SE541201C2

SE541201C2 - Motor vehicle configured to be operated in either an autonomous driving mode or a manual driving mode and method therefor

Info

Publication number: SE541201C2
Application number: SE1650557A
Authority: SE
Inventors: Lars Hjorth; Samuel Malinen
Original assignee: Scania Cv Ab
Priority date: 2016-04-26
Filing date: 2016-04-26
Publication date: 2019-04-30
Also published as: DE102017003655A1; DE102017003655B4; SE1650557A1

Abstract

A motor vehicle (100) configured to be selectively operated in either an autonomous driving mode or a manual driving mode is described, comprising: a processing unit (110) configured to: determine whether a set of criteria are fulfilled for operating the motor vehicle in the manual driving mode, and if a set of criteria are fulfilled while the motor vehicle is operated in the autonomous driving mode, effect operation of the motor vehicle in the manual driving mode. The motor vehicle further comprises: a communication unit (130) configured to receive a manual-operation command via a wireless interface (140) and to include the identity of the motor vehicle in a confirmation message. The vehicle comprises at least one alerting unit. If the motor vehicle is operated in the autonomous driving mode and less than all the criteria in said set of criteria are fulfilled, the processing unit is further configured to: cause the at least alerting unit to generate at least one alert signal informing a driver of the motor vehicle that a requested operation of the motor vehicle in the manual driving mode is prevented due to a driver-related issue. If within a predetermined period after having generated the alert signal less than all the criteria are fulfilled, cause the motor vehicle to be stopped. A method performed in a motor vehicle is also described.

Description

Motor vehicle configured to be operated in either an autonomous driving mode or a manual driving mode and method therefor THE BACKGROUND OF THE INVENTION AND PRIOR ART The present invention relates generally to solutions for operating a motor vehicle in an autonomous driving mode and a manual driving mode respectively. More particularly, the invention relates to a motor vehicle according to the preamble of claim 1 and a corresponding method. The invention also relates to a computer program product and a non-transitory computer readable medium.

Today, there is strong trend towards increased use of automatically operated road vehicles. Naturally, this is associated with many technical obstacles. Especially, changing safely between an autonomous and a manual driving mode has proven to be challenging. Below follows some examples of relatively recent solutions in this area.

US 2013/0002416 reveals systems and methods for switching between manual-mode steering and autonomous-mode steering, including a steering wheel assembly sending a signal to an autonomous driving electronic control unit, to engage autonomousmode steering, in response to an autonomous interface steering wheel of the assembly having been moved from a first position to a second position.

US 6,356,819 describes a method and apparatus that allows for safely operating a vehicle when an automatic steering control feature of a guidance control system is in operation. One or more sensors are used to determine whether the operator is in the vehicle. If the sensors detect that the operator has left the vehide, the vehicle is shut off. The safety system includes one or more software programs that operate to determine whether the guidance control system is operating properly. More specifically, a control unit is coupled to the microprocessor and the steering control mechanism for determining whether or not an error condition has occurred. In the event that an error condition has occurred, the guidance control system is disengaged and control of the vehicle is turned over to the operator. In one embodiment, the safety system determines whether the operator is ready to take control of the vehicle prior to disengaging the guidance control system. If the operator is not ready to take control of the vehicle, the vehicle is shut off.

US 2015/0283998 discloses a method for transition between driving modes of a vehicle. The driving modes include an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the PAD mode is performed by releasing a steering wheel lock when the PAD mode is in an enabled state. A transition from the MD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the MD mode is performed by releasing the steering wheel lock when the PAD mode is in a disabled state. A system for performing the method and a vehicle including the system are also disclosed.

US 2015/0070160 describes a method and arrangement are for handover warning in a vehicle having autonomous driving capabilities and a vehicle controller configured to control unmanned autonomous travel. A processor may be configured to monitor if there is a need to transition from unmanned autonomous travel to manual control of the vehicle. A detecting arrangement may be configured to monitor a vehicle driver and evaluate the vehicle driver's readiness to assume the act of driving the vehicle. A warning arrangement may be configured to provide warning information when driver-handover is requested by the processor, which warning arrangement may be further configured to adapt warning information timing in respect to the evaluated vehicle driver's readiness to assume the act of driving the vehicle. A warning output system may be configured to output the time adapted warning information to a vehicle passenger compartment.

US 2015/0284009 shows a solution for switching between autonomous and manual driving modes. In order to do so, the vehide's computer may conduct a series of environmental, system, and driver checks to identify certain conditions. The computer may correct some of these conditions and also provide a driver with a checklist of tasks for completion. Once the tasks have been completed and the conditions are changed, the computer may allow the driver to switch from the manual to the autonomous driving mode. The computer may also make a determination, under certain conditions, that it would be detrimental to the driver's safety or comfort to make a switch from the autonomous driving mode to the manual driving mode.

PROBLEMS ASSOCIATED WITH THE PRIOR ART Thus, various solutions already exist for switching between autonomous and manual driving modes. However, the existing solutions all rely on locally generated commands or signals for transitioning from one mode to the other. This, in turn, is problematic inter alia because such a locally oriented approach cannot tackle driving situations that require relatively long advance notice in space and/or time.

SUMMARY OF THE INVENTION The object of the present invention is therefore to solve the above problem, and thus offer an improved handling of a motor vehicle that is selectively operable in either an autonomous driving mode or a manual driving mode.

According to one aspect of the invention, the object is achieved by the initially described motor vehicle, wherein the motor vehicle contains a communication unit configured to receive a manual-operation command via a wireless interface. The manualoperation command is generated by a resource external to the motor vehicle. Further, the motor vehicle is configured to be selectively operated in either an autonomous driving mode or a manual driving mode, the motor vehicle comprising: a processing unit configured to: determine whether or not a set of criteria are fulfilled for operating the motor vehicle in the manual driving mode, and in response to a manual-operation command and if a set of criteria are fulfilled while the motor vehicle is operated in the autonomous driving mode, effect operation of the motor vehicle in the manual driving mode; and a set of sensors configured to register at least one signal forming a basis for determining whether or not said set of criteria are fulfilled. The motor vehicle further comprises a communication unit configured to receive the manual-operation command via a wireless interface, the manual-operation command being generated by a resource external to the motor vehicle, wherein after having effected operation of the motor vehicle in the manual driving mode, the processing unit is configured to: cause a confirmation message, including the identity of the motor vehicle, to be sent over the wireless interface, the confirmation message being configured to notify the said resource that the motor vehicle is being operated in the manual driving mode, and further comprising at least one alerting unit, and if the motor vehicle is operated in the autonomous driving mode, the manual-operation command is received and less than all the criteria in said set of criteria are fulfilled, the processing unit is further configured to: cause the at least alerting unit to generate at least one alert signal informing a driver of the motor vehicle that a requested operation of the motor vehicle in the manual driving mode is prevented due to a driver-related issue; and, if within a predetermined period after having generated the alert signal less than all the criteria in said set of criteria are fulfilled, cause the motor vehicle to be stopped.

This motor vehicle is advantageous because it enables a command central or other off-board entity to prompt manual operation of the vehicle should this be deemed necessary, for example with respect to circumstances which are beyond the normal reach of the vehicle’s own sensor systems. Such circumstances may be an accident on the road upon which the vehicle travels, which accident is known to the off-board entity, however cannot be registered by the motor vehicle itself. Problematic traffic and / or weather situations are other examples of such circumstances.

According to one preferred embodiment of this aspect of the invention the set of sensors includes: a pressure sensitive sensor configured to determine whether or not a person is sitting in a driver’s seat of the motor vehicle; an image-based sensor configured to register a state of alertness of a driver of the motor vehicle; an image-based sensor configured to determine whether or not the driver has his/her gaze directed towards a roadway on which the motor vehicle is driven; and/or a touch sensor configured to determine whether or not the driver has his/her hands on a steering wheel of the motor vehicle. Consequently, key data reflecting the driver’s readiness to take over the driving responsibility can be acquired very efficiently.

According to another preferred embodiment of this aspect of the invention the motor vehicle contains at least alerting unit. If the motor vehicle is operated in the autonomous driving mode, the manual-operation command is received and less than all the criteria are fulfilled for operating in the manual mode, the processing unit is further configured to cause the at least one alerting unit to generate at least one alert signal. Thereby, a driver of the motor vehicle is informed that a requested operation of the motor vehicle in the manual driving mode is prevented due to a driver-related issue. If within a predetermined period after having generated the alert signal, all the criteria in said set of criteria are still not fulfilled, the processing unit is configured to cause the motor vehicle to be stopped. Namely, in such a case, it has been determined that the vehicle can neither be operated automatically nor manually.

According to a further preferred embodiment of this aspect of the invention the motor vehicle includes at least alarm unit configured to generate at least one signal notifying a driver of the motor vehicle acoustically, optically, mechanically and/or tactically that the manual driving mode is about to be activated. Moreover, before effecting operation of the motor vehicle in the manual driving mode, the processing unit is configured to cause at least one of the at least one alarm unit to generate at least one of said at least one signal. If and only if thereafter a predefined driver confirmation signal has been received, the processing unit is configured to effect operation of the motor vehicle in the manual driving mode. Hence, both the driver and the vehicle receive confirmation that the manual driving mode will be effected.

According to yet another preferred embodiment of this aspect of the invention the predefined driver confirmation signal is represented by activation of a non-driving related input member and / or activation of a driving related input member. Thus, the driver may manipulate a dashboard button as well as operate a standard driving device to confirm that he/she will take over the driving responsibility. Specifically, the non-driving related input member may be represented by an on-screen button, a push button, a rocker, a key or a turn knob; and the driving related input member may be represented by a steering wheel, an acceleration pedal, a brake pedal, a clutch pedal or a gearshift lever.

According to still another preferred embodiment of this aspect of the invention, after having effected operation of the motor vehicle in the manual driving mode, the processing unit is configured to cause a confirmation message to be sent over the wireless interface. The confirmation message is configured to notify the external resource that the motor vehicle is being operated in the manual driving mode. Thereby, the command central is informed of the fact that the responsibility for the vehicle has been transferred successfully to the driver.

According to another aspect of the invention, the object is achieved by the method described initially, wherein a manual-operation command is received via a wireless interface. The manualoperation command is presumed to have generated by a resource external to the motor vehicle. The method is performed in a motor vehicle configured to be selectively operated in either an autonomous driving mode or a manual driving mode, the method comprising: when the motor vehicle is operated in the autonomous driving mode, checking if a manual-operation command has been received, and if so determining, via a set of sensors, whether or not a set of criteria are fulfilled for operating the motor vehicle in the manual driving mode, and if all the criteria in said set of criteria are fulfilled, effecting operation of the motor vehicle in the manual driving mode. Further, the method comprises: receiving the manual-operation command via a wireless interface, the manual-operation command being generated by a resource external to the motor vehicle, wherein after having effected operation of the motor vehicle in the manual driving mode, the method comprises: sending a confirmation message, including the identity of the motor vehicle , over the wireless interface, the confirmation message being configured to notify the said resource that the motor vehicle is being operated in the manual driving mode, and wherein if the motor vehicle is operated in the autonomous driving mode, the manual-operation command is received and less than all the criteria in said set of criteria are fulfilled. The method yet further comprises: generating at least one alert signal configured to inform a driver of the motor vehicle that a requested operation of the motor vehicle in the manual driving mode is prevented due to a driver-related issue; and, if within a predetermined period after having generated the alert signal less than all the criteria in said set of criteria are fulfilled, causing the motor vehicle to be stopped.

The advantages of this method, as well as the preferred embodiments thereof, are apparent from the discussion above with re ference to the proposed motor vehicle.

According to a further aspect of the invention the object is achieved by a computer program product, which is loadable into the memory of a computer, and includes software for performing the above proposed method when executed on a computer.

According to another aspect of the invention the object is achieved by a non-transitory computer readable medium, having a program recorded thereon, where the program is make a computer perform the method proposed above when the program is loaded into the computer.

Further advantages, beneficial features and applications of the present invention will be apparent from the following description and the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings, where: Figure 1 shows a schematic view of a motor vehicle according to one embodiment of the invention together with a system for communicating with the motor vehicle; and Figure 2 illustrates, by means of a flow diagram, a method according to the invention.

DESCRIPTION OF PREFERRED EMBODIMENTS OF THE IN-VENTION Initially, we refer to Figure 1 showing a schematic view of a motor vehicle 100 according to one embodiment of the invention. Figure 1 also represents a system for communicating with the motor vehicle 100 as well as with other motor vehicles, for example within a fleet of vehicles.

The motor vehicle 100 is configured to be selectively operated in either an autonomous driving mode or a manual driving mode. The motor vehicle 100 includes a processing unit 11 0, a set of sensors 120 and a communication unit 130.

The sensors in the set of sensors 120 are configured to register various signals that form a basis for determining whether or not a set of criteria are fulfilled for operating the motor vehicle 100 in the manual driving mode of operation. For instance, the set of sensors 120 may contain a pressure sensitive sensor configured to determine whether or not a person is sitting in a driver’s seat of the motor vehicle 100; an image-based sensor configured to register a state of alertness of a driver of the motor vehicle 100; an image-based sensor configured to determine whether or not the driver has his/her gaze directed towards a roadway on which the motor vehicle 100 is driven; a touch sensor configured to determine whether or not the driver has his/her hands on a steering wheel of the motor vehicle 100 and/or breathalyzer configured to determine whether or not the driver is under the influence of alcohol or any other breath detectable drug.

The processing unit 110 is configured to receive signals from the set of sensors 120, and based thereon, determine whether or not the set of criteria are fulfilled for operating the motor vehicle 100 in the manual driving mode.

The processing unit 11 0 is further configured to receive a manual-operation command CMDmfrom the communication unit 130. If (a) the motor vehicle 100 is currently being operated in the autonomous driving mode, (b) the manual-operation command CMDm has been received, and (c) the set of criteria are fulfilled for operating the motor vehicle 100 in the manual driving mode of operation, the processing unit 1 10 is configured to effect operation of the motor vehicle 100 in the manual driving mode.

The communication unit 130, in turn, is configured to receive the manual-operation command CMDmvia a wireless interface 140, e.g. implemented by a mobile/cellular communication system or a WiFi connection. A communication infrastructure, which may include radio base stations 175 and one or more networks 170, for example represented by the Internet, preferably interconnects the wireless interface 140 with a resource 160 external to the motor vehicle 100. Namely, according to the invention, it is presumed that the manual-operation command CMDmhas been generated by the external resource 160. Consequently, a command central may be the source of the manual-operation command CMDm. However, the manual-operation command CMDmmay equally well have been generated by another motor vehicle, and may have been forwarded to the motor vehicle either directly from that other vehicle, or more preferably, by passing via the command central.

One major advantage of such an external origin of the manualoperation command CMDmis that the trigger for switching to manual driving can be initiated well in advance (say 30 seconds or more) of a point in time when manual driving is actually required. This provides ample of time to warn the driver, and prompt him/her to take his/her position in the driver’s seat and prepare for the driving task. The purely vehicle-based trigger systems generally has a much shorter advance-notice horizon corresponding to at most a couple of hundred meters, or around 5 to 7 seconds for typical speeds.

In order to inform the driver that a requested manual operation of the motor vehicle 100 is prevented due to a driver-related issue, the motor vehicle 100 preferably contains at least alerting unit. Specifically, if the motor vehicle 100 is operated in the autonomous driving mode, the manual-operation command CMDmis received, and the processing unit 110 finds that less than all the criteria are fulfilled for operating the motor vehicle 100 in the manual driving mode, the processing unit 110 is preferably configured to cause the at least alerting unit to generate at least one alert signal. Further, if within a predetermined period after having generated the alert signal(s) one or more of the criteria are for operating the motor vehicle 100 in the manual driving mode are still not fulfilled, the processing unit 110 is configured to cause the motor vehicle 100 to be stopped, for example by forcing the vehicle to the side of the road and halt there.

Alternatively, or additionally, the motor vehicle 100 contains at least alarm unit configured to generate at least one signal notifying a driver of the motor vehicle 100 acoustically, optically, mechanically and/or tactically that the manual driving mode is about to be activated. This type of notification is preferably generated also if all the criteria for operating the motor vehicle 100 in the manual driving mode are fulfilled, and before actually effecting operation of the motor vehicle 100 in the manual driving mode, it is advantageous if the processing unit 110 is configured to effect operation of the motor vehicle 100 in the manual driving mode if and only if a predefined driver confirmation signal has been received.

The predefined driver confirmation signal, in turn, may be represented by activation of a non-driving related input member and / or activation of a driving related input member. Here, the nondriving related input member may be an on-screen button, a push button, a rocker, a key and/or a turn knob; while the driving related input member may be a steering wheel, an acceleration pedal, a brake pedal, a clutch pedal and a gearshift lever. Hence, there is a large degree of freedom as to how the driver can interact with the processing unit 11 0 to indicate that he/she is ready to take over the responsibility for driving the motor vehicle 100.

Once operation of the motor vehicle 100 in the manual driving mode has been effected, the processing unit 110 is preferably configured to cause a confirmation message ACKmto be sent via the communication unit 130 and over the wireless interface 140. The confirmation message ACKmcontains an identity of the motor vehicle 100 and is configured to notify the resource 160 that the motor vehicle 100 is now being operated in the manual driving mode, i.e. as requested by the manual-operation command CMDm.

Preferably, the processing unit 11 0 contains, or is in communicative connection with a memory unit storing a computer program product, which includes software for making at least one processor in the processing unit 110 execute the above-described actions when the computer program product is run on the at least one processor.

To sum up, we will now we will describe the method according to one preferred embodiment of the invention with reference to the flow diagram in Figure 2. The method described by the flow diagram in Figure 2 is preferably executed by the processing unit 110.

In a first step 210, it is checked if the motor vehicle is operated in the autonomous driving mode. If not, the procedure loops back and stays in step 210; and otherwise, a step 220 follows.

In step 220, it is checked if a manual-operation command has been received from an external resource via a wireless interface. If not, the procedure loops back to step 210; and otherwise, a step 230 follows.

In step 230, it is checked if all the criteria are fulfilled for operating the motor vehicle in the manual driving mode. If so, a step 240 follows in which operation in the manual mode of operation is effected; and otherwise, the procedure continues to a step 250.

In step 250, at least one alert signal is generated, which is configured to inform a driver of the motor vehicle that manual operation of the motor vehicle has been requested, however is prevented due to a driver-related issue, for example because there is no person in driver’s seat.

Then, in a step 260, it is checked if a predetermined period after having generated the alert signal has expired. If so, a step 270 follows, and otherwise, the procedure loops back to step 250.

In step 270, it is checked again if all the criteria are fulfilled for operating the motor vehicle in the manual driving mode. If so, step 240 follows; and otherwise, the procedure continues to a step 280. In step 280, the motor vehicle is caused to be stopped. Thereafter, the procedure ends.

All of the process steps, as well as any sub-sequence of steps, described with reference to Figure 2 above may be controlled by means of a programmed computer apparatus. Moreover, although the embodiments of the invention described above with reference to the drawings comprise a computer apparatus and processes performed in a computer apparatus, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The program may be in the form of source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention. The program may either be a part of an operating system, or be a separate application. The carrier may be any non-transitory entity or device capable of carrying the program. For example, the carrier may comprise a storage medium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video/Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant processes.

The term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components. However, the term does not preclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.

The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims.

Claims

1. A motor vehicle (100) configured to be selectively operated in either an autonomous driving mode or a manual driving mode, the motor vehicle (100) comprising: a processing unit (110) configured to: determine whether or not a set of criteria are fulfilled for operating the motor vehicle (100) in the manual driving mode, and in response to a manual-operation command (CMDm) and if a set of criteria are fulfilled while the motor vehicle (100) is operated in the autonomous driving mode, effect operation of the motor vehicle (100) in the manual driving mode; and a set of sensors (120) configured to register at least one signal forming a basis for determining whether or not said set of criteria are fulfilled, characterized in that the motor vehicle (100) further comprises a communication unit (130) configured to receive the manualoperation command (CMDm) via a wireless interface (140), the manual-operation command (CMDm) being generated by a resource (160) external to the motor vehicle (100), wherein after having effected operation of the motor vehicle (100) in the manual driving mode, the processing unit (110) is configured to: cause a confirmation message (ACKm), including the identity of the motor vehicle (100), to be sent over the wireless interface (140), the confirmation message (ACKm) being configured to notify the said resource (160) that the motor vehicle (100) is being operated in the manual driving mode, and further comprising at least one alerting unit, and if the motor vehicle (100) is operated in the autonomous driving mode, the manual-operation command (CMDm) is received and less than all the criteria in said set of criteria are fulfilled, the processing unit (110) is further configured to: cause the at least one alerting unit to generate at least one alert signal informing a driver of the motor vehicle (100) that a requested operation of the motor vehicle (100) in the manual driving mode is prevented due to a driver-related issue; and, if within a predetermined period after having generated the alert signal less than all the criteria in said set of criteria are fulfilled, cause the motor vehicle (100) to be stopped.

2. The motor vehicle (100) according to claim 1, wherein the set of sensors (120) comprises at least one of: a pressure sensitive sensor configured to determine whether or not a person is sitting in a driver’s seat of the motor vehicle (100); an image-based sensor configured to register a state of alertness of a driver of the motor vehicle (100); an image-based sensor configured to determine whether or not the driver has his/her gaze directed towards a roadway on which the motor vehicle (100) is driven; and a touch sensor configured to determine whether or not the driver has his/her hands on a steering wheel of the motor vehicle (100).

3. The motor vehicle (100) according to any one of the preceding claims, comprising at least one alarm unit configured to generate at least one signal notifying a driver of the motor vehicle (100) acoustically, optically, mechanically and/or tactically that the manual driving mode is about to be activated; and before effecting operation of the motor vehicle (100) in the manual driving mode, the processing unit (110) is configured to: cause at least one of the at least one alarm unit to generate at least one of said at least one signal, and effect operation of the motor vehicle (100) in the manual driving mode if and only if a predefined driver confirmation signal has been received.

4. The motor vehicle (100) according to claim 3, the predefined driver confirmation signal is represented by at least one of: activation of a non-driving related input member and activation of a driving related input member.

5. The motor vehicle (100) according to claim 4, wherein: the non-driving related input member is represented by at least one of an on-screen button, a push button, a rocker, a key and a turn knob; and the driving related input member is represented by at least one of a steering wheel, an acceleration pedal, a brake pedal, a clutch pedal and a gearshift lever.

6. A method performed in a motor vehicle (100) configured to be selectively operated in either an autonomous driving mode or a manual driving mode, the method comprising: when the motor vehicle (100) is operated in the autonomous driving mode, checking if a manual-operation command (CMDm) has been received, and if so determining, via a set of sensors (120), whether or not a set of criteria are fulfilled for operating the motor vehicle (100) in the manual driving mode, and if all the criteria in said set of criteria are fulfilled, effecting operation of the motor vehicle (100) in the manual driving mode, characterized by: receiving the manual-operation command (CMDm) via a wireless interface (140), the manual-operation command (CMDm) being generated by a resource (160) external to the motor vehicle (100), wherein after having effected operation of the motor vehicle (100) in the manual driving mode, the method comprises: sending a confirmation message (ACKm), including the identity of the motor vehicle (100), over the wireless interface (140), the confirmation message (ACKm) being configured to notify the said resource (160) that the motor vehicle (100) is being operated in the manual driving mode, and wherein if the motor vehicle (100) is operated in the autonomous driving mode, the manual-operation command (CMDm) is received and less than all the criteria in said set of criteria are fulfilled, the method further comprises: generating at least one alert signal configured to inform a driver of the motor vehicle (100) that a requested operation of the motor vehicle (100) in the manual driving mode is prevented due to a driver-related issue; and, if within a predetermined period after having generated the alert signal less than all the criteria in said set of criteria are fulfilled, causing the motor vehicle (100) to be stopped.

7. The method according to claim 6, wherein determining whether or not the set of criteria are fulfilled for operating the motor vehicle (100) in the manual driving mode comprises at least one of: determining whether or not a person is sitting in a driver’s seat of the motor vehicle (100) via a pressure sensitive sensor; registering a state of alertness of a driver of the motor vehicle (100) via an image-based sensor; determining whether or not the driver has his/her gaze directed towards a roadway on which the motor vehicle (100) is driven via an image-based sensor; and determining whether or not the driver has his/her hands on a steering wheel of the motor vehicle (100) via a touch sensor.

8. The method according to any one of claims 6 and 7, further comprising: before effecting operation of the motor vehicle (100) in the manual driving mode, notifying a driver of the motor vehicle (100) acoustically, optically, mechanically and/or tactically that the manual driving mode is about to be activated; and effecting operation of the motor vehicle (100) in the manual driving mode if and only if a predefined confirmation signal from the driver has been received.

9. The method according to claim 8, wherein the predefined confirmation signal is generated by activating at least one of: a non-driving related input member and activating a driving related input member.

10. A computer program product loadable into a memory of at least one computer, comprising software for performing the method according to any of the claims 6 to 9 when executed on the at least one computer.

11. A non-transitory computer readable medium having a program recorded thereon, where the program is to make at least one computer perform the method of any of the claims 6 to 9 when executed on the at least one computer.