Driver assistance system operating based on autonomous statuses of host and local vehicles while in a multi-level autonomous environment

• US 10,723,362 B2
• Filed: 06/05/2018
• Issued: 07/28/2020
• Est. Priority Date: 06/05/2018
• Status: Active Grant

• Current Assignee: Denso International America Incorporated (DENSO Corporation)
• Original Assignee: Denso International America Incorporated (DENSO Corporation)
• Inventors: Dotzler, Kevin, Graves, Jason
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US15/997,810
• Publication Number:
  US 20190367043A1
• Time in Patent Office: 784 Days
• CPC Class Codes: B60W 2050/0016 State machine analysis
• CPC Class Codes: B60W 2050/0017 Modal analysis, e.g. for determining system stability
• CPC Class Codes: B60W 2050/0072 Controller asks driver to take over
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 50/045 Monitoring control system parameters
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• 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
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C

Abstract

A system for a host vehicle and includes a memory and a vehicle control module. The memory stores autonomous status bits for each local vehicle. The autonomous status bits indicate whether the corresponding local vehicle is operating in a non-autonomous, semi-autonomous, or fully autonomous mode. The vehicle control module: generates autonomous status bits indicative of an autonomous status level of the host vehicle and transmits the autonomous status bits in a message to first vehicle communication devices; determines that local vehicles are in a local environment of the host vehicle; receives messages including the autonomous status bits of the local vehicles from second vehicle communication devices; and unless operating in a fully autonomous mode, generates a request for a driver of the host vehicle to take control of the host vehicle based on the autonomous status bits of the host vehicle and the local vehicles.

Claims

1. A system for a host vehicle, the system comprising:

a memory configured to store one or more applications and autonomous status bits for each of one or more local vehicles, wherein the autonomous status bits of each of the one or more local vehicles indicate whether the corresponding local vehicle is operating in a non-autonomous mode, a semi-autonomous mode, or a fully autonomous mode; and

a vehicle control module configured to execute the one or more applications and when executing the one or more applications the vehicle control module is configured to

generate autonomous status bits indicative of an autonomous status level of the host vehicle and transmit the autonomous status bits in at least one message to a first one or more vehicle communication devices,

determine that one or more of the local vehicles is in a local environment of the host vehicle,

receive one or more messages including the autonomous status bits of the one or more local vehicles from a second one or more vehicle communication devices, wherein the second one or more vehicle communication devices includes the first one or more vehicle communication devices, and

unless operating in a fully autonomous mode, generate a request for a driver of the host vehicle to take control of the host vehicle based on (i) the autonomous status bits of the host vehicle, and (ii) the autonomous status bits of the one or more local vehicles.

2. The system of claim 1, wherein:

while the host vehicle and the one or more local vehicles are operating in a fully autonomous mode, the system is able to cooperate more fully with systems of the one or more local vehicles, with knowledge that all vehicles within a predetermined distance of the host vehicle are operating in a fully autonomous mode, than when not all of the vehicles within the predetermined distance of the host vehicle are operating in a fully autonomous mode; and

the vehicle control module is able to determine that all the vehicles within the predetermined distance of the host vehicle are operating autonomously based on received autonomous status bits of all the vehicles within the predetermined distance of the host vehicle.

3. The system of claim 1, wherein the vehicle control module is configured to generate the request for the driver of the host vehicle to take control of the host vehicle based on whether the host vehicle is operating in an autonomous mode.

4. The system of claim 1, wherein the vehicle control module is configured to generate the request for the driver of the host vehicle to take control of the host vehicle based on whether the one or more local vehicles are operating in the non-autonomous mode.

5. The system of claim 1, wherein the vehicle control module is configured to generate the request for the driver of the host vehicle to take control of the host vehicle based on a current operating environment and a current condition of the host vehicle.

6. The system of claim 1, wherein:

the vehicle control module transitions between operating (i) autonomously and controlling at least one actuator of the host vehicle, and (ii) not controlling the at least one actuator of the host vehicle; and

the vehicle control module is configured to, while executing the one or more applications

determine whether the vehicle control module is controlling the at least one actuator of the host vehicle, and

continue to provide information to the driver while the vehicle control module is not controlling any actuator of the host vehicle.

7. The system of claim 6, wherein the vehicle control module is configured to, while executing the one or more applications and while controlling the at least one actuator of the host vehicle:

monitor additional messages received from the one or more vehicles including autonomous status bits of the one or more local vehicles provided in the additional messages;

monitor sensors of the host vehicle;

based on the additional messages, the autonomous status bits of the additional messages, and outputs of the sensors, determine whether the one or more vehicles pose a danger to the host vehicle; and

if the one or more vehicles pose a danger to the host vehicle, informing the driver to take control of the host vehicle.

8. The system of claim 1, wherein the vehicle control module is configured to, while executing the one or more applications:

determine whether the one or more vehicles are operating autonomously;

if the one or more vehicles are operating autonomously, operate in a cooperative behavior with vehicle control modules of the one or more vehicles; and

if the one or more vehicles are not operating autonomously, determine whether a current autonomous state of the host vehicle is greater than or equal to a predetermined autonomous status level.

9. The system of claim 8, wherein the predetermined autonomous status level corresponds to operating in the fully autonomous mode.

10. The system of claim 8, wherein the vehicle control module is configured to, while executing the one or more applications and if the current autonomous state of the host vehicle is greater than or equal to the predetermined autonomous status level:

monitor additional messages received from the one or more vehicles including autonomous status bits of the one or more local vehicles provided in the additional messages;

monitor sensors of the host vehicle; and

based on the additional messages, the autonomous status bits of the additional messages, and outputs of the sensors, determine whether the one or more vehicles pose a danger to the host vehicle.

11. The system of claim 10, wherein the vehicle control module is configured to, while executing the one or more applications and if the one or more vehicles pose a danger to the host vehicle:

prepare for or take evasive action if the one or more vehicles pose a danger to the host vehicle; and

determine if the one or more vehicles continue to operate autonomously if the one or more vehicles do not pose a danger to the host vehicle.

12. A method for a host vehicle, the method comprising:

storing one or more applications and autonomous status bits for each of one or more local vehicles in a memory, wherein the autonomous status bits of each of the one or more local vehicles indicate whether the corresponding local vehicle is operating in a non-autonomous mode, a semi-autonomous mode, or a fully autonomous mode;

generating autonomous status bits indicative of an autonomous status level of the host vehicle and transmit the autonomous status bits in at least one message to a first one or more vehicle communication devices;

determining that one or more of the local vehicles is in a local environment of the host vehicle;

receiving one or more messages including the autonomous status bits of the one or more local vehicles from a second one or more vehicle communication devices, wherein the second one or more vehicle communication devices includes the first one or more vehicle communication devices; and

unless operating in the fully autonomous mode, generating a request for a driver of the host vehicle to take control of the host vehicle based on (i) the autonomous status bits of the host vehicle, and (ii) the autonomous status bits of the one or more local vehicles.

13. The method of claim 12, wherein the request for the driver of the host vehicle to take control of the host vehicle is generated based on whether the one or more local vehicles are operating in the non-autonomous mode.

14. The method of claim 12, wherein the request for the driver of the host vehicle to take control of the host vehicle is generated based on a current operating environment and a current condition of the host vehicle.

15. The method of claim 12, further comprising:

transitioning a vehicle control module between operating (i) autonomously and controlling at least one actuator of the host vehicle, and (ii) not controlling the at least one actuator of the host vehicle;

determining whether the vehicle control module is controlling the at least one actuator of the host vehicle; and

continuing to provide information to the driver while the vehicle control module is not controlling any actuator of the host vehicle.

16. The method of claim 15, further comprising while controlling the at least one actuator of the host vehicle:

monitoring additional messages received from the one or more vehicles including autonomous status bits of the one or more local vehicles provided in the additional messages;

monitoring sensors of the host vehicle;

based on the additional messages, the autonomous status bits of the additional messages, and outputs of the sensors, determining whether the one or more vehicles pose a danger to the host vehicle; and

if the one or more vehicles pose a danger to the host vehicle, informing the driver to take control of the host vehicle.

17. The method of claim 12, further comprising:

determining whether the one or more vehicles are operating autonomously;

if the one or more vehicles are operating autonomously, operating in a cooperative behavior with vehicle control modules of the one or more vehicles; and

if the one or more vehicles are not operating autonomously, determining whether a current autonomous state of the host vehicle is greater than or equal to a predetermined autonomous status level.

18. The method of claim 17, wherein the predetermined autonomous status level corresponds to operating in the fully autonomous mode.

19. The method of claim 17, further comprising if the current autonomous state of the host vehicle is greater than or equal to the predetermined autonomous status level:

monitoring additional messages received from the one or more vehicles including autonomous status bits of the one or more local vehicles provided in the additional messages;

monitoring sensors of the host vehicle; and

based on the additional messages, the autonomous status bits of the additional messages, and outputs of the sensors, determining whether the one or more vehicles pose a danger to the host vehicle.

20. The method of claim 19, further comprising while executing the one or more applications and if the one or more vehicles pose a danger to the host vehicle:

preparing for or take evasive action if the one or more vehicles pose a danger to the host vehicle; and

determining if the one or more vehicles continue to operate autonomously if the one or more vehicles do not pose a danger to the host vehicle.