DE102018210226A1 - PROCESS AND DEVICE FOR USE WITH VEHICLES WITH AUTONOMIC DRIVING MODE - Google Patents

Abstract

Embodiments of the invention provide a method (400) for use in a vehicle comprising an autonomous driving system (160) for driving the vehicle (200) in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode the method comprises: displays (420) for the driver of the vehicle, a representation (300, 500) of a driving environment in an environment of the vehicle (200) when the vehicle is operable in autonomous mode, and displays (440), the driver of the vehicle, an indication relating to the representation of the driving environment, of a transitional position (510) at which the vehicle will transition from autonomous mode to manual mode.

Description

TECHNICAL AREA

The present disclosure relates to an autonomous vehicle, and more particularly, but not exclusively, to a method and apparatus for use with vehicles having an autonomous driving mode. Aspects of the invention relate to a method, to a controller and to a system, to computer software, and to a vehicle.

STATE OF THE ART

The extent to which the operation of a vehicle is automated has been divided into six separate stages by SAE International, a community of automotive industry experts. These SAE levels range from level zero for vehicles with no significant autonomy, up to level 5 which denotes vehicles that are completely autonomous and that do not require driver input.

Autonomous vehicles of the SAE stage 3 are defined as vehicles in which an autonomous driving system can handle all aspects of driving, with the exception of the fact that a human driver adequately responds to a request to intervene in certain driving scenarios.

There are several reasons why the autonomous driving system might have to relinquish control to the driver. For example, vehicle sensors relied upon by the driving system may be adversely affected by weather conditions, pollution, or malfunction, and thus adversely affect the ability of the driving system to sense its surroundings. Alternatively, the vehicle may enter a complicated driving situation that the autonomous driving system can not handle, for which reason the transfer of control to the driver is envisaged, for example when driving on a highway or leaving it.

It is an object of embodiments of the invention to at least mitigate one or more of the problems of the prior art.

BRIEF SUMMARY OF THE INVENTION

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

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the method comprising: Displays, for the driver of the vehicle, an indication of an environment of the vehicle when the vehicle is operable in autonomous mode, and displays, for the driver of the vehicle, an indication of a position with respect to the environment in which the vehicle is autonomous Mode will go into manual mode. Advantageously, the driver of the vehicle is provided with a visual indication of the position from which he is responsible for driving the vehicle.

The environment may at least generally be in front of the vehicle. Advantageously, the transitional position is in front of the vehicle.

The method may include determining whether the driver of the vehicle has taken control of the vehicle at the transient position. Advantageously, a measure can be taken if the driver has not taken control. Advantageously, the control can be passed to the driver when he has taken control.

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the method comprising: Displays, for the driver of the vehicle, an autonomous driving user interface for monitoring the vehicle when the vehicle is in autonomous mode, and displays for the driver of the vehicle, a manual driving user interface for driving the vehicle in manual mode. Advantageously, the driver is provided with a user interface that is relevant to the current operating mode.

Advantageously, the driver is always informed by the user interfaces about the operation of the vehicle.

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being in a manual mode of a vehicle Driver is manually operable, the method comprising: displays, for the driver of the vehicle, a representation of a driving environment in a vicinity of the vehicle when the vehicle is operated in autonomous mode, and displays, for the driver of the vehicle, an indication of a Position, with reference to the representation of the driving environment, a transitional position at which the vehicle will transition from autonomous mode to manual mode. Advantageously, the driver is able to better prepare to take control of the vehicle. Advantageously, the driver is visually informed of the position from which he is responsible for the control of the vehicle.

The environment may be at least generally in front of the vehicle. Advantageously, the transitional position is in front of the vehicle.

The representation of the driving environment includes a representation of at least a portion of a navigable path in the vicinity of the vehicle. Advantageously, the indication of the transition position is displayed with reference to the navigable path followed by the vehicle.

If the navigable path is a road, then the representation of the driving environment may include a representation of a shape of one or more lanes of a portion of the road. Advantageously, the indication of the transition position is displayed with reference to the navigable path followed by the vehicle.

The representation of the driving environment optionally includes an indication of any secondary vehicles in the vicinity of the vehicle. Advantageously, the representation reflects the current situation of the vehicle, including surrounding vehicles.

The method may include determining one or more attributes of the driving environment. The representation of the driving environment may be determined at least in part depending on the attributes of the driving environment. Advantageously, the representation may reflect the attributes of the driving environment to provide a more realistic or accurate representation.

Determining one or more attributes of the driving environment optionally includes determining, by means of sensor means associated with the vehicle, the one or more attributes. Advantageously, the sensor means may determine the one or more attributes with respect to the vehicle. The sensor means may be one or more sensor devices arranged around the vehicle.

Determining one or more attributes of the driving environment optionally includes receiving data indicative of the one or more attributes. Advantageously, the data indicative of the one or more attributes may be provided by a remote source, such as another vehicle or a traffic infrastructure.

Determining one or more attributes of the driving environment optionally includes accessing a data source to obtain data indicative of the one or more attributes. Advantageously, accessing the data source can be accomplished comparatively easily. The data source may advantageously be a source of attribute data.

The method may include displaying a representation of the vehicle within the driving environment. Advantageously, the driver can more easily determine a position of the vehicle within the driving environment.

The representation of the driving environment is optionally displayed from a viewpoint with respect to the representation of the vehicle. Advantageously, the representation of the driving environment is positioned with respect to the vehicle.

The method may include determining the position at which the vehicle will transition from autonomous mode to manual mode. Advantageously, the position may be determined according to one or more of the characteristics of the vehicle at the time of determining.

The indication of the transient position may include an indication that is displayed with respect to a navigable path on which the vehicle is located. Advantageously, the driver is able to perceive the position of the transition.

The indication of the transient position may be displayed with reference to a lane of the road, including the representation of the vehicle. Advantageously, the driver is able to perceive the position of the transition with respect to the lane.

The indication of the transition position optionally includes a graphically differentiated portion of the navigable path. Advantageously, the graphic differentiation is recognizable to the driver.

The method optionally includes displaying an indication of a preposition, with respect to the transient position, within the representation of the driving environment. Advantageously, the driver may be given an indication to prepare for driving the vehicle.

The preparation position may indicate a position where the driver should prepare for it or begin to prepare to drive the vehicle in manual mode. Advantageously, the driver should be made to increase his perception of the situation of the vehicle at the preparatory position.

The method optionally includes displaying, to the driver of the vehicle when the vehicle is operable in manual mode, a user interface for driving the vehicle in manual mode. Advantageously, driver-relevant information for driving the vehicle can be provided.

The method may include determining whether the driver of the vehicle has taken control of the vehicle at the transient position. Advantageously, a measure can be taken if the driver has not taken control. Advantageously, the control can be passed to the driver when he has taken control.

According to one aspect of the invention, there is provided a control device for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the control device comprising: output means for dispensing data to a display means for causing the outputting means to output information to a driver of a vehicle, processing means communicatively coupled to the outputting means, the processing means being arranged to determine a position at which the vehicle is switched from autonomous mode to manual Mode and to control the outputting means outputting data for causing the outputting means to display: a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode, and an indication of a position with respect to on the representation of Fahrumg ebung, a transitional position at which the vehicle will transition from autonomous mode to manual mode.

• das Ausgabemittel ein elektrischer Ausgang des Steuergeräts ist, um ein elektrisches Signal bereitzustellen;
• das Anzeigemittel wenigstens eine Anzeigevorrichtung ist; und
• das Verarbeitungsmittel ein/eine oder mehrere Prozessoren oder elektronische Prozessorvorrichtungen ist.

The controller as described above, wherein:

• the output means is an electrical output of the controller to provide an electrical signal;
• the display means is at least one display device; and
• the processing means is one or more processors or electronic processor devices.

The processing means is optionally arranged to control the output means to output data to cause the display means to display an illustration of at least a portion of a navigable path in the vicinity of the vehicle.

If the navigable path is a road, then the processing means may be arranged to control the output means to output data to cause the display means to display a representation of a design shape of one or more lanes of the portion of the road near the vehicle.

The controller may include input means for receiving data indicative of the position of one or more vehicles in proximity to the vehicle. In some embodiments, the input means is an electrical input for receiving an electrical signal indicative of the data.

The processing means may be arranged to control the output means to cause the display means to display an indication of any vehicles in the vicinity of the vehicle.

The processing means is optionally arranged to control the output means to output data to cause the display means to display a representation of the vehicle in the driving environment.

The processing means may be arranged to control the output means to output data to cause the display means to display the representation of the driving environment from a viewpoint with respect to the representation of the vehicle.

The indication of the transient position optionally includes an indication displayed with respect to a navigable path on which the vehicle is located.

If the navigable path is a road, the indication of the transient position may be displayed with respect to a lane of the road, including the depiction of the vehicle.

The indication of the transition position includes a graphically differentiated portion of the navigable path.

A system comprising the controller as described above and display means for displaying information to the driver of the vehicle.

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the method comprising: Displays for the driver of the vehicle, a representation of a driving environment in the vicinity of the vehicle and an indication of a current position of the vehicle with respect to the driving environment, when the vehicle is operated in autonomous mode, displays, for the driver of the vehicle, an indication a position with respect to the representation of the driving environment, a transition position at which the vehicle will transition from the autonomous mode to the manual mode, and displays, for the driver of the vehicle when the vehicle is operated in manual mode, a user interface for the Driving the vehicle in manual mode.

The method may include displaying an indication of a preparation position with respect to the transient position within the representation of the driving environment.

According to one aspect of the invention, there is provided a control device for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the control device comprising: output means for dispensing data to a display means for causing the outputting means to output information to a driver of a vehicle; processing means communicatively coupled to the outputting means, the processing means being arranged to cause the outputting means to output data to cause the outputting means to Output means indicates an illustration of a driving environment in a vicinity of the vehicle when the vehicle is operable in autonomous mode and an indication of a position with respect to the representation of the driving environment, a transient position at which the vehicle changes from autonomous mode to manual Override mode will be.

• das Ausgabemittel ein elektrischer Ausgang des Steuergeräts ist, um ein elektrisches Signal bereitzustellen;
• das Anzeigemittel wenigstens eine Anzeigevorrichtung ist; und
• das Verarbeitungsmittel ein/eine oder mehrere Prozessoren oder elektronische Prozessorvorrichtungen ist.

The controller as described above, wherein:

• the output means is an electrical output of the controller to provide an electrical signal;
• the display means is at least one display device; and
• the processing means is one or more processors or electronic processor devices.

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the method comprising: Outputting an indication to the driver of the vehicle that the vehicle will transition from the autonomous mode to the manual mode, determining one or more actions to be taken by the driver of the vehicle after transitioning from the autonomous mode to the manual mode and outputting an indication for which Driver of the vehicle, the one or more measures while the vehicle is operated in autonomous mode. Advantageously, the driver is provided with advance information about the one or more actions. Advantageously, the driver is informed of the one or more subsequent actions before the vehicle is operable in manual mode, thereby allowing the driver more time to prepare.

The method may include displaying, for the driver of the vehicle, an indication of a transient position at which the vehicle transitions from autonomous mode to manual mode.

The method optionally includes displaying, to the driver of the vehicle when the vehicle is operable in manual mode, a manual driving user interface for driving the vehicle in manual mode.

The method may include displaying, for the driver of the vehicle, when the vehicle is operable in autonomous mode, an autonomous driving user interface for monitoring the vehicle in autonomous mode.

Optionally, the autonomous driving user interface includes a representation of a driving environment in proximity to the vehicle.

The indication of the one or more measures to be carried out by the driver may be referred to be displayed on the user interface for autonomous driving.

The specification of the one or more actions to be performed by the driver optionally includes a graphical representation. Advantageously, a graphical representation can be more easily recognizable.

The one or more measures include lane change, changing a navigable path or a road, changing a speed of the vehicle, and a steering action. Advantageously, the driver is informed about several different subsequent measures.

Determining one or more attributes of the driving environment optionally includes determining, by means of sensor means associated with the vehicle, the one or more attributes. Advantageously, the sensor means may determine the one or more attributes with respect to the vehicle. The sensor means may be one or more sensor devices associated with the vehicle.

The one or more measures may be determined by receiving data indicative of the one or more attributes. Advantageously, the data indicative of the one or more measures may be provided from a remote source, such as another vehicle or traffic infrastructure.

The one or more measures may be determined by accessing a data source to receive data indicative of the one or more attributes. Advantageously, accessing the data source can be accomplished comparatively easily. The data source may advantageously be a source for this data.

The method may include displaying a representation of the vehicle within the driving environment. Advantageously, the driver can more easily determine a position of the vehicle within the driving environment.

The representation of the driving environment includes an illustration of optionally at least a portion of a navigable path in the vicinity of the vehicle.

According to one aspect of the invention, there is provided a control device for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the control device comprising: output means for dispensing data to a display means for causing the output means to output information to a driver of a vehicle, processing means communicatively coupled to the output means, the processing means being arranged to determine that the vehicle is transitioning from the autonomous mode to the manual mode and one or more actions to be performed after transitioning from the autonomous mode to the manual mode by the driver of the vehicle, and to control the outputting means outputting output data to cause the indicating means to indicate: an indication that the vehicle is autonomous Mode in de n manual mode, and an indication of the one or more actions to be performed by the driver of the vehicle while the vehicle is operating in autonomous mode.

• das Ausgabemittel ein elektrischer Ausgang des Steuergeräts ist, um ein elektrisches Signal bereitzustellen;
• das Anzeigemittel wenigstens eine Anzeigevorrichtung ist; und
• das Verarbeitungsmittel ein/eine oder mehrere Prozessoren oder elektronische Prozessorvorrichtungen ist.

The controller as described above, wherein:

• the output means is an electrical output of the controller to provide an electrical signal;
• the display means is at least one display device; and
• the processing means is one or more processors or electronic processor devices.

The processing means is optionally arranged to control the output means, cause data to be output to cause the display means to display an indication of a transient position at which the vehicle transitions from autonomous mode to manual mode.

The processing means may be arranged to control the output means to cause the display means to display a manual-trip user interface for driving the vehicle in manual mode when the vehicle is operable in manual mode.

The processing means may be arranged to control the output means to cause the display means to display an autonomous driving user interface to monitor the vehicle in autonomous mode when the vehicle is operable in autonomous mode.

The autonomous driving user interface may include a representation of a driving environment in proximity to the vehicle.

The indication of the one or more actions to be taken by the driver is optionally displayed with reference to the autonomous driving user interface.

The indication of the one or more actions to be taken by the driver may include a graphical representation.

The one or more measures may include lane change, changing a navigable path or a road, changing a speed of the vehicle, and a steering action.

The one or more measures are optionally determined in response to output from a sensor means associated with the vehicle, map data, received data, and / or a particular location of the vehicle.

The representation of the driving environment may include a representation of at least a portion of a navigable path in the vicinity of the vehicle.

According to one aspect of the invention, there is provided a system comprising the controller as described above and a display means for displaying information to the driver of the vehicle.

According to one aspect of the invention, there is provided a method of use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable by a driver in a manual mode, the method comprising: Displays, for the driver of the vehicle, when the vehicle is operable in autonomous mode, an autonomous driving user interface, for monitoring the vehicle in autonomous mode, the autonomous driving user interface comprising a representation of a driving environment in an environment of the vehicle; that the vehicle will transition from autonomous mode to manual mode and a transient position at which the vehicle will transition from autonomous mode to manual mode, displaying, with reference to the representation of the driving environment, an indication of the transient position, determining one or more by the driver d the vehicle, after going from autonomous mode into manual mode, to perform actions and outputs for the driver of the vehicle while the vehicle is operating in autonomous mode, an indication of the one or more measures, and indications for the driver of the vehicle, when the vehicle is operable in manual mode, a manual driving user interface for driving the vehicle in manual mode.

According to one aspect of the invention, computer software is provided which, when executed by a computer, is arranged to perform a method according to an aspect of the invention. The computer software may be stored on a computer readable medium. The computer software may be tangibly stored on a computer readable medium. The computer-readable medium may be non-volatile.

According to one aspect of the invention, there is provided a vehicle arranged to carry out a method as described above and / or comprising a controller as described above or a system as previously described.

It is expressly intended, within the scope of this application, that the various aspects, embodiments, examples, and alternatives illustrated in the preceding paragraphs, in the claims, and / or in the following description and drawings, and in particular, their individual features, are independently of each other or in any combination. This means that all embodiments and / or features of any embodiment can be combined in any manner and / or combination, as long as these features are not incompatible. The Applicant reserves the right to change any claim originally filed or to file any new claim, including the right to alter any originally filed claim, to depend on and / or integrate any feature of any other claim although it has not been claimed in this way before.

list of figures

• 1 ein System nach einer erfindungsgemäßen Ausführungsform;
• 2 ein Fahrzeug nach einer erfindungsgemäßen Ausführungsform;
• 3 eine Darstellung einer Fahrumgebung nach einer erfindungsgemäßen Ausführungsform;
• 4 ein Verfahren nach einer erfindungsgemäßen Ausführungsform;
• 5 eine Benutzeroberflächen für autonome Fahrt nach einer erfindungsgemäßen Ausführungsform;
• 6 eine weitere Darstellung der Benutzeroberflächen für autonome Fahrt nach einer erfindungsgemäßen Ausführungsform;
• 7 einen Hinweis nach einer erfindungsgemäßen Ausführungsform;
• 8 eine Benutzeroberfläche für manuelle Fahrt nach einer erfindungsgemäßen Ausführungsform;
• 9 ein Verfahren nach einer weiteren erfindungsgemäßen Ausführungsform; und
• 10 bis 12 weitere Darstellungen der Benutzeroberflächen für autonome Fahrt nach erfindungsgemäßen Ausführungsformen.

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

• 1 a system according to an embodiment of the invention;
• 2 a vehicle according to an embodiment of the invention;
• 3 a representation of a driving environment according to an embodiment of the invention;
• 4 a method according to an embodiment of the invention;
• 5 an autonomous drive user interface according to an embodiment of the invention;
• 6 another illustration of the user interface for autonomous driving according to an embodiment of the invention;
• 7 an indication of an embodiment of the invention;
• 8th a user interface for manual driving according to an embodiment of the invention;
• 9 a method according to another embodiment of the invention; and
• 10 to 12 Further representations of the user interfaces for autonomous driving according to embodiments of the invention.

DETAILED DESCRIPTION

1 shows a system 100 according to an embodiment of the invention. The system comprises a control means 110 , a display means 120 , Driver monitoring device 130 , Sensor means 140 and vehicle control means 150 , The system 100 is valid for use with a vehicle. The vehicle can be a land vehicle 200 be like in 2 shown. The vehicle 200 can a wheeled vehicle 200 his. It should also be appreciated that embodiments may be suitable for other types of vehicles, such as watercraft or airplanes.

The vehicle 200 includes means for autonomous driving 160 for driving the vehicle in an autonomous mode of operation. The means for autonomous driving 160 can be considered an autonomous driving system 160 be designated to the vehicle 200 to drive in autonomous mode. The vehicle 200 is also manually operated by a driver in a manual mode of operation. The manual operating mode can be the level 0 as defined by SAE International (RTM), such as in J3016 or another equivalent standard. The autonomous operating mode can be the level 3 or above, as defined by SAE International, such as in J3016 or any other equivalent standard. In autonomous operating mode, the autonomous driving system 160 essentially all of the vehicle 200 required tasks to manage. However, this requires the autonomous driving system 160 possibly that the driver intervenes upon a corresponding request, ie, the driver may be provided with a request to drive the vehicle in manual mode of operation.

The control means 110 is a control unit 110 according to an embodiment of the invention. The control unit may be a control device according to an embodiment of the invention. In some embodiments, the control device comprises electronic circuits. The control unit 110 includes output means 115 , The output device 115 is arranged, in use a signal 125 to the display means 120 provide. The output device 115 can therefore an electrical output of the controller 110 include to the signal 125 provide.

The signal 125 can represent data sent to the display means 120 provided to cause the display means 120 Visually displays information. The signal 125 can as a display control signal 125 be designated. The control unit 110 may include processing agents 112 in the form of one or more processors 112 or electronic processor devices. The processing agent 112 is arranged, the output means 115 to control. In some embodiments, the one or more processors execute instructions that may be in the form of computer software. The instructions may be stored in a storage means dedicated to the processing means 112 is, for example, a part of it, although this is not explicitly illustrated. The processing agent 112 is communicative with the output device 115 coupled. The processing agent 112 is arranged to cause the output means 115 Outputs data to cause the display means 120 Information indicates how will be explained.

The display means 120 is arranged depending on the received signal 125 , Information for at least one driver of the vehicle 200 display. The display means 120 is arranged to visually output information to the driver of the vehicle. The display means 120 can output information to other occupants of the vehicle. The display means 120 can at least one display device 120 include. The display device 120 may display information on it in some embodiments. However, in other embodiments, the display device 120 be arranged to display information on another surface, such as on an at least semi-reflective surface, in the form of a head-up display (HUD). The other surface may be one or more interior surfaces of the vehicle. The display device 120 may project an image onto a surface, such as a semi-reflective surface or the interior surface (s), so that the image is displayed thereon. The display means 120 is arranged, the data from the processing means 112 in the form of the display control signal 125 about the output means 115 to receive and display corresponding information.

The driver monitoring device 130 is arranged a state of the driver of the vehicle 200 to determine. The driver monitoring device 130 may include one or more input devices arranged to receive input from the driver. The input can be expressly sent to the driver monitoring system 130 be provided, such as by a keystroke, by activating a graphical operator control, by a voice command or by a targeted by the driver to the driver monitoring means 130 directed gesture. Thus, the driver monitoring means 130 include one or more input devices to receive the input. The input devices may include one or more of the following: buttons, touch screens, cameras, microphones, etc. The driver monitoring means 130 may be arranged to passively determine aspects of driver behavior, such as a condition of the driver, ie driving the vehicle 200 , ready or prepared to drive the vehicle 200 , an activity, such as reading or sleeping, by the driver of the vehicle 200 is performed. The driver monitoring device 130 may include one or more devices for determining aspects of driver behavior, such as microphones and cameras. In use, the driver monitoring device 130 Output driver data that indicates the condition of the driver. The data may be in the form of a driver monitoring signal 135 be provided, which at an input means 116 of the control unit 110 Will be received. The input device 116 may be a first input means 116 for receiving the driver monitoring signal 135 his.

The sensor means 140 and the vehicle control means 150 can train the above autonomous driving system, generally with the reference number 160 referred to as. It is pointed out that the autonomous driving system 160 another control means (not shown) for autonomous driving of the vehicle 200 to control.

The sensor means 140 is arranged to determine in use a driving environment in the vicinity of the vehicle. The driving environment includes one or more features near the vehicle 200 , The driving environment may include one or more of: at least a portion of a navigable path or a road near the vehicle, a shape of one or more lanes of the portion of a road near the vehicle, any other vehicles in the vicinity of the vehicle, Street furniture such as signs, barriers, etc. near the vehicle 200 , The navigable path may correspond to any route or path taken by the vehicle 200 be tracked, such as an off-road path or a lane, by the vehicle 200 can be tracked, ie a side street or the like. Accordingly, the sensor means 140 arranged to determine in operation the presence and location of features in the vicinity of the vehicle that form the driving environment. The sensor means 140 is arranged to output driving environment data in operation based on the driving environment of the vehicle 200 indicate. The driving environment data may be in the form of a driving environment signal 145 be provided, which at an input means 117 of the control unit 110 Will be received. The input device 117 may be a second input means 117 for receiving the driving environment signal 145 his.

The sensor means 140 may be one or more sensor devices 140 include. In some embodiments, the one or more sensor devices 140 several sensor devices 140 , At least some of the sensor devices 140 may be arranged to receive radiation from the characteristics of the driving environment. The one or more sensor devices 140 can at least a camera 140 include. The at least one camera may be arranged to detect the driving environment of the vehicle and to output corresponding image data. The image data may be from one or more image processors of the sensor means 140 be received. The one or more processors may be arranged to recognize the characteristics of the driving environment, such as the edges of the road, road markings, the shape of the one or more lanes, the other vehicles in the vicinity of the vehicle 200 and the street furniture. It should be noted that other features can be recognized.

The sensor means 140 may include one or more transceiver devices arranged to emit radiation and receive radiation reflected from the driving environment, in particular from the one or more features proximate to the vehicle 200 , For example, these devices may include a LIDAR (light detection and ranging) device. The one or more transceiver devices may be arranged to have a range or distance to the one or more features in the vicinity of the vehicle 200 to determine. In an associated processing means, range information relating to each feature may be stored in a storage means. In some embodiments, a cloud of points may be formed in the memory means that focus on multiple points in the memory Driving environment as well as pointing to a distance to each of the points.

The vehicle control means 150 is arranged, in use at least some aspects of the vehicle 200 to control. In particular, the vehicle control means 150 arranged to control the movement of the vehicle. The vehicle control means 150 can steering inputs for the vehicle 200 control or deploy. The vehicle control means 150 can input motion for the vehicle 200 control or provide, such as the control of an accelerator pedal and braking functions of the vehicle 200 , Thus, the vehicle control means is 150 arranged to drive the vehicle in autonomous mode of operation. The vehicle control means 150 may include processing means, such as one or more processor devices, arranged to provide vehicle control data for providing instructions to one or more subsystems of the vehicle for steering, braking, acceleration, and gearshifting functions of the vehicle 200 to steer the vehicle in autonomous mode. The vehicle control means 150 may be dependent on the driving environment data outputs by the sensor means 140 operate. The vehicle control means 150 may also be operated in response to map data indicative of paths, such as roads, made by the vehicle 200 are navigable. Information indicative of the movement of the vehicle may be given to the controller 110 as a drive control signal 155 to be provided. The drive control signal is at an input means 118 of the control unit 110 receive. The input device 118 can be a third input device 118 for receiving the drive control signal 155 his.

In operation, in autonomous mode, the vehicle 200 driving autonomously, at least in part depending on the by the sensor means 140 provided driving environment data. In autonomous mode is the vehicle control means 150 operable to control the driving of the vehicle to navigate through the driving environment to a destination that may have been indicated by one of the occupants of the vehicle. In autonomous mode, the control unit 110 receive the driver data. In some embodiments, the controller is 110 configured, the autonomous operating mode of the vehicle 200 to interrupt when the condition of the driver corresponds to one or more predetermined states, such as sleeping. Furthermore, a signal from the autonomous driving system 160 which indicates a request to go from autonomous mode to manual mode at a subsequent time, as explained below. The control unit 110 may be operated in response to the signal, as explained below, to provide driving with an indication of the following transition and to assist the driver in being aware of a current driving situation of the vehicle 200 is aware.

In autonomous mode is the controller 110 arranged to receive the driving environment data and the display device 120 to steer for the driver of the vehicle 200 to show a representation of the driving environment. Thus, in some embodiments, the representation of the driving environment is based, at least in part, on measurements of the driving environment around the vehicle 200 around. The control unit 110 may determine the presentation of the driving environment at least in part depending on the above map data. Even if the driver of the vehicle 200 the vehicle 200 in autonomous mode is not actively running, providing the representation of the driving environment may allow the driver at least some awareness of the vehicle 200 and to preserve its environment in autonomous mode.

3 shows a representation of the driving environment 300 according to an embodiment of the invention. The presentation of the driving environment 300 Provides an autonomous driving interface for monitoring the vehicle 200 ready in autonomous mode. The representation 300 is through the display device 120 for at least the driver of the vehicle 200 displayed. As in 3 shown is the representation of the driving environment 300 a perspective view. The perspective view is in 3 from a viewpoint outside the vehicle 200 displayed. The focus of the presentation will be with the vehicle 200 connected. The viewpoint position moves together with the vehicle 200 , In particular, in some embodiments, the illustration is a representation of the driving environment, as generally by the driver of the vehicle 200 perceived as discussed below.

The representation of in 3 shown driving environment 300 includes a representation 310 of the vehicle 200 in the driving environment 300 , The representation of the vehicle 200 is subsequently considered as a primary vehicle 310 designated. Thus, the perspective view is from the viewpoint outside the primary vehicle 200 , The viewpoint may, in some embodiments, be directly behind the representation of the primary vehicle 200 are located. Accordingly, the presentation of the driving environment concludes 300 in some embodiments, the primary vehicle 200 on. The processing agent 112 of the control unit 110 can the output means 115 control, to output data to cause the display device 120 the representation 310 of the primary vehicle 200 in the driving environment 300 displays. The processing agent 112 of the control unit 110 can the output means 115 control to output data to cause the display device 120 the presentation of the driving environment 300 from the point of view with respect to the representation 310 of the primary vehicle 200 displays.

The presentation of the driving environment 300 includes a horizon in some embodiments 305 that is at a given distance in front of the presentation 310 of the primary vehicle 200 located. Accordingly, the representation of the driving environment includes 300 in some embodiments, a predetermined distance of the driving environment between the primary vehicle 310 and the horizon 305 ,

The presentation of the driving environment 300 includes an indication of at least a portion of a road 320 near the primary vehicle 310 , As in 3 illustrated includes the street 320 possibly an indication of the first and second edge of the road 320 wherein the first and second edges of the left and right edges of a roadway of the road 320 could be. It should be noted that the roadway is a section in a direction of a multi-lane road. Accordingly, the road can 320 be a second lane in an opposite direction, in the illustration 300 not shown.

The presentation of the driving environment 320 includes an indication of the shape of one or more lanes of the portion of the road near the vehicle. The presentation 3 includes three lanes 331 . 332 . 333 , It should be understood that this is an example and that the illustration may include a different number of lanes. Each lane is marked by a first and a second graphic marker 341 . 342 Are defined. For some tracks, such as the first track 331 and the third track 333 The graphical markers can indicate the first and / or the second edge of the road 320 or the roadway. Graphical markers in the form of lane markers 341 . 342 can also be provided to a classification of the lanes 331 . 332 . 333 indicate within the carriageway. The design of the road can be specified with other graphic markers, such as arrows, hatches, etc.

In some embodiments, the representation includes the driving environment 300 an indication of any secondary vehicles 350 near the primary vehicle 310 , The presentation 3 includes three secondary vehicles 350 , It should be noted that this is an example and that the illustration shows a different number of secondary vehicles 350 may include. Every secondary vehicle 350 will be in a position with respect to the primary vehicle 310 shown. The control unit 110 can receive data based on the position of secondary vehicles 350 near the primary vehicle 310 point out. The processing agent 112 of the control unit 110 can the output means 115 control to output data to cause the display device 120 the indication of the position of secondary vehicles 350 near the primary vehicle 310 display.

If the primary vehicle 200 Operable in autonomous mode, it is sometimes necessary that the primary vehicle 200 enters the manual operating mode. In some embodiments, the autonomous driving system is 160 arranged to issue a request to the driver, the primary vehicle 200 switch to the manual mode of operation so that the driver takes control and the primary vehicle 200 in the conventional way. It may be necessary to switch to the manual operating mode, for example if the control unit 110 determines that a particular driving situation has occurred or will occur that will cope with the autonomous driving system 160 is not designed, and for which it is therefore provided that the autonomous driving system 160 returns control to the driver. These situations include, for example, driving on a highway or leaving the same. Accordingly, it should be understood that embodiments of the invention are not limited in this regard.

In some situations, the requirement to enter manual mode may be pre-determined by the controller 110 be determined, such as at least 10 seconds in advance, at least 20 seconds in advance, or about 30 seconds in advance. Thus, in some embodiments, there is a handover of control over the primary vehicle 200 in the manual mode comparatively long compared to a handover of control in the manual mode, which may be required, for example, in response to an emergency situation.

Embodiments of the invention are operable to the driver of the primary vehicle 200 an indication with reference to the representation of the driving environment 300 to provide a transient position at which the primary vehicle 200 from autonomous operating mode to manual mode. Because the presentation of the driving environment 300 is a representation of the driver's field of vision, the driver can better see when and where the primary vehicle 200 switch to manual mode. Thus, the driver may be better prepared to take control of the primary vehicle 200 to take over in manual mode.

4 shows a method 400 according to an embodiment of the invention. The procedure 400 applies to use in the primary vehicle 200 comprising an autonomous driving system 160 for driving the vehicle in an autonomous mode of operation, and wherein the primary vehicle 200 can also be operated manually by a driver in a manual operating mode. The procedure 400 can through the in 1 illustrated system 100 although it should be noted that embodiments of the method 400 can be performed by other systems.

The procedure 400 includes a step 410 for operating the primary vehicle 200 in autonomous mode. In step 410 becomes the primary vehicle 200 by the autonomous driving system 160 driven or controlled. As previously explained, the autonomous mode of operation of the stage 3 or above, as defined by SAE International.

In step 420 becomes a representation of a driving environment 300 near the primary vehicle 200 through the display device 120 displayed. The representation 300 will be in step 420 displayed when the primary vehicle 200 is operated in autonomous mode. The presentation of the driving environment 300 can the above description with reference to 3 correspond. The presentation of the driving environment 300 allows the driver, even if he has the vehicle 200 does not drive manually, a current driving situation of the primary vehicle 200 to recognize, ie the primary vehicle 200 while operating autonomously. For example, the driver may have one or more secondary vehicles 350 near the primary vehicle 200 recognize.

In step 420 can the processing agent 112 be arranged to cause the output means 115 Data in the form of the display control signal 125 to cause the display device 120 the presentation of the driving environment 300 indicating while the primary vehicle 200 is operated in autonomous mode. It can be in step 420 be arranged that the processing means 112 causes the output means 115 Outputs data to cause the display device 120 an indication of at least a portion of a road 320 near the primary vehicle 200 display. The processing agent 112 may be arranged to cause the dispensing means 115 Outputs data to cause the display device 120 an indication of one or more lanes 331 . 332 . 333 the street 320 near the primary vehicle 200 displays. In some embodiments, the processing means is 112 arranged to cause the output means 115 Outputs data to cause the display device 120 an indication of a secondary vehicle 350 near the primary vehicle 200 displays.

In step 430 It is determined whether it is necessary for the primary vehicle to go from autonomous mode of operation to manual mode of operation or switch. So can step 430 For example, include a determination of whether a driving situation has occurred that is unexpected or that of the autonomous driving system 160 not supported. If it is determined that it is not necessary to enter the manual mode, the process returns to step 410 back, ie the primary vehicle 200 remains in autonomous operating mode. However, if it is determined that it is necessary to go to manual mode, the procedure continues 300 with step 440 continued.

The procedure 400 includes, in step 440 determining a position at which the primary vehicle 200 from autonomous mode to manual mode, which is referred to as a transitional position. It should be noted that the transition position is a geographical position with respect to the primary vehicle 200 is. step 400 calculating the transition position may be based on a current speed and a scheduled future speed of the primary vehicle 200 include. In some situations, the transition occurs after a predetermined duration, which, as indicated previously, may be at least 10 seconds in advance, at least 20 seconds, or about 30 seconds. Thus, the transient position may be based on the speed of the vehicle 200 and a predetermined duration. Further, in some embodiments, the transition position may be determined based on the requirement that the primary vehicle 200 before the transition position changes lane, for example due to the presence of secondary vehicles 350 in a current lane of the street.

step 450 includes displaying an indication of the transient position, ie the position at which the primary vehicle 200 from autonomous mode to manual mode.

5 and 6 show a representation of the driving environment 500 of the primary vehicle 200 according to an embodiment of the invention. 5 and 6 show the same representation at different times, ie where 6 a later time shows as 5 ,

The presentation of the driving environment 500 includes an indication of the transition position 510 , The presentation of the driving environment 500 includes a depiction 530 of the primary vehicle 200 , The indication of the transition position 510 becomes with reference to the representation 530 of the primary vehicle 200 displayed. The indication of the transition position 510 is a graphical indication of the geographic location where the primary vehicle is located 200 switch from autonomous mode to manual mode or switch over. The indication of the transition position 510 includes one with respect to a track 540 a street 505 Indicated indication in which the representation 530 of the primary vehicle 200 currently located. In particular, in some embodiments, the indication of the transition position 510 with reference to the track 540 the street 505 displayed the representation 530 of the primary vehicle 200 includes.

As in 5 and 6 in some embodiments, the indication of the transition position 510 graphic markers, in some embodiments, a semicircle or arc over a current track 540 the street 505 is, ie a track 540 the street 505 in which is the primary vehicle 200 currently located. It should be noted that the information may be provided in other ways by means of other than the graphic indications shown.

As in particular from 6 includes the indication of the transitional position 510 one or more graphically differentiated sections 520 . 610 the street 505 in some embodiments. The one or more graphically differentiated sections 520 . 610 the street 505 can be one or more graphically differentiated sections 520 . 610 the current track 540 the street 505 his. In other words, if there are multiple graphically differentiated sections, these consecutive sections of the current track can be 540 his. In some embodiments, the one or more graphically differentiated sections may 520 . 610 the street 505 Sections of the road 505 be before 520 and / or past 610 the transitional position 510 lie.

step 450 In some embodiments, displaying an indication of a preposition may 520 include. The preparation position 520 is a position at which the driver of the primary vehicle 200 at least begin to prepare for control of the primary vehicle 200 to take over. The preparation position 520 may in some embodiments a preparation area 520 be like in 5 and 6 shown. The preparation area 520 is an area or a geographic area 520 in which the driver of the primary vehicle 200 at least begin to prepare for control of the primary vehicle 200 to take over. The preparation position or the preparation area 520 can be in front of the transition position 510 are located. As in 6 shown, the vehicle enters 530 in the preparation area 520 one, before the primary vehicle 530 the transition position 510 reached. Accordingly, the preparation area 520 a first graphically differentiated section 520 the street 505 be as previously described.

In some embodiments, the preparation position becomes 520 indicated with a first graphic indication or differentiation and the transition position 510 is indicated by a second graphic. In some embodiments, the preparation position is considered a first section 520 the current track 540 the street 505 before the transition position 510 where the first section is indicated with a first graphic. The first graphical indication may be a first color, a first shading and / or a first highlight. In some embodiments, the transitional position becomes 510 with a second section 610 the current track 540 the street 505 after the transition position 510 indicated, the second section 610 indicated with a second graphic indication. The second graphic may be a second color, a second shade, and / or a second highlight. Thus, the second section is a second graphically differentiated section of the road 505 , In some embodiments, the first and second sections are 520 . 610 indicated in a first and another second color. The first and the second section 520 . 610 may be adjacent or adjoining sections of the current track 540 the street 505 be separated by the transition position 510 , In some embodiments, the first portion, ie, the preparation area 520 provided the driver of the primary vehicle 200 to inform or warn, control of the primary vehicle 200 to take over, taking the section 610 is provided to warn the driver that he is in immediate control of the primary vehicle 200 must take over.

In step 460 determines if the primary vehicle 200 the transition position 510 has reached. step 460 thus includes determining whether a geographical location of the primary vehicle 200 essentially the geographical position of the transition position 510 equivalent. Otherwise, if so, the position of the primary vehicle 200 before the transition position 510 lies, then the procedure returns 400 to step 450 back, in which the indication of the transition position 510 is shown. If the position of the primary vehicle 200 essentially the transitional position 510 corresponds, then goes the procedure 400 to step 470 about.

In some embodiments, in step 460 determines if the primary vehicle 200 the preparation position 520 has reached or is in the preparation area 520 located. When the vehicle is the preparation position 520 has reached or is in the preparation area 520 is, can step 460 comprising determining whether the driver has provided an input indicating that the driver is preparing to drive the vehicle. If the driver has not provided the input, the procedure may 400 give an indication to the driver to focus on driving the primary vehicle 200 prepare. For example, the step 460 displaying a graphical indication thereto means that the driver must prepare to drive the vehicle. The input may be from the driver monitoring means 130 to the control unit 110 to be provided. The input can be made by the driver monitoring signal 135 to be provided. The driver monitoring device 130 may be arranged to determine if the driver of the primary vehicle 200 an operating element of the primary vehicle 200 , like a steering wheel of it, touched or grasped.

In step 470 goes the primary vehicle 200 to be operable in manual mode. As previously explained, the manual mode of the stage 0 as defined by SAE International. In some embodiments, it is determined whether the driver has provided the input indicating that the driver is in control of the primary vehicle 200 takes over, so the vehicle drives. The determining may be performed after the vehicle is in the transitional position 510 has reached. If the driver has not provided the input, the procedure may 400 give a hint to the driver. The hint may indicate that it is necessary for the driver to have immediate control over the primary vehicle 200 takes over.

An example note is in 7 shown. The hint 710 in 7 is in the form of a strong hint. The powerful hint 710 is one that is arranged to be noticed by the driver, so that the driver in response to the control of the vehicle 200 takes over. The high-impact indication can be strongly illuminated, ie bright, or have high contrast to attract the attention of the driver. When the driver takes control of the vehicle 200 not within a specified period of time from the issue of the notice 710 takes over, can be causes the vehicle 200 perform one or more actions, such as stopping without driver control or unrolling until paused.

In step 470 becomes a user interface for manual driving 800 issued for which an embodiment in 8th is shown. The user interface for manual driving is used to drive the vehicle 200 provided in manual mode. The user interface for manual driving 800 includes information for the driver to drive the vehicle in manual mode, such as an indication of a current speed of the vehicle and, in some embodiments, an indication of a current fuel level and / or battery level of the vehicle. It should be understood that the manual drive user interface may include additional information.

9 shows a method 900 according to an embodiment of the invention. The procedure 900 applies to use in the primary vehicle 200 comprising an autonomous driving system 160 for driving the vehicle in an autonomous mode of operation, and wherein the primary vehicle 200 can also be operated manually by a driver in a manual operating mode. The procedure 900 can through the in 1 illustrated system 100 although it should be noted that embodiments of the method 900 can be performed by other systems. The procedure 900 includes information for the driver of the primary vehicle 200 with reference to one or more by the driver of the primary vehicle 200 actions to take after switching from autonomous mode to manual mode, as discussed below.

The procedure 900 includes a step 910 for operating the primary vehicle 200 in autonomous mode. In step 910 becomes the primary vehicle 200 by the autonomous driving system 160 driven or controlled. As previously explained, the autonomous mode of operation of the stage 3 or above, as defined by SAE International.

In step 920 becomes a representation of a driving environment 300 near the primary vehicle 200 through the display device 120 displayed. The representation 300 will be in step 920 displayed when the primary vehicle 200 is operated in autonomous mode. The presentation of the driving environment 300 Provides an autonomous driving interface for monitoring the vehicle 200 ready in autonomous mode. The presentation of the driving environment 300 can the above description with reference to 3 correspond. The presentation of the driving environment 300 allows the driver, even if he has the vehicle 200 does not drive manually, a current driving situation of the primary vehicle 200 to recognize, ie the primary vehicle 200 while operating autonomously. For example, the driver may have one or more secondary vehicles 350 near the primary vehicle 200 recognize.

In step 920 can the processing agent 112 be arranged to cause the output means 115 Data in the form of the display control signal 125 to cause the display device 120 the presentation of the driving environment 300 indicating while the primary vehicle 200 is operated in autonomous mode. The illustration may be the one described above in FIG 3 the repetition of the same is omitted for the sake of clarity. It can be in step 920 be arranged that the processing means 112 causes the output means 115 Outputs data to cause the display device 120 an indication of at least a portion of a road 320 near the primary vehicle 200 display.

In step 930 will determine if it is for the primary vehicle 200 it is necessary to move from autonomous operating mode to manual operating mode or to switch over. So can step 930 For example, include a determination of whether a driving situation has occurred that is unexpected or that of the autonomous driving system 160 not supported. If it is determined that it is not necessary to enter the manual mode, the process returns to step 910 back, ie the primary vehicle 200 remains in autonomous operating mode. However, if it is determined that it is necessary to go to manual mode, the procedure continues 900 with step 940 continued.

The procedure 900 includes, in step 940 determining a position at which the primary vehicle 200 from the autonomous mode to the manual mode, which in the sequence as a transitional position 510 referred to as. It should be noted that the transition position 510 a geographical position with respect to the primary vehicle 200 is. step 940 can calculate the transition position 510 based on a current speed and a planned future speed of the primary vehicle 200 include. In some situations, the transition occurs after a predetermined duration, which, as indicated previously, may be at least 10 seconds in advance, at least 20 seconds, or about 30 seconds. Thus, the transient position may be based on the speed of the vehicle 200 and a predetermined duration. Further, in some embodiments, the transition position may be determined based on the requirement that the primary vehicle 200 before the transition position changes lane, for example due to the presence of secondary vehicles 350 in a current lane of the street.

Although not in 9 shown includes the method 900 possibly any of the steps 450 - 470 , as previously in connection with the 5-8 described. 10 to 12 show further embodiments of the user interface for autonomous driving 1000 , here reference numbers are used, those in the 5-8 and the reader is referred to the above description if no explanation is provided. So show the 10 to 12 for example the position of the transition position 510 Like previously described. The indication of the transition position 510 represents the driver of the vehicle 200 an indication or indication that the vehicle 200 from autonomous mode to manual mode. 10 to 12 show the same representation of the user interface 1000 for autonomous driving at different times, ie where 11 a later time shows as 10 ,

The procedure 900 includes in step 950 determining one or more post-transition actions (PTAs). The PTA is one by the driver of the vehicle 200 Action to be taken after going from autonomous operation mode to manual operation mode. This means one or more PTAs are one or more actions or operations of the vehicle 200 Manually by the driver of the vehicle 200 because the one or more PTAs occur after the vehicle has become operable in manual mode. The one or more PTAs may include one or more of: a lane change of the vehicle 200 , a change of a navigable path or a road, ie the vehicle will change from a present navigable path or road to another navigable path or road, ie via a turn or link, a change in the speed of the vehicle, for example may be generated by entering the vehicle into a section of the road at a different maximum speed, and / or advent of one or more features of a navigable path or a road corresponding to the current speed of the vehicle 200 or that a steering effort must be provided by the driver to steer the vehicle around one or more navigable path or road features.

The one or more measures may be determined depending on one or more of: an output of the sensor means 140 in connection with the vehicle 200 from map data available for the vehicle, for example either locally in the vehicle 200 or removed, ie in the cloud, in one for the controller 110 accessible storage means stored map data, received data, which may be provided, for example, from a sensor means associated with another vehicle, and from a particular position of the vehicle, ie, based on received wireless signals that make up the position of the vehicle 200 can be determined, such as GPS or GLONASS signals. The specific position of the vehicle 200 can be used together with the map data.

In the exemplary user interface for autonomous driving 1000 represented in 10 to 12 , the PTA is a change of the road 505 , in particular a request, at a branch from the current road 505 to take another road, which in the example shown is, for example, an ascent or descent from the present road 505 Although embodiments of the invention are not limited in this regard.

step 960 includes an indication for the driver of the primary vehicle 200 the one or more PTAs. The indication is issued while the primary vehicle 200 is operable in autonomous mode. This means the indication is issued before the vehicle 200 goes into manual mode. The indication can be audible, issued as a haptic indication and / or visually. In some embodiments, as in FIG 10 to 12 shown, the indication 1010 the one or more PTAs for the driver of the primary vehicle 200 displayed. The indication 1010 is referring to the user interface for autonomous driving 1000 displayed. The indication 1010 can be a graphical indication, ie a displayed graphical symbol 1010 be indicative of one or more PTAs. In some embodiments, an indication such as a symbol 1010 displayed for each corresponding PTA. In some embodiments, multiple PTAs may be used in step 950 can be determined and an indication 1010 be provided for each subsequent PTA. Any information 1010 Provides information to the driver of the primary vehicle 200 to an operation of the primary vehicle 200 prepared by the driver of the primary vehicle 200 must be mastered or handled when the primary vehicle 200 entered the manual operating mode. After the transition, the driver can set the user interface for manual driving 800 be provided as in 8th shown and described above.

It can be seen from the above that embodiments of the invention can improve the driver's awareness of a transition from the autonomous mode of operation of a vehicle to the manual mode of operation. Further, some embodiments of the invention may assist the driver in raising awareness of driving tasks that must be accomplished after transitioning to the manual mode of operation.

It should be understood that embodiments of the invention may be embodied in the form of hardware, software, or a combination of hardware and software. Any such software may be stored in the form of volatile or nonvolatile memory, such as a memory device such as a ROM, whether erasable or not, or in the form of memory, such as RAM, memory chips, a device or integrated circuits or on an optically or magnetically readable medium, such as a CD, a DVD, a magnetic disk or a magnetic tape. It should be understood that the memory devices and storage media are embodiments of machine-readable memory that are suitable for storing a program or programs that implement embodiments of the invention when practiced. Accordingly, embodiments provide a program comprising code for implementing a system or method according to any one of the preceding claims, and a machine-readable memory on which a program is stored. Furthermore, embodiments of the invention may be transmitted electronically over any medium, such as a communication signal transmitted over a wired or wireless connection, and embodiments thereof correspondingly.

All features disclosed in this specification (including any appended claims, abstract and drawings) and / or all steps of a method or process disclosed may be combined in any combination, with the exception of combinations in which at least some of these features and / or or steps preclude each other.

Each feature (including any appended claims, abstract and drawings) disclosed in this specification may be replaced by alternative features that serve the same, a similar or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is an example of a general series of corresponding or similar features.

The invention is not limited to the details of any of the above embodiments. The invention extends to any novel, or any novel combination of features disclosed in this specification (including any appended claims, abstract and drawings) or a novel or any novel combination of the steps of such method or process disclosed. The claims should not be construed to cover solely the above embodiments, but rather any embodiments that fall within the scope of the claims.

Claims (10)

A control device for a vehicle, comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable in a manual mode by a driver, the control device comprising: Output means for outputting data to a display means for causing the output means to output information to a driver of a vehicle; Processing means communicatively coupled to the output means, wherein the output means is arranged to determine a position at which the vehicle transitions from the autonomous mode to the manual mode and to control the output means to output data to cause the output means to indicating: a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in autonomous mode; an indication, with respect to the representation of the driving environment, of a transient position at which the vehicle transitions from autonomous mode to manual mode; and an indication of a preparation position, with respect to the transition position, within the representation of the driving environment. Control unit after Claim 1 wherein the processing means is arranged to control the output means to output data for causing the display means to display a representation of at least a portion of a navigable path in the vicinity of the vehicle; optionally wherein the navigable path is a road and the processing means is arranged to control the output means to output data to cause the display means to display a representation of a shape of one or more lanes of the portion of the road near the vehicle. Control unit after Claim 1 or 2 Vehicle, comprising: input means for receiving data indicative of the position of one or more vehicles in the vicinity of the vehicle; optionally, wherein the processing means is arranged to control the output means to cause the display means to display an indication of the one or more vehicles in the vicinity of the vehicle. Control unit according to one of Claims 1 to 3 wherein the processing means is arranged to control the output means to output data to cause the display means to display a representation of the vehicle within the representation of the driving environment; optionally, wherein the processing means is arranged to control the output means to output data to cause the display means to display the representation of the driving environment from a viewpoint with respect to the representation of the vehicle. Control unit according to one of Claims 1 to 4 wherein the indication of the transient position comprises an indication related to the navigable path on which the vehicle is located. Control unit after Claim 5 wherein the indication of the transition position comprises a graphically differentiated section of the navigable path. System comprising the control unit according to one of Claims 1 to 6 and a display means for displaying information to the driver of the vehicle. A method for use in a vehicle, comprising an autonomous driving system for driving the vehicle in an autonomous operating mode, the vehicle being manually operable in a manual mode by a driver, the method comprising: Displaying, to the driver of the vehicle, a representation of a driving environment in proximity to the vehicle when the vehicle is operable in autonomous mode; Displaying, for the driver of the vehicle, an indication relating to the representation of the driving environment, a transitional position at which the vehicle transitions from autonomous mode to manual mode; and Displaying an indication of a preparation position with respect to the transient position within the representation of the driving environment. Computer software that, when run on a computer, is arranged according to a method Claim 8 run; optionally, wherein the computer software is stored on a computer readable medium. Vehicle comprising the control unit according to one of Claims 1 to 6 , the system after Claim 7 , the computer software after Claim 9 . or arranged, the method according to Claim 8 perform.

Images