Driver training in an autonomous vehicle

• US 10,146,222 B2
• Filed: 07/12/2016
• Issued: 12/04/2018
• Est. Priority Date: 07/12/2016
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Chan, Alistair K., Cheatham, III, Jesse R., Chin, Hon Wah, Duncan, William David, Hyde, Roderick A., Tuckerman, David B., Weaver, Thomas Allan
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Testardi, David A
• Application Number:
  US15/208,043
• Publication Number:
  US 20180018895A1
• Time in Patent Office: 875 Days
• CPC Class Codes: B60W 2050/0022 Gains, weighting coefficients or weighting functions
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/0091 of control inputs
• 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 2556/10 Historical data
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/087 where the control system corrects or modifies a request from the driver
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B60W 60/0025 specially adapted for specific operations
• CPC Class Codes: B60W 60/0055 only part of driving tasks shifted to occupants
• 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 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G09B 9/042 providing simulation in a real vehicle G09B9/052, G09B9/058 take precedence

Abstract

Described embodiments include a self-propelled vehicle, method, and system. The self-propelled vehicle includes an autonomous driving system configured to dynamically determine maneuvers operating the vehicle along a route in an automated mode without continuous input from a human driver. The vehicle includes an input device configured to receive a real-time request for a specific dynamic maneuver by the vehicle operating along the route from the human driver. The vehicle includes a decision circuit configured to select a real-time dynamic maneuver by arbitrating between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system. The vehicle includes an implementation circuit configured to output the selected real-time dynamic maneuver to an operations system of the vehicle.

Claims

1. A self-propelled vehicle comprising:

an autonomous driving system configured to dynamically determine maneuvers operating the vehicle along a route in an automated mode without continuous input from a human driver;

an input device configured to receive a real-time request from the human driver for a specific dynamic maneuver by the vehicle operating along the route;

a decision circuit configured to select a real-time dynamic maneuver by arbitrating one of;

between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, wherein the decision circuit is configured to default to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if the received real-time request for the specific dynamic maneuver from the human driver deviates by a predetermined factor from the real-time determination relative to the specific dynamic maneuver by the autonomous driving system; and

between (i) the received real-time request for the specific dynamic maneuver by the vehicle from the human driver, (ii) the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) an evaluation of the driving skill level of the human driver generated by a driver grading circuit configured to evaluate a driving skill level of the human driver at least partially responsive to (i) hours of driving experience in the vehicle based on data indicative of a driving experience level of the human driver received from another input device or (ii) how often the decision circuit selected the real-time request for a specific dynamic maneuver from the human driver as the selected real-time dynamic maneuver; and

an implementation circuit configured to output the selected real-time dynamic maneuver to an operations system of the vehicle.

2. The vehicle of claim 1, wherein the autonomous driving system is configured to dynamically determine a steering, speed, acceleration, or braking maneuver moving the vehicle along the route.

3. The vehicle of claim 1, wherein the autonomous driving system is configured to dynamically determine maneuvers moving the vehicle along the route in response to sensor acquired data.

4. The vehicle of claim 1, wherein the automated mode includes a conditional automation mode.

5. The vehicle of claim 1, wherein the automated mode includes a high automation mode.

6. The vehicle of claim 1, wherein the automated mode includes a full automation mode.

7. The vehicle of claim 1, wherein the input device is configured to receive a real-time request for a specific steering direction by the vehicle operating along the route from the human driver.

8. The vehicle of claim 1, wherein the input device is configured to receive a real-time request for a specific speed by the vehicle operating along the route from the human driver.

9. The vehicle of claim 1, wherein the input device is configured to receive a real-time request for a specific acceleration by the vehicle operating along the route from the human driver.

10. The vehicle of claim 1, wherein the input device is configured to receive a real-time request for a specific braking by the vehicle operating along the route from the human driver.

11. The vehicle of claim 1, wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm responsive to the received real-time request for the specific dynamic maneuver from the human driver and the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system.

12. The vehicle of claim 1, wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm that blends the received real-time request for the specific dynamic maneuver from the human driver and the real-time determination relative to the specific dynamic maneuver by the autonomous driving system.

13. The vehicle of claim 1, wherein the decision circuit is configured to select a real-time dynamic maneuver based upon an arbitration algorithm that selects the received real-time request for the specific dynamic maneuver from the human driver or the real-time determination relative to the specific dynamic maneuver by the autonomous driving system in response to a probability factor.

14. The vehicle of claim 1, wherein the decision circuit is configured to select a real-time dynamic maneuver by arbitrating among (i) a received real-time request for the specific dynamic maneuver from the human driver, (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) data indicative of traffic and road conditions ahead.

15. The vehicle of claim 1, wherein the decision circuit is configured to default to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if real-time traffic or road conditions are not suitable for a skill level of the human driver.

16. The vehicle of claim 1, further comprising:

a human interface configured to output to the human driver perceivable information indicative of the selected real-time dynamic maneuver.

17. The vehicle of claim 16, wherein the interface is further configured to output to the human driver a reason, explanation, or rationale for the decision circuit'"'"'s rejection or modification of the real-time request by the human driver for the specific dynamic maneuver.

18. The vehicle of claim 16, wherein the interface is further configured to output to the human driver a reason, explanation, or rationale for the decision circuit'"'"'s selection of the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system.

19. The vehicle of claim 1, further comprising:

a communication circuit configured to transmit data to a selected receiver indicative of at least one received real-time request for a specific dynamic maneuver from the human driver and a corresponding selected real-time dynamic maneuvering by the decision circuit.

20. The vehicle of claim 1, further comprising:

a non-transitory tangible computer-readable storage medium configured to store data indicative of a driving experience level of the human driver.

21. The vehicle of claim 1, further comprising:

an external interface configured to output to nearby vehicles or pedestrians a human perceivable information indicating the vehicle is in a driver training mode.

22. A driver training system comprising:

an autonomous driving system configured to dynamically determine maneuvers operating a self-propelled vehicle along a route in an automated mode without continuous input from a human driver;

an input device configured to receive a real-time request from the human driver for a specific dynamic maneuver by the self-propelled vehicle operating along the route;

a decision circuit configured to select a real-time dynamic maneuver by arbitrating one of;

between (i) the received real-time request for the specific dynamic maneuver from the human driver and (ii) a real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, wherein the decision circuit is configured to default to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if the received real-time request for the specific dynamic maneuver from the human driver deviates by a predetermined factor from the real-time determination relative to the specific dynamic maneuver by the autonomous driving system; and

between (i) the received real-time request for the specific dynamic maneuver by the vehicle from the human driver, (ii) the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) an evaluation of the driving skill level of the human driver generated by a driver grading circuit configured to evaluate a driving skill level of the human driver at least partially responsive to (i) hours of driving experience in the vehicle or (ii) how often the decision circuit selected the real-time request for a specific dynamic maneuver from the human driver as the selected real-time dynamic maneuver; and

an implementation circuit configured to output the selected real-time dynamic maneuver to an operations system of the vehicle.

23. A method comprising:

receiving a real-time request from a human driver for a specific dynamic maneuver by a self-propelled vehicle operating along a route in an automated mode without continuous input from the human driver;

selecting a real-time dynamic maneuver by arbitrating one of;

between (i) the received real-time request from the human driver for the specific dynamic maneuver by the vehicle and (ii) a real-time determination relative to the specific dynamic maneuver received from an autonomous driving system, by defaulting to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system responsive to the received real-time request for the specific dynamic maneuver from the human driver deviating by a predetermined factor from the real-time determination relative to the specific dynamic maneuver by the autonomous driving system; and

between (i) the received real-time request for the specific dynamic maneuver by the vehicle from the human driver, (ii) the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) an evaluation assigned to the human driver, the evaluation being at least partially responsive to (i) hours of driving experience in the vehicle or (ii) how often a decision circuit designates the real-time request for a specific dynamic maneuver by the vehicle operating along the route from the human driver as the selected real-time dynamic maneuver; and

outputting the selected real-time dynamic maneuver to an operations system of the vehicle.

24. A system comprising:

means for receiving a real-time request from a human driver for a specific dynamic maneuver by a self-propelled vehicle operating along a route in an automated mode without continuous input from the human driver;

means for selecting a real-time dynamic maneuver by arbitrating one of;

between (i) the received real-time request from the human driver for the specific dynamic maneuver by the vehicle and (ii) a real-time determination relative to the specific dynamic maneuver received from an autonomous driving system, defaulting to the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system if the received real-time request for the specific dynamic maneuver from the human driver deviates by a predetermined factor from the real-time determination relative to the specific dynamic maneuver by the autonomous driving system;

between (i) the received real-time request for the specific dynamic maneuver by the vehicle from the human driver, (ii) the real-time determination relative to the specific dynamic maneuver received from the autonomous driving system, and (iii) an evaluation assigned to the human driver, the evaluation being at least partially responsive to (i) hours of driving experience in the vehicle or (ii) how often a decision circuit designates the real-time request for a specific dynamic maneuver by the vehicle operating along the route from the human driver as the selected real-time dynamic maneuver; and

means for outputting the selected real-time dynamic maneuver to an operational system of the vehicle.