VEHICLE OPERATION ASSISTANCE INFORMATION MANAGEMENT FOR AUTONOMOUS VEHICLE CONTROL OPERATION

• US 20160375768A1
• Filed: 02/29/2016
• Published: 12/29/2016
• Est. Priority Date: 06/24/2015
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan North America Incorporated (Nissan Motor Co., Ltd.)
• Inventors: KONET, HEATHER, GOUDY, ROY, CHRISTENSEN, ANDREW
• Granted Patent: US 10,086,699 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2360/182 Distributing information between displays
• CPC Class Codes: B60K 2360/186 Displaying information according to relevancy
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/29 Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
• CPC Class Codes: B60W 10/00 Conjoint control of vehicle sub-units of different type or different function for propulsion of purely electrically-propelled vehicles with power supplied within the vehicle B60L50/00 - B60L58/00
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle implementing vehicle operation assistance information management for autonomous vehicle control operation may identify a vehicle operation assistance information item, the vehicle operation assistance information item indicating a location of a candidate vehicle control operation. On a condition that the immanency is within the maximum relevant immanence, the vehicle may present a representation of the vehicle operation assistance information item, which may include controlling the primary graphical display portion to present a graphical representation of the vehicle operation assistance information item, wherein controlling the primary graphical display portion to present the graphical representation includes controlling the primary graphical display portion to present a first portion of the graphical representation, and controlling the secondary graphical display portion to present the graphical representation, wherein controlling the secondary graphical display portion to present the graphical representation includes controlling the secondary graphical display portion to present a second portion of the graphical representation.

Claims

1. A vehicle configured to traverse a portion of a vehicle transportation network, the vehicle comprising:

a primary graphical display portion;

a secondary graphical display portion; and

a processor configured to execute instructions stored on a non-transitory computer readable medium to;

identify a vehicle operation assistance information item, the vehicle operation assistance information item indicating a location of a candidate vehicle control operation,

on a condition that an immanency for the vehicle operation assistance information item exceeds a maximum relevant immanence, store information representing the vehicle operation assistance information item, and

on a condition that the immanency is within the maximum relevant immanence;

present a representation of the vehicle operation assistance information item, wherein presenting the representation of the vehicle operation assistance information item includes;

controlling the primary graphical display portion to present a graphical representation of the vehicle operation assistance information item, wherein controlling the primary graphical display portion to present the graphical representation includes controlling the primary graphical display portion to present a first portion of the graphical representation, and

controlling the secondary graphical display portion to present the graphical representation, wherein controlling the secondary graphical display portion to present the graphical representation includes controlling the secondary graphical display portion to present a second portion of the graphical representation.

2. The vehicle of claim 1, further comprising:

a first graphical display unit, wherein the first graphical display unit includes the first graphical display portion; and

a second graphical display unit, wherein the second graphical display unit includes the second graphical display portion, and wherein the second graphical display unit is physically independent of the first graphical display unit.

3. The vehicle of claim 1, wherein the primary graphical display portion is spatially located within the vehicle along a first angular offset from a center of a primary field of view of the driver of the vehicle, and wherein the secondary graphical display portion is spatially located within the vehicle along a second angular offset from the center of the primary field of view of the driver of the vehicle, wherein the second angular offset is greater than the first angular offset, such that the primary graphical display portion is visually distinct from the secondary graphical display portion.

4. The vehicle of claim 1, wherein the candidate vehicle control operation is an autonomous vehicle control operation.

5. The vehicle of claim 4, wherein:

the candidate vehicle control operation is a lane change vehicle control operation;

on a condition that the immanency exceeds a minimum relevant immanence;

on a condition that the candidate vehicle control operation is an unapproved vehicle control operation, controlling the primary graphical display portion to present the first portion of the graphical representation includes controlling the primary graphical display portion to present;

a graphical representation of a candidate lane change vehicle control operation;

a verbal request for driver confirmation; and

a verbal representation of the immanency, and

on a condition that the candidate vehicle control operation is an approved vehicle control operation, controlling the primary graphical display portion to present the first portion of the graphical representation includes controlling the primary graphical display portion to present;

a graphical representation of an expected lane change vehicle control operation; and

a verbal indication that the candidate vehicle control operation is approved; and

on a condition that the immanency is within the minimum relevant immanence;

on a condition that the candidate vehicle control operation is an unapproved vehicle control operation;

controlling the primary graphical display portion to present the first portion of the graphical representation includes controlling the primary graphical display portion to present;

a graphical representation of an aborted lane change vehicle control operation, and

a verbal indication of the aborted lane change vehicle control operation; and

the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the vehicle to traverse the vehicle transportation network, wherein controlling the vehicle to traverse the vehicle transportation network includes omitting the lane change vehicle control operation, and

on a condition that the candidate vehicle control operation is an approved vehicle control operation;

controlling the primary graphical display portion to present the first portion of the graphical representation includes controlling the primary graphical display portion to present a graphical representation of a current lane change vehicle control operation; and

the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the vehicle to traverse the vehicle transportation network in accordance with the lane change vehicle control operation.

6. The vehicle of claim 5, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to determine that the candidate vehicle control operation is an approved vehicle control operation in response to receiving driver input indicating that the candidate vehicle control operation is an approved vehicle control operation.

7. The vehicle of claim 4, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to:

identify a route for the vehicle to traverse the vehicle transportation network from an origin to a destination, wherein the route includes a current geospatial location of the vehicle, the candidate vehicle control operation, and a target geospatial location in the vehicle transportation network corresponding to the candidate vehicle control operation;

on a condition that the immanency exceeds a minimum relevant immanence;

on a condition that the candidate vehicle control operation is an approved vehicle control operation, control the primary graphical display portion to present the first portion of the graphical representation by controlling the primary graphical display portion to present;

a graphical representation of an expected vehicle control operation corresponding to the candidate vehicle control operation;

a verbal request for driver confirmation; and

a verbal representation of the immanency; and

on a condition that the immanency is within the minimum relevant immanence;

on a condition that the candidate vehicle control operation is an approved vehicle control operation;

control the primary graphical display portion to present the first portion of the graphical representation by controlling the primary graphical display portion to present a graphical representation of a vehicle control operation corresponding to the candidate vehicle control operation; and

control the vehicle to traverse the vehicle transportation network in accordance with the candidate vehicle control operation.

8. The vehicle of claim 7, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to determine that the candidate vehicle control operation is an unapproved vehicle control operation in response to receiving driver input indicating that the candidate vehicle control operation is an unapproved vehicle control operation.

9. The vehicle of claim 4, wherein the processor is configured to execute instructions stored on a non-transitory computer readable medium to:

identify the vehicle operation assistance information item in response to receiving information indicating a recommended speed profile for controlling the vehicle to traverse the vehicle transportation network in accordance with expected permitted right-of-way signal information for a traffic control device of the vehicle transportation network, wherein an expected path for the vehicle includes a portion of the vehicle transportation network corresponding to the traffic control device;

on a condition that the immanency exceeds a minimum relevant immanence, and on a condition that the candidate vehicle control operation is an approved vehicle control operation, control the primary graphical display portion to present the first portion of the graphical representation by controlling the primary graphical display portion to present;

a verbal representation of a current speed of the vehicle, and

a verbal representation of the immanency; and

on a condition that the immanency is within the minimum relevant immanence, and on a condition that the candidate vehicle control operation is an approved vehicle control operation;

control the primary graphical display portion to present the first portion of the graphical representation by controlling the primary graphical display portion to present;

the verbal representation of the current speed of the vehicle; and

the verbal representation of the immanency, and

control the vehicle to traverse the vehicle transportation network in accordance with the candidate vehicle control operation by adjusting a speed of the vehicle in response to the expected traffic control device state information.

10. The vehicle of claim 9, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to determine that the candidate vehicle control operation is an approved vehicle control operation in response to receiving driver input indicating that the candidate vehicle control operation is an approved vehicle control operation.

11. The vehicle of claim 4, wherein the processor is configured to execute instructions stored on a non-transitory computer readable medium to:

identify the vehicle operation assistance information item in response to receiving a vehicle operation control transfer request that includes a driver initiated vehicle operation parking assistance request; and

control the primary graphical display portion to present the first portion of the graphical representation by controlling the primary graphical display portion to present a verbal representation of a vehicle operation corresponding to the driver initiated vehicle operation parking assistance request.

12. The vehicle of claim 1, wherein the processor is configured to execute instructions stored on a non-transitory computer readable medium to control the secondary graphical display portion to present the second portion of the graphical representation by controlling the secondary graphical display portion to present a graphical representation of a current vehicle operational environment status.

13. The vehicle of claim 12, wherein, on a condition that the immanency is within the minimum relevant immanence, and on a condition that the candidate vehicle control operation is an approved vehicle control operation, controlling the secondary graphical display portion to present the graphical representation of the current vehicle operational environment status includes controlling the secondary graphical display portion to present a graphical representation of an expected vehicle control operation corresponding to the candidate vehicle control operation.

14. The vehicle of claim 12, wherein, controlling the secondary graphical display portion to present the graphical representation of the current vehicle operational environment status includes:

identifying a route for the vehicle to traverse the vehicle transportation network from an origin to a destination, wherein the route includes a current geospatial location of the vehicle; and

controlling the secondary graphical display portion to present a graphical representation of a portion of the vehicle transportation network spatially proximate to the vehicle, the graphical representation including a graphical representation of the vehicle and a graphical representation of the route.

15. The vehicle of claim 12, wherein controlling the secondary graphical display portion to present the graphical representation of the current vehicle operational environment status includes controlling the secondary graphical display portion to present a graphical representation of the vehicle and a graphical representation of a current operational environment of the vehicle, wherein the graphical representation of the current operational environment of the vehicle includes:

a graphical representation of a portion of the vehicle transportation network spatially proximate to the vehicle; and

a graphical representation of expected spatial availability proximate to the vehicle.

16. The vehicle of claim 15, wherein, on a condition that the vehicle operation assistance information item indicates a driver initiated vehicle operation parking assistance request, controlling the secondary graphical display portion to present the graphical representation of the current vehicle operational environment status includes controlling the secondary graphical display portion to present a graphical representation of a parking spot identified in response to the driver initiated vehicle operation parking assistance request.

17. The vehicle of claim 15, wherein controlling the secondary graphical display portion to present the graphical representation of expected spatial availability proximate to the vehicle includes:

identifying a spatial area proximate to the vehicle;

determining a probability that the spatial area is available for traversal by the vehicle; and

controlling the secondary graphical display portion to present a graphical representation of the spatial area based on the probability.

18. The vehicle of claim 17, wherein determining the probability includes:

identifying a first probability as the probability, wherein the first probability is high;

in response to identifying an object within the spatial area, identifying a second probability as the probability, wherein the second probability is low; and

in response to identifying an object spatially proximate to the spatial area, and in response to identifying an intersection between an expected path for the object and the spatial area, and on a condition that a temporal location corresponding to the intersection is within a threshold, identifying a second probability as the probability, wherein the third probability is less than the first probability and is greater than the second probability.

19. The vehicle of claim 18, wherein the object is a remote vehicle or a pedestrian.

20. The vehicle of claim 1, further comprising:

an auditory presentation device, wherein;

on a condition that the candidate vehicle control operation is a lane change vehicle control operation;

in response to identifying the vehicle operation assistance information item, the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the auditory presentation device to present an auditory representation of the vehicle operation assistance information item; and

in response to determining that the candidate vehicle control operation is an approved vehicle control operation, the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the auditory presentation device to present the auditory representation of the vehicle operation assistance information item, and

in response to receiving information indicating a recommended speed profile for controlling the vehicle to traverse the vehicle transportation network in accordance with expected permitted right-of-way signal information for a traffic control device of the vehicle transportation network, wherein an expected path for the vehicle includes a portion of the vehicle transportation network corresponding to the traffic control device, and on a condition that the immanency is within a minimum relevant immanence, and on a condition that the candidate vehicle control operation is an approved vehicle control operation, the processor is configured to execute instructions stored on the non-transitory computer readable medium to control the auditory presentation device to present the auditory representation of the vehicle operation assistance information item.

21. A vehicle configured to traverse a portion of a vehicle transportation network, the vehicle comprising:

a primary graphical display portion;

a secondary graphical display portion; and

a processor configured to execute instructions stored on a non-transitory computer readable medium to;

identify a vehicle operation assistance information item, the vehicle operation assistance information item indicating a location of a candidate vehicle control operation, and

present a representation of the vehicle operation assistance information item, wherein presenting the representation of the vehicle operation assistance information item includes;

controlling the primary graphical display portion to present a graphical representation of the vehicle operation assistance information item, wherein controlling the primary graphical display portion to present the graphical representation includes controlling the primary graphical display portion to present a first portion of the graphical representation; and

controlling the secondary graphical display portion to present the graphical representation, wherein controlling the secondary graphical display portion to present the graphical representation includes controlling the secondary graphical display portion to present a second portion of the graphical representation,

determine whether the candidate vehicle control operation is an approved vehicle control operation,

in response to a determination that the candidate vehicle control operation is an unapproved vehicle control operation;

identify a secondary vehicle control action; and

control the vehicle to traverse the vehicle transportation network in accordance with the secondary vehicle control action, wherein controlling the vehicle to traverse the vehicle transportation network in accordance with the secondary vehicle control action includes omitting the candidate vehicle control operation, and

in response to a determination that the candidate vehicle control operation is an approved vehicle control operation, control the vehicle to traverse the vehicle transportation network in accordance with the candidate vehicle control operation.

22. An autonomous vehicle configured to traverse a portion of a vehicle transportation network, the vehicle comprising:

a primary graphical display portion;

a secondary graphical display portion;

a trajectory controller; and

a processor configured to execute instructions stored on a non-transitory computer readable medium to;

identify a vehicle operation assistance information item, the vehicle operation assistance information item indicating a location of a candidate vehicle control operation,

present a representation of the vehicle operation assistance information item, wherein presenting the representation of the vehicle operation assistance information item includes, controlling the primary graphical display portion to present a graphical representation of the vehicle operation assistance information item, and controlling the secondary graphical display portion to present the graphical representation,

determine whether the candidate vehicle control operation is an approved vehicle control operation,

in response to a determination that the candidate vehicle control operation is an approved vehicle control operation, identify the candidate vehicle control action as a vehicle control action,

in response to a determination that the candidate vehicle control operation is an unapproved vehicle control operation, identify a secondary vehicle control action as the vehicle control action, and

control the trajectory controller to operate the vehicle to autonomously traverse the vehicle transportation network in accordance with the vehicle control action.