Method and system for ensuring operation of limited-ability autonomous driving vehicles

• US 8,618,922 B2
• Filed: 03/08/2011
• Issued: 12/31/2013
• Est. Priority Date: 03/30/2010
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Debouk, Rami I., Czerny, Barbara J., D'Ambrosio, Joseph G., Joyce, Jeffrey, Osella, Massimo, Ramachandra, Vijaya Vittal
• Primary Examiner(s): La, Anh V
• Application Number:
  US13/042,704
• Publication Number:
  US 20110241862A1
• Time in Patent Office: 1,029 Days
• Field of Search: 340/575, 340/576, 340/435, 340/573.1, 340/439, 340/475, 340/901, 701/1, 701/45, 701/70, 701/23, 180/169, 180/272
• US Class Current: 340/439
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60W 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 50/035 Bringing the control units into a predefined state, e.g. giving priority to particular actuators
• CPC Class Codes: B60W 50/038 Limiting the input power, torque or speed
• CPC Class Codes: B60W 60/0018 by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions

Abstract

A method for ensuring operation of a limited-ability autonomous driving enabled vehicle includes monitoring a plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving, and initiating a fault handling and degradation strategy configured to maneuver the vehicle to a preferred state if the driver is unable to manually control the vehicle when at least one of the specific conditions is either violated or will become violated.

Claims

1. Method for ensuring operation of a limited-ability autonomous driving enabled vehicle, comprising:

enabling the limited-ability autonomous driving wherein the vehicle has an ability to control steering, braking and throttle independent of operator input, the limited-ability autonomous driving enabled when;

an operator of the vehicle requests to enable the limited-ability autonomous driving, and

a plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving are all satisfied, one of the specific conditions satisfied when monitored driver attentiveness criteria indicates the driver is attentive;

when the limited-ability autonomous driving is enabled;

monitoring the plurality of specific conditions; and

initiating a fault handling and degradation strategy configured to maneuver the vehicle to a preferred state if the driver is unable to manually control the vehicle when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is either violated or will become violated.

2. The method of claim 1 wherein monitoring the plurality of special conditions necessary for preferred and reliable use of limited-ability autonomous driving comprises:

monitoring the operator attentiveness criteria;

monitoring diagnostic conditions for no internal faults impeding the availability of preferred and reliable use of limited-ability autonomous driving; and

monitoring external conditions allowing preferred and reliable use of limited-ability autonomous driving.

3. The method of claim 1 wherein initiating the fault handling and degradation strategy when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is either violated or will become violated comprises:

monitoring the operator attentiveness criteria;

determining the operator is inattentive based on the monitoring operator attentiveness criteria;

initiating a warning configured to re-gain the attention of the operator; and

determining one of an inattentive driver if the warning configured to re-gain the attention of the operator is unsuccessful or an attentive driver if the warning configured to re-gain the attention of the operator is successful.

4. The method of claim 3 wherein the method in response to determining an inattentive driver if the warning configured to re-gain the attention of the operator is unsuccessful further comprises:

planning a future maneuver to reach the vehicle to the preferred state comprising;

activating escalated warnings; and

one of

utilizing unimpaired limited-ability autonomous driving to maneuver the vehicle to reach the preferred state; and

utilizing a time constrained use of limited-ability autonomous driving to start to maneuver the vehicle to a preferred state when it is detected external conditions necessary for preferred and reliable limited-ability autonomous driving will expire in a period of time.

5. The method of claim 1 wherein initiating the fault handling and degradation strategy when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is either violated or will become violated comprises:

monitoring external conditions allowing for preferred and reliable use of limited-ability autonomous driving;

determining the external conditions allowing for preferred and reliable use of limited-ability autonomous driving will expire in a period of time based on the monitored external conditions;

initiating a warning configured to gain the attention of the operator; and

determining one of

an imminent danger that external conditions necessary for limited-ability autonomous driving will expire since initiating the warning if the warning configured to gain the attention of the operator is unsuccessful, and

determining an attentive driver if the warning configured to gain the attention of the operator is successful.

6. The method of claim 5 wherein the method in response to determining an imminent danger that external conditions necessary for limited-ability autonomous driving will expire since initiating the warning further comprises:

planning a future maneuver to reach the vehicle to the preferred state comprising;

activating escalated warnings; and

one of

utilizing unimpaired limited-ability autonomous driving to maneuver the vehicle to reach the preferred state, and

utilizing a time constrained use of limited-ability autonomous driving to start to maneuver the vehicle to a preferred state when it is detected external conditions necessary for preferred and reliable limited-ability autonomous driving will expire in a period of time.

7. The method of claim 1 wherein initiating the fault handling and degradation strategy when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is either violated or will become violated comprises:

monitoring diagnostic conditions for no internal faults impeding the availability of preferred and reliable use of limited-ability autonomous driving;

determining one of a threatening failure, an urgent failure, a critical failure or expired limited-ability autonomous driving capabilities based on the monitored diagnostic conditions; and

initiating the fault handling and degradation strategy based on the determined one of the threatening failure, the urgent failure, the critical failure or the expired limited-ability autonomous driving capabilities.

8. The method of claim 7 wherein initiating the fault handling and degradation strategy based on the determined one of the threatening failure, the urgent failure, the critical failure or the expired limited-ability autonomous driving capabilities comprises:

determining a threatening failure where limited-ability autonomous driving is still capable of controlling the vehicle, the threatening failure affects the ability of the system to perform limited-ability autonomous driving only in the presence of a subsequent failure;

initiating a warning configured to re-gain the attention of the operator based on the determined threatening failure;

determining one of

a degraded limited-ability autonomous driving operation resulting in degraded performance of preferred and reliable limited-ability autonomous driving when one of a period since initiating the warning to re-gain the attention of the operator has elapsed and an urgent failure is detected, and

a cancellation of limited-ability autonomous driving; and

maneuvering the vehicle to the preferred state based on the determined degraded limited-ability autonomous driving operation.

9. The method of claim 7 wherein initiating the fault handling and degradation strategy based on the determined one of the threatening failure, the urgent failure, the critical failure or the expired limited-ability autonomous driving capabilities comprises:

determining an urgent failure immediately degrading the ability to continue limited-ability autonomous driving;

determining degraded limited-ability autonomous driving operation resulting in degraded performance of preferred and reliable limited-ability autonomous driving based on the determined urgent failure; and

maneuvering the vehicle to the preferred state based on the determined degraded limited-ability autonomous driving operation.

10. The method of claim 7 wherein initiating the fault handling and degradation strategy based on the determined one of the threatening failure, the urgent failure, the critical failure or the expired limited-ability autonomous driving capabilities comprises:

determining a critical failure having an immediate adverse effect on the ability of the system to continue operation in limited-ability autonomous driving;

determining a fall-back position based on the determined critical failure; and

maneuvering the vehicle to the preferred state and disabling limited ability autonomous driving based on the determined fall-back position.

11. Method for ensuring operation of a limited-ability autonomous driving vehicle in a plurality of operating modes, comprising:

enabling a full autonomous driving mode wherein the vehicle has ability to control steering, braking and throttle independent of operator input, the full autonomous driving mode enabled when an operator of the vehicle requests limited-ability autonomous driving and a plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving are all satisfied, one of the specific conditions satisfied when monitored predetermined attentiveness criteria indicates the driver is attentive; and

disabling the full autonomous driving mode when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is violated or will become violated.

12. The method of claim 11 further comprising:

monitoring look ahead information in each of the plurality of operating modes to anticipate if one of the specific conditions will become violated and when such violation will occur.

13. The method of claim 11 further comprising:

monitoring plan ahead information in each of the plurality of operating modes to plan alternative preferred maneuvers and assess feasibility for immediate application when one of the specific conditions is violated or may become violated.

14. The method of claim 11 wherein satisfaction of the plurality of specific conditions comprises:

the operator satisfying the predetermined attentiveness criteria indicating the driver is attentive;

no existing internal fault impeding the availability of preferred and reliable use of limited-ability autonomous driving;

no incipient internal fault impeding the availability of preferred and reliable use of limited-ability autonomous driving; and

satisfaction of external conditions necessary for preferred and reliable use of limited-ability autonomous driving.

15. The method of claim 11 wherein disabling the full autonomous driving mode when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is violated or will become violated comprises:

transitioning to a warning mode configured to gain the attention of the operator when said at least one of the specific conditions violated or to be violated comprises a condition not having an immediate adverse effect on the ability of the system to continue operation in limited-ability autonomous driving.

16. The method of claim 15 further comprising:

transitioning to a heightened warning mode configured to escalate warnings to gain the attention of the operator and assess look ahead and plan ahead information for imminent use if the attention of the operator has not been re-gained after a period of time since transitioning to the warning mode; and

transitioning to one of

the full autonomous driving mode if one of the attention of the operator is regained and the specific conditions are no longer violated or to be violated; and

a degraded autonomous driving mode configured to maneuver the vehicle to a preferred state when the attention of the operator is not regained.

17. The method of claim 11 wherein disabling the full autonomous driving mode when at least one of the specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is violated or will become violated comprises:

transitioning to a degraded autonomous driving mode configured to maneuver the vehicle to a preferred state when said at least one of the specific conditions violated or to be violated comprises a condition having an immediate adverse effect on the ability of the system to continue operation in limited-ability autonomous driving.

18. The method of claim 17 wherein the degraded autonomous driving mode configured to maneuver the vehicle to a preferred state comprises:

assessing maneuver options for immediate use based on continuously monitored look ahead and plan ahead information; and

selecting a most feasible one of said assessed maneuver options.

19. Apparatus for ensuring operation of a limited-ability autonomous driving enabled vehicle, comprising:

a controller;

enabling the limited-ability autonomous driving wherein the vehicle has ability to control steering, braking and throttle independent of operator input, the limited-ability autonomous driving enabled when;

an operator of the vehicle requests to enable the limited-ability autonomous driving, and

a plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving are all satisfied, one of the specific conditions satisfied when monitored driver attentiveness criteria indicates the driver is attentive;

when the limited-ability autonomous driving is enabled;

monitoring the plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving; and

initiating a fault handling and degradation strategy configured to maneuver the vehicle to a preferred state if the driver is unable to manually control the vehicle when at least one of the plurality of specific conditions necessary for preferred and reliable use of limited-ability autonomous driving is either violated or will become violated.