GB2617092A

GB2617092A - Vehicle control

Info

Publication number: GB2617092A
Application number: GB2204415.0A
Authority: GB
Inventors: Sharpe Victoria
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2023-10-04
Also published as: GB202204415D0

Abstract

A vehicle 34, upon receiving an input while a driver is in manual control of the vehicle 34, takes over control of the vehicle into autonomous driving mode, identifies a safe stopping location 16 (lay-by, hard shoulder), and navigates the vehicle 34 autonomously towards the safe stopping location 16. A trajectory 18 towards the safe stopping location 16 may be determined. The input may be a manual actuation or a speech input. Alternatively, the vehicle may generate the input if the driver has let go of a steering control, not paying attention to the road ahead, or has turned around in the vehicle. The autonomous driving mode may be SAE Level 3 or higher. A safe stopping location may be identified from a map, sensor or camera data, vehicle-to-infrastructure V2X or vehicle-to-vehicle V2V data, satellite information, or traffic message channel information. The vehicle may exit autonomous driving mode if a further input is received when the driver is ready to control the vehicle.

Description

VEHICLE CONTROL

TECHNICAL FIELD

The present disclosure relates to vehicle control. In particular, but not exclusively it relates to a control system, vehicle, method, and computer software for vehicle control.

BACKGROUND

In some circumstances, it can be difficult for a driver to control a vehicle, for example if an urgent situation arises with a passenger of the vehicle.

It would be beneficial to enhance vehicle control in such circumstances.

SUMMARY OF THE INVENTION

It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

Aspects and embodiments of the invention provide a control system, a vehicle, a method and computer software as claimed in the appended claims.

According to an aspect of the invention there is provided a control system for a vehicle, the control system comprising one or more controllers, wherein the control system is configured to: receive an input when a driver is in control of the vehicle; assume control of the vehicle, in dependence on the input, in an autonomous driving mode; determine a safe stopping location for the vehicle; control the vehicle to autonomously move towards the safe stopping location.

This provides the advantage that the composure of the vehicle is enhanced.

This provides the advantage that control of the vehicle is maintained when the driver is not able to control the vehicle.

In some examples, the control system is configured to determine a route to the safe stopping location for the vehicle; and wherein controlling the vehicle to autonomously move towards the safe stopping location comprises controlling the vehicle to autonomously travel the determined route towards the safe stopping location.

This provides the advantage that the vehicle can be controlled towards a safe stopping location when a safe stopping location is not in the immediate environment of a vehicle.

In some examples, the input comprises manual actuation of a control of the vehicle, and/or speech input.

In some examples, the control system is configured to: determine the occurrence of one or more predetermined actions of the driver; and cause generation of the input in dependence on the determination.

This provides the advantage that it can be automatically determined that the driver is not able to remain in control of the vehicle.

In some examples, determining one or more predetermined actions of the driver comprises at least one of: determining the driver has let go of a steering control of the vehicle; determining that the driver is not looking at the road ahead; determining that the driver has turned around in the vehicle.

In some examples, when the vehicle is in the autonomous driving mode the vehicle is controlled without driver input.

In some examples, changing the vehicle to be in an autonomous driving mode comprises changing the vehicle to a society of automotive engineers, SAE, level 3 mode or higher.

In some examples, determining a safe stopping location for the vehicle comprises determining a safe stopping location for the vehicle in dependence on at least one of: map information; sensor information of one or more sensors of the vehicle; camera information of one or more cameras of the vehicle; vehicle to infrastructure (V2X) information, vehicle to vehicle (V2V) information; satellite information; and traffic message channel (TMC) information.

In some examples, the control system is configured to stop the vehicle in the safe stopping location and reduce power consumption of the vehicle.

In some examples, the control system is configured to: receive a further input; and in dependence on the further input, exit the autonomous driving mode.

In some examples, the further input comprises manual actuation of a control of the vehicle, and/or speech input.

In some examples, the control system is configured to: determine the driver is ready to control the vehicle; and cause generation of the further input in dependence on the determination.

In some examples, the control system is configured to provide, in dependence on the further input, navigation information from a present location of the vehicle to a predetermined destination.

This provides the advantage that a driver can be assisted in returning to a previous route, for example, being used prior to the autonomous control of the vehicle.

In some examples, the control system is configured to provide one or more calming features in dependence on the input.

According to a further aspect of the invention, there is provided a vehicle comprising a control system as described herein.

According to a further aspect of the invention there is provided a method of controlling a vehicle, the method comprising: receiving an input when a driver is in control of the vehicle; assume control of the vehicle, in dependence on the input, in an autonomous driving mode; determining a safe stopping location for the vehicle; controlling the vehicle to autonomously move towards the safe stopping location.

In some examples, the method comprises determining a route towards the safe stopping location for the vehicle; and wherein controlling the vehicle to autonomously move to the safe stopping location comprises controlling the vehicle to autonomously travel the determined route towards the safe stopping location.

In some examples, the method comprises: determining the occurrence of one or more predetermined actions of the driver; and cause generation of the input in dependence on the determination.

According to a further aspect of the invention, there is provided computer software that, when executed, is arranged to perform at least part of any one or more methods described herein.

According to a further aspect of the invention there is provided computer software that, when executed, is arranged to perform any one or more of the methods described herein.

According to a further aspect of the invention there is provided a non-transitory computer readable medium comprising computer readable instructions that, when executed by a processor, cause performance of any one or more of the methods described herein.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination that falls within the scope of the appended claims. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination that falls within the scope of the appended claims, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: FIG. 1 illustrates an example of a vehicle; FIGS. 2A, 2B illustrate an example of a control system and of a non-transitory computer readable storage medium; FIG. 3 illustrates an example of a method; FIG. 4 illustrates an example scenario.

DETAILED DESCRIPTION

FIG. 1 illustrates an example of a vehicle in which embodiments of the invention can be implemented. In some, but not necessarily all examples, the vehicle is a passenger vehicle, also referred to as a passenger car or as an automobile. In other examples, embodiments of the invention can be implemented for other applications, such as commercial vehicles.

FIG. 1 is a front perspective view and illustrates a longitudinal x-axis between the front and rear of the vehicle representing a centreline, an orthogonal lateral y-axis between left and right lateral sides of the vehicle, and a vertical z-axis. A forward/fore direction typically faced by a driver's seat is in the negative x-direction; rearward/aft is +x. A rightward direction as seen from the driver's seat is in the positive y-direction; leftward is -y. These are a first lateral direction and a second lateral direction.

The vehicle 10 comprises a plurality of systems including a control system 208 and a control 20. The control 20 can be and/or comprised in a human machine interface of the vehicle 10.

Consequently, FIG. 1 illustrates a vehicle 10 comprising a control system 208 as described herein.

FIG. 2A illustrates an example control system 208 configured to implement one or more aspects of the invention. FIG. 2 can be considered to illustrate how the control system 208 may be implemented.

The control system 208 of FIG. 2A comprises a controller 200. In other examples, the control system 200 may comprise a plurality of controllers on-board and/or off-board the vehicle 10.

The controller 200 of FIG. 2A includes at least one processor 202; and at least one memory device 204 electrically coupled to the electronic processor 202 and having instructions (e.g. a computer program 206) stored therein, the at least one memory device 204 and the instructions configured to, with the at least one processor 202, cause any one or more of the methods described herein to be performed.

The processor 202 may have an interface 202 such as an electrical input/output I/O or electrical input for receiving information and interacting with external components.

FIG. 2A therefore illustrates a control system 208, wherein the one or more electronic controllers 200 collectively comprise: at least one electronic processor 202 having an electrical input for receiving information associated with energy storage control; and at least one electronic memory device 204 electrically coupled to the at least one electronic processor 202 and having instructions 206 stored therein; and wherein the at least one electronic processor 202 is configured to access the at least one memory device 204 and execute the instructions thereon so as to cause the control system 208 to perform and/or cause performance of any one or more of the methods described herein.

Also illustrated in the example of FIG. 2A are one or more vehicle systems 226. Information can be communicated between the one or more vehicle systems 226 and the control system 208 and/or controller 200. There can be any number of intervening elements between the one or more vehicle systems 226 and the control system 208 (including no intervening elements).

In examples, the vehicle system(s) 226 can comprise any suitable vehicle system(s).

In some examples, the vehicle system(s) 226 comprise one or more systems via which a driver 14 and/or other user of the vehicle 10 can make one or more input 12, 22, such as one or more human machine interfaces. In some examples, the vehicle system(s) 226 comprise one or more controls 20 via which a driver 14 and/or other user of the vehicle 10 can make one or more inputs 12, 22.

In some examples, the vehicle system(s) 226 comprise one or more systems involved in determining one or actions of a driver 14 of the vehicle 10, for example one or more sensors and/or one or more cameras.

In some examples, the vehicle system(s) 226 comprise one or more systems involved in autonomous driving. For example, the vehicle system(s) 226 can comprises one or more systems involved in autonomous acceleration, braking and/or steering and so on.

In some examples, the vehicle system(s) 226 comprise one or more systems involved in determining a safe stopping location 16 for the vehicle 10. For example, the one or more systems can comprise one or more sensors and/or one or more cameras and so on. In examples, a camera can be considered to be a sensor.

FIG. 2B illustrates a non-transitory computer readable storage medium 218 comprising the instructions 206 (computer software).

Accordingly, FIG. 2B illustrates a non-transitory computer readable medium 218 comprising computer readable instructions 206 that, when executed by a processor 202, cause performance of at least the method of one or more of FIG. 3 and/or as described herein.

FIG. 3 illustrates an example of a method 300.

The method 300 can be considered a method 300 of providing autonomous control of a vehicle 10.

The method 300 can be considered a method 300 of autonomously controlling a vehicle to a safe stopping location.

The method 300 can be considered a method 300 of safely stopping a vehicle in an emergency situation.

In examples, the method 300 is performed by the control system 208 of FIGs 2A, 2B.

That is, in examples, the control system 208 described herein comprises and/or provides means for performing the method 300. However, any suitable means can be used to perform the method 300.

One or more of the features discussed in relation to FIG. 3 can be found in one or more of the other figures.

At block 302, method 300 comprises receiving an input 12 when a driver 14 is in control of the vehicle 10.

Receiving an input 12 when a driver 14 is in control of the vehicle 10 can be performed in any suitable way using any suitable method.

In examples, it can be considered that a driver 14 is in control of the vehicle 10 when the driver 14 is capable of safely controlling and/or driving the vehicle 10.

In examples, it can be considered that a driver 14 is in control of the vehicle 10 when the driver 14 is holding one or more steering controls of the vehicle 10 and is paying attention to the way ahead, for example the road ahead, and/or the environment 26 around the vehicle 10.

The input 12 can be any suitable input 12 resulting from any suitable action or actions. In some examples, the input 12 can be considered an input 12 intended to indicate that the driver can no longer be in control of the vehicle 10 and/or is no longer in control of the vehicle 10.

In examples, the input 12 can comprise a plurality of actions.

The input 12 can comprise one or more manual inputs by a driver 14 and/or other user of the vehicle 10.

The input 12 can comprise automatically determined actions of a driver 14 and/or other user of the vehicle 10.

Accordingly, the input 12 can be manual and/or automatically determined in nature.

In some examples, the input 12 comprises manual actuation of a control 20 of the vehicle 10, and/or speech input.

Any suitable control 20 of the vehicle 10 can be used to provide the input 12. For example, one or more buttons and/or switches and/or levers and so on in the interior of the vehicle 10 can be used. For example, a button on the dashboard of a vehicle 10 can be used.

Any suitable speech input can be used. In examples, any suitable speech input indicating that the driver 14 is no longer and/or is not going to be able to be in control of the vehicle 10 can be used.

In examples, the speech input can be predetermined and/or associated with authorised users. For example, the speech input will only by acted upon if it is spoked by an authorised user, such as an authorised driver of the vehicle 10.

In some examples, the method 300 comprises determining the occurrence of one or more predetermined actions of the driver 14; and causing generation of the input 12 in dependence on the determination.

As used herein, the term "determining' (and grammatical variants thereof) can include, at least; calculating, computing, processing, deriving, investigating, looking up (for example, looking up in a table, a database or another data structure), ascertaining and the like. Also, "determining" can include receiving (for example, receiving information), accessing (for example, accessing data in a memory) and the like. Also "determining" can include resolving, selecting, choosing, establishing, and the like.

In examples, determining information 12 from signals 14 received from one or more short-range wireless networks 16 can be performed in any suitable way using any suitable method.

In examples, determining the occurrence of one or more predetermined actions of the driver 14 and causing generation of the input 12 in dependence on the determination can be performed in any suitable way using any suitable method.

In examples, any suitable predetermined action(s) of the driver 14 can be used. In some examples, any suitable predetermined action(s) of the driver 14 indicating that the driver 14 is no longer in control of the vehicle 10 and/or is not going to be able to control the vehicle 10 can be used.

In examples, the one or more predetermined actions of the driver 14 are indicative of the occurrence of an event in the vehicle 10 that will cause the driver 14 to no longer be able to be in control of the vehicle 10. For example, a passenger in the rear of the vehicle 10 may need immediate attention.

In examples, determining the occurrence of one or more predetermined actions of the driver 14 comprises receiving one or more signals from one or more sensors and/or cameras of the vehicle 10.

In some examples, determining one or more predetermined actions of the driver 14 comprises at least one of: determining the driver 14 has let go of a steering control of the vehicle 10; determining that the driver 14 is not looking at the road ahead; and determining that the driver 14 has turned around in the vehicle 10.

In examples, determining one or more predetermined actions of the driver 14 comprises determining that the driver 14 has performed one or more predetermined actions for a period of time exceeding a limit.

For example, it can be determined that the driver 14 has let go of a steering control of the vehicle 10, is not looking at the road ahead, and/or has turned around in the vehicle 10 for greater than a predetermined period of time.

Any suitable minimum time period can be used. For example, a minimum time period of 5 to 10 seconds can be used.

At block 304, method 300 comprises assuming control of the vehicle 10, in dependence on the input 12, in an autonomous driving mode.

Assuming control of the vehicle 10, in dependence on the input 12, in an autonomous driving mode can be performed in any suitable way using any suitable method.

In some examples, block 304 can be considered to comprise in response to the input 12, assuming control of the vehicle 10 in an autonomous driving mode.

Assuming control of the vehicle 10 can be considered to comprise assuming responsibility for one or more driving actions normally performed by a driver 14 of a vehicle 10 when the driver 14 is in control of the vehicle 10. For example, assuming control of the vehicle 10 can comprise assuming control of steering and/or accelerating and/or braking the vehicle 10 and so on.

Any suitable autonomous driving mode can be used. For example, any suitable autonomous driving mode in which the driver 14 no longer has to be in control of the vehicle 10 can be used.

In some examples, when the vehicle 10 is in the autonomous driving mode the vehicle 10 is controlled without driver input. For example, the vehicle 10 is controlled without driver steering, and/or acceleration, and/or braking input and so on.

In some examples, changing the vehicle 10 to be in an autonomous driving mode comprises changing the vehicle 10 to a society of automotive engineers, SAE, level 3 mode or higher.

At block 306, method 300 comprises determining a safe stopping location 16 for the vehicle 10.

Determining a safe stopping location 16 for the vehicle 10 can be performed in any suitable way using any suitable method.

Any suitable safe stopping location can be used. In examples, a safe stopping location 16 for the vehicle 10 can be considered a location and/or area in which the vehicle 10 can be brought to a halt without the vehicle 10 being at risk/in danger from other vehicles and/or without putting other vehicles at risk/in danger.

Additionally, or alternatively, a safe stopping location 16 can be considered a location and/or area that is designated and/or predetermined for stopping and/or parking of vehicles. For example, a safe stopping location 16 can comprise a layby, on street parking, off street parking, a car park, SMART motorway hard shoulder and so on.

In some examples, a predetermined end destination is entered into a navigation function of the vehicle 10 and the predetermined end destination can be considered a safe stopping location 16.

In examples, a determined safe stopping location 16 will not cause the vehicle 10 to travel a longer route than a route to the predetermined end destination as in such examples, the predetermined end destination can be determined as the safe stopping location 16.

In some examples, determining a safe stopping location 16 for the vehicle 10 comprises analysing the environment 26 of the present location 34 of the vehicle 10.

In some examples, determining a safe stopping location 16 for the vehicle 10 comprises determining a safe stopping location 16 for the vehicle 10 in dependence on at least one of: map information, sensor information of one or more sensors of the vehicle 10, camera information of one or more cameras of the vehicle 10, vehicle to infrastructure (V2X) information, vehicle to vehicle (V2V) information, satellite information, and traffic message channel (TMC) information. Camera information can be considered sensor information.

Map information can be used in any suitable way to allow a determination of a safe stopping location for the vehicle 10.

In some examples, information of one or more locations and/or features on a map can be used in determining a safe stopping location 16 for the vehicle 10.

For example, map information can be used to determine a nearest and/or easily accessed car parking location for the vehicle.

For example, map information can be used to determine a suitable low speed road on which the vehicle 10 can be safely stopped.

For example, map information can be used to determine a nearby and/or easily accessed road with parking locations available.

For example, map information can be used to determine a nearby autonomous parking garage location.

Sensor information and/or camera information can be used in any suitable way to allow a determination of a safe stopping location for the vehicle 10.

For example, sensor information and/or camera information can be used to analyse and/or search the environment around the vehicle 10 for a safe stopping location 16.

For example, sensor information and/or camera information can be analysed to determine if there is a safe stopping location 16, such as a layby or hard shoulder proximate the present location 34 of the vehicle 10.

Accordingly, in examples, determining a safe stopping location 16 for the vehicle 10 can comprise analysing and/or assessing the immediate and extended environment 26 of the present location 34 of the vehicle 10.

At block 308, method 300 comprises controlling the vehicle 10 to autonomously move towards the safe stopping location 16.

Consequently, FIG. 3 illustrates a method 300 comprising: receiving input 12 when a driver 14 is in control of a vehicle 10; assuming control of the vehicle 10, in dependence on the input 12, in an autonomous driving mode; determining a safe stopping location 16 for the vehicle 10; and controlling the vehicle 10 to autonomously move towards the safe stopping location 16.

Controlling the vehicle 10 to autonomously move towards the safe stopping location 16 can be performed in any suitable way using any suitable method.

In examples, the vehicle 10 may not reach the safe stopping location 16 because the driver 14 may become able to assume control of the vehicle 10 again before the safe stopping location is reached.

For example, a child in the back of the vehicle 10 may require immediate attention and the driver 14 may have to turn to assist the child. While the driver 14 is turned, the vehicle 10 can move towards a determined safe stopping location 16, however the driver 14 may have dealt with the situation with the child before the safe stopping location 16 is reached and therefore the driver 14 can assume control of the vehicle 10 again before the safe stopping location 16 is reached.

In examples, method 300 comprises stopping the vehicle 10 in the safe stopping location 16.

In some examples, method 300 comprises determining a route 18 to the safe stopping location 16 for the vehicle 10, and wherein controlling the vehicle 10 to autonomously move to the safe stopping location 16 comprises controlling the vehicle 10 to autonomously travel the determined route 18 towards the safe stopping location 16.

Determining a route 18 to the safe stopping location 16 can be performed in any suitable way using any suitable method. For example, any suitable route determining and/or route planning functionality can be used to determine the route 18 to the safe stopping location 16.

In some examples, method 300 comprises stopping the vehicle 10 in the safe stopping location 16 and reducing power consumption of the vehicle 10.

In examples, reducing power consumption of the vehicle 10 can be performed in any suitable way using any suitable method.

In some examples, reducing power consumption of the vehicle 10 comprises powering down a drive train of the vehicle 10.

In some examples, reducing power consumption of the vehicle 10 comprises putting the vehicle 10 into a safe parked condition in which one or more inputs from a driver 14 of the vehicle 10 are required to allow the vehicle 10 to drive away.

In some examples, reducing power consumption of the vehicle 10 comprises putting the vehicle 10 in a lower power and/or lower ignition mode.

In some examples, method 300 comprises providing one or more calming features in dependence on the input 12.

The calming feature(s) can be provided at any suitable time following the input 12. For example, the calming feature(s) can be provided at any suitable time between the input 12 and the driver assuming control of the vehicle 10 again. In some examples, the calming feature(s) can continue after the driver 14 assumes control of the vehicle 10 until, for example, the calming features are stopped by the driver 14.

In examples, providing one or more calming features can be performed in any suitable way using any suitable method.

In examples, any suitable calming features can be used. For example, any suitable features configured to calm one or more occupants of the vehicle 10 can be used. In some examples, the cabin environment of the vehicle 10 can be altered to provide a calming environment.

In some examples, providing one or more calming featured comprises controlling at least one of sound, lighting and/or temperature in the cabin of the vehicle 10.

For example, a child may become distressed in the back of the vehicle 10 and the driver 14 may turn to try to help the child, causing the input 12 to be provided. The temperature and lighting in the cabin of the vehicle 10 can be controlled, while calming/soothing music is played to assist in calming the child and allow the driver to assume control of the vehicle 10 again.

In some examples, method 300 comprises receiving a further input 22 and, in dependence on the further input 22, exiting the autonomous driving mode.

Receiving a further input 22 can be performed in any suitable way using any suitable method.

The further input 22 can be any suitable input 22 resulting from any suitable action or actions. In some examples, the further input 22 can be considered an input 22 intended to indicate that the driver 14 can assume control of the vehicle 10 again.

In examples, the further input 22 can comprise a plurality of actions.

The further input 22 can comprise one or more manual inputs by the driver 14 and/or other user of the vehicle 10.

The further input 22 can comprise automatically determined actions of a driver 14 and/or other user of the vehicle 10.

Accordingly, the further input 22 can be manual and/or automatically determined in nature.

In some examples, the further input 22 comprises manual actuation of a control 20 of the vehicle 10, and/or speech input.

Any suitable control 20 of the vehicle 10 can be used to provide the further input 22. For example, one or more buttons and/or switches and/or levers and so on in the interior of the vehicle 10 can be used. For example, a button on the dashboard of a vehicle 10 can be used.

Any suitable speech input can be used. In examples, any suitable speech input indicating that the driver 14 is able to assume control of the vehicle 10 can be used. Any suitable language can be used.

In some examples, method 300 comprises determining the driver 14 is ready to control the vehicle 10 and causing generation of the further input 22 in dependence on the determination.

In some examples, the method 300 comprises determining the occurrence of one or more predetermined actions of the driver 14; and causing generation of the further input 22 in dependence on the determination.

In examples, determining the occurrence of one or more predetermined actions of the driver 14 and causing generation of the further input 22 in dependence on the determination can be performed in any suitable way using any suitable method.

In examples, any suitable predetermined action(s) of the driver 14 can be used. In some examples, any suitable predetermined action(s) of the driver 14 indicating that the driver 14 can assume control of the vehicle 10 can be used.

In examples, the one or more predetermined actions of the driver 14 are indicative of the occurrence of an event in the vehicle 10 that indicates that the driver 14 can assume control of the vehicle 10.

In some examples, determining one or more predetermined actions of the driver 14 comprises at least one of: determining the driver 14 has taken hold of a steering control of the vehicle 10; determining that the driver 14 is looking at the road ahead; and determining that the driver 14 has turned to face the front in the vehicle 10.

For example, it can be determined that the driver 14 has held a steering control of the vehicle 10, is looking at the road ahead, and/or has turned to face the front in the vehicle 10 for greater than a predetermined period of time.

In some examples, method 300 comprises providing, in dependence on the further input 22, navigation information 24 from a present location 34 of the vehicle 10 to a predetermined destination.

Providing, in dependence on the further input 22, navigation information 24 from a present location 34 of the vehicle 10 to a predetermined destination can be performed in any suitable way using any suitable method.

In examples, any suitable navigation information can be provided in any suitable way. For example, navigation information 24 in the form of route information can be provided via a display of the vehicle 10.

The predetermined destination can comprise any suitable destination. In some examples, the predetermined destination is a destination that was previously indicated as a driving destination of the vehicle 10. For example, prior to receiving the input 12, navigation information 24 may have been provided to navigate to the predetermined destination.

For example, a driver 14 may input a destination into a navigation function of the vehicle 10 and may follow directions to the destination when it becomes necessary for the driver 14 to attend to a passenger in distress and the input 12 is provided.

While the attention of the driver 14 is taken with assisting the passenger, the vehicle 10 may drive to a safe stopping location 16 that is away from an original route 18 that was to be followed by the driver 14.

This may mean that the driver 14 is not sure how to get to the destination from the present location 34 of the vehicle 10 when the driver 14 is ready to assume control of the vehicle 10.

Accordingly, navigation information 24 can be provided to assist the driver 14 in getting back to the original route and/or driving to the original destination from the present location 34 of the vehicle 10.

In some examples, the predetermined destination can comprise a location of the vehicle 10 when the input 12 was received. Accordingly, in such examples, assistance can be provided to a driver 14 to return to a known location.

Method 300 is advantageous and provides one or more technical benefits.

For example, method 300 provides for a vehicle to stop at a safe location while the driver 14 is unable to be in control of the vehicle.

For example, method 300 provides for a vehicle to operate safely while a driver is not able to be in control of the vehicle.

For example, method 300 provides for a driver to assist a passenger in distress and preventing the vehicle becoming non-controlled.

For example, method 300 provides for a driver to assist themselves, such as administering insulin, without the vehicle becoming non-controlled.

For example, method 300 provides assistance for a driver to get back on route after the vehicle has been controlled in the absence of the driver's attention.

FIG. 4 illustrates an example scenario according to examples of the disclosure.

The example of FIG. 4 is split into six parts labelled 'A' to 'F'.

At part A, a vehicle 10 is under control of a driver 14 and is travelling towards a predetermined destination.

At part B, a passenger in the back of the vehicle 10 becomes distressed and assistance from the driver 14 is needed. For example, a child in the back seat may start to choke and the driver 14 may need to assist the child to prevent the child from coming to harm.

The driver 14 provides the input 12. In the example of FIG. 4, the driver 14 actuates a button on the dashboard of the vehicle 10 to provide the input 12.

At part C, the vehicle 10 is in an autonomous driving mode and is determining a safe stopping location 16 for the vehicle 10, while the attention of the driver 14 is on the passenger that needs assistance.

At part C, one or more sensors and/or cameras of the vehicle 10 are used to search the environment 26 around the vehicle 10 for a safe stopping location 10. However, the vehicle 10 is presently on a fast-moving road 32 and there is no immediately available safe stopping location.

In the example of FIG. 4, the vehicle 10 also uses map data to try to determine a safe stopping location 16 for the vehicle 10. Using the map data, it is determined that there is a car park 30 nearby and a route 18 to the car park 30, and safe stopping location 16, is determined.

In part D. the vehicle 10 autonomously navigates from the present location 34 of the vehicle 10, away from the road 32 that the vehicle 10 is on to the car park 30 and safe stopping location 16. The route 18 is schematically illustrated in the example of FIG. 4D.

In part E, the vehicle 10 has stopped at the safe stopping location 16 in the car park 30.

In the example of FIG. 4, in part E, the driver 14 has been able to assist the passenger and is now ready to assume control of the vehicle 10. The driver 10 provides the further input 22, by, in the illustrated example, actuating a button on the dashboard of the vehicle 10.

Navigation information 24, in the form of a route 18 to the destination, is provided to the driver 14 using a display of the vehicle 10 to allow the driver 14 to easily navigate from the safe stopping location 16 towards the original destination.

In the example of FIG. 4E, the route 18 is schematically illustrated and returns the vehicle 10 to the road 32 that the vehicle 10 was on and facing the same direction as when the input 12 was provided.

In part F, the vehicle 10 is back under control of the driver 14 heading towards the predetermined destination.

Examples of the disclosure are advantageous and provide technical benefits.

For example, examples of the disclosure provide for a vehicle to stop at a safe place if a driver is no longer able to control the vehicle.

For example, examples of the disclosure provide for a driver to deal with an emergency situation without having to control a vehicle.

As used herein "for" should be considered to also include "configured or arranged to". For example, "a control system for' should be considered to also include "a control system configured or arranged to".

For purposes of this disclosure, it is to be understood that the controller(s) described herein can each comprise a control unit or computational device having one or more electronic processors. A vehicle and/or a system thereof may comprise a single control unit or electronic controller or alternatively different functions of the controller(s) may be embodied in, or hosted in, different control units or controllers. A set of instructions could be provided which, when executed, cause said controller(s) or control unit(s) to implement the control techniques described herein (including the described method(s)). The set of instructions may be embedded in one or more electronic processors, or alternatively, the set of instructions could be provided as software to be executed by one or more electronic processor(s). For example, a first controller may be implemented in software run on one or more electronic processors, and one or more other controllers may also be implemented in software run on one or more electronic processors, optionally the same one or more processors as the first controller. It will be appreciated, however, that other arrangements are also useful, and therefore, the present disclosure is not intended to be limited to any particular arrangement.

In any event, the set of instructions described above may be embedded in a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) that may comprise any mechanism for storing information in a form readable by a machine or electronic processors/computational device, including, without limitation: a magnetic storage medium (e.g., floppy diskette); optical storage medium (e.g., CD-ROM); magneto optical storage medium; read only memory (ROM); random access memory (RAM); erasable programmable memory (e.g., EPROM and EEPROM); flash memory; or electrical or other types of medium for storing such information/instructions.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

The blocks illustrated in the FIG. 3 may represent steps in a method and/or sections of code in the computer program 206. The illustration of a particular order to the blocks does not necessarily imply that there is a required or preferred order for the blocks and the order and arrangement of the block may be varied. Furthermore, it may be possible for some steps to be omitted.

Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed.

Features described in the preceding description may be used in combinations other than the combinations explicitly described.

Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not.

Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not.

Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and/or shown in the drawings whether or not particular emphasis has been placed thereon.

Claims

CLAIMS1. A control system for a vehicle, the control system comprising one or more controllers, wherein the control system is configured to: receive an input when a driver is in control of the vehicle; assume control of the vehicle, in dependence on the input, in an autonomous driving mode; determine a safe stopping location for the vehicle; control the vehicle to autonomously move towards the safe stopping location.
2. The control system of claim 1, wherein the control system is configured to determine a route to the safe stopping location for the vehicle; and wherein controlling the vehicle to autonomously move towards the safe stopping location comprises controlling the vehicle to autonomously travel the determined route(18) towards the safe stopping location.
3. The control system of claim 1 or 2, wherein the input comprises manual actuation of a control of the vehicle, and/or speech input.
4. The control system of claim 1, 2 or 3, wherein the control system is configured to: determine the occurrence of one or more predetermined actions of the driver; and cause generation of the input in dependence on the determination.
5. The control system of claim 4, wherein determining one or more predetermined actions of the driver comprises at least one of: determining the driver has let go of a steering control of the vehicle; determining that the driver is not looking at the road ahead; determining that the driver has turned around in the vehicle.
6. The control system of any preceding claim, wherein when the vehicle is in the autonomous driving mode the vehicle is controlled without driver input.
7. The control system of any preceding claim, wherein changing the vehicle to be in an autonomous driving mode comprises changing the vehicle to a society of automotive engineers, SAE, level 3 mode or higher.
8. The control system of any preceding claim, wherein determining a safe stopping location for the vehicle comprises determining a safe stopping location for the vehicle in dependence on at least one of: map information; sensor information of one or more sensors of the vehicle; camera information of one or more cameras of the vehicle; vehicle to infrastructure, V2X, information, vehicle to vehicle, V2V, information; satellite information; and traffic message channel, TMC, information.
9. The control system of any preceding claim, wherein the control system is configured to stop the vehicle in the safe stopping location and reduce power consumption of the vehicle.
10. The control system of any preceding claim, wherein the control system is configured to: receive a further input; and in dependence on the further input, exit the autonomous driving mode.
11. The control system of claim 10, wherein the further input comprises manual actuation of a control of the vehicle, and/or speech input.
12. The control system of claim 10 or 11, wherein the control system is configured to: determine the driver is ready to control the vehicle; and cause generation of the further input in dependence on the determination.
13. The control system of claim 10, 11, or 12, wherein the control system is configured to provide, in dependence on the further input, navigation information from a present location of the vehicle to a predetermined destination.
14. The control system of any preceding claim, wherein the control system is configured to provide one or more calming features in dependence on the input.
15. A vehicle comprising a control system as claimed in at least one of claims 1 to 14.
16. A method of controlling a vehicle, the method comprising: receiving an input when a driver is in control of the vehicle; assume control of the vehicle, in dependence on the input, in an autonomous driving mode; determining a safe stopping location for the vehicle; controlling the vehicle to autonomously move towards the safe stopping location.
17. Computer software that, when executed, is arranged to perform a method according to claim 16.