 detecting passenger motion
• CPC Class Codes: B60R 21/01552 detecting position of specific human body parts, e.g. face, eyes or hands
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/8006 for monitoring and displaying scenes of vehicle interior, e.g. for monitoring passengers or cargo
• CPC Class Codes: B60W 2040/0872 Driver physiology
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2540/223 Posture, e.g. hand, foot, or seat position, turned or inclined
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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: B60Y 2400/30 Sensors
• CPC Class Codes: B60Y 2400/3015 : Optical cameras
• CPC Class Codes: B60Y 2400/3017 : Radars
• CPC Class Codes: G01S 19/42 : Determining position
• CPC Class Codes: G05D 1/0061 : for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G06F 16/51 : Indexing; Data structures therefor; Storage structures
• CPC Class Codes: G06F 18/22 : Matching criteria, e.g. proximity measures
• CPC Class Codes: G06F 18/24 : Classification techniques
• CPC Class Codes: G06F 18/2413 : based on distances to training or reference patterns
• CPC Class Codes: G06T 15/005 : General purpose rendering architectures
• CPC Class Codes: G06T 2207/30196 : Human being; Person
• CPC Class Codes: G06T 2207/30268 : Vehicle interior
• CPC Class Codes: G06T 7/337 : involving reference images or patches
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 : using feature-based methods
• 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 20/593 : Recognising seat occupancy
• CPC Class Codes: G06V 20/597 : Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G06V 20/64 : Three-dimensional objects
• CPC Class Codes: G06V 40/10 : Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
• CPC Class Codes: G06V 40/11 : Hand-related biometrics; Hand pose recognition
• CPC Class Codes: H04N 19/17 : the unit being an image region, e.g. an object
• CPC Class Codes: H04N 19/423 : characterised by memory arrangements H04N19/433 takes precedence
• CPC Class Codes: H04N 23/45 : for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images

Abstract

Apparatuses, systems and methods are provided for determining whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode. More particularly, apparatuses, systems and methods are provided for determining whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode based on vehicle interior image data.

Claims

1. A device for determining whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode, the device comprising:

a vehicle interior device registration module stored on a memory that, when executed by a processor, causes the processor to receive registration data from at least one vehicle interior sensor, wherein the registration data is representative of a position of the at least one vehicle interior device relative to a vehicle operator;

a vehicle interior data receiving module stored on a memory that, when executed by a processor, causes the processor to receive vehicle interior data from the at least one vehicle interior sensor, wherein the vehicle interior data is representative of whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode;

a vehicle driver ready determination module stored on the memory that, when executed by the processor, causes the processor to determine whether the vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode based on the registration data and the vehicle interior data; and

a vehicle operation mode transfer module stored on the memory that, when executed by the processor, causes the processor to automatically transfer the vehicle operation mode to a manual operation mode based on the determined readiness of the vehicle driver for the associated vehicle to be transferred from the autonomous operation mode to the manual operation mode.

2. The device as in claim 1, wherein the at least one vehicle interior sensor is selected from:

at least one digital image sensor, at least one ultra-sonic sensor, at least one radar sensor, or at least one laser light sensor.

3. The device as in claim 1, further comprising:

a previously classified vehicle interior data receiving module stored on the memory that, when executed by the processor, causes the processor to receive previously classified vehicle interior data, wherein the previously classified vehicle interior data is representative of known vehicle driver readiness for the associated vehicle to be transferred from the autonomous operation mode to the manual operation mode, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the previously classified vehicle interior data.

4. The device as in claim 3, further comprising:

an image feature extraction module stored on the memory that, when executed by the processor, causes the processor to extract image features from previously classified vehicle interior data, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the image features extracted from the previously classified vehicle interior data.

5. The device as in claim 3, further comprising:

a previously classified image data receiving module stored on a memory that, when executed by a processor, causes the processor to receive previously classified image data, wherein the previously classified image data includes images and/or extracted image features that have previously been classified as being representative of a vehicle occupant using a cellular telephone, a vehicle occupant looking out a vehicle side window, a vehicle occupant adjusting a vehicle radio, a vehicle occupant adjusting a vehicle heating, ventilation and air conditioning system, two vehicle occupants talking with one-another, a vehicle occupant reading a book or magazine, a vehicle occupant putting on makeup, or a vehicle occupant looking at themselves in a mirror.

6. The device as in claim 1, wherein the vehicle interior data is representative of a three-dimensional representation of at least one occupant within the vehicle interior.

7. The device as in claim 1, further comprising:

a current image data receiving module stored on a memory that, when executed by a processor, causes the processor to receive current image data from at least one of;

the at least one ultra-sonic sensor, the at least one radar sensor, or the at least one laser light sensor, wherein the current image data includes images and/or extracted image features that are representative of a vehicle occupant using a cellular telephone, a vehicle occupant looking out a vehicle side window, a vehicle occupant adjusting a vehicle radio, a vehicle occupant adjusting a vehicle heating, ventilation and air conditioning system, two vehicle occupants talking with one-another, a vehicle occupant reading a book or magazine, a vehicle occupant putting on makeup, or a vehicle occupant looking at themselves in a mirror.

8. A computer-implemented method for determining whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode, the method comprising:

receiving, at a processor, registration data from at least one vehicle interior sensor, wherein the registration data is representative of a position of the at least one vehicle interior sensor relative to a vehicle operator;

receiving, at a processor, vehicle interior data from the at least one vehicle interior sensor, wherein the vehicle interior data is representative of whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode;

determining, using the processor, whether the vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode based on the registration data and the vehicle interior data; and

automatically transferring, using the processor, a vehicle operation mode to a manual operation mode based on the determined readiness of the vehicle driver for the associated vehicle to be transferred from the autonomous operation mode to the manual operation mode.

9. The method as in claim 8, wherein the at least one vehicle interior sensor is selected from:

at least one digital image sensor, at least one ultra-sonic sensor, at least one radar sensor, or at least one laser light sensor.

10. The method as in claim 8, further comprising:

receiving, at the processor, previously classified vehicle interior data, wherein the previously classified vehicle interior data is representative of known vehicle driver readiness for the association vehicle to be transferred from the autonomous operation mode to the manual operation mode, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the previously classified vehicle interior data.

11. The method as in claim 10, further comprising:

extracting, using the processor, image features from the previously classified vehicle interior data, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the image features extracted from the previously classified vehicle interior data.

12. The method as in claim 10, further comprising:

receiving, at a processor, previously classified image data, wherein the previously classified image data includes images and/or extracted image features that have previously been classified as being representative of known vehicle occupant locations/orientations, known cellular telephone locations/orientations, known vehicle occupant eye locations/orientations, known vehicle occupant head location/orientation, known vehicle occupant hand location/orientation, a known vehicle occupant torso location/orientation, a known seat belt location, or a known vehicle seat location/orientation.

13. The method as in claim 8, wherein the vehicle interior data is representative of a three-dimensional representation of at least one occupant within the vehicle interior.

14. The method as in claim 8, further comprising:

receiving, at a processor, current image data from at least one of;

the at least one ultra-sonic sensor, the at least one radar sensor, or the at least one laser light sensor, wherein the current image data includes images and/or extracted image features that are representative of vehicle occupant locations/orientations, cellular telephone locations/orientations, vehicle occupant eye locations/orientations, vehicle occupant head location/orientation, vehicle occupant hand location/orientation, a vehicle occupant torso location/orientation, a seat belt location, or a vehicle seat location/orientation.

15. A non-transitory computer-readable medium storing computer-readable instructions that, when executed by a processor, cause the processor to determine whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode, the non-transitory computer-readable medium comprising:

a vehicle interior device registration module that, when executed by a processor, causes the processor to receive registration data from at least one vehicle interior sensor, wherein the registration data is representative of a position of the at least one vehicle interior sensor relative to a vehicle operator;

a vehicle interior data receiving module that, when executed by a processor, causes the processor to receive vehicle interior data from the at least one vehicle interior sensor, wherein the vehicle interior data is representative of whether a vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode;

a vehicle driver ready determination module that, when executed by the processor, causes the processor to determine whether the vehicle driver is ready for an associated vehicle to be transferred from an autonomous operation mode to a manual operation mode based on the registration data and the vehicle interior data; and

a vehicle operation mode transfer module that, when executed by the processor, causes the processor to automatically transfer the vehicle operation mode to a manual operation mode based on the determined readiness of the vehicle driver for the associated vehicle to be transferred from the autonomous operation mode to the manual operation mode.

16. The non-transitory computer-readable medium as in claim 15, further comprising:

a previously classified vehicle interior data receiving module that, when executed by the processor, causes the processor to receive previously classified vehicle interior data, wherein the previously classified vehicle interior data is representative of known vehicle driver readiness for the association vehicle to be transferred from the autonomous operation mode to the manual operation mode, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the previously classified vehicle interior data.

17. The non-transitory computer-readable medium as in claim 16, further comprising:

an image feature extraction module that, when executed by the processor, causes the processor to extract image features from the previously classified vehicle interior data, wherein execution of the vehicle operation mode transfer module causes the processor to automatically switch the vehicle to a manual operation mode based on a comparison of the vehicle interior data with the image features extracted from the previously classified vehicle interior data.

18. The non-transitory computer-readable medium as in claim 15, further comprising:

a current image data receiving module that, when executed by a processor, causes the processor to receive current image data from at least one of;

the at least one ultra-sonic sensor, the at least one radar sensor, or the at least one laser light sensor, wherein the current image data includes images and/or extracted image features that are representative of a vehicle occupant using a cellular telephone, a vehicle occupant looking out a vehicle side window, a vehicle occupant adjusting a vehicle radio, a vehicle occupant adjusting a vehicle heating, ventilation and air conditioning system, two vehicle occupants talking with one-another, a vehicle occupant reading a book or magazine, a vehicle occupant putting on makeup, or a vehicle occupant looking at themselves in a mirror, vehicle occupant locations/orientations, cellular telephone locations/orientations, vehicle occupant eye locations/orientations, vehicle occupant head location/orientation, vehicle occupant hand location/orientation, a vehicle occupant torso location/orientation, a seat belt location, or a vehicle seat location/orientation.

19. The non-transitory computer-readable medium as in claim 16, further comprising:

a previously classified image data receiving module that, when executed by a processor, causes the processor to receive previously classified image data, wherein the previously classified image data includes images and/or extracted image features that have previously been classified as being representative of a vehicle occupant using a cellular telephone, a vehicle occupant looking out a vehicle side window, a vehicle occupant adjusting a vehicle radio, a vehicle occupant adjusting a vehicle heating, ventilation and air conditioning system, two vehicle occupants talking with one-another, a vehicle occupant reading a book or magazine, a vehicle occupant putting on makeup, a vehicle occupant looking at themselves in a mirror, known vehicle occupant locations/orientations, known cellular telephone locations/orientations, known vehicle occupant eye locations/orientations, known vehicle occupant head location/orientation, known vehicle occupant hand location/orientation, a known vehicle occupant torso location/orientation, a known seat belt location, or a known vehicle seat location/orientation.

20. The non-transitory computer-readable medium as in claim 15, further comprising:

a previously classified image data receiving module that, when executed by a processor, causes the processor to receive previously classified image data, wherein the previously classified image data is representative of a three-dimensional representation of at least one occupant within the vehicle interior.